WebSVN - Projects - Diff - Rev 736 and 738


/****************************************************************************
 *   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 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(1000);
    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();
 
    // keep serial port clean
    usart1_DisableTXD();
 
    // 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");
 
 
 
 
 
 
 
 
 
 
 
 
    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) {
                                        if (debugData.Analog[9] > 40) {
                        // fix for min_UBat
                        min_UBat = debugData.Analog[9];
                                                last_UBat = debugData.Analog[9];
                        init_cosd(last_UBat);
                                        }
                } else {
                                        osd_fcmode();
                                }
                                seconds_since_last_data = 0;
            }
#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) {
                                        if (naviData.UBat > 40) {
                        // fix for min_UBat
                        min_UBat = naviData.UBat;
                                                last_UBat = naviData.UBat;
                        init_cosd(last_UBat);
                                        }
                } else {
                                        osd_ncmode();
                                }
                                //seconds_since_last_data = 0;
            }
#endif
            rxd_buffer_locked = 0;
        }
        // handle keypress
        if (s1_pressed()) {
            config_menu();
        }
        if (seconds_since_last_data > 0) {
                        usart1_EnableTXD();
                        //usart1_puts_pgm(PSTR("zu alt\r\n"));                  
#if FCONLY
            // request data ever 100ms from FC;
            //usart1_request_mk_data(0, 'd', 100);
                        usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
#else
            // request OSD Data from NC every 100ms
            //usart1_request_mk_data(1, 'o', 100);
                        usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
 
            // and disable debug...
            //usart1_request_mk_data(0, 'd', 0);                
#endif
                        // reset last time counter
                        seconds_since_last_data = 0;
                        usart1_DisableTXD();
        }
    }
#endif
    return 0;
}
 

Rev 736	Rev 738
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009-2010 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 NaviData_t naviData;	59	volatile NaviData_t naviData;
60	volatile DebugOut_t debugData;	60	volatile DebugOut_t debugData;
61		61
62	// cache old vars for blinking attribute, checkup is faster than full	62	// cache old vars for blinking attribute, checkup is faster than full
63	// attribute write each time	63	// attribute write each time
64	volatile uint8_t last_UBat = 255;	64	volatile uint8_t last_UBat = 255;
65	volatile uint8_t last_RC_Quality = 255;	65	volatile uint8_t last_RC_Quality = 255;
66		66
67	// 16bit should be enough, normal LiPos don't last that long	67	// 16bit should be enough, normal LiPos don't last that long
68	volatile uint16_t uptime = 0;	68	volatile uint16_t uptime = 0;
69	volatile uint16_t timer = 0;	69	volatile uint16_t timer = 0;
70	volatile uint16_t flytime_fc = 0;	70	volatile uint16_t flytime_fc = 0;
71		71
72	// remember last time data was received	72	// remember last time data was received
73	volatile uint8_t seconds_since_last_data = 0;	73	volatile uint8_t seconds_since_last_data = 0;
74		74
75	// general PAL\|NTSC distingiusch stuff	75	// general PAL\|NTSC distingiusch stuff
76	uint8_t top_line = 1;	76	uint8_t top_line = 1;
77	uint8_t bottom_line = 14;	77	uint8_t bottom_line = 14;
78		78
79	// battery voltages	79	// battery voltages
80	uint8_t min_voltage = 0;	80	uint8_t min_voltage = 0;
81	uint8_t max_voltage = 0;	81	uint8_t max_voltage = 0;
82		82
83	// Flags	83	// Flags
84	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;	84	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
85		85
86	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	86	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
87		87
88	// stats for after flight	88	// stats for after flight
89	int16_t max_Altimeter = 0;	89	int16_t max_Altimeter = 0;
90	uint8_t min_UBat = 255;	90	uint8_t min_UBat = 255;
91	uint16_t max_GroundSpeed = 0;	91	uint16_t max_GroundSpeed = 0;
92	int16_t max_Distance = 0;	92	int16_t max_Distance = 0;
93	uint16_t max_FlyingTime = 0;	93	uint16_t max_FlyingTime = 0;
94		94
95	// flags from last round to check for changes	95	// flags from last round to check for changes
96	uint8_t old_MKFlags = 0;	96	uint8_t old_MKFlags = 0;
97		97
98	// store stats description in progmem to save space	98	// store stats description in progmem to save space
99	const char stats_item_0[] PROGMEM = "max Altitude:";	99	const char stats_item_0[] PROGMEM = "max Altitude:";
100	const char stats_item_1[] PROGMEM = "max Speed :";	100	const char stats_item_1[] PROGMEM = "max Speed :";
101	const char stats_item_2[] PROGMEM = "max Distance:";	101	const char stats_item_2[] PROGMEM = "max Distance:";
102	const char stats_item_3[] PROGMEM = "min Voltage :";	102	const char stats_item_3[] PROGMEM = "min Voltage :";
103	const char stats_item_4[] PROGMEM = "max Time :";	103	const char stats_item_4[] PROGMEM = "max Time :";
104	const char stats_item_5[] PROGMEM = "longitude :";	104	const char stats_item_5[] PROGMEM = "longitude :";
105	const char stats_item_6[] PROGMEM = "latitude :";	105	const char stats_item_6[] PROGMEM = "latitude :";
106	const char stats_item_7[] PROGMEM = "max current :";	106	const char stats_item_7[] PROGMEM = "max current :";
107	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	107	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
108	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};	108	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
109		109
110	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	110	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
111	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	111	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
112	const char str_NE[] PROGMEM = "NE";	112	const char str_NE[] PROGMEM = "NE";
113	const char str_E[] PROGMEM = "E ";	113	const char str_E[] PROGMEM = "E ";
114	const char str_SE[] PROGMEM = "SE";	114	const char str_SE[] PROGMEM = "SE";
115	const char str_S[] PROGMEM = "S ";	115	const char str_S[] PROGMEM = "S ";
116	const char str_SW[] PROGMEM = "SW";	116	const char str_SW[] PROGMEM = "SW";
117	const char str_W[] PROGMEM = "W ";	117	const char str_W[] PROGMEM = "W ";
118	const char str_NW[] PROGMEM = "NW";	118	const char str_NW[] PROGMEM = "NW";
119	const char str_N[] PROGMEM = "N ";	119	const char str_N[] PROGMEM = "N ";
120	const char *directions[8] PROGMEM = {	120	const char *directions[8] PROGMEM = {
121	str_NE,	121	str_NE,
122	str_E,	122	str_E,
123	str_SE,	123	str_SE,
124	str_S,	124	str_S,
125	str_SW,	125	str_SW,
126	str_W,	126	str_W,
127	str_NW,	127	str_NW,
128	str_N};	128	str_N};
129		129
130	/* ##########################################################################	130	/* ##########################################################################
131	* Different display mode function pointers	131	* Different display mode function pointers
132	* ##########################################################################*/	132	* ##########################################################################*/
133	const char str_1[] PROGMEM = "default";	133	const char str_1[] PROGMEM = "default";
134	const char str_2[] PROGMEM = "minimal";	134	const char str_2[] PROGMEM = "minimal";
135	const char str_3[] PROGMEM = " jopl";	135	const char str_3[] PROGMEM = " jopl";
136		136
137	const displaymode_t ncdisplaymodes[] PROGMEM = {	137	const displaymode_t ncdisplaymodes[] PROGMEM = {
138	{ osd_ncmode_default, (char *)str_1 },	138	{ osd_ncmode_default, (char *)str_1 },
139	{ osd_ncmode_minimal, (char *)str_2 }	139	{ osd_ncmode_minimal, (char *)str_2 }
140	};	140	};
141		141
142	const displaymode_t fcdisplaymodes[] PROGMEM = {	142	const displaymode_t fcdisplaymodes[] PROGMEM = {
143	{ osd_fcmode_default, (char *)str_1 },	143	{ osd_fcmode_default, (char *)str_1 },
144	{ osd_fcmode_jopl, (char *)str_3 }	144	{ osd_fcmode_jopl, (char *)str_3 }
145	};	145	};
146		146
147	int (osd_ncmode)(void) = (int()(void)) &osd_ncmode_default;	147	int (osd_ncmode)(void) = (int()(void)) &osd_ncmode_default;
148	int (osd_fcmode)(void) = (int()(void)) &osd_fcmode_default;	148	int (osd_fcmode)(void) = (int()(void)) &osd_fcmode_default;
149	#endif	149	#endif
150		150
151	/* ##########################################################################	151	/* ##########################################################################
152	* Interrupt handler	152	* Interrupt handler
153	* ##########################################################################*/	153	* ##########################################################################*/
154		154
155	/**	155	/**
156	* handler for undefined Interrupts	156	* handler for undefined Interrupts
157	* if not defined AVR will reset in case any unhandled interrupts occur	157	* if not defined AVR will reset in case any unhandled interrupts occur
158	*/	158	*/
159	ISR(__vector_default) {	159	ISR(__vector_default) {
160	asm("nop");	160	asm("nop");
161	}	161	}
162		162
163	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	163	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
164	/* ##########################################################################	164	/* ##########################################################################
165	* timer stuff	165	* timer stuff
166	* ##########################################################################*/	166	* ##########################################################################*/
167		167
168	static uint8_t delay_spi = 0;	168	static uint8_t delay_spi = 0;
169		169
170	/**	170	/**
171	* timer kicks in every 1000uS ^= 1ms	171	* timer kicks in every 1000uS ^= 1ms
172	*/	172	*/
173	ISR(TIMER0_COMP_vect) {	173	ISR(TIMER0_COMP_vect) {
174	if (!timer--) {	174	if (!timer--) {
175	uptime++;	175	uptime++;
176		176
177	#if FCONLY	177	#if FCONLY
178	if (debugData.Analog[12]>10) {	178	if (debugData.Analog[12]>10) {
179	flytime_fc++;	179	flytime_fc++;
180	}	180	}
181	#endif	181	#endif
182		182
183	timer = 999;	183	timer = 999;
184	seconds_since_last_data++;	184	seconds_since_last_data++;
185	}	185	}
186	// in case there is still some spi data to send do it now	186	// in case there is still some spi data to send do it now
187	// delay to give the slave some time to compute values	187	// delay to give the slave some time to compute values
188	if (spi_ready && icnt) {	188	if (spi_ready && icnt) {
189	if (!delay_spi--) {	189	if (!delay_spi--) {
190	delay_spi = 8;	190	delay_spi = 8;
191	spi_send_next();	191	spi_send_next();
192	}	192	}
193	}	193	}
194	}	194	}
195	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	195	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
196		196
197	/* ##########################################################################	197	/* ##########################################################################
198	* MAIN	198	* MAIN
199	* ##########################################################################*/	199	* ##########################################################################*/
200	int main(void) {	200	int main(void) {
201	// set up FLAGS	201	// set up FLAGS
202	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;	202	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
203	#if NTSC	203	#if NTSC
204	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;	204	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;
205	#endif	205	#endif
206	#if HUD	206	#if HUD
207	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;	207	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;
208	#endif	208	#endif
209	#if ARTHORIZON	209	#if ARTHORIZON
210	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;	210	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;
211	#endif	211	#endif
212	#if BIGVARIO	212	#if BIGVARIO
213	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;	213	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;
214	#endif	214	#endif
215	#if STATS	215	#if STATS
216	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;	216	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;
217	#endif	217	#endif
218	#if WARNINGS	218	#if WARNINGS
219	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;	219	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;
220	#endif	220	#endif
221	#if FCONLY	221	#if FCONLY
222	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;	222	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;
223	#endif	223	#endif
224		224
225		-
226		225
227	// set up Atmega162 Ports	226	// set up Atmega162 Ports
228	DDRA \|= (1 << PA1); // PA1 output (/CS)	227	DDRA \|= (1 << PA1); // PA1 output (/CS)
229	MAX_CS_HIGH	228	MAX_CS_HIGH
230	DDRA \|= (1 << PA2); // PA2 output (SDIN)	229	DDRA \|= (1 << PA2); // PA2 output (SDIN)
231	MAX_SDIN_LOW	230	MAX_SDIN_LOW
232	DDRA \|= (1 << PA3); // PA3 output (SCLK)	231	DDRA \|= (1 << PA3); // PA3 output (SCLK)
233	MAX_SCLK_LOW	232	MAX_SCLK_LOW
234	DDRA \|= (1 << PA5); // PA5 output (RESET)	233	DDRA \|= (1 << PA5); // PA5 output (RESET)
235	MAX_RESET_HIGH	234	MAX_RESET_HIGH
236		235
237	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	236	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
238	LED1_OFF	237	LED1_OFF
239	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	238	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
240	LED2_OFF	239	LED2_OFF
241	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	240	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
242	LED3_OFF	241	LED3_OFF
243	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	242	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
244	LED4_OFF	243	LED4_OFF
245		244
246	DDRC &= ~(1 << PC4); // PC4 input (MODE)	245	DDRC &= ~(1 << PC4); // PC4 input (MODE)
247	PORTC \|= (1 << PC4); // pullup	246	PORTC \|= (1 << PC4); // pullup
248	DDRC &= ~(1 << PC5); // PC5 input (SET)	247	DDRC &= ~(1 << PC5); // PC5 input (SET)
249	PORTC \|= (1 << PC5); // pullup	248	PORTC \|= (1 << PC5); // pullup
250		249
251	// reset the MAX7456 to be sure any undefined states do no harm	250	// reset the MAX7456 to be sure any undefined states do no harm
252	MAX_RESET_LOW	251	MAX_RESET_LOW
253	MAX_RESET_HIGH	252	MAX_RESET_HIGH
254		253
255	// give the FC/NC and the maxim time to come up	254	// give the FC/NC and the maxim time to come up
256	LED4_ON	255	LED4_ON
257	_delay_ms(1000);	256	_delay_ms(1000);
258	LED4_OFF	257	LED4_OFF
259		258
260	//Pushing NEW chars to the MAX7456	259	//Pushing NEW chars to the MAX7456
261	#if (WRITECHARS != -1)	260	#if (WRITECHARS != -1)
262	// DISABLE display (VM0)	261	// DISABLE display (VM0)
263	spi_send_byte(0x00, 0b00000000);	262	spi_send_byte(0x00, 0b00000000);
264	learn_all_chars_pgm();	263	learn_all_chars_pgm();
265	#else	264	#else
266	// read out config for NTSC/PAL distinguishing	265	// read out config for NTSC/PAL distinguishing
267	get_eeprom(0);	266	get_eeprom(0);
268	#endif	267	#endif
269		268
270	// Setup Video Mode	269	// Setup Video Mode
271	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {	270	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
272	// NTSC + enable display immediately (VM0)	271	// NTSC + enable display immediately (VM0)
273	spi_send_byte(0x00, 0b00001000);	272	spi_send_byte(0x00, 0b00001000);
274		273
275	bottom_line = 12;	274	bottom_line = 12;
276	} else {	275	} else {
277	// PAL + enable display immediately (VM0)	276	// PAL + enable display immediately (VM0)
278	spi_send_byte(0x00, 0b01001000);	277	spi_send_byte(0x00, 0b01001000);
279		278
280	bottom_line = 14;	279	bottom_line = 14;
281	}	280	}
282		281
283	/*// clear all display-mem (DMM)	282	/*// clear all display-mem (DMM)
284	spi_send_byte(0x04, 0b00000100);	283	spi_send_byte(0x04, 0b00000100);
285		284
286	// clearing takes 12uS according to maxim so lets wait longer	285	// clearing takes 12uS according to maxim so lets wait longer
287	_delay_us(120);	286	_delay_us(120);
288		287
289	// 8bit mode	288	// 8bit mode
290	spi_send_byte(0x04, 0b01000000);*/	289	spi_send_byte(0x04, 0b01000000);*/
291		290
292	// clear display memory and set to 8bit mode	291	// clear display memory and set to 8bit mode
293	clear();	292	clear();
294		293
295	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	294	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
296	// init usart	295	// init usart
297	usart1_init();	296	usart1_init();
-		297
-		298	// keep serial port clean
-		299	usart1_DisableTXD();
298		300
299	// set up timer	301	// set up timer
300	// CTC, Prescaler /64	302	// CTC, Prescaler /64
301	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	303	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
302		304
303	TCNT0 = 0;	305	TCNT0 = 0;
304	OCR0 = 250;	306	OCR0 = 250;
305		307
306	// enable timer output compare interrupt	308	// enable timer output compare interrupt
307	TIMSK &= ~(1 << TOIE0);	309	TIMSK &= ~(1 << TOIE0);
308	TIMSK \|= (1 << OCIE0);	310	TIMSK \|= (1 << OCIE0);
309		311
310	// SPI setup	312	// SPI setup
311	DDRD \|= (1 << PD2); // PD2 output (INT0)	313	DDRD \|= (1 << PD2); // PD2 output (INT0)
312	SpiMasterInit();	314	SpiMasterInit();
313		315
314	// PPM detection setup	316	// PPM detection setup
315	ppm_init();	317	ppm_init();
316		318
317	// enable interrupts	319	// enable interrupts
318	sei();	320	sei();
319	#endif	321	#endif
320		322
321	//write_ascii_string(2, 7, " CaScAdE ");	323	//write_ascii_string(2, 7, " CaScAdE ");
322	//write_ascii_string(2, 8, "is TESTING his open source");	324	//write_ascii_string(2, 8, "is TESTING his open source");
323	//write_ascii_string(2, 9, " EPi OSD Firmware");	325	//write_ascii_string(2, 9, " EPi OSD Firmware");
324		326
325	// we are ready	327	// we are ready
326	LED3_ON	328	LED3_ON
327		329
328	#if ALLCHARSDEBUG \| (WRITECHARS != -1)	330	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
329	clear();	331	clear();
330	write_all_chars();	332	write_all_chars();
331	LED1_ON	333	LED1_ON
332	LED2_ON	334	LED2_ON
333	LED3_ON	335	LED3_ON
334	LED4_ON	336	LED4_ON
335	#else	337	#else
336		338
337	// clear serial screen	339	// clear serial screen
338	//usart1_puts("\x1B[2J\x1B[H");	340	//usart1_puts("\x1B[2J\x1B[H");
339	//usart1_puts("hello world!123\r\n");	341	//usart1_puts("hello world!123\r\n");
340		-
341	#if FCONLY	-
342	// request data ever 100ms from FC;	-
343	usart1_request_mk_data(0, 'd', 100);	-
344	#else	-
345	// request OSD Data from NC every 100ms	-
346	usart1_request_mk_data(1, 'o', 100);	-
347		-
348	// and disable debug...	-
349	usart1_request_mk_data(0, 'd', 0);	-
350	#endif	-
351		342
352	while (1) {	343	while (1) {
353	// in case SPI is ready and there is nothing to send right now	344	// in case SPI is ready and there is nothing to send right now
354	if (!icnt && spi_ready) {	345	if (!icnt && spi_ready) {
355	// correct transfer ends with d (done)	346	// correct transfer ends with d (done)
356	if (SPI_buffer.buffer.chk == 'd') {	347	if (SPI_buffer.buffer.chk == 'd') {
357	ampere = SPI_buffer.data.ampere;	348	ampere = SPI_buffer.data.ampere;
358	ampere_wasted = SPI_buffer.data.mah;	349	ampere_wasted = SPI_buffer.data.mah;
359	s_volt = SPI_buffer.data.volt;	350	s_volt = SPI_buffer.data.volt;
360		351
361	// if this is the first receival we should print the small A	352	// if this is the first receival we should print the small A
362	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {	353	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
363	clear();	354	clear();
364	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;	355	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
365	// update this flag	356	// update this flag
366	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;	357	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;
367	}	358	}
368	} else {	359	} else {
369	// update flags	360	// update flags
370	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;	361	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
371	}	362	}
372	StartTransfer(9);	363	StartTransfer(9);
373	}	364	}
374	if (rxd_buffer_locked) {	365	if (rxd_buffer_locked) {
375	#if FCONLY	366	#if FCONLY
376	if (rxd_buffer[2] == 'D') { // FC Data	367	if (rxd_buffer[2] == 'D') { // FC Data
377	Decode64();	368	Decode64();
378	debugData = ((DebugOut_t) pRxData);	369	debugData = ((DebugOut_t) pRxData);
379		370
380	// init on first data retrival, distinguished by last battery :)	371	// init on first data retrival, distinguished by last battery :)
381	if (last_UBat == 255) {	372	if (last_UBat == 255) {
382	if (debugData.Analog[9] > 40) {	373	if (debugData.Analog[9] > 40) {
383	// fix for min_UBat	374	// fix for min_UBat
384	min_UBat = debugData.Analog[9];	375	min_UBat = debugData.Analog[9];
385	last_UBat = debugData.Analog[9];	376	last_UBat = debugData.Analog[9];
386	init_cosd(last_UBat);	377	init_cosd(last_UBat);
387	}	378	}
388	} else {	379	} else {
389	osd_fcmode();	380	osd_fcmode();
390	}	381	}
-		382	seconds_since_last_data = 0;
391	}	383	}
392	#else	384	#else
393	if (rxd_buffer[2] == 'O') { // NC OSD Data	385	if (rxd_buffer[2] == 'O') { // NC OSD Data
394	Decode64();	386	Decode64();
395	naviData = ((NaviData_t) pRxData);	387	naviData = ((NaviData_t) pRxData);
396		388
397	// init on first data retrival, distinguished by last battery :)	389	// init on first data retrival, distinguished by last battery :)
398	if (last_UBat == 255) {	390	if (last_UBat == 255) {
399	if (naviData.UBat > 40) {	391	if (naviData.UBat > 40) {
400	// fix for min_UBat	392	// fix for min_UBat
401	min_UBat = naviData.UBat;	393	min_UBat = naviData.UBat;
402	last_UBat = naviData.UBat;	394	last_UBat = naviData.UBat;
403	init_cosd(last_UBat);	395	init_cosd(last_UBat);
404	}	396	}
405	} else {	397	} else {
406	osd_ncmode();	398	osd_ncmode();
407	}	399	}
-		400	//seconds_since_last_data = 0;
408	}	401	}
409	#endif	402	#endif
410	rxd_buffer_locked = 0;	403	rxd_buffer_locked = 0;
411	}	404	}
412	// handle keypress	405	// handle keypress
413	if (s1_pressed()) {	406	if (s1_pressed()) {
414	config_menu();	407	config_menu();
415	}	408	}
416	if (seconds_since_last_data > 2) {	409	if (seconds_since_last_data > 0) {
-		410	usart1_EnableTXD();
-		411	//usart1_puts_pgm(PSTR("zu alt\r\n"));
417	#if FCONLY	412	#if FCONLY
418	// request data ever 100ms from FC;	413	// request data ever 100ms from FC;
419	usart1_request_mk_data(0, 'd', 100);	414	//usart1_request_mk_data(0, 'd', 100);
-		415	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
420	#else	416	#else
421	// request OSD Data from NC every 100ms	417	// request OSD Data from NC every 100ms
422	usart1_request_mk_data(1, 'o', 100);	418	//usart1_request_mk_data(1, 'o', 100);
-		419	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
423		420
424	// and disable debug...	421	// and disable debug...
425	usart1_request_mk_data(0, 'd', 0);	422	//usart1_request_mk_data(0, 'd', 0);
426		423	#endif
427	// reset last time counter	424	// reset last time counter
428	seconds_since_last_data = 0;	425	seconds_since_last_data = 0;
429	#endif	426	usart1_DisableTXD();
430	}	427	}
431	}	428	}
432	#endif	429	#endif
433	return 0;	430	return 0;
434	}	431	}
435		432

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(root)/C-OSD/trunk/main.c @ 477 - Rev 736 → 738