WebSVN - Projects - Diff - Rev 762 and 772


/****************************************************************************
 *   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"
#ifdef ANTENNATRACKTEST 
#include "usart0.h"
#endif
#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) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |  PA3 output (SCLK) | PA5 output (RESET)
    MAX_CS_HIGH
 
    MAX_SDIN_LOW
 
    MAX_SCLK_LOW
 
    MAX_RESET_HIGH
 
    DDRC |= ((1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3)); // PC0 output (LED1 gn) | PC1 output (LED2 rt) | PC2 output (LED3 gn) | PC3 output (LED4 rt)
 
    LED1_OFF
 
    LED2_OFF
 
    LED3_OFF
    LED4_OFF
 
 
 
    DDRC &= ~((1 << PC4) | (1 << PC5)); // PC4 input  (MODE) | PC5 input  (SET)
    PORTC |= ((1 << PC4) | (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();
 
 
 
#ifdef ANTENNATRACKTEST 
        usart0_init();
#endif
 
    // 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
 
                        // ONLY FOR TESTING
                        #ifdef ANTENNATRACKTEST 
                                #include <stdlib.h>
                                //#include <float.h>
                                //#include <math.h>
 
                                //usart0_puts("\x1B[2J\x1B[H");
 
 
                                /*
                                naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
                                naviData.HomePositionDeviation.Bearing = 35; // 35°
                                altimeter_offset = 50; // 50m start height
                                naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
                                */
 
                                static char conv_array[7];
       
                                // should be float
                                int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
       
                                // we need math.h and some faster AVR :)
                                //tanheight = rad2deg(atan(tanheight));
 
                                itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
                                usart0_puts("Bearing: ");
                                usart0_puts(conv_array);
                                usart0_puts("\tHeightangle: ");
                                itoa(tanheight, conv_array, 10);
                                usart0_puts(conv_array);
                                usart0_puts("\r\n");
                        #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 762	Rev 772
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	#ifdef ANTENNATRACKTEST
-		35	#include "usart0.h"
-		36	#endif
34	#include "usart1.h"	37	#include "usart1.h"
35	#include "osd_helpers.h"	38	#include "osd_helpers.h"
36	#include "config.h"	39	#include "config.h"
37	#include "spi.h"	40	#include "spi.h"
38	#include "buttons.h"	41	#include "buttons.h"
39	#include "ppm.h"	42	#include "ppm.h"
40	#include "osd_ncmode_default.h"	43	#include "osd_ncmode_default.h"
41	#include "osd_ncmode_minimal.h"	44	#include "osd_ncmode_minimal.h"
42	#include "osd_fcmode_default.h"	45	#include "osd_fcmode_default.h"
43	#include "osd_fcmode_jopl.h"	46	#include "osd_fcmode_jopl.h"
44		47
45	#if WRITECHARS != -1	48	#if WRITECHARS != -1
46	#include "characters.h"	49	#include "characters.h"
47	#endif	50	#endif
48		51
49	/* TODO:	52	/* TODO:
50	* - verifiy correctness of values	53	* - verifiy correctness of values
51	* - clean up code :)	54	* - clean up code :)
52	*/	55	*/
53		56
54		57
55	/* ##########################################################################	58	/* ##########################################################################
56	* global definitions and global vars	59	* global definitions and global vars
57	* ##########################################################################*/	60	* ##########################################################################*/
58	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	61	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
59		62
60	volatile NaviData_t naviData;	63	volatile NaviData_t naviData;
61	volatile DebugOut_t debugData;	64	volatile DebugOut_t debugData;
62		65
63	// cache old vars for blinking attribute, checkup is faster than full	66	// cache old vars for blinking attribute, checkup is faster than full
64	// attribute write each time	67	// attribute write each time
65	volatile uint8_t last_UBat = 255;	68	volatile uint8_t last_UBat = 255;
66	volatile uint8_t last_RC_Quality = 255;	69	volatile uint8_t last_RC_Quality = 255;
67		70
68	// 16bit should be enough, normal LiPos don't last that long	71	// 16bit should be enough, normal LiPos don't last that long
69	volatile uint16_t uptime = 0;	72	volatile uint16_t uptime = 0;
70	volatile uint16_t timer = 0;	73	volatile uint16_t timer = 0;
71	volatile uint16_t flytime_fc = 0;	74	volatile uint16_t flytime_fc = 0;
72		75
73	// remember last time data was received	76	// remember last time data was received
74	volatile uint8_t seconds_since_last_data = 0;	77	volatile uint8_t seconds_since_last_data = 0;
75		78
76	// general PAL\|NTSC distingiusch stuff	79	// general PAL\|NTSC distingiusch stuff
77	uint8_t top_line = 1;	80	uint8_t top_line = 1;
78	uint8_t bottom_line = 14;	81	uint8_t bottom_line = 14;
79		82
80	// battery voltages	83	// battery voltages
81	uint8_t min_voltage = 0;	84	uint8_t min_voltage = 0;
82	uint8_t max_voltage = 0;	85	uint8_t max_voltage = 0;
83		86
84	// Flags	87	// Flags
85	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;	88	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
86		89
87		90
88		91
89	// stats for after flight	92	// stats for after flight
90	int16_t max_Altimeter = 0;	93	int16_t max_Altimeter = 0;
91	uint8_t min_UBat = 255;	94	uint8_t min_UBat = 255;
92	uint16_t max_GroundSpeed = 0;	95	uint16_t max_GroundSpeed = 0;
93	int16_t max_Distance = 0;	96	int16_t max_Distance = 0;
94	uint16_t max_FlyingTime = 0;	97	uint16_t max_FlyingTime = 0;
95		98
96	// flags from last round to check for changes	99	// flags from last round to check for changes
97	uint8_t old_MKFlags = 0;	100	uint8_t old_MKFlags = 0;
98		101
99	// store stats description in progmem to save space	102	// store stats description in progmem to save space
100	const char stats_item_0[] PROGMEM = "max Altitude:";	103	const char stats_item_0[] PROGMEM = "max Altitude:";
101	const char stats_item_1[] PROGMEM = "max Speed :";	104	const char stats_item_1[] PROGMEM = "max Speed :";
102	const char stats_item_2[] PROGMEM = "max Distance:";	105	const char stats_item_2[] PROGMEM = "max Distance:";
103	const char stats_item_3[] PROGMEM = "min Voltage :";	106	const char stats_item_3[] PROGMEM = "min Voltage :";
104	const char stats_item_4[] PROGMEM = "max Time :";	107	const char stats_item_4[] PROGMEM = "max Time :";
105	const char stats_item_5[] PROGMEM = "longitude :";	108	const char stats_item_5[] PROGMEM = "longitude :";
106	const char stats_item_6[] PROGMEM = "latitude :";	109	const char stats_item_6[] PROGMEM = "latitude :";
107	const char stats_item_7[] PROGMEM = "max current :";	110	const char stats_item_7[] PROGMEM = "max current :";
108	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	111	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
109	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};	112	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
110		113
111	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	114	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
112	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	115	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
113	const char str_NE[] PROGMEM = "NE";	116	const char str_NE[] PROGMEM = "NE";
114	const char str_E[] PROGMEM = "E ";	117	const char str_E[] PROGMEM = "E ";
115	const char str_SE[] PROGMEM = "SE";	118	const char str_SE[] PROGMEM = "SE";
116	const char str_S[] PROGMEM = "S ";	119	const char str_S[] PROGMEM = "S ";
117	const char str_SW[] PROGMEM = "SW";	120	const char str_SW[] PROGMEM = "SW";
118	const char str_W[] PROGMEM = "W ";	121	const char str_W[] PROGMEM = "W ";
119	const char str_NW[] PROGMEM = "NW";	122	const char str_NW[] PROGMEM = "NW";
120	const char str_N[] PROGMEM = "N ";	123	const char str_N[] PROGMEM = "N ";
121	const char *directions[8] PROGMEM = {	124	const char *directions[8] PROGMEM = {
122	str_NE,	125	str_NE,
123	str_E,	126	str_E,
124	str_SE,	127	str_SE,
125	str_S,	128	str_S,
126	str_SW,	129	str_SW,
127	str_W,	130	str_W,
128	str_NW,	131	str_NW,
129	str_N	132	str_N
130	};	133	};
131		134
132	/* ##########################################################################	135	/* ##########################################################################
133	* Different display mode function pointers	136	* Different display mode function pointers
134	* ##########################################################################*/	137	* ##########################################################################*/
135	const char str_1[] PROGMEM = "default";	138	const char str_1[] PROGMEM = "default";
136	const char str_2[] PROGMEM = "minimal";	139	const char str_2[] PROGMEM = "minimal";
137	const char str_3[] PROGMEM = " jopl";	140	const char str_3[] PROGMEM = " jopl";
138		141
139	const displaymode_t ncdisplaymodes[] PROGMEM = {	142	const displaymode_t ncdisplaymodes[] PROGMEM = {
140	{ osd_ncmode_default, (char *)str_1},	143	{ osd_ncmode_default, (char *)str_1},
141	{ osd_ncmode_minimal, (char *)str_2}	144	{ osd_ncmode_minimal, (char *)str_2}
142	};	145	};
143		146
144	const displaymode_t fcdisplaymodes[] PROGMEM = {	147	const displaymode_t fcdisplaymodes[] PROGMEM = {
145	{ osd_fcmode_default, (char *)str_1},	148	{ osd_fcmode_default, (char *)str_1},
146	{ osd_fcmode_jopl, (char *)str_3}	149	{ osd_fcmode_jopl, (char *)str_3}
147	};	150	};
148		151
149	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;	152	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;
150	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;	153	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;
151	#endif	154	#endif
152		155
153	/* ##########################################################################	156	/* ##########################################################################
154	* Interrupt handler	157	* Interrupt handler
155	* ##########################################################################*/	158	* ##########################################################################*/
156		159
157	/**	160	/**
158	* handler for undefined Interrupts	161	* handler for undefined Interrupts
159	* if not defined AVR will reset in case any unhandled interrupts occur	162	* if not defined AVR will reset in case any unhandled interrupts occur
160	*/	163	*/
161	ISR(__vector_default) {	164	ISR(__vector_default) {
162	asm("nop");	165	asm("nop");
163	}	166	}
164		167
165	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	168	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
166	/* ##########################################################################	169	/* ##########################################################################
167	* timer stuff	170	* timer stuff
168	* ##########################################################################*/	171	* ##########################################################################*/
169		172
170	static uint8_t delay_spi = 0;	173	static uint8_t delay_spi = 0;
171		174
172	/**	175	/**
173	* timer kicks in every 1000uS ^= 1ms	176	* timer kicks in every 1000uS ^= 1ms
174	*/	177	*/
175	ISR(TIMER0_COMP_vect) {	178	ISR(TIMER0_COMP_vect) {
176	if (!timer--) {	179	if (!timer--) {
177	uptime++;	180	uptime++;
178		181
179	#if FCONLY	182	#if FCONLY
180	if (debugData.Analog[12] > 10) {	183	if (debugData.Analog[12] > 10) {
181	flytime_fc++;	184	flytime_fc++;
182	}	185	}
183	#endif	186	#endif
184		187
185	timer = 999;	188	timer = 999;
186	seconds_since_last_data++;	189	seconds_since_last_data++;
187	}	190	}
188	// in case there is still some spi data to send do it now	191	// in case there is still some spi data to send do it now
189	// delay to give the slave some time to compute values	192	// delay to give the slave some time to compute values
190	if (spi_ready && icnt) {	193	if (spi_ready && icnt) {
191	if (!delay_spi--) {	194	if (!delay_spi--) {
192	delay_spi = 8;	195	delay_spi = 8;
193	spi_send_next();	196	spi_send_next();
194	}	197	}
195	}	198	}
196	}	199	}
197	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	200	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
198		201
199	/* ##########################################################################	202	/* ##########################################################################
200	* MAIN	203	* MAIN
201	* ##########################################################################*/	204	* ##########################################################################*/
202	int main(void) {	205	int main(void) {
203	// set up FLAGS	206	// set up FLAGS
204	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;	207	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
205	#if NTSC	208	#if NTSC
206	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;	209	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;
207	#endif	210	#endif
208	#if HUD	211	#if HUD
209	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;	212	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;
210	#endif	213	#endif
211	#if ARTHORIZON	214	#if ARTHORIZON
212	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;	215	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;
213	#endif	216	#endif
214	#if BIGVARIO	217	#if BIGVARIO
215	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;	218	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;
216	#endif	219	#endif
217	#if STATS	220	#if STATS
218	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;	221	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;
219	#endif	222	#endif
220	#if WARNINGS	223	#if WARNINGS
221	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;	224	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;
222	#endif	225	#endif
223	#if FCONLY	226	#if FCONLY
224	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;	227	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;
225	#endif	228	#endif
226		229
227		230
228	// set up Atmega162 Ports	231	// set up Atmega162 Ports
229	DDRA \|= (1 << PA1); // PA1 output (/CS)	232	DDRA \|= ((1 << PA1) \| (1 << PA2) \| (1 << PA3) \| (1 << PA5)); // PA1 output (/CS) \| PA2 output (SDIN) \| PA3 output (SCLK) \| PA5 output (RESET)
230	MAX_CS_HIGH	233	MAX_CS_HIGH
231	DDRA \|= (1 << PA2); // PA2 output (SDIN)	-
232	MAX_SDIN_LOW	234	MAX_SDIN_LOW
233	DDRA \|= (1 << PA3); // PA3 output (SCLK)	-
234	MAX_SCLK_LOW	235	MAX_SCLK_LOW
235	DDRA \|= (1 << PA5); // PA5 output (RESET)	-
236	MAX_RESET_HIGH	236	MAX_RESET_HIGH
237		237
238	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	238	DDRC \|= ((1 << PC0) \| (1 << PC1) \| (1 << PC2) \| (1 << PC3)); // PC0 output (LED1 gn) \| PC1 output (LED2 rt) \| PC2 output (LED3 gn) \| PC3 output (LED4 rt)
239	LED1_OFF	-
240	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	239	LED1_OFF
241	LED2_OFF	-
242	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	240	LED2_OFF
243	LED3_OFF	-
244	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	241	LED3_OFF
245	LED4_OFF	242	LED4_OFF
246		-
247	DDRC &= ~(1 << PC4); // PC4 input (MODE)	-
248	PORTC \|= (1 << PC4); // pullup	243
249	DDRC &= ~(1 << PC5); // PC5 input (SET)	244	DDRC &= ~((1 << PC4) \| (1 << PC5)); // PC4 input (MODE) \| PC5 input (SET)
250	PORTC \|= (1 << PC5); // pullup	245	PORTC \|= ((1 << PC4) \| (1 << PC5)); // pullup
251		246
252	// reset the MAX7456 to be sure any undefined states do no harm	247	// reset the MAX7456 to be sure any undefined states do no harm
253	MAX_RESET_LOW	248	MAX_RESET_LOW
254	MAX_RESET_HIGH	249	MAX_RESET_HIGH
255		250
256	// give the FC/NC and the maxim time to come up	251	// give the FC/NC and the maxim time to come up
257	LED4_ON	252	LED4_ON
258	_delay_ms(1000);	253	_delay_ms(1000);
259	LED4_OFF	254	LED4_OFF
260		255
261	//Pushing NEW chars to the MAX7456	256	//Pushing NEW chars to the MAX7456
262	#if (WRITECHARS != -1)	257	#if (WRITECHARS != -1)
263	// DISABLE display (VM0)	258	// DISABLE display (VM0)
264	spi_send_byte(0x00, 0b00000000);	259	spi_send_byte(0x00, 0b00000000);
265	learn_all_chars_pgm();	260	learn_all_chars_pgm();
266	#else	261	#else
267	// read out config for NTSC/PAL distinguishing	262	// read out config for NTSC/PAL distinguishing
268	get_eeprom(0);	263	get_eeprom(0);
269	#endif	264	#endif
270		265
271	// Setup Video Mode	266	// Setup Video Mode
272	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {	267	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
273	// NTSC + enable display immediately (VM0)	268	// NTSC + enable display immediately (VM0)
274	spi_send_byte(0x00, 0b00001000);	269	spi_send_byte(0x00, 0b00001000);
275		270
276	bottom_line = 12;	271	bottom_line = 12;
277	} else {	272	} else {
278	// PAL + enable display immediately (VM0)	273	// PAL + enable display immediately (VM0)
279	spi_send_byte(0x00, 0b01001000);	274	spi_send_byte(0x00, 0b01001000);
280		275
281	bottom_line = 14;	276	bottom_line = 14;
282	}	277	}
283		278
284	/*// clear all display-mem (DMM)	279	/*// clear all display-mem (DMM)
285	spi_send_byte(0x04, 0b00000100);	280	spi_send_byte(0x04, 0b00000100);
286		281
287	// clearing takes 12uS according to maxim so lets wait longer	282	// clearing takes 12uS according to maxim so lets wait longer
288	_delay_us(120);	283	_delay_us(120);
289		284
290	// 8bit mode	285	// 8bit mode
291	spi_send_byte(0x04, 0b01000000);*/	286	spi_send_byte(0x04, 0b01000000);*/
292		287
293	// clear display memory and set to 8bit mode	288	// clear display memory and set to 8bit mode
294	clear();	289	clear();
295		290
296	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	291	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
297	// init usart	292	// init usart
298	usart1_init();	293	usart1_init();
-		294
-		295
-		296
-		297	#ifdef ANTENNATRACKTEST
-		298	usart0_init();
-		299	#endif
299		300
300	// keep serial port clean	301	// keep serial port clean
301	usart1_DisableTXD();	302	usart1_DisableTXD();
302		303
303	// set up timer	304	// set up timer
304	// CTC, Prescaler /64	305	// CTC, Prescaler /64
305	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	306	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
306		307
307	TCNT0 = 0;	308	TCNT0 = 0;
308	OCR0 = 250;	309	OCR0 = 250;
309		310
310	// enable timer output compare interrupt	311	// enable timer output compare interrupt
311	TIMSK &= ~(1 << TOIE0);	312	TIMSK &= ~(1 << TOIE0);
312	TIMSK \|= (1 << OCIE0);	313	TIMSK \|= (1 << OCIE0);
313		314
314	// SPI setup	315	// SPI setup
315	DDRD \|= (1 << PD2); // PD2 output (INT0)	316	DDRD \|= (1 << PD2); // PD2 output (INT0)
316	SpiMasterInit();	317	SpiMasterInit();
317		318
318	// PPM detection setup	319	// PPM detection setup
319	ppm_init();	320	ppm_init();
320		321
321	// enable interrupts	322	// enable interrupts
322	sei();	323	sei();
323		324
324		325
325	//write_ascii_string(2, 7, " CaScAdE ");	326	//write_ascii_string(2, 7, " CaScAdE ");
326	//write_ascii_string(2, 8, "is TESTING his open source");	327	//write_ascii_string(2, 8, "is TESTING his open source");
327	//write_ascii_string(2, 9, " EPi OSD Firmware");	328	//write_ascii_string(2, 9, " EPi OSD Firmware");
328		329
329	// we are ready	330	// we are ready
330	LED3_ON	331	LED3_ON
331		332
332		333
333	// clear serial screen	334	// clear serial screen
334	//usart1_puts("\x1B[2J\x1B[H");	335	//usart1_puts("\x1B[2J\x1B[H");
335		336
336	while (1) {	337	while (1) {
337	// in case SPI is ready and there is nothing to send right now	338	// in case SPI is ready and there is nothing to send right now
338	if (!icnt && spi_ready) {	339	if (!icnt && spi_ready) {
339	// correct transfer ends with d (done)	340	// correct transfer ends with d (done)
340	if (SPI_buffer.buffer.chk == 'd') {	341	if (SPI_buffer.buffer.chk == 'd') {
341	ampere = SPI_buffer.data.ampere;	342	ampere = SPI_buffer.data.ampere;
342	ampere_wasted = SPI_buffer.data.mah;	343	ampere_wasted = SPI_buffer.data.mah;
343	s_volt = SPI_buffer.data.volt;	344	s_volt = SPI_buffer.data.volt;
344		345
345	// if this is the first receival we should print the small A	346	// if this is the first receival we should print the small A
346	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {	347	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
347	clear();	348	clear();
348	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;	349	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
349	// update this flag	350	// update this flag
350	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;	351	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;
351	}	352	}
352	} else {	353	} else {
353	// update flags	354	// update flags
354	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;	355	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
355	}	356	}
356	StartTransfer(9);	357	StartTransfer(9);
357	}	358	}
358	if (rxd_buffer_locked) {	359	if (rxd_buffer_locked) {
359	#if FCONLY	360	#if FCONLY
360	if (rxd_buffer[2] == 'D') { // FC Data	361	if (rxd_buffer[2] == 'D') { // FC Data
361	Decode64();	362	Decode64();
362	debugData = ((DebugOut_t)pRxData);	363	debugData = ((DebugOut_t)pRxData);
363		364
364	// init on first data retrival, distinguished by last battery :)	365	// init on first data retrival, distinguished by last battery :)
365	if (last_UBat == 255) {	366	if (last_UBat == 255) {
366	if (debugData.Analog[9] > 40) {	367	if (debugData.Analog[9] > 40) {
367	// fix for min_UBat	368	// fix for min_UBat
368	min_UBat = debugData.Analog[9];	369	min_UBat = debugData.Analog[9];
369	last_UBat = debugData.Analog[9];	370	last_UBat = debugData.Analog[9];
370	init_cosd(last_UBat);	371	init_cosd(last_UBat);
371	}	372	}
372	} else {	373	} else {
373	osd_fcmode();	374	osd_fcmode();
374	}	375	}
375	seconds_since_last_data = 0;	376	seconds_since_last_data = 0;
376	}	377	}
377	#else	378	#else
378	if (rxd_buffer[2] == 'O') { // NC OSD Data	379	if (rxd_buffer[2] == 'O') { // NC OSD Data
379	Decode64();	380	Decode64();
380	naviData = ((NaviData_t)pRxData);	381	naviData = ((NaviData_t)pRxData);
381		382
382	// init on first data retrival, distinguished by last battery :)	383	// init on first data retrival, distinguished by last battery :)
383	if (last_UBat == 255) {	384	if (last_UBat == 255) {
384	if (naviData.UBat > 40) {	385	if (naviData.UBat > 40) {
385	// fix for min_UBat	386	// fix for min_UBat
386	min_UBat = naviData.UBat;	387	min_UBat = naviData.UBat;
387	last_UBat = naviData.UBat;	388	last_UBat = naviData.UBat;
388	init_cosd(last_UBat);	389	init_cosd(last_UBat);
389	}	390	}
390	} else {	391	} else {
391	osd_ncmode();	392	osd_ncmode();
392	}	393	}
393	//seconds_since_last_data = 0;	394	//seconds_since_last_data = 0;
394	}	395	}
395	#endif	396	#endif
-		397
-		398	// ONLY FOR TESTING
-		399	#ifdef ANTENNATRACKTEST
-		400	#include <stdlib.h>
-		401	//#include <float.h>
-		402	//#include <math.h>
-		403
-		404	//usart0_puts("\x1B[2J\x1B[H");
-		405
-		406
-		407	/*
-		408	naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
-		409	naviData.HomePositionDeviation.Bearing = 35; // 35°
-		410	altimeter_offset = 50; // 50m start height
-		411	naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
-		412	*/
-		413
-		414	static char conv_array[7];
-		415
-		416	// should be float
-		417	int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
-		418
-		419	// we need math.h and some faster AVR :)
-		420	//tanheight = rad2deg(atan(tanheight));
-		421
-		422	itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
-		423	usart0_puts("Bearing: ");
-		424	usart0_puts(conv_array);
-		425	usart0_puts("\tHeightangle: ");
-		426	itoa(tanheight, conv_array, 10);
-		427	usart0_puts(conv_array);
-		428	usart0_puts("\r\n");
-		429	#endif
-		430
-		431
396	rxd_buffer_locked = 0;	432	rxd_buffer_locked = 0;
397	}	433	}
398	// handle keypress	434	// handle keypress
399	if (s1_pressed()) {	435	if (s1_pressed()) {
400	config_menu();	436	config_menu();
401	}	437	}
402	if (seconds_since_last_data > 0) {	438	if (seconds_since_last_data > 0) {
403	usart1_EnableTXD();	439	usart1_EnableTXD();
404	//usart1_puts_pgm(PSTR("zu alt\r\n"));	440	//usart1_puts_pgm(PSTR("zu alt\r\n"));
405	#if FCONLY	441	#if FCONLY
406	// request data ever 100ms from FC;	442	// request data ever 100ms from FC;
407	//usart1_request_mk_data(0, 'd', 100);	443	//usart1_request_mk_data(0, 'd', 100);
408	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));	444	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
409	#else	445	#else
410	// request OSD Data from NC every 100ms	446	// request OSD Data from NC every 100ms
411	//usart1_request_mk_data(1, 'o', 100);	447	//usart1_request_mk_data(1, 'o', 100);
412	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));	448	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
413		449
414	// and disable debug...	450	// and disable debug...
415	//usart1_request_mk_data(0, 'd', 0);	451	//usart1_request_mk_data(0, 'd', 0);
416	#endif	452	#endif
417	// reset last time counter	453	// reset last time counter
418	seconds_since_last_data = 0;	454	seconds_since_last_data = 0;
419	usart1_DisableTXD();	455	usart1_DisableTXD();
420	}	456	}
421	}	457	}
422		458
423	#else // character flashing...	459	#else // character flashing...
424	clear();	460	clear();
425	write_all_chars();	461	write_all_chars();
426	LED1_ON	462	LED1_ON
427	LED2_ON	463	LED2_ON
428	LED3_ON	464	LED3_ON
429	LED4_ON	465	LED4_ON
430	while(1) {	466	while(1) {
431		467
432	};	468	};
433	#endif	469	#endif
434		470
435		471
436	return 0;	472	return 0;
437	}	473	}
438		474

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(root)/C-OSD/trunk/main.c @ 477 - Rev 762 → 772