WebSVN - Projects - Diff - Rev 761 and 762


/****************************************************************************
 *   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
 * ##########################################################################*/
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
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;
 
 
 
 
// 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))
 
/* ##########################################################################
 * 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();
 
 
    //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
 
 
 
 
 
 
 
 
 
 
 
    // clear serial screen
    //usart1_puts("\x1B[2J\x1B[H");
 
    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();
        }
    }
 
#else // character flashing...
        clear();
    write_all_chars();
    LED1_ON
    LED2_ON
    LED3_ON
    LED4_ON
        while(1) {
 
        };
#endif
 
 
    return 0;
}
 

Rev 761	Rev 762
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	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
58		59
59	volatile NaviData_t naviData;	60	volatile NaviData_t naviData;
60	volatile DebugOut_t debugData;	61	volatile DebugOut_t debugData;
61		62
62	// cache old vars for blinking attribute, checkup is faster than full	63	// cache old vars for blinking attribute, checkup is faster than full
63	// attribute write each time	64	// attribute write each time
64	volatile uint8_t last_UBat = 255;	65	volatile uint8_t last_UBat = 255;
65	volatile uint8_t last_RC_Quality = 255;	66	volatile uint8_t last_RC_Quality = 255;
66		67
67	// 16bit should be enough, normal LiPos don't last that long	68	// 16bit should be enough, normal LiPos don't last that long
68	volatile uint16_t uptime = 0;	69	volatile uint16_t uptime = 0;
69	volatile uint16_t timer = 0;	70	volatile uint16_t timer = 0;
70	volatile uint16_t flytime_fc = 0;	71	volatile uint16_t flytime_fc = 0;
71		72
72	// remember last time data was received	73	// remember last time data was received
73	volatile uint8_t seconds_since_last_data = 0;	74	volatile uint8_t seconds_since_last_data = 0;
74		75
75	// general PAL\|NTSC distingiusch stuff	76	// general PAL\|NTSC distingiusch stuff
76	uint8_t top_line = 1;	77	uint8_t top_line = 1;
77	uint8_t bottom_line = 14;	78	uint8_t bottom_line = 14;
78		79
79	// battery voltages	80	// battery voltages
80	uint8_t min_voltage = 0;	81	uint8_t min_voltage = 0;
81	uint8_t max_voltage = 0;	82	uint8_t max_voltage = 0;
82		83
83	// Flags	84	// Flags
84	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;	85	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
85		-
-		86
86	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	87
87		88
88	// stats for after flight	89	// stats for after flight
89	int16_t max_Altimeter = 0;	90	int16_t max_Altimeter = 0;
90	uint8_t min_UBat = 255;	91	uint8_t min_UBat = 255;
91	uint16_t max_GroundSpeed = 0;	92	uint16_t max_GroundSpeed = 0;
92	int16_t max_Distance = 0;	93	int16_t max_Distance = 0;
93	uint16_t max_FlyingTime = 0;	94	uint16_t max_FlyingTime = 0;
94		95
95	// flags from last round to check for changes	96	// flags from last round to check for changes
96	uint8_t old_MKFlags = 0;	97	uint8_t old_MKFlags = 0;
97		98
98	// store stats description in progmem to save space	99	// store stats description in progmem to save space
99	const char stats_item_0[] PROGMEM = "max Altitude:";	100	const char stats_item_0[] PROGMEM = "max Altitude:";
100	const char stats_item_1[] PROGMEM = "max Speed :";	101	const char stats_item_1[] PROGMEM = "max Speed :";
101	const char stats_item_2[] PROGMEM = "max Distance:";	102	const char stats_item_2[] PROGMEM = "max Distance:";
102	const char stats_item_3[] PROGMEM = "min Voltage :";	103	const char stats_item_3[] PROGMEM = "min Voltage :";
103	const char stats_item_4[] PROGMEM = "max Time :";	104	const char stats_item_4[] PROGMEM = "max Time :";
104	const char stats_item_5[] PROGMEM = "longitude :";	105	const char stats_item_5[] PROGMEM = "longitude :";
105	const char stats_item_6[] PROGMEM = "latitude :";	106	const char stats_item_6[] PROGMEM = "latitude :";
106	const char stats_item_7[] PROGMEM = "max current :";	107	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,	108	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};	109	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
109		110
110	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	111	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
111	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	112	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
112	const char str_NE[] PROGMEM = "NE";	113	const char str_NE[] PROGMEM = "NE";
113	const char str_E[] PROGMEM = "E ";	114	const char str_E[] PROGMEM = "E ";
114	const char str_SE[] PROGMEM = "SE";	115	const char str_SE[] PROGMEM = "SE";
115	const char str_S[] PROGMEM = "S ";	116	const char str_S[] PROGMEM = "S ";
116	const char str_SW[] PROGMEM = "SW";	117	const char str_SW[] PROGMEM = "SW";
117	const char str_W[] PROGMEM = "W ";	118	const char str_W[] PROGMEM = "W ";
118	const char str_NW[] PROGMEM = "NW";	119	const char str_NW[] PROGMEM = "NW";
119	const char str_N[] PROGMEM = "N ";	120	const char str_N[] PROGMEM = "N ";
120	const char *directions[8] PROGMEM = {	121	const char *directions[8] PROGMEM = {
121	str_NE,	122	str_NE,
122	str_E,	123	str_E,
123	str_SE,	124	str_SE,
124	str_S,	125	str_S,
125	str_SW,	126	str_SW,
126	str_W,	127	str_W,
127	str_NW,	128	str_NW,
128	str_N	129	str_N
129	};	130	};
130		131
131	/* ##########################################################################	132	/* ##########################################################################
132	* Different display mode function pointers	133	* Different display mode function pointers
133	* ##########################################################################*/	134	* ##########################################################################*/
134	const char str_1[] PROGMEM = "default";	135	const char str_1[] PROGMEM = "default";
135	const char str_2[] PROGMEM = "minimal";	136	const char str_2[] PROGMEM = "minimal";
136	const char str_3[] PROGMEM = " jopl";	137	const char str_3[] PROGMEM = " jopl";
137		138
138	const displaymode_t ncdisplaymodes[] PROGMEM = {	139	const displaymode_t ncdisplaymodes[] PROGMEM = {
139	{ osd_ncmode_default, (char *)str_1},	140	{ osd_ncmode_default, (char *)str_1},
140	{ osd_ncmode_minimal, (char *)str_2}	141	{ osd_ncmode_minimal, (char *)str_2}
141	};	142	};
142		143
143	const displaymode_t fcdisplaymodes[] PROGMEM = {	144	const displaymode_t fcdisplaymodes[] PROGMEM = {
144	{ osd_fcmode_default, (char *)str_1},	145	{ osd_fcmode_default, (char *)str_1},
145	{ osd_fcmode_jopl, (char *)str_3}	146	{ osd_fcmode_jopl, (char *)str_3}
146	};	147	};
147		148
148	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;	149	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;
149	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;	150	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;
150	#endif	151	#endif
151		152
152	/* ##########################################################################	153	/* ##########################################################################
153	* Interrupt handler	154	* Interrupt handler
154	* ##########################################################################*/	155	* ##########################################################################*/
155		156
156	/**	157	/**
157	* handler for undefined Interrupts	158	* handler for undefined Interrupts
158	* 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
159	*/	160	*/
160	ISR(__vector_default) {	161	ISR(__vector_default) {
161	asm("nop");	162	asm("nop");
162	}	163	}
163		164
164	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	165	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
165	/* ##########################################################################	166	/* ##########################################################################
166	* timer stuff	167	* timer stuff
167	* ##########################################################################*/	168	* ##########################################################################*/
168		169
169	static uint8_t delay_spi = 0;	170	static uint8_t delay_spi = 0;
170		171
171	/**	172	/**
172	* timer kicks in every 1000uS ^= 1ms	173	* timer kicks in every 1000uS ^= 1ms
173	*/	174	*/
174	ISR(TIMER0_COMP_vect) {	175	ISR(TIMER0_COMP_vect) {
175	if (!timer--) {	176	if (!timer--) {
176	uptime++;	177	uptime++;
177		178
178	#if FCONLY	179	#if FCONLY
179	if (debugData.Analog[12] > 10) {	180	if (debugData.Analog[12] > 10) {
180	flytime_fc++;	181	flytime_fc++;
181	}	182	}
182	#endif	183	#endif
183		184
184	timer = 999;	185	timer = 999;
185	seconds_since_last_data++;	186	seconds_since_last_data++;
186	}	187	}
187	// 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
188	// delay to give the slave some time to compute values	189	// delay to give the slave some time to compute values
189	if (spi_ready && icnt) {	190	if (spi_ready && icnt) {
190	if (!delay_spi--) {	191	if (!delay_spi--) {
191	delay_spi = 8;	192	delay_spi = 8;
192	spi_send_next();	193	spi_send_next();
193	}	194	}
194	}	195	}
195	}	196	}
196	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	197	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
197		198
198	/* ##########################################################################	199	/* ##########################################################################
199	* MAIN	200	* MAIN
200	* ##########################################################################*/	201	* ##########################################################################*/
201	int main(void) {	202	int main(void) {
202	// set up FLAGS	203	// set up FLAGS
203	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;
204	#if NTSC	205	#if NTSC
205	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;	206	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;
206	#endif	207	#endif
207	#if HUD	208	#if HUD
208	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;	209	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;
209	#endif	210	#endif
210	#if ARTHORIZON	211	#if ARTHORIZON
211	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;	212	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;
212	#endif	213	#endif
213	#if BIGVARIO	214	#if BIGVARIO
214	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;	215	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;
215	#endif	216	#endif
216	#if STATS	217	#if STATS
217	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;	218	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;
218	#endif	219	#endif
219	#if WARNINGS	220	#if WARNINGS
220	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;	221	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;
221	#endif	222	#endif
222	#if FCONLY	223	#if FCONLY
223	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;	224	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;
224	#endif	225	#endif
225		226
226		227
227	// set up Atmega162 Ports	228	// set up Atmega162 Ports
228	DDRA \|= (1 << PA1); // PA1 output (/CS)	229	DDRA \|= (1 << PA1); // PA1 output (/CS)
229	MAX_CS_HIGH	230	MAX_CS_HIGH
230	DDRA \|= (1 << PA2); // PA2 output (SDIN)	231	DDRA \|= (1 << PA2); // PA2 output (SDIN)
231	MAX_SDIN_LOW	232	MAX_SDIN_LOW
232	DDRA \|= (1 << PA3); // PA3 output (SCLK)	233	DDRA \|= (1 << PA3); // PA3 output (SCLK)
233	MAX_SCLK_LOW	234	MAX_SCLK_LOW
234	DDRA \|= (1 << PA5); // PA5 output (RESET)	235	DDRA \|= (1 << PA5); // PA5 output (RESET)
235	MAX_RESET_HIGH	236	MAX_RESET_HIGH
236		237
237	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	238	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
238	LED1_OFF	239	LED1_OFF
239	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	240	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
240	LED2_OFF	241	LED2_OFF
241	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	242	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
242	LED3_OFF	243	LED3_OFF
243	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	244	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
244	LED4_OFF	245	LED4_OFF
245		246
246	DDRC &= ~(1 << PC4); // PC4 input (MODE)	247	DDRC &= ~(1 << PC4); // PC4 input (MODE)
247	PORTC \|= (1 << PC4); // pullup	248	PORTC \|= (1 << PC4); // pullup
248	DDRC &= ~(1 << PC5); // PC5 input (SET)	249	DDRC &= ~(1 << PC5); // PC5 input (SET)
249	PORTC \|= (1 << PC5); // pullup	250	PORTC \|= (1 << PC5); // pullup
250		251
251	// reset the MAX7456 to be sure any undefined states do no harm	252	// reset the MAX7456 to be sure any undefined states do no harm
252	MAX_RESET_LOW	253	MAX_RESET_LOW
253	MAX_RESET_HIGH	254	MAX_RESET_HIGH
254		255
255	// give the FC/NC and the maxim time to come up	256	// give the FC/NC and the maxim time to come up
256	LED4_ON	257	LED4_ON
257	_delay_ms(1000);	258	_delay_ms(1000);
258	LED4_OFF	259	LED4_OFF
259		260
260	//Pushing NEW chars to the MAX7456	261	//Pushing NEW chars to the MAX7456
261	#if (WRITECHARS != -1)	262	#if (WRITECHARS != -1)
262	// DISABLE display (VM0)	263	// DISABLE display (VM0)
263	spi_send_byte(0x00, 0b00000000);	264	spi_send_byte(0x00, 0b00000000);
264	learn_all_chars_pgm();	265	learn_all_chars_pgm();
265	#else	266	#else
266	// read out config for NTSC/PAL distinguishing	267	// read out config for NTSC/PAL distinguishing
267	get_eeprom(0);	268	get_eeprom(0);
268	#endif	269	#endif
269		270
270	// Setup Video Mode	271	// Setup Video Mode
271	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {	272	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
272	// NTSC + enable display immediately (VM0)	273	// NTSC + enable display immediately (VM0)
273	spi_send_byte(0x00, 0b00001000);	274	spi_send_byte(0x00, 0b00001000);
274		275
275	bottom_line = 12;	276	bottom_line = 12;
276	} else {	277	} else {
277	// PAL + enable display immediately (VM0)	278	// PAL + enable display immediately (VM0)
278	spi_send_byte(0x00, 0b01001000);	279	spi_send_byte(0x00, 0b01001000);
279		280
280	bottom_line = 14;	281	bottom_line = 14;
281	}	282	}
282		283
283	/*// clear all display-mem (DMM)	284	/*// clear all display-mem (DMM)
284	spi_send_byte(0x04, 0b00000100);	285	spi_send_byte(0x04, 0b00000100);
285		286
286	// clearing takes 12uS according to maxim so lets wait longer	287	// clearing takes 12uS according to maxim so lets wait longer
287	_delay_us(120);	288	_delay_us(120);
288		289
289	// 8bit mode	290	// 8bit mode
290	spi_send_byte(0x04, 0b01000000);*/	291	spi_send_byte(0x04, 0b01000000);*/
291		292
292	// clear display memory and set to 8bit mode	293	// clear display memory and set to 8bit mode
293	clear();	294	clear();
294		295
295	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	296	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
296	// init usart	297	// init usart
297	usart1_init();	298	usart1_init();
298		299
299	// keep serial port clean	300	// keep serial port clean
300	usart1_DisableTXD();	301	usart1_DisableTXD();
301		302
302	// set up timer	303	// set up timer
303	// CTC, Prescaler /64	304	// CTC, Prescaler /64
304	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	305	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
305		306
306	TCNT0 = 0;	307	TCNT0 = 0;
307	OCR0 = 250;	308	OCR0 = 250;
308		309
309	// enable timer output compare interrupt	310	// enable timer output compare interrupt
310	TIMSK &= ~(1 << TOIE0);	311	TIMSK &= ~(1 << TOIE0);
311	TIMSK \|= (1 << OCIE0);	312	TIMSK \|= (1 << OCIE0);
312		313
313	// SPI setup	314	// SPI setup
314	DDRD \|= (1 << PD2); // PD2 output (INT0)	315	DDRD \|= (1 << PD2); // PD2 output (INT0)
315	SpiMasterInit();	316	SpiMasterInit();
316		317
317	// PPM detection setup	318	// PPM detection setup
318	ppm_init();	319	ppm_init();
319		320
320	// enable interrupts	321	// enable interrupts
321	sei();	322	sei();
322	#endif	323
323		324
324	//write_ascii_string(2, 7, " CaScAdE ");	325	//write_ascii_string(2, 7, " CaScAdE ");
325	//write_ascii_string(2, 8, "is TESTING his open source");	326	//write_ascii_string(2, 8, "is TESTING his open source");
326	//write_ascii_string(2, 9, " EPi OSD Firmware");	327	//write_ascii_string(2, 9, " EPi OSD Firmware");
327		328
328	// we are ready	329	// we are ready
329	LED3_ON	330	LED3_ON
330		-
331	#if ALLCHARSDEBUG \| (WRITECHARS != -1)	-
332	clear();	-
333	write_all_chars();	-
334	LED1_ON	-
335	LED2_ON	-
336	LED3_ON	-
337	LED4_ON	-
338	#else	331
339		332
340	// clear serial screen	-
341	//usart1_puts("\x1B[2J\x1B[H");	333	// clear serial screen
342	//usart1_puts("hello world!123\r\n");	334	//usart1_puts("\x1B[2J\x1B[H");
343		335
344	while (1) {	336	while (1) {
345	// in case SPI is ready and there is nothing to send right now	337	// in case SPI is ready and there is nothing to send right now
346	if (!icnt && spi_ready) {	338	if (!icnt && spi_ready) {
347	// correct transfer ends with d (done)	339	// correct transfer ends with d (done)
348	if (SPI_buffer.buffer.chk == 'd') {	340	if (SPI_buffer.buffer.chk == 'd') {
349	ampere = SPI_buffer.data.ampere;	341	ampere = SPI_buffer.data.ampere;
350	ampere_wasted = SPI_buffer.data.mah;	342	ampere_wasted = SPI_buffer.data.mah;
351	s_volt = SPI_buffer.data.volt;	343	s_volt = SPI_buffer.data.volt;
352		344
353	// if this is the first receival we should print the small A	345	// if this is the first receival we should print the small A
354	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {	346	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
355	clear();	347	clear();
356	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;	348	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
357	// update this flag	349	// update this flag
358	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;	350	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;
359	}	351	}
360	} else {	352	} else {
361	// update flags	353	// update flags
362	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;	354	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
363	}	355	}
364	StartTransfer(9);	356	StartTransfer(9);
365	}	357	}
366	if (rxd_buffer_locked) {	358	if (rxd_buffer_locked) {
367	#if FCONLY	359	#if FCONLY
368	if (rxd_buffer[2] == 'D') { // FC Data	360	if (rxd_buffer[2] == 'D') { // FC Data
369	Decode64();	361	Decode64();
370	debugData = ((DebugOut_t)pRxData);	362	debugData = ((DebugOut_t)pRxData);
371		363
372	// init on first data retrival, distinguished by last battery :)	364	// init on first data retrival, distinguished by last battery :)
373	if (last_UBat == 255) {	365	if (last_UBat == 255) {
374	if (debugData.Analog[9] > 40) {	366	if (debugData.Analog[9] > 40) {
375	// fix for min_UBat	367	// fix for min_UBat
376	min_UBat = debugData.Analog[9];	368	min_UBat = debugData.Analog[9];
377	last_UBat = debugData.Analog[9];	369	last_UBat = debugData.Analog[9];
378	init_cosd(last_UBat);	370	init_cosd(last_UBat);
379	}	371	}
380	} else {	372	} else {
381	osd_fcmode();	373	osd_fcmode();
382	}	374	}
383	seconds_since_last_data = 0;	375	seconds_since_last_data = 0;
384	}	376	}
385	#else	377	#else
386	if (rxd_buffer[2] == 'O') { // NC OSD Data	378	if (rxd_buffer[2] == 'O') { // NC OSD Data
387	Decode64();	379	Decode64();
388	naviData = ((NaviData_t)pRxData);	380	naviData = ((NaviData_t)pRxData);
389		381
390	// init on first data retrival, distinguished by last battery :)	382	// init on first data retrival, distinguished by last battery :)
391	if (last_UBat == 255) {	383	if (last_UBat == 255) {
392	if (naviData.UBat > 40) {	384	if (naviData.UBat > 40) {
393	// fix for min_UBat	385	// fix for min_UBat
394	min_UBat = naviData.UBat;	386	min_UBat = naviData.UBat;
395	last_UBat = naviData.UBat;	387	last_UBat = naviData.UBat;
396	init_cosd(last_UBat);	388	init_cosd(last_UBat);
397	}	389	}
398	} else {	390	} else {
399	osd_ncmode();	391	osd_ncmode();
400	}	392	}
401	//seconds_since_last_data = 0;	393	//seconds_since_last_data = 0;
402	}	394	}
403	#endif	395	#endif
404	rxd_buffer_locked = 0;	396	rxd_buffer_locked = 0;
405	}	397	}
406	// handle keypress	398	// handle keypress
407	if (s1_pressed()) {	399	if (s1_pressed()) {
408	config_menu();	400	config_menu();
409	}	401	}
410	if (seconds_since_last_data > 0) {	402	if (seconds_since_last_data > 0) {
411	usart1_EnableTXD();	403	usart1_EnableTXD();
412	//usart1_puts_pgm(PSTR("zu alt\r\n"));	404	//usart1_puts_pgm(PSTR("zu alt\r\n"));
413	#if FCONLY	405	#if FCONLY
414	// request data ever 100ms from FC;	406	// request data ever 100ms from FC;
415	//usart1_request_mk_data(0, 'd', 100);	407	//usart1_request_mk_data(0, 'd', 100);
416	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));	408	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
417	#else	409	#else
418	// request OSD Data from NC every 100ms	410	// request OSD Data from NC every 100ms
419	//usart1_request_mk_data(1, 'o', 100);	411	//usart1_request_mk_data(1, 'o', 100);
420	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));	412	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
421		413
422	// and disable debug...	414	// and disable debug...
423	//usart1_request_mk_data(0, 'd', 0);	415	//usart1_request_mk_data(0, 'd', 0);
424	#endif	416	#endif
425	// reset last time counter	417	// reset last time counter
426	seconds_since_last_data = 0;	418	seconds_since_last_data = 0;
427	usart1_DisableTXD();	419	usart1_DisableTXD();
428	}	420	}
429	}	421	}
-		422
-		423	#else // character flashing...
-		424	clear();
-		425	write_all_chars();
-		426	LED1_ON
-		427	LED2_ON
-		428	LED3_ON
-		429	LED4_ON
-		430	while(1) {
-		431
-		432	};
430	#endif	433	#endif
-		434
-		435
431	return 0;	436	return 0;
432	}	437	}
433		438

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(root)/C-OSD/trunk/main.c - Rev 761 → 762