WebSVN - Projects - Diff - Rev 772 and 783


/****************************************************************************
 *   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 str_DebugOut 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";
 
 
 
 
 
#if FCONLY
const displaymode_t fcdisplaymodes[] PROGMEM = {
    { osd_fcmode_default, (char *)str_1},
    { osd_fcmode_jopl, (char *)str_3}
};
int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default;
#else
 
const displaymode_t ncdisplaymodes[] PROGMEM = {
    { osd_ncmode_default, (char *)str_1},
    { osd_ncmode_minimal, (char *)str_2}
};
 
int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default;
#endif
 
 
#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 = *((str_DebugOut*)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) {
                        #if !FCONLY
                        usart1_request_nc_uart();
                        #endif
 
            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 772	Rev 783
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	34	#ifdef ANTENNATRACKTEST
35	#include "usart0.h"	35	#include "usart0.h"
36	#endif	36	#endif
37	#include "usart1.h"	37	#include "usart1.h"
38	#include "osd_helpers.h"	38	#include "osd_helpers.h"
39	#include "config.h"	39	#include "config.h"
40	#include "spi.h"	40	#include "spi.h"
41	#include "buttons.h"	41	#include "buttons.h"
42	#include "ppm.h"	42	#include "ppm.h"
43	#include "osd_ncmode_default.h"	43	#include "osd_ncmode_default.h"
44	#include "osd_ncmode_minimal.h"	44	#include "osd_ncmode_minimal.h"
45	#include "osd_fcmode_default.h"	45	#include "osd_fcmode_default.h"
46	#include "osd_fcmode_jopl.h"	46	#include "osd_fcmode_jopl.h"
47		47
48	#if WRITECHARS != -1	48	#if WRITECHARS != -1
49	#include "characters.h"	49	#include "characters.h"
50	#endif	50	#endif
51		51
52	/* TODO:	52	/* TODO:
53	* - verifiy correctness of values	53	* - verifiy correctness of values
54	* - clean up code :)	54	* - clean up code :)
55	*/	55	*/
56		56
57		57
58	/* ##########################################################################	58	/* ##########################################################################
59	* global definitions and global vars	59	* global definitions and global vars
60	* ##########################################################################*/	60	* ##########################################################################*/
61	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	61	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
62		62
63	volatile NaviData_t naviData;	63	volatile NaviData_t naviData;
64	volatile DebugOut_t debugData;	64	volatile str_DebugOut debugData;
65		65
66	// cache old vars for blinking attribute, checkup is faster than full	66	// cache old vars for blinking attribute, checkup is faster than full
67	// attribute write each time	67	// attribute write each time
68	volatile uint8_t last_UBat = 255;	68	volatile uint8_t last_UBat = 255;
69	volatile uint8_t last_RC_Quality = 255;	69	volatile uint8_t last_RC_Quality = 255;
70		70
71	// 16bit should be enough, normal LiPos don't last that long	71	// 16bit should be enough, normal LiPos don't last that long
72	volatile uint16_t uptime = 0;	72	volatile uint16_t uptime = 0;
73	volatile uint16_t timer = 0;	73	volatile uint16_t timer = 0;
74	volatile uint16_t flytime_fc = 0;	74	volatile uint16_t flytime_fc = 0;
75		75
76	// remember last time data was received	76	// remember last time data was received
77	volatile uint8_t seconds_since_last_data = 0;	77	volatile uint8_t seconds_since_last_data = 0;
78		78
79	// general PAL\|NTSC distingiusch stuff	79	// general PAL\|NTSC distingiusch stuff
80	uint8_t top_line = 1;	80	uint8_t top_line = 1;
81	uint8_t bottom_line = 14;	81	uint8_t bottom_line = 14;
82		82
83	// battery voltages	83	// battery voltages
84	uint8_t min_voltage = 0;	84	uint8_t min_voltage = 0;
85	uint8_t max_voltage = 0;	85	uint8_t max_voltage = 0;
86		86
87	// Flags	87	// Flags
88	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;
89		89
90		90
91		91
92	// stats for after flight	92	// stats for after flight
93	int16_t max_Altimeter = 0;	93	int16_t max_Altimeter = 0;
94	uint8_t min_UBat = 255;	94	uint8_t min_UBat = 255;
95	uint16_t max_GroundSpeed = 0;	95	uint16_t max_GroundSpeed = 0;
96	int16_t max_Distance = 0;	96	int16_t max_Distance = 0;
97	uint16_t max_FlyingTime = 0;	97	uint16_t max_FlyingTime = 0;
98		98
99	// flags from last round to check for changes	99	// flags from last round to check for changes
100	uint8_t old_MKFlags = 0;	100	uint8_t old_MKFlags = 0;
101		101
102	// store stats description in progmem to save space	102	// store stats description in progmem to save space
103	const char stats_item_0[] PROGMEM = "max Altitude:";	103	const char stats_item_0[] PROGMEM = "max Altitude:";
104	const char stats_item_1[] PROGMEM = "max Speed :";	104	const char stats_item_1[] PROGMEM = "max Speed :";
105	const char stats_item_2[] PROGMEM = "max Distance:";	105	const char stats_item_2[] PROGMEM = "max Distance:";
106	const char stats_item_3[] PROGMEM = "min Voltage :";	106	const char stats_item_3[] PROGMEM = "min Voltage :";
107	const char stats_item_4[] PROGMEM = "max Time :";	107	const char stats_item_4[] PROGMEM = "max Time :";
108	const char stats_item_5[] PROGMEM = "longitude :";	108	const char stats_item_5[] PROGMEM = "longitude :";
109	const char stats_item_6[] PROGMEM = "latitude :";	109	const char stats_item_6[] PROGMEM = "latitude :";
110	const char stats_item_7[] PROGMEM = "max current :";	110	const char stats_item_7[] PROGMEM = "max current :";
111	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,
112	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};
113		113
114	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	114	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
115	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	115	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
116	const char str_NE[] PROGMEM = "NE";	116	const char str_NE[] PROGMEM = "NE";
117	const char str_E[] PROGMEM = "E ";	117	const char str_E[] PROGMEM = "E ";
118	const char str_SE[] PROGMEM = "SE";	118	const char str_SE[] PROGMEM = "SE";
119	const char str_S[] PROGMEM = "S ";	119	const char str_S[] PROGMEM = "S ";
120	const char str_SW[] PROGMEM = "SW";	120	const char str_SW[] PROGMEM = "SW";
121	const char str_W[] PROGMEM = "W ";	121	const char str_W[] PROGMEM = "W ";
122	const char str_NW[] PROGMEM = "NW";	122	const char str_NW[] PROGMEM = "NW";
123	const char str_N[] PROGMEM = "N ";	123	const char str_N[] PROGMEM = "N ";
124	const char *directions[8] PROGMEM = {	124	const char *directions[8] PROGMEM = {
125	str_NE,	125	str_NE,
126	str_E,	126	str_E,
127	str_SE,	127	str_SE,
128	str_S,	128	str_S,
129	str_SW,	129	str_SW,
130	str_W,	130	str_W,
131	str_NW,	131	str_NW,
132	str_N	132	str_N
133	};	133	};
134		134
135	/* ##########################################################################	135	/* ##########################################################################
136	* Different display mode function pointers	136	* Different display mode function pointers
137	* ##########################################################################*/	137	* ##########################################################################*/
138	const char str_1[] PROGMEM = "default";	138	const char str_1[] PROGMEM = "default";
139	const char str_2[] PROGMEM = "minimal";	139	const char str_2[] PROGMEM = "minimal";
140	const char str_3[] PROGMEM = " jopl";	140	const char str_3[] PROGMEM = " jopl";
141		-
142	const displaymode_t ncdisplaymodes[] PROGMEM = {	-
143	{ osd_ncmode_default, (char *)str_1},	-
144	{ osd_ncmode_minimal, (char *)str_2}	141
145	};	-
146		142	#if FCONLY
147	const displaymode_t fcdisplaymodes[] PROGMEM = {	143	const displaymode_t fcdisplaymodes[] PROGMEM = {
148	{ osd_fcmode_default, (char *)str_1},	144	{ osd_fcmode_default, (char *)str_1},
149	{ osd_fcmode_jopl, (char *)str_3}	145	{ osd_fcmode_jopl, (char *)str_3}
150	};	146	};
-		147	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;
-		148	#else
-		149
-		150	const displaymode_t ncdisplaymodes[] PROGMEM = {
-		151	{ osd_ncmode_default, (char *)str_1},
-		152	{ osd_ncmode_minimal, (char *)str_2}
151		153	};
152	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;	-
-		154	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;
-		155	#endif
-		156
153	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;	157
154	#endif	158	#endif
155		159
156	/* ##########################################################################	160	/* ##########################################################################
157	* Interrupt handler	161	* Interrupt handler
158	* ##########################################################################*/	162	* ##########################################################################*/
159		163
160	/**	164	/**
161	* handler for undefined Interrupts	165	* handler for undefined Interrupts
162	* if not defined AVR will reset in case any unhandled interrupts occur	166	* if not defined AVR will reset in case any unhandled interrupts occur
163	*/	167	*/
164	ISR(__vector_default) {	168	ISR(__vector_default) {
165	asm("nop");	169	asm("nop");
166	}	170	}
167		171
168	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	172	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
169	/* ##########################################################################	173	/* ##########################################################################
170	* timer stuff	174	* timer stuff
171	* ##########################################################################*/	175	* ##########################################################################*/
172		176
173	static uint8_t delay_spi = 0;	177	static uint8_t delay_spi = 0;
174		178
175	/**	179	/**
176	* timer kicks in every 1000uS ^= 1ms	180	* timer kicks in every 1000uS ^= 1ms
177	*/	181	*/
178	ISR(TIMER0_COMP_vect) {	182	ISR(TIMER0_COMP_vect) {
179	if (!timer--) {	183	if (!timer--) {
180	uptime++;	184	uptime++;
181		185
182	#if FCONLY	186	#if FCONLY
183	if (debugData.Analog[12] > 10) {	187	if (debugData.Analog[12] > 10) {
184	flytime_fc++;	188	flytime_fc++;
185	}	189	}
186	#endif	190	#endif
187		191
188	timer = 999;	192	timer = 999;
189	seconds_since_last_data++;	193	seconds_since_last_data++;
190	}	194	}
191	// in case there is still some spi data to send do it now	195	// in case there is still some spi data to send do it now
192	// delay to give the slave some time to compute values	196	// delay to give the slave some time to compute values
193	if (spi_ready && icnt) {	197	if (spi_ready && icnt) {
194	if (!delay_spi--) {	198	if (!delay_spi--) {
195	delay_spi = 8;	199	delay_spi = 8;
196	spi_send_next();	200	spi_send_next();
197	}	201	}
198	}	202	}
199	}	203	}
200	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	204	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
201		205
202	/* ##########################################################################	206	/* ##########################################################################
203	* MAIN	207	* MAIN
204	* ##########################################################################*/	208	* ##########################################################################*/
205	int main(void) {	209	int main(void) {
206	// set up FLAGS	210	// set up FLAGS
207	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;	211	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
208	#if NTSC	212	#if NTSC
209	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;	213	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;
210	#endif	214	#endif
211	#if HUD	215	#if HUD
212	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;	216	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;
213	#endif	217	#endif
214	#if ARTHORIZON	218	#if ARTHORIZON
215	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;	219	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;
216	#endif	220	#endif
217	#if BIGVARIO	221	#if BIGVARIO
218	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;	222	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;
219	#endif	223	#endif
220	#if STATS	224	#if STATS
221	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;	225	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;
222	#endif	226	#endif
223	#if WARNINGS	227	#if WARNINGS
224	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;	228	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;
225	#endif	229	#endif
226	#if FCONLY	230	#if FCONLY
227	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;	231	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;
228	#endif	232	#endif
229		233
230		234
231	// set up Atmega162 Ports	235	// set up Atmega162 Ports
232	DDRA \|= ((1 << PA1) \| (1 << PA2) \| (1 << PA3) \| (1 << PA5)); // PA1 output (/CS) \| PA2 output (SDIN) \| PA3 output (SCLK) \| PA5 output (RESET)	236	DDRA \|= ((1 << PA1) \| (1 << PA2) \| (1 << PA3) \| (1 << PA5)); // PA1 output (/CS) \| PA2 output (SDIN) \| PA3 output (SCLK) \| PA5 output (RESET)
233	MAX_CS_HIGH	237	MAX_CS_HIGH
234	MAX_SDIN_LOW	238	MAX_SDIN_LOW
235	MAX_SCLK_LOW	239	MAX_SCLK_LOW
236	MAX_RESET_HIGH	240	MAX_RESET_HIGH
237		241
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)	242	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	243	LED1_OFF
240	LED2_OFF	244	LED2_OFF
241	LED3_OFF	245	LED3_OFF
242	LED4_OFF	246	LED4_OFF
243		247
244	DDRC &= ~((1 << PC4) \| (1 << PC5)); // PC4 input (MODE) \| PC5 input (SET)	248	DDRC &= ~((1 << PC4) \| (1 << PC5)); // PC4 input (MODE) \| PC5 input (SET)
245	PORTC \|= ((1 << PC4) \| (1 << PC5)); // pullup	249	PORTC \|= ((1 << PC4) \| (1 << PC5)); // pullup
246		250
247	// reset the MAX7456 to be sure any undefined states do no harm	251	// reset the MAX7456 to be sure any undefined states do no harm
248	MAX_RESET_LOW	252	MAX_RESET_LOW
249	MAX_RESET_HIGH	253	MAX_RESET_HIGH
250		254
251	// give the FC/NC and the maxim time to come up	255	// give the FC/NC and the maxim time to come up
252	LED4_ON	256	LED4_ON
253	_delay_ms(1000);	257	_delay_ms(1000);
254	LED4_OFF	258	LED4_OFF
255		259
256	//Pushing NEW chars to the MAX7456	260	//Pushing NEW chars to the MAX7456
257	#if (WRITECHARS != -1)	261	#if (WRITECHARS != -1)
258	// DISABLE display (VM0)	262	// DISABLE display (VM0)
259	spi_send_byte(0x00, 0b00000000);	263	spi_send_byte(0x00, 0b00000000);
260	learn_all_chars_pgm();	264	learn_all_chars_pgm();
261	#else	265	#else
262	// read out config for NTSC/PAL distinguishing	266	// read out config for NTSC/PAL distinguishing
263	get_eeprom(0);	267	get_eeprom(0);
264	#endif	268	#endif
265		269
266	// Setup Video Mode	270	// Setup Video Mode
267	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {	271	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
268	// NTSC + enable display immediately (VM0)	272	// NTSC + enable display immediately (VM0)
269	spi_send_byte(0x00, 0b00001000);	273	spi_send_byte(0x00, 0b00001000);
270		274
271	bottom_line = 12;	275	bottom_line = 12;
272	} else {	276	} else {
273	// PAL + enable display immediately (VM0)	277	// PAL + enable display immediately (VM0)
274	spi_send_byte(0x00, 0b01001000);	278	spi_send_byte(0x00, 0b01001000);
275		279
276	bottom_line = 14;	280	bottom_line = 14;
277	}	281	}
278		282
279	/*// clear all display-mem (DMM)	283	/*// clear all display-mem (DMM)
280	spi_send_byte(0x04, 0b00000100);	284	spi_send_byte(0x04, 0b00000100);
281		285
282	// clearing takes 12uS according to maxim so lets wait longer	286	// clearing takes 12uS according to maxim so lets wait longer
283	_delay_us(120);	287	_delay_us(120);
284		288
285	// 8bit mode	289	// 8bit mode
286	spi_send_byte(0x04, 0b01000000);*/	290	spi_send_byte(0x04, 0b01000000);*/
287		291
288	// clear display memory and set to 8bit mode	292	// clear display memory and set to 8bit mode
289	clear();	293	clear();
290		294
291	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	295	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
292	// init usart	296	// init usart
293	usart1_init();	297	usart1_init();
294		298
295		299
296		300
297	#ifdef ANTENNATRACKTEST	301	#ifdef ANTENNATRACKTEST
298	usart0_init();	302	usart0_init();
299	#endif	303	#endif
300		304
301	// keep serial port clean	305	// keep serial port clean
302	usart1_DisableTXD();	306	usart1_DisableTXD();
303		307
304	// set up timer	308	// set up timer
305	// CTC, Prescaler /64	309	// CTC, Prescaler /64
306	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	310	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
307		311
308	TCNT0 = 0;	312	TCNT0 = 0;
309	OCR0 = 250;	313	OCR0 = 250;
310		314
311	// enable timer output compare interrupt	315	// enable timer output compare interrupt
312	TIMSK &= ~(1 << TOIE0);	316	TIMSK &= ~(1 << TOIE0);
313	TIMSK \|= (1 << OCIE0);	317	TIMSK \|= (1 << OCIE0);
314		318
315	// SPI setup	319	// SPI setup
316	DDRD \|= (1 << PD2); // PD2 output (INT0)	320	DDRD \|= (1 << PD2); // PD2 output (INT0)
317	SpiMasterInit();	321	SpiMasterInit();
318		322
319	// PPM detection setup	323	// PPM detection setup
320	ppm_init();	324	ppm_init();
321		325
322	// enable interrupts	326	// enable interrupts
323	sei();	327	sei();
324		328
325		329
326	//write_ascii_string(2, 7, " CaScAdE ");	330	//write_ascii_string(2, 7, " CaScAdE ");
327	//write_ascii_string(2, 8, "is TESTING his open source");	331	//write_ascii_string(2, 8, "is TESTING his open source");
328	//write_ascii_string(2, 9, " EPi OSD Firmware");	332	//write_ascii_string(2, 9, " EPi OSD Firmware");
329		333
330	// we are ready	334	// we are ready
331	LED3_ON	335	LED3_ON
332		336
333		337
334	// clear serial screen	338	// clear serial screen
335	//usart1_puts("\x1B[2J\x1B[H");	339	//usart1_puts("\x1B[2J\x1B[H");
-		340
336		341
337	while (1) {	342	while (1) {
338	// in case SPI is ready and there is nothing to send right now	343	// in case SPI is ready and there is nothing to send right now
339	if (!icnt && spi_ready) {	344	if (!icnt && spi_ready) {
340	// correct transfer ends with d (done)	345	// correct transfer ends with d (done)
341	if (SPI_buffer.buffer.chk == 'd') {	346	if (SPI_buffer.buffer.chk == 'd') {
342	ampere = SPI_buffer.data.ampere;	347	ampere = SPI_buffer.data.ampere;
343	ampere_wasted = SPI_buffer.data.mah;	348	ampere_wasted = SPI_buffer.data.mah;
344	s_volt = SPI_buffer.data.volt;	349	s_volt = SPI_buffer.data.volt;
345		350
346	// if this is the first receival we should print the small A	351	// if this is the first receival we should print the small A
347	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {	352	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
348	clear();	353	clear();
349	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;	354	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
350	// update this flag	355	// update this flag
351	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;	356	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;
352	}	357	}
353	} else {	358	} else {
354	// update flags	359	// update flags
355	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;	360	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
356	}	361	}
357	StartTransfer(9);	362	StartTransfer(9);
358	}	363	}
359	if (rxd_buffer_locked) {	364	if (rxd_buffer_locked) {
360	#if FCONLY	365	#if FCONLY
361	if (rxd_buffer[2] == 'D') { // FC Data	366	if (rxd_buffer[2] == 'D') { // FC Data
362	Decode64();	367	Decode64();
363	debugData = ((DebugOut_t)pRxData);	368	debugData = ((str_DebugOut)pRxData);
364		369
365	// init on first data retrival, distinguished by last battery :)	370	// init on first data retrival, distinguished by last battery :)
366	if (last_UBat == 255) {	371	if (last_UBat == 255) {
367	if (debugData.Analog[9] > 40) {	372	if (debugData.Analog[9] > 40) {
368	// fix for min_UBat	373	// fix for min_UBat
369	min_UBat = debugData.Analog[9];	374	min_UBat = debugData.Analog[9];
370	last_UBat = debugData.Analog[9];	375	last_UBat = debugData.Analog[9];
371	init_cosd(last_UBat);	376	init_cosd(last_UBat);
372	}	377	}
373	} else {	378	} else {
374	osd_fcmode();	379	osd_fcmode();
375	}	380	}
376	seconds_since_last_data = 0;	381	seconds_since_last_data = 0;
377	}	382	}
378	#else	383	#else
379	if (rxd_buffer[2] == 'O') { // NC OSD Data	384	if (rxd_buffer[2] == 'O') { // NC OSD Data
380	Decode64();	385	Decode64();
381	naviData = ((NaviData_t)pRxData);	386	naviData = ((NaviData_t)pRxData);
382		387
383	// init on first data retrival, distinguished by last battery :)	388	// init on first data retrival, distinguished by last battery :)
384	if (last_UBat == 255) {	389	if (last_UBat == 255) {
385	if (naviData.UBat > 40) {	390	if (naviData.UBat > 40) {
386	// fix for min_UBat	391	// fix for min_UBat
387	min_UBat = naviData.UBat;	392	min_UBat = naviData.UBat;
388	last_UBat = naviData.UBat;	393	last_UBat = naviData.UBat;
389	init_cosd(last_UBat);	394	init_cosd(last_UBat);
390	}	395	}
391	} else {	396	} else {
392	osd_ncmode();	397	osd_ncmode();
393	}	398	}
394	//seconds_since_last_data = 0;	399	//seconds_since_last_data = 0;
395	}	400	}
396	#endif	401	#endif
397		402
398	// ONLY FOR TESTING	403	// ONLY FOR TESTING
399	#ifdef ANTENNATRACKTEST	404	#ifdef ANTENNATRACKTEST
400	#include <stdlib.h>	405	#include <stdlib.h>
401	//#include <float.h>	406	//#include <float.h>
402	//#include <math.h>	407	//#include <math.h>
403		408
404	//usart0_puts("\x1B[2J\x1B[H");	409	//usart0_puts("\x1B[2J\x1B[H");
405		410
406		411
407	/*	412	/*
408	naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)	413	naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
409	naviData.HomePositionDeviation.Bearing = 35; // 35°	414	naviData.HomePositionDeviation.Bearing = 35; // 35°
410	altimeter_offset = 50; // 50m start height	415	altimeter_offset = 50; // 50m start height
411	naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)	416	naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
412	*/	417	*/
413		418
414	static char conv_array[7];	419	static char conv_array[7];
415		420
416	// should be float	421	// should be float
417	int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);	422	int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
418		423
419	// we need math.h and some faster AVR :)	424	// we need math.h and some faster AVR :)
420	//tanheight = rad2deg(atan(tanheight));	425	//tanheight = rad2deg(atan(tanheight));
421		426
422	itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);	427	itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
423	usart0_puts("Bearing: ");	428	usart0_puts("Bearing: ");
424	usart0_puts(conv_array);	429	usart0_puts(conv_array);
425	usart0_puts("\tHeightangle: ");	430	usart0_puts("\tHeightangle: ");
426	itoa(tanheight, conv_array, 10);	431	itoa(tanheight, conv_array, 10);
427	usart0_puts(conv_array);	432	usart0_puts(conv_array);
428	usart0_puts("\r\n");	433	usart0_puts("\r\n");
429	#endif	434	#endif
430		435
431		436
432	rxd_buffer_locked = 0;	437	rxd_buffer_locked = 0;
433	}	438	}
434	// handle keypress	439	// handle keypress
435	if (s1_pressed()) {	440	if (s1_pressed()) {
436	config_menu();	441	config_menu();
437	}	442	}
438	if (seconds_since_last_data > 0) {	443	if (seconds_since_last_data > 0) {
-		444	#if !FCONLY
-		445	usart1_request_nc_uart();
-		446	#endif
-		447
439	usart1_EnableTXD();	448	usart1_EnableTXD();
440	//usart1_puts_pgm(PSTR("zu alt\r\n"));	449	//usart1_puts_pgm(PSTR("zu alt\r\n"));
441	#if FCONLY	450	#if FCONLY
442	// request data ever 100ms from FC;	451	// request data ever 100ms from FC;
443	//usart1_request_mk_data(0, 'd', 100);	452	//usart1_request_mk_data(0, 'd', 100);
444	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));	453	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
445	#else	454	#else
446	// request OSD Data from NC every 100ms	455	// request OSD Data from NC every 100ms
447	//usart1_request_mk_data(1, 'o', 100);	456	//usart1_request_mk_data(1, 'o', 100);
448	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));	457	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
449		458
450	// and disable debug...	459	// and disable debug...
451	//usart1_request_mk_data(0, 'd', 0);	460	//usart1_request_mk_data(0, 'd', 0);
452	#endif	461	#endif
453	// reset last time counter	462	// reset last time counter
454	seconds_since_last_data = 0;	463	seconds_since_last_data = 0;
455	usart1_DisableTXD();	464	usart1_DisableTXD();
456	}	465	}
457	}	466	}
458		467
459	#else // character flashing...	468	#else // character flashing...
460	clear();	469	clear();
461	write_all_chars();	470	write_all_chars();
462	LED1_ON	471	LED1_ON
463	LED2_ON	472	LED2_ON
464	LED3_ON	473	LED3_ON
465	LED4_ON	474	LED4_ON
466	while(1) {	475	while(1) {
467		476
468	};	477	};
469	#endif	478	#endif
470		479
471		480
472	return 0;	481	return 0;
473	}	482	}
474		483

Subversion Repositories Projects

(root)/C-OSD/trunk/main.c @ 477 - Rev 772 → 783