WebSVN - Projects - Diff - Rev 685 and 728


/****************************************************************************
 *   Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje               *
 *   admiralcascade@gmail.com                                               *
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
 *                                                                          *
 *   This program is free software; you can redistribute it and/or modify   *
 *   it under the terms of the GNU General Public License as published by   *
 *   the Free Software Foundation; either version 2 of the License.         *
 *                                                                          *
 *   This program is distributed in the hope that it will be useful,        *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
 *   GNU General Public License for more details.                           *
 *                                                                          *
 *   You should have received a copy of the GNU General Public License      *
 *   along with this program; if not, write to the                          *
 *   Free Software Foundation, Inc.,                                        *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
 *                                                                          *
 *                                                                          *
 *   Credits to:                                                            *
 *   Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
 *   Gregor "killagreg" Stobrawa for making the MK code readable            *
 *   Klaus "akku" Buettner for the hardware                                 *
 *   Manuel "KeyOz" Schrape for explaining the MK protocol to me            *
 ****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include "main.h"
#include "max7456_software_spi.h"
#include "usart1.h"
#include "osd_helpers.h"
#include "config.h"
#include "spi.h"
#include "buttons.h"
#include "ppm.h"
#include "osd_ncmode_default.h"
#include "osd_ncmode_minimal.h"
#include "osd_fcmode_default.h"
#include "osd_fcmode_jopl.h"
 
#if WRITECHARS != -1
#include "characters.h"
#endif
 
/* TODO:
 * - verifiy correctness of values
 * - clean up code :)
 */
 
 
/* ##########################################################################
 * global definitions and global vars
 * ##########################################################################*/
 
volatile uint16_t setsReceived = 0;
 
volatile NaviData_t naviData;
volatile DebugOut_t debugData;
 
// cache old vars for blinking attribute, checkup is faster than full
// attribute write each time
volatile uint8_t last_UBat = 255;
volatile uint8_t last_RC_Quality = 255;
 
// 16bit should be enough, normal LiPos don't last that long
volatile uint16_t uptime = 0;
volatile uint16_t timer = 0;
volatile uint16_t flytime_fc = 0;
 
// remember last time data was received
volatile uint8_t seconds_since_last_data = 0;
 
// general PAL|NTSC distingiusch stuff
uint8_t top_line = 1;
uint8_t bottom_line = 14;
 
// battery voltages
uint8_t min_voltage = 0;
uint8_t max_voltage = 0;
 
// Flags
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
// stats for after flight
int16_t max_Altimeter = 0;
uint8_t min_UBat = 255;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
uint16_t max_FlyingTime = 0;
 
// flags from last round to check for changes
uint8_t old_MKFlags = 0;
 
// store stats description in progmem to save space
const char stats_item_0[] PROGMEM = "max Altitude:";
const char stats_item_1[] PROGMEM = "max Speed   :";
const char stats_item_2[] PROGMEM = "max Distance:";
const char stats_item_3[] PROGMEM = "min Voltage :";
const char stats_item_4[] PROGMEM = "max Time    :";
const char stats_item_5[] PROGMEM = "longitude   :";
const char stats_item_6[] PROGMEM = "latitude    :";
const char stats_item_7[] PROGMEM = "max current :";
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
 
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
const char str_NE[] PROGMEM = "NE";
const char str_E[] PROGMEM  = "E ";
const char str_SE[] PROGMEM = "SE";
const char str_S[] PROGMEM  = "S ";
const char str_SW[] PROGMEM = "SW";
const char str_W[] PROGMEM  = "W ";
const char str_NW[] PROGMEM = "NW";
const char str_N[] PROGMEM  = "N ";
const char *directions[8] PROGMEM = {
        str_NE,
        str_E,
        str_SE,
        str_S,
        str_SW,
        str_W,
        str_NW,
        str_N};
 
/* ##########################################################################
 * Different display mode function pointers
 * ##########################################################################*/
const char str_1[] PROGMEM  = "default";
const char str_2[] PROGMEM  = "minimal";
const char str_3[] PROGMEM  = "   jopl";
 
const displaymode_t ncdisplaymodes[] PROGMEM = {
   { osd_ncmode_default, (char *)str_1 },
   { osd_ncmode_minimal, (char *)str_2 }
};
 
const displaymode_t fcdisplaymodes[] PROGMEM = {
   { osd_fcmode_default, (char *)str_1 },
   { osd_fcmode_jopl, (char *)str_3 }
};
 
int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default;
int (*osd_fcmode)(void) = (int(*)(void)) &osd_fcmode_default;
#endif
 
/* ##########################################################################
 * Interrupt handler
 * ##########################################################################*/
 
/**
 * handler for undefined Interrupts
 * if not defined AVR will reset in case any unhandled interrupts occur
 */
ISR(__vector_default) {
    asm("nop");
}
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
/* ##########################################################################
 * timer stuff
 * ##########################################################################*/
 
static uint8_t delay_spi = 0;
 
/**
 * timer kicks in every 1000uS ^= 1ms
 */
ISR(TIMER0_COMP_vect) {
    if (!timer--) {
        uptime++;
 
                #if FCONLY
                if (debugData.Analog[12]>10) {
                        flytime_fc++;
                }
                #endif
 
        timer = 999;
        seconds_since_last_data++;
    }
    // in case there is still some spi data to send do it now
        // delay to give the slave some time to compute values
    if (spi_ready && icnt) {
                if (!delay_spi--) {
                        delay_spi = 8;
                        spi_send_next();
                }
    }
}
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
/* ##########################################################################
 * MAIN
 * ##########################################################################*/
int main(void) {
        // set up FLAGS
        COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
        #if NTSC
        COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC;
        #endif
        #if HUD
        COSD_FLAGS_MODES |= COSD_FLAG_HUD;
        #endif
        #if ARTHORIZON
        COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON;
        #endif
        #if BIGVARIO
        COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO;
        #endif
        #if STATS
        COSD_FLAGS_MODES |= COSD_FLAG_STATS;
        #endif
        #if WARNINGS
        COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS;
        #endif
        #if FCONLY
        COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE;
        #endif
 
 
 
    // set up Atmega162 Ports
    DDRA |= (1 << PA1); // PA1 output (/CS)
    MAX_CS_HIGH
    DDRA |= (1 << PA2); // PA2 output (SDIN)
    MAX_SDIN_LOW
    DDRA |= (1 << PA3); // PA3 output (SCLK)
    MAX_SCLK_LOW
    DDRA |= (1 << PA5); // PA5 output (RESET)
    MAX_RESET_HIGH
 
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
    LED1_OFF
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
    LED2_OFF
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
    LED3_OFF
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
    LED4_OFF
 
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
    PORTC |= (1 << PC4); // pullup
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
    PORTC |= (1 << PC5); // pullup
 
    // reset the MAX7456 to be sure any undefined states do no harm
    MAX_RESET_LOW
    MAX_RESET_HIGH
 
    // give the FC/NC and the maxim time to come up
    LED4_ON
    _delay_ms(2000);
    LED4_OFF
 
    //Pushing NEW chars to the MAX7456
#if (WRITECHARS != -1)
        // DISABLE display (VM0)
        spi_send_byte(0x00, 0b00000000);
        learn_all_chars_pgm();
#else
        // read out config for NTSC/PAL distinguishing
        get_eeprom(0);
#endif
 
        // Setup Video Mode
        if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
            // NTSC + enable display immediately (VM0)
            spi_send_byte(0x00, 0b00001000);
 
                bottom_line = 12;
        } else {
            // PAL + enable display immediately (VM0)
            spi_send_byte(0x00, 0b01001000);
 
                bottom_line = 14;
        }
 
    /*// clear all display-mem (DMM)
    spi_send_byte(0x04, 0b00000100);
 
    // clearing takes 12uS according to maxim so lets wait longer
    _delay_us(120);
 
    // 8bit mode
    spi_send_byte(0x04, 0b01000000);*/
 
    // clear display memory and set to 8bit mode
    clear();
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
    // init usart
    usart1_init();
 
    // set up timer
        // CTC, Prescaler /64
        TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
 
        TCNT0 = 0;
        OCR0 = 250;
 
        // enable timer output compare interrupt
        TIMSK &= ~(1 << TOIE0);
        TIMSK |= (1 << OCIE0);
 
        // SPI setup
    DDRD |= (1 << PD2); // PD2 output (INT0)
    SpiMasterInit();
 
        // PPM detection setup
        ppm_init();
 
    // enable interrupts
 
    sei();
#endif
 
    //write_ascii_string(2,  7, "         CaScAdE          ");
    //write_ascii_string(2,  8, "is TESTING his open source");
    //write_ascii_string(2,  9, "    EPi OSD Firmware");
 
    // we are ready
    LED3_ON
 
#if ALLCHARSDEBUG | (WRITECHARS != -1)
        clear();
        write_all_chars();
        LED1_ON
        LED2_ON
        LED3_ON
        LED4_ON
#else
 
        // clear serial screen
        //usart1_puts("\x1B[2J\x1B[H");
        //usart1_puts("hello world!123\r\n");
 
#if FCONLY
        // request data ever 100ms from FC;
        usart1_request_mk_data(0, 'd', 100);
#else
        // request OSD Data from NC every 100ms
        usart1_request_mk_data(1, 'o', 100);
 
    // and disable debug...
    usart1_request_mk_data(0, 'd', 0);
#endif
 
    while (1) {
        // in case SPI is ready and there is nothing to send right now
        if (!icnt && spi_ready) {
            // correct transfer ends with d (done)
            if (SPI_buffer.buffer.chk == 'd') {
                                ampere = SPI_buffer.data.ampere;
                                ampere_wasted = SPI_buffer.data.mah;
                                s_volt = SPI_buffer.data.volt;
 
                                // if this is the first receival we should print the small A
                                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
                                        clear();
                                        COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
                                        // update this flag
                        COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
                                }
            } else {
                // update flags
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
            }
                        StartTransfer(9);
        }
        if (rxd_buffer_locked) {
#if FCONLY
            if (rxd_buffer[2] == 'D') { // FC Data
                Decode64();
                debugData = *((DebugOut_t*) pRxData);
 
                // init on first data retrival, distinguished by last battery :)
                if (last_UBat == 255) {
                    // fix for min_UBat
                    min_UBat = debugData.Analog[9];
                                        last_UBat = debugData.Analog[9];
                    init_cosd(last_UBat);
                } else {
                                        osd_fcmode();
                                }
            }
#else
            if (rxd_buffer[2] == 'O') { // NC OSD Data
                Decode64();
                naviData = *((NaviData_t*) pRxData);
 
                // init on first data retrival, distinguished by last battery :)
                if (last_UBat == 255) {
                    // fix for min_UBat
                    min_UBat = naviData.UBat;
                                        last_UBat = naviData.UBat;
                    init_cosd(last_UBat);
                } else {
                                        osd_ncmode();
                                }
            }
#endif
            rxd_buffer_locked = 0;
        }
        // handle keypress
        if (s1_pressed()) {
            config_menu();
        }
        if (seconds_since_last_data > 2) {
#if FCONLY
            // request data ever 100ms from FC;
            usart1_request_mk_data(0, 'd', 100);
#else
            // request OSD Data from NC every 100ms
            usart1_request_mk_data(1, 'o', 100);
 
            // and disable debug...
            usart1_request_mk_data(0, 'd', 0);
 
                        // reset last time counter
                        seconds_since_last_data = 0;
#endif
        }
    }
#endif
    return 0;
}
 

Rev 685	Rev 728
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *	2	* Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje *
3	* admiralcascade@gmail.com *	3	* admiralcascade@gmail.com *
4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *	4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
5	* *	5	* *
6	* This program is free software; you can redistribute it and/or modify *	6	* This program is free software; you can redistribute it and/or modify *
7	* it under the terms of the GNU General Public License as published by *	7	* it under the terms of the GNU General Public License as published by *
8	* the Free Software Foundation; either version 2 of the License. *	8	* the Free Software Foundation; either version 2 of the License. *
9	* *	9	* *
10	* This program is distributed in the hope that it will be useful, *	10	* This program is distributed in the hope that it will be useful, *
11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *	11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *	12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13	* GNU General Public License for more details. *	13	* GNU General Public License for more details. *
14	* *	14	* *
15	* You should have received a copy of the GNU General Public License *	15	* You should have received a copy of the GNU General Public License *
16	* along with this program; if not, write to the *	16	* along with this program; if not, write to the *
17	* Free Software Foundation, Inc., *	17	* Free Software Foundation, Inc., *
18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *	18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19	* *	19	* *
20	* *	20	* *
21	* Credits to: *	21	* Credits to: *
22	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *	22	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
23	* Gregor "killagreg" Stobrawa for making the MK code readable *	23	* Gregor "killagreg" Stobrawa for making the MK code readable *
24	* Klaus "akku" Buettner for the hardware *	24	* Klaus "akku" Buettner for the hardware *
25	* Manuel "KeyOz" Schrape for explaining the MK protocol to me *	25	* Manuel "KeyOz" Schrape for explaining the MK protocol to me *
26	****************************************************************************/	26	****************************************************************************/
27		27
28	#include <avr/io.h>	28	#include <avr/io.h>
29	#include <avr/interrupt.h>	29	#include <avr/interrupt.h>
30	#include <util/delay.h>	30	#include <util/delay.h>
31	#include <avr/pgmspace.h>	31	#include <avr/pgmspace.h>
32	#include "main.h"	32	#include "main.h"
33	#include "max7456_software_spi.h"	33	#include "max7456_software_spi.h"
34	#include "usart1.h"	34	#include "usart1.h"
35	#include "osd_helpers.h"	35	#include "osd_helpers.h"
36	#include "config.h"	36	#include "config.h"
37	#include "spi.h"	37	#include "spi.h"
38	#include "buttons.h"	38	#include "buttons.h"
39	#include "ppm.h"	39	#include "ppm.h"
40	#include "osd_ncmode_default.h"	40	#include "osd_ncmode_default.h"
41	#include "osd_ncmode_minimal.h"	41	#include "osd_ncmode_minimal.h"
42	#include "osd_fcmode_default.h"	42	#include "osd_fcmode_default.h"
43	#include "osd_fcmode_jopl.h"	43	#include "osd_fcmode_jopl.h"
44		44
45	#if WRITECHARS != -1	45	#if WRITECHARS != -1
46	#include "characters.h"	46	#include "characters.h"
47	#endif	47	#endif
48		48
49	/* TODO:	49	/* TODO:
50	* - verifiy correctness of values	50	* - verifiy correctness of values
51	* - clean up code :)	51	* - clean up code :)
52	*/	52	*/
53		53
54		54
55	/* ##########################################################################	55	/* ##########################################################################
56	* global definitions and global vars	56	* global definitions and global vars
57	* ##########################################################################*/	57	* ##########################################################################*/
58		58
59	volatile uint16_t setsReceived = 0;	59	volatile uint16_t setsReceived = 0;
60		60
61	volatile NaviData_t naviData;	61	volatile NaviData_t naviData;
62	volatile DebugOut_t debugData;	62	volatile DebugOut_t debugData;
63		63
64	// cache old vars for blinking attribute, checkup is faster than full	64	// cache old vars for blinking attribute, checkup is faster than full
65	// attribute write each time	65	// attribute write each time
66	volatile uint8_t last_UBat = 255;	66	volatile uint8_t last_UBat = 255;
67	volatile uint8_t last_RC_Quality = 255;	67	volatile uint8_t last_RC_Quality = 255;
68		68
69	// 16bit should be enough, normal LiPos don't last that long	69	// 16bit should be enough, normal LiPos don't last that long
70	volatile uint16_t uptime = 0;	70	volatile uint16_t uptime = 0;
71	volatile uint16_t timer = 0;	71	volatile uint16_t timer = 0;
72	volatile uint16_t flytime_fc = 0;	72	volatile uint16_t flytime_fc = 0;
73		73
74	// remember last time data was received	74	// remember last time data was received
75	volatile uint8_t seconds_since_last_data = 0;	75	volatile uint8_t seconds_since_last_data = 0;
76		76
77	// general PAL\|NTSC distingiusch stuff	77	// general PAL\|NTSC distingiusch stuff
78	uint8_t top_line = 1;	78	uint8_t top_line = 1;
79	uint8_t bottom_line = 14;	79	uint8_t bottom_line = 14;
80		80
81	// battery voltages	81	// battery voltages
82	uint8_t min_voltage = 0;	82	uint8_t min_voltage = 0;
83	uint8_t max_voltage = 0;	83	uint8_t max_voltage = 0;
84		84
85	// Flags	85	// Flags
86	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;	86	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
87		87
88	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	88	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
89		89
90	// stats for after flight	90	// stats for after flight
91	int16_t max_Altimeter = 0;	91	int16_t max_Altimeter = 0;
92	uint8_t min_UBat = 255;	92	uint8_t min_UBat = 255;
93	uint16_t max_GroundSpeed = 0;	93	uint16_t max_GroundSpeed = 0;
94	int16_t max_Distance = 0;	94	int16_t max_Distance = 0;
95	uint16_t max_FlyingTime = 0;	95	uint16_t max_FlyingTime = 0;
96		96
97	// flags from last round to check for changes	97	// flags from last round to check for changes
98	uint8_t old_MKFlags = 0;	98	uint8_t old_MKFlags = 0;
99		99
100	// store stats description in progmem to save space	100	// store stats description in progmem to save space
101	const char stats_item_0[] PROGMEM = "max Altitude:";	101	const char stats_item_0[] PROGMEM = "max Altitude:";
102	const char stats_item_1[] PROGMEM = "max Speed :";	102	const char stats_item_1[] PROGMEM = "max Speed :";
103	const char stats_item_2[] PROGMEM = "max Distance:";	103	const char stats_item_2[] PROGMEM = "max Distance:";
104	const char stats_item_3[] PROGMEM = "min Voltage :";	104	const char stats_item_3[] PROGMEM = "min Voltage :";
105	const char stats_item_4[] PROGMEM = "max Time :";	105	const char stats_item_4[] PROGMEM = "max Time :";
106	const char stats_item_5[] PROGMEM = "longitude :";	106	const char stats_item_5[] PROGMEM = "longitude :";
107	const char stats_item_6[] PROGMEM = "latitude :";	107	const char stats_item_6[] PROGMEM = "latitude :";
108	const char stats_item_7[] PROGMEM = "max current :";	108	const char stats_item_7[] PROGMEM = "max current :";
109	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	109	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
110	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};	110	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
111		111
112	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	112	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
113	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	113	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
114	const char str_NE[] PROGMEM = "NE";	114	const char str_NE[] PROGMEM = "NE";
115	const char str_E[] PROGMEM = "E ";	115	const char str_E[] PROGMEM = "E ";
116	const char str_SE[] PROGMEM = "SE";	116	const char str_SE[] PROGMEM = "SE";
117	const char str_S[] PROGMEM = "S ";	117	const char str_S[] PROGMEM = "S ";
118	const char str_SW[] PROGMEM = "SW";	118	const char str_SW[] PROGMEM = "SW";
119	const char str_W[] PROGMEM = "W ";	119	const char str_W[] PROGMEM = "W ";
120	const char str_NW[] PROGMEM = "NW";	120	const char str_NW[] PROGMEM = "NW";
121	const char str_N[] PROGMEM = "N ";	121	const char str_N[] PROGMEM = "N ";
122	const char *directions[8] PROGMEM = {	122	const char *directions[8] PROGMEM = {
123	str_NE,	123	str_NE,
124	str_E,	124	str_E,
125	str_SE,	125	str_SE,
126	str_S,	126	str_S,
127	str_SW,	127	str_SW,
128	str_W,	128	str_W,
129	str_NW,	129	str_NW,
130	str_N};	130	str_N};
131		131
132	/* ##########################################################################	132	/* ##########################################################################
133	* Different display mode function pointers	133	* Different display mode function pointers
134	* ##########################################################################*/	134	* ##########################################################################*/
135	const char str_1[] PROGMEM = "default";	135	const char str_1[] PROGMEM = "default";
136	const char str_2[] PROGMEM = "minimal";	136	const char str_2[] PROGMEM = "minimal";
137	const char str_3[] PROGMEM = " jopl";	137	const char str_3[] PROGMEM = " jopl";
138		138
139	const displaymode_t ncdisplaymodes[] PROGMEM = {	139	const displaymode_t ncdisplaymodes[] PROGMEM = {
140	{ osd_ncmode_default, (char *)str_1 },	140	{ osd_ncmode_default, (char *)str_1 },
141	{ osd_ncmode_minimal, (char *)str_2 }	141	{ osd_ncmode_minimal, (char *)str_2 }
142	};	142	};
143		143
144	const displaymode_t fcdisplaymodes[] PROGMEM = {	144	const displaymode_t fcdisplaymodes[] PROGMEM = {
145	{ osd_fcmode_default, (char *)str_1 },	145	{ osd_fcmode_default, (char *)str_1 },
146	{ osd_fcmode_jopl, (char *)str_3 }	146	{ osd_fcmode_jopl, (char *)str_3 }
147	};	147	};
148		148
149	int (osd_ncmode)(void) = (int()(void)) &osd_ncmode_default;	149	int (osd_ncmode)(void) = (int()(void)) &osd_ncmode_default;
150	int (osd_fcmode)(void) = (int()(void)) &osd_fcmode_default;	150	int (osd_fcmode)(void) = (int()(void)) &osd_fcmode_default;
151	#endif	151	#endif
152		152
153	/* ##########################################################################	153	/* ##########################################################################
154	* Interrupt handler	154	* Interrupt handler
155	* ##########################################################################*/	155	* ##########################################################################*/
156		156
157	/**	157	/**
158	* handler for undefined Interrupts	158	* handler for undefined Interrupts
159	* if not defined AVR will reset in case any unhandled interrupts occur	159	* if not defined AVR will reset in case any unhandled interrupts occur
160	*/	160	*/
161	ISR(__vector_default) {	161	ISR(__vector_default) {
162	asm("nop");	162	asm("nop");
163	}	163	}
164		164
165	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	165	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
166	/* ##########################################################################	166	/* ##########################################################################
167	* timer stuff	167	* timer stuff
168	* ##########################################################################*/	168	* ##########################################################################*/
169		169
170	static uint8_t delay_spi = 0;	170	static uint8_t delay_spi = 0;
171		171
172	/**	172	/**
173	* timer kicks in every 1000uS ^= 1ms	173	* timer kicks in every 1000uS ^= 1ms
174	*/	174	*/
175	ISR(TIMER0_COMP_vect) {	175	ISR(TIMER0_COMP_vect) {
176	if (!timer--) {	176	if (!timer--) {
177	uptime++;	177	uptime++;
178		178
179	#if FCONLY	179	#if FCONLY
180	if (debugData.Analog[12]>10) {	180	if (debugData.Analog[12]>10) {
181	flytime_fc++;	181	flytime_fc++;
182	}	182	}
183	#endif	183	#endif
184		184
185	timer = 999;	185	timer = 999;
186	seconds_since_last_data++;	186	seconds_since_last_data++;
187	}	187	}
188	// in case there is still some spi data to send do it now	188	// in case there is still some spi data to send do it now
189	// delay to give the slave some time to compute values	189	// delay to give the slave some time to compute values
190	if (spi_ready && icnt) {	190	if (spi_ready && icnt) {
191	if (!delay_spi--) {	191	if (!delay_spi--) {
192	delay_spi = 8;	192	delay_spi = 8;
193	spi_send_next();	193	spi_send_next();
194	}	194	}
195	}	195	}
196	}	196	}
197	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	197	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
198		198
199	/* ##########################################################################	199	/* ##########################################################################
200	* MAIN	200	* MAIN
201	* ##########################################################################*/	201	* ##########################################################################*/
202	int main(void) {	202	int main(void) {
203	// set up FLAGS	203	// set up FLAGS
204	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;	204	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
205	#if NTSC	205	#if NTSC
206	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;	206	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;
207	#endif	207	#endif
208	#if HUD	208	#if HUD
209	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;	209	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;
210	#endif	210	#endif
211	#if ARTHORIZON	211	#if ARTHORIZON
212	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;	212	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;
213	#endif	213	#endif
214	#if BIGVARIO	214	#if BIGVARIO
215	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;	215	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;
216	#endif	216	#endif
217	#if STATS	217	#if STATS
218	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;	218	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;
219	#endif	219	#endif
220	#if WARNINGS	220	#if WARNINGS
221	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;	221	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;
222	#endif	222	#endif
223	#if FCONLY	223	#if FCONLY
224	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;	224	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;
225	#endif	225	#endif
226		226
227		227
228		228
229	// set up Atmega162 Ports	229	// set up Atmega162 Ports
230	DDRA \|= (1 << PA1); // PA1 output (/CS)	230	DDRA \|= (1 << PA1); // PA1 output (/CS)
231	MAX_CS_HIGH	231	MAX_CS_HIGH
232	DDRA \|= (1 << PA2); // PA2 output (SDIN)	232	DDRA \|= (1 << PA2); // PA2 output (SDIN)
233	MAX_SDIN_LOW	233	MAX_SDIN_LOW
234	DDRA \|= (1 << PA3); // PA3 output (SCLK)	234	DDRA \|= (1 << PA3); // PA3 output (SCLK)
235	MAX_SCLK_LOW	235	MAX_SCLK_LOW
236	DDRA \|= (1 << PA5); // PA5 output (RESET)	236	DDRA \|= (1 << PA5); // PA5 output (RESET)
237	MAX_RESET_HIGH	237	MAX_RESET_HIGH
238		238
239	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	239	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
240	LED1_OFF	240	LED1_OFF
241	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	241	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
242	LED2_OFF	242	LED2_OFF
243	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	243	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
244	LED3_OFF	244	LED3_OFF
245	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	245	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
246	LED4_OFF	246	LED4_OFF
247		247
248	DDRC &= ~(1 << PC4); // PC4 input (MODE)	248	DDRC &= ~(1 << PC4); // PC4 input (MODE)
249	PORTC \|= (1 << PC4); // pullup	249	PORTC \|= (1 << PC4); // pullup
250	DDRC &= ~(1 << PC5); // PC5 input (SET)	250	DDRC &= ~(1 << PC5); // PC5 input (SET)
251	PORTC \|= (1 << PC5); // pullup	251	PORTC \|= (1 << PC5); // pullup
252		252
253	// reset the MAX7456 to be sure any undefined states do no harm	253	// reset the MAX7456 to be sure any undefined states do no harm
254	MAX_RESET_LOW	254	MAX_RESET_LOW
255	MAX_RESET_HIGH	255	MAX_RESET_HIGH
256		256
257	// give the FC/NC and the maxim time to come up	257	// give the FC/NC and the maxim time to come up
258	LED4_ON	258	LED4_ON
259	_delay_ms(2000);	259	_delay_ms(2000);
260	LED4_OFF	260	LED4_OFF
261		261
262	//Pushing NEW chars to the MAX7456	262	//Pushing NEW chars to the MAX7456
263	#if (WRITECHARS != -1)	263	#if (WRITECHARS != -1)
264	// DISABLE display (VM0)	264	// DISABLE display (VM0)
265	spi_send_byte(0x00, 0b00000000);	265	spi_send_byte(0x00, 0b00000000);
266	learn_all_chars_pgm();	266	learn_all_chars_pgm();
267	#else	267	#else
268	// read out config for NTSC/PAL distinguishing	268	// read out config for NTSC/PAL distinguishing
269	get_eeprom(0);	269	get_eeprom(0);
270	#endif	270	#endif
271		271
272	// Setup Video Mode	272	// Setup Video Mode
273	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {	273	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
274	// NTSC + enable display immediately (VM0)	274	// NTSC + enable display immediately (VM0)
275	spi_send_byte(0x00, 0b00001000);	275	spi_send_byte(0x00, 0b00001000);
276		276
277	bottom_line = 12;	277	bottom_line = 12;
278	} else {	278	} else {
279	// PAL + enable display immediately (VM0)	279	// PAL + enable display immediately (VM0)
280	spi_send_byte(0x00, 0b01001000);	280	spi_send_byte(0x00, 0b01001000);
281		281
282	bottom_line = 14;	282	bottom_line = 14;
283	}	283	}
284		284
285	/*// clear all display-mem (DMM)	285	/*// clear all display-mem (DMM)
286	spi_send_byte(0x04, 0b00000100);	286	spi_send_byte(0x04, 0b00000100);
287		287
288	// clearing takes 12uS according to maxim so lets wait longer	288	// clearing takes 12uS according to maxim so lets wait longer
289	_delay_us(120);	289	_delay_us(120);
290		290
291	// 8bit mode	291	// 8bit mode
292	spi_send_byte(0x04, 0b01000000);*/	292	spi_send_byte(0x04, 0b01000000);*/
293		293
294	// clear display memory and set to 8bit mode	294	// clear display memory and set to 8bit mode
295	clear();	295	clear();
296		296
297	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	297	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
298	// init usart	298	// init usart
299	usart1_init();	299	usart1_init();
300		300
301	// set up timer	301	// set up timer
302	// CTC, Prescaler /64	302	// CTC, Prescaler /64
303	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	303	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
304		304
305	TCNT0 = 0;	305	TCNT0 = 0;
306	OCR0 = 250;	306	OCR0 = 250;
307		307
308	// enable timer output compare interrupt	308	// enable timer output compare interrupt
309	TIMSK &= ~(1 << TOIE0);	309	TIMSK &= ~(1 << TOIE0);
310	TIMSK \|= (1 << OCIE0);	310	TIMSK \|= (1 << OCIE0);
311		311
312	// SPI setup	312	// SPI setup
313	DDRD \|= (1 << PD2); // PD2 output (INT0)	313	DDRD \|= (1 << PD2); // PD2 output (INT0)
314	SpiMasterInit();	314	SpiMasterInit();
315		315
316	// PPM detection setup	316	// PPM detection setup
317	ppm_init();	317	ppm_init();
318		318
319	// enable interrupts	319	// enable interrupts
320		320
321	sei();	321	sei();
322	#endif	322	#endif
323		323
324	//write_ascii_string(2, 7, " CaScAdE ");	324	//write_ascii_string(2, 7, " CaScAdE ");
325	//write_ascii_string(2, 8, "is TESTING his open source");	325	//write_ascii_string(2, 8, "is TESTING his open source");
326	//write_ascii_string(2, 9, " EPi OSD Firmware");	326	//write_ascii_string(2, 9, " EPi OSD Firmware");
327		327
328	// we are ready	328	// we are ready
329	LED3_ON	329	LED3_ON
330		330
331	#if ALLCHARSDEBUG \| (WRITECHARS != -1)	331	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
332	clear();	332	clear();
333	write_all_chars();	333	write_all_chars();
334	LED1_ON	334	LED1_ON
335	LED2_ON	335	LED2_ON
336	LED3_ON	336	LED3_ON
337	LED4_ON	337	LED4_ON
338	#else	338	#else
339		339
340	// clear serial screen	340	// clear serial screen
341	//usart1_puts("\x1B[2J\x1B[H");	341	//usart1_puts("\x1B[2J\x1B[H");
342	//usart1_puts("hello world!123\r\n");	342	//usart1_puts("hello world!123\r\n");
343		343
344	#if FCONLY	344	#if FCONLY
345	// request data ever 100ms from FC;	345	// request data ever 100ms from FC;
346	usart1_request_mk_data(0, 'd', 100);	346	usart1_request_mk_data(0, 'd', 100);
347	#else	347	#else
348	// request OSD Data from NC every 100ms	348	// request OSD Data from NC every 100ms
349	usart1_request_mk_data(1, 'o', 100);	349	usart1_request_mk_data(1, 'o', 100);
350		350
351	// and disable debug...	351	// and disable debug...
352	usart1_request_mk_data(0, 'd', 0);	352	usart1_request_mk_data(0, 'd', 0);
353	#endif	353	#endif
354		354
355	while (1) {	355	while (1) {
356	// in case SPI is ready and there is nothing to send right now	356	// in case SPI is ready and there is nothing to send right now
357	if (!icnt && spi_ready) {	357	if (!icnt && spi_ready) {
358	// correct transfer ends with d (done)	358	// correct transfer ends with d (done)
359	if (SPI_buffer.buffer.chk == 'd') {	359	if (SPI_buffer.buffer.chk == 'd') {
360	ampere = SPI_buffer.data.ampere;	360	ampere = SPI_buffer.data.ampere;
361	ampere_wasted = SPI_buffer.data.mah;	361	ampere_wasted = SPI_buffer.data.mah;
362	s_volt = SPI_buffer.data.volt;	362	s_volt = SPI_buffer.data.volt;
363		363
364	// if this is the first receival we should print the small A	364	// if this is the first receival we should print the small A
365	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {	365	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
366	clear();	366	clear();
367	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;	367	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
368	// update this flag	368	// update this flag
369	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;	369	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;
370	}	370	}
371	} else {	371	} else {
372	// update flags	372	// update flags
373	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;	373	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
374	}	374	}
375	StartTransfer(9);	375	StartTransfer(9);
376	}	376	}
377	if (rxd_buffer_locked) {	377	if (rxd_buffer_locked) {
378	#if FCONLY	378	#if FCONLY
379	if (rxd_buffer[2] == 'D') { // FC Data	379	if (rxd_buffer[2] == 'D') { // FC Data
380	Decode64();	380	Decode64();
381	debugData = ((DebugOut_t) pRxData);	381	debugData = ((DebugOut_t) pRxData);
382		382
383	// init on first data retrival, distinguished by last battery :)	383	// init on first data retrival, distinguished by last battery :)
384	if (last_UBat == 255) {	384	if (last_UBat == 255) {
385	// fix for min_UBat	385	// fix for min_UBat
386	min_UBat = debugData.Analog[9];	386	min_UBat = debugData.Analog[9];
387	last_UBat = debugData.Analog[9];	387	last_UBat = debugData.Analog[9];
388	init_cosd(last_UBat);	388	init_cosd(last_UBat);
389	} else {	389	} else {
390	osd_fcmode();	390	osd_fcmode();
391	}	391	}
392	}	392	}
393	#else	393	#else
394	if (rxd_buffer[2] == 'O') { // NC OSD Data	394	if (rxd_buffer[2] == 'O') { // NC OSD Data
395	Decode64();	395	Decode64();
396	naviData = ((NaviData_t) pRxData);	396	naviData = ((NaviData_t) pRxData);
397		397
398	// init on first data retrival, distinguished by last battery :)	398	// init on first data retrival, distinguished by last battery :)
399	if (last_UBat == 255) {	399	if (last_UBat == 255) {
400	// fix for min_UBat	400	// fix for min_UBat
401	min_UBat = naviData.UBat;	401	min_UBat = naviData.UBat;
402	last_UBat = naviData.UBat;	402	last_UBat = naviData.UBat;
403	init_cosd(last_UBat);	403	init_cosd(last_UBat);
404	} else {	404	} else {
405	osd_ncmode();	405	osd_ncmode();
406	}	406	}
407	}	407	}
408	#endif	408	#endif
409	rxd_buffer_locked = 0;	409	rxd_buffer_locked = 0;
410	}	410	}
411	// handle keypress	411	// handle keypress
412	if (s1_pressed()) {	412	if (s1_pressed()) {
413	config_menu();	413	config_menu();
414	}	414	}
415	if (seconds_since_last_data > 2) {	415	if (seconds_since_last_data > 2) {
416	#if FCONLY	416	#if FCONLY
417	// request data ever 100ms from FC;	417	// request data ever 100ms from FC;
418	usart1_request_mk_data(0, 'd', 100);	418	usart1_request_mk_data(0, 'd', 100);
419	#else	419	#else
420	// request OSD Data from NC every 100ms	420	// request OSD Data from NC every 100ms
421	usart1_request_mk_data(1, 'o', 100);	421	usart1_request_mk_data(1, 'o', 100);
422		422
423	// and disable debug...	423	// and disable debug...
424	usart1_request_mk_data(0, 'd', 0);	424	usart1_request_mk_data(0, 'd', 0);
425		425
426	// reset last time counter	426	// reset last time counter
427	seconds_since_last_data = 0;	427	seconds_since_last_data = 0;
428	#endif	428	#endif
429	}	429	}
430	}	430	}
431	#endif	431	#endif
432	return 0;	432	return 0;
433	}	433	}
434		434

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(root)/C-OSD/trunk/main.c @ 734 - Rev 685 → 728