WebSVN - Projects - Diff - Rev 932 and 942


/****************************************************************************
 *   Copyright (C) 2009-2011 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 "main.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <avr/pgmspace.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;
 
uint8_t scope[12] = {
    5, 5, 0,
    25, 5, 0,
    5, 10, 0,
    25, 10, 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) | (1 << PC6) | (1 << PC7)); // PC4 input(MODE) | PC5 input(SET) | PC6 input SJ1 | PC7 input SJ2
    PORTC |= ((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // 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 SERIALDEBUGDRAW
#define USART0ENABLE 1
#endif
#ifdef ANTENNATRACKTEST
#define USART0ENABLE 1
#endif
 
#ifdef USART0ENABLE
    usart0_init();
    usart0_puts("\x1B[2J\x1B[H");
    usart0_puts("Welcome\r\n");
#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");
 
    COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;
#if !FCONLY
    usart1_request_nc_uart();
#endif
 
    while (1) {
        // in case SPI is ready and there is nothing to send right now
        if (!icnt && spi_ready) {
            // correct transfer ends with d (done)
            if (SPI_buffer.buffer.chk == 'd') {
                ampere = SPI_buffer.data.ampere;
                ampere_wasted = SPI_buffer.data.mah;
                s_volt = SPI_buffer.data.volt;
 
                // if this is the first receival we should print the small A
                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
                    clear();
                    COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
                    // update this flag
                    COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
                }
            } else {
                // update flags
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
            }
            StartTransfer(9);
        }
        if (rxd_buffer_locked) {
#if FCONLY
            if (rxd_buffer[2] == 'D') { // FC Data
                Decode64();
                debugData = *((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();
        }
        // reqest data untill there has been some answer
        if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) ||
            // or while not in passive mode
            (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {
            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();
 
            // do not spam too much
            if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {
                _delay_ms(300);
            }
        }
 
 
        if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore
            if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
                clear();
            }
            COSD_FLAGS_MODES &= ~COSD_FLAG_HUD;
            COSD_FLAGS_RUNTIME |= COSD_BLANKBYSJ;
        } else if (!SJ1_CLOSED && (COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we want the HUD back again            
            if (!(COSD_FLAGS_MODES & COSD_FLAG_HUD)) {
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
            }
            COSD_FLAGS_MODES |= COSD_FLAG_HUD;
            COSD_FLAGS_RUNTIME &= ~(COSD_BLANKBYSJ);
        }
 
    }
 
#else // character flashing...
    clear();
    write_all_chars();
    LED1_ON
    LED2_ON
    LED3_ON
    LED4_ON
    while (1) {
 
    };
#endif
 
 
    return 0;
}
 

Rev 932	Rev 942
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009-2011 by Claas Anders "CaScAdE" Rathje *	2	* Copyright (C) 2009-2011 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 "main.h"	28	#include "main.h"
29	#include <avr/io.h>	29	#include <avr/io.h>
30	#include <avr/interrupt.h>	30	#include <avr/interrupt.h>
31	#include <util/delay.h>	31	#include <util/delay.h>
32	#include <avr/pgmspace.h>	32	#include <avr/pgmspace.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 str_DebugOut 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	uint8_t scope[12] = {	87	uint8_t scope[12] = {
88	5, 5, 0,	88	5, 5, 0,
89	25, 5, 0,	89	25, 5, 0,
90	5, 10, 0,	90	5, 10, 0,
91	25, 10, 0	91	25, 10, 0
92	};	92	};
93		93
94	// Flags	94	// Flags
95	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;	95	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
96		96
97		97
98		98
99	// stats for after flight	99	// stats for after flight
100	int16_t max_Altimeter = 0;	100	int16_t max_Altimeter = 0;
101	uint8_t min_UBat = 255;	101	uint8_t min_UBat = 255;
102	uint16_t max_GroundSpeed = 0;	102	uint16_t max_GroundSpeed = 0;
103	int16_t max_Distance = 0;	103	int16_t max_Distance = 0;
104	uint16_t max_FlyingTime = 0;	104	uint16_t max_FlyingTime = 0;
105		105
106	// flags from last round to check for changes	106	// flags from last round to check for changes
107	uint8_t old_MKFlags = 0;	107	uint8_t old_MKFlags = 0;
108		108
109	// store stats description in progmem to save space	109	// store stats description in progmem to save space
110	const char stats_item_0[] PROGMEM = "max Altitude:";	110	const char stats_item_0[] PROGMEM = "max Altitude:";
111	const char stats_item_1[] PROGMEM = "max Speed :";	111	const char stats_item_1[] PROGMEM = "max Speed :";
112	const char stats_item_2[] PROGMEM = "max Distance:";	112	const char stats_item_2[] PROGMEM = "max Distance:";
113	const char stats_item_3[] PROGMEM = "min Voltage :";	113	const char stats_item_3[] PROGMEM = "min Voltage :";
114	const char stats_item_4[] PROGMEM = "max Time:";	114	const char stats_item_4[] PROGMEM = "max Time:";
115	const char stats_item_5[] PROGMEM = "longitude :";	115	const char stats_item_5[] PROGMEM = "longitude :";
116	const char stats_item_6[] PROGMEM = "latitude:";	116	const char stats_item_6[] PROGMEM = "latitude:";
117	const char stats_item_7[] PROGMEM = "max current :";	117	const char stats_item_7[] PROGMEM = "max current :";
118	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	118	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
119	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};	119	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
120		120
121	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	121	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
122	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	122	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
123	const char str_NE[] PROGMEM = "NE";	123	const char str_NE[] PROGMEM = "NE";
124	const char str_E[] PROGMEM = "E ";	124	const char str_E[] PROGMEM = "E ";
125	const char str_SE[] PROGMEM = "SE";	125	const char str_SE[] PROGMEM = "SE";
126	const char str_S[] PROGMEM = "S ";	126	const char str_S[] PROGMEM = "S ";
127	const char str_SW[] PROGMEM = "SW";	127	const char str_SW[] PROGMEM = "SW";
128	const char str_W[] PROGMEM = "W ";	128	const char str_W[] PROGMEM = "W ";
129	const char str_NW[] PROGMEM = "NW";	129	const char str_NW[] PROGMEM = "NW";
130	const char str_N[] PROGMEM = "N ";	130	const char str_N[] PROGMEM = "N ";
131	const char *directions[8] PROGMEM = {	131	const char *directions[8] PROGMEM = {
132	str_NE,	132	str_NE,
133	str_E,	133	str_E,
134	str_SE,	134	str_SE,
135	str_S,	135	str_S,
136	str_SW,	136	str_SW,
137	str_W,	137	str_W,
138	str_NW,	138	str_NW,
139	str_N	139	str_N
140	};	140	};
141		141
142	/* ##########################################################################	142	/* ##########################################################################
143	* Different display mode function pointers	143	* Different display mode function pointers
144	* ##########################################################################*/	144	* ##########################################################################*/
145	const char str_1[] PROGMEM = "default";	145	const char str_1[] PROGMEM = "default";
146	const char str_2[] PROGMEM = "minimal";	146	const char str_2[] PROGMEM = "minimal";
147	const char str_3[] PROGMEM = " jopl";	147	const char str_3[] PROGMEM = " jopl";
148		148
149	#if FCONLY	149	#if FCONLY
150	const displaymode_t fcdisplaymodes[] PROGMEM = {	150	const displaymode_t fcdisplaymodes[] PROGMEM = {
151	{ osd_fcmode_default, (char *)str_1},	151	{ osd_fcmode_default, (char *)str_1},
152	{ osd_fcmode_jopl, (char *)str_3}	152	{ osd_fcmode_jopl, (char *)str_3}
153	};	153	};
154	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;	154	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;
155	#else	155	#else
156		156
157	const displaymode_t ncdisplaymodes[] PROGMEM = {	157	const displaymode_t ncdisplaymodes[] PROGMEM = {
158	{ osd_ncmode_default, (char *)str_1},	158	{ osd_ncmode_default, (char *)str_1},
159	{ osd_ncmode_minimal, (char *)str_2}	159	{ osd_ncmode_minimal, (char *)str_2}
160	};	160	};
161	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;	161	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;
162	#endif	162	#endif
163		163
164		164
165	#endif	165	#endif
166		166
167	/* ##########################################################################	167	/* ##########################################################################
168	* Interrupt handler	168	* Interrupt handler
169	* ##########################################################################*/	169	* ##########################################################################*/
170		170
171	/**	171	/**
172	* handler for undefined Interrupts	172	* handler for undefined Interrupts
173	* if not defined AVR will reset in case any unhandled interrupts occur	173	* if not defined AVR will reset in case any unhandled interrupts occur
174	*/	174	*/
175	ISR(__vector_default) {	175	ISR(__vector_default) {
176	asm("nop");	176	asm("nop");
177	}	177	}
178		178
179	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	179	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
180	/* ##########################################################################	180	/* ##########################################################################
181	* timer stuff	181	* timer stuff
182	* ##########################################################################*/	182	* ##########################################################################*/
183		183
184	static uint8_t delay_spi = 0;	184	static uint8_t delay_spi = 0;
185		185
186	/**	186	/**
187	* timer kicks in every 1000uS ^= 1ms	187	* timer kicks in every 1000uS ^= 1ms
188	*/	188	*/
189	ISR(TIMER0_COMP_vect) {	189	ISR(TIMER0_COMP_vect) {
190	if (!timer--) {	190	if (!timer--) {
191	uptime++;	191	uptime++;
192		192
193	#if FCONLY	193	#if FCONLY
194	if (debugData.Analog[12] > 10) {	194	if (debugData.Analog[12] > 10) {
195	flytime_fc++;	195	flytime_fc++;
196	}	196	}
197	#endif	197	#endif
198		198
199	timer = 999;	199	timer = 999;
200	seconds_since_last_data++;	200	seconds_since_last_data++;
201	}	201	}
202	// in case there is still some spi data to send do it now	202	// in case there is still some spi data to send do it now
203	// delay to give the slave some time to compute values	203	// delay to give the slave some time to compute values
204	if (spi_ready && icnt) {	204	if (spi_ready && icnt) {
205	if (!delay_spi--) {	205	if (!delay_spi--) {
206	delay_spi = 8;	206	delay_spi = 8;
207	spi_send_next();	207	spi_send_next();
208	}	208	}
209	}	209	}
210	}	210	}
211	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	211	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
212		212
213	/* ##########################################################################	213	/* ##########################################################################
214	* MAIN	214	* MAIN
215	* ##########################################################################*/	215	* ##########################################################################*/
216	int main(void) {	216	int main(void) {
217	// set up FLAGS	217	// set up FLAGS
218	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;	218	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
219	#if NTSC	219	#if NTSC
220	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;	220	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;
221	#endif	221	#endif
222	#if HUD	222	#if HUD
223	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;	223	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;
224	#endif	224	#endif
225	#if ARTHORIZON	225	#if ARTHORIZON
226	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;	226	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;
227	#endif	227	#endif
228	#if BIGVARIO	228	#if BIGVARIO
229	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;	229	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;
230	#endif	230	#endif
231	#if STATS	231	#if STATS
232	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;	232	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;
233	#endif	233	#endif
234	#if WARNINGS	234	#if WARNINGS
235	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;	235	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;
236	#endif	236	#endif
237	#if FCONLY	237	#if FCONLY
238	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;	238	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;
239	#endif	239	#endif
240		240
241		241
242	// set up Atmega162 Ports	242	// set up Atmega162 Ports
243	DDRA \|= ((1 << PA1) \| (1 << PA2) \| (1 << PA3) \| (1 << PA5)); // PA1 output (/CS) \| PA2 output (SDIN) \|PA3 output (SCLK) \| PA5 output (RESET)	243	DDRA \|= ((1 << PA1) \| (1 << PA2) \| (1 << PA3) \| (1 << PA5)); // PA1 output (/CS) \| PA2 output (SDIN) \|PA3 output (SCLK) \| PA5 output (RESET)
244	MAX_CS_HIGH	244	MAX_CS_HIGH
245	MAX_SDIN_LOW	245	MAX_SDIN_LOW
246	MAX_SCLK_LOW	246	MAX_SCLK_LOW
247	MAX_RESET_HIGH	247	MAX_RESET_HIGH
248		248
249	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)	249	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)
250	LED1_OFF	250	LED1_OFF
251	LED2_OFF	251	LED2_OFF
252	LED3_OFF	252	LED3_OFF
253	LED4_OFF	253	LED4_OFF
254		254
255	DDRC &= ~((1 << PC4) \| (1 << PC5)); // PC4 input(MODE) \| PC5 input(SET)	255	DDRC &= ~((1 << PC4) \| (1 << PC5) \| (1 << PC6) \| (1 << PC7)); // PC4 input(MODE) \| PC5 input(SET) \| PC6 input SJ1 \| PC7 input SJ2
-		256	PORTC \|= ((1 << PC4) \| (1 << PC5) \| (1 << PC6) \| (1 << PC7)); // pullup
256	PORTC \|= ((1 << PC4) \| (1 << PC5)); // pullup	257
257		258
258	// reset the MAX7456 to be sure any undefined states do no harm	259	// reset the MAX7456 to be sure any undefined states do no harm
259	MAX_RESET_LOW	260	MAX_RESET_LOW
260	MAX_RESET_HIGH	261	MAX_RESET_HIGH
261		262
262	// give the FC/NC and the maxim time to come up	263	// give the FC/NC and the maxim time to come up
263	LED4_ON	264	LED4_ON
264	_delay_ms(1000);	265	_delay_ms(1000);
265	LED4_OFF	266	LED4_OFF
266		267
267	//Pushing NEW chars to the MAX7456	268	//Pushing NEW chars to the MAX7456
268	#if (WRITECHARS != -1)	269	#if (WRITECHARS != -1)
269	// DISABLE display (VM0)	270	// DISABLE display (VM0)
270	spi_send_byte(0x00, 0b00000000);	271	spi_send_byte(0x00, 0b00000000);
271	learn_all_chars_pgm();	272	learn_all_chars_pgm();
272	#else	273	#else
273	// read out config for NTSC/PAL distinguishing	274	// read out config for NTSC/PAL distinguishing
274	get_eeprom(0);	275	get_eeprom(0);
275	#endif	276	#endif
276		277
277	// Setup Video Mode	278	// Setup Video Mode
278	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {	279	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
279	// NTSC + enable display immediately (VM0)	280	// NTSC + enable display immediately (VM0)
280	spi_send_byte(0x00, 0b00001000);	281	spi_send_byte(0x00, 0b00001000);
281		282
282	bottom_line = 12;	283	bottom_line = 12;
283	} else {	284	} else {
284	// PAL + enable display immediately (VM0)	285	// PAL + enable display immediately (VM0)
285	spi_send_byte(0x00, 0b01001000);	286	spi_send_byte(0x00, 0b01001000);
286		287
287	bottom_line = 14;	288	bottom_line = 14;
288	}	289	}
289		290
290	/*// clear all display-mem (DMM)	291	/*// clear all display-mem (DMM)
291	spi_send_byte(0x04, 0b00000100);	292	spi_send_byte(0x04, 0b00000100);
292		293
293	// clearing takes 12uS according to maxim so lets wait longer	294	// clearing takes 12uS according to maxim so lets wait longer
294	_delay_us(120);	295	_delay_us(120);
295		296
296	// 8bit mode	297	// 8bit mode
297	spi_send_byte(0x04, 0b01000000);*/	298	spi_send_byte(0x04, 0b01000000);*/
298		299
299	// clear display memory and set to 8bit mode	300	// clear display memory and set to 8bit mode
300	clear();	301	clear();
301		302
302	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	303	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
303	// init usart	304	// init usart
304	usart1_init();	305	usart1_init();
305		306
306	#ifdef SERIALDEBUGDRAW	307	#ifdef SERIALDEBUGDRAW
307	#define USART0ENABLE 1	308	#define USART0ENABLE 1
308	#endif	309	#endif
309	#ifdef ANTENNATRACKTEST	310	#ifdef ANTENNATRACKTEST
310	#define USART0ENABLE 1	311	#define USART0ENABLE 1
311	#endif	312	#endif
312		313
313	#ifdef USART0ENABLE	314	#ifdef USART0ENABLE
314	usart0_init();	315	usart0_init();
315	usart0_puts("\x1B[2J\x1B[H");	316	usart0_puts("\x1B[2J\x1B[H");
316	usart0_puts("Welcome\r\n");	317	usart0_puts("Welcome\r\n");
317	#endif	318	#endif
318		319
319	// keep serial port clean	320	// keep serial port clean
320	usart1_DisableTXD();	321	usart1_DisableTXD();
321		322
322	// set up timer	323	// set up timer
323	// CTC, Prescaler /64	324	// CTC, Prescaler /64
324	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	325	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
325		326
326	TCNT0 = 0;	327	TCNT0 = 0;
327	OCR0 = 250;	328	OCR0 = 250;
328		329
329	// enable timer output compare interrupt	330	// enable timer output compare interrupt
330	TIMSK &= ~(1 << TOIE0);	331	TIMSK &= ~(1 << TOIE0);
331	TIMSK \|= (1 << OCIE0);	332	TIMSK \|= (1 << OCIE0);
332		333
333	// SPI setup	334	// SPI setup
334	DDRD \|= (1 << PD2); // PD2 output (INT0)	335	DDRD \|= (1 << PD2); // PD2 output (INT0)
335	SpiMasterInit();	336	SpiMasterInit();
336		337
337	// PPM detection setup	338	// PPM detection setup
338	ppm_init();	339	ppm_init();
339		340
340	// enable interrupts	341	// enable interrupts
341	sei();	342	sei();
342		343
343		344
344	//write_ascii_string(2,7, " CaScAdE");	345	//write_ascii_string(2,7, " CaScAdE");
345	//write_ascii_string(2,8, "is TESTING his open source");	346	//write_ascii_string(2,8, "is TESTING his open source");
346	//write_ascii_string(2,9, "EPi OSD Firmware");	347	//write_ascii_string(2,9, "EPi OSD Firmware");
347		348
348	// we are ready	349	// we are ready
349	LED3_ON	350	LED3_ON
350		351
351		352
352	// clear serial screen	353	// clear serial screen
353	//usart1_puts("\x1B[2J\x1B[H");	354	//usart1_puts("\x1B[2J\x1B[H");
354		355
355	COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;	356	COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;
356	#if !FCONLY	357	#if !FCONLY
357	usart1_request_nc_uart();	358	usart1_request_nc_uart();
358	#endif	359	#endif
359		360
360	while (1) {	361	while (1) {
361	// in case SPI is ready and there is nothing to send right now	362	// in case SPI is ready and there is nothing to send right now
362	if (!icnt && spi_ready) {	363	if (!icnt && spi_ready) {
363	// correct transfer ends with d (done)	364	// correct transfer ends with d (done)
364	if (SPI_buffer.buffer.chk == 'd') {	365	if (SPI_buffer.buffer.chk == 'd') {
365	ampere = SPI_buffer.data.ampere;	366	ampere = SPI_buffer.data.ampere;
366	ampere_wasted = SPI_buffer.data.mah;	367	ampere_wasted = SPI_buffer.data.mah;
367	s_volt = SPI_buffer.data.volt;	368	s_volt = SPI_buffer.data.volt;
368		369
369	// if this is the first receival we should print the small A	370	// if this is the first receival we should print the small A
370	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {	371	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
371	clear();	372	clear();
372	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;	373	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
373	// update this flag	374	// update this flag
374	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;	375	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;
375	}	376	}
376	} else {	377	} else {
377	// update flags	378	// update flags
378	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;	379	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
379	}	380	}
380	StartTransfer(9);	381	StartTransfer(9);
381	}	382	}
382	if (rxd_buffer_locked) {	383	if (rxd_buffer_locked) {
383	#if FCONLY	384	#if FCONLY
384	if (rxd_buffer[2] == 'D') { // FC Data	385	if (rxd_buffer[2] == 'D') { // FC Data
385	Decode64();	386	Decode64();
386	debugData = ((str_DebugOut)pRxData);	387	debugData = ((str_DebugOut)pRxData);
387		388
388	// init on first data retrival, distinguished by last battery :)	389	// init on first data retrival, distinguished by last battery :)
389	if (last_UBat == 255) {	390	if (last_UBat == 255) {
390	if (debugData.Analog[9] > 40) {	391	if (debugData.Analog[9] > 40) {
391	// fix for min_UBat	392	// fix for min_UBat
392	min_UBat = debugData.Analog[9];	393	min_UBat = debugData.Analog[9];
393	last_UBat = debugData.Analog[9];	394	last_UBat = debugData.Analog[9];
394	init_cosd(last_UBat);	395	init_cosd(last_UBat);
395	}	396	}
396	} else {	397	} else {
397	osd_fcmode();	398	osd_fcmode();
398	}	399	}
399	seconds_since_last_data = 0;	400	seconds_since_last_data = 0;
400	}	401	}
401	#else	402	#else
402	if (rxd_buffer[2] == 'O') { // NC OSD Data	403	if (rxd_buffer[2] == 'O') { // NC OSD Data
403	Decode64();	404	Decode64();
404	naviData = ((NaviData_t)pRxData);	405	naviData = ((NaviData_t)pRxData);
405		406
406	// init on first data retrival, distinguished by last battery :)	407	// init on first data retrival, distinguished by last battery :)
407	if (last_UBat == 255) {	408	if (last_UBat == 255) {
408	if (naviData.UBat > 40) {	409	if (naviData.UBat > 40) {
409	// fix for min_UBat	410	// fix for min_UBat
410	min_UBat = naviData.UBat;	411	min_UBat = naviData.UBat;
411	last_UBat = naviData.UBat;	412	last_UBat = naviData.UBat;
412	init_cosd(last_UBat);	413	init_cosd(last_UBat);
413	}	414	}
414	} else {	415	} else {
415	osd_ncmode();	416	osd_ncmode();
416	}	417	}
417	//seconds_since_last_data = 0;	418	//seconds_since_last_data = 0;
418	}	419	}
419	#endif	420	#endif
420		421
421	// ONLY FOR TESTING	422	// ONLY FOR TESTING
422	#ifdef ANTENNATRACKTEST	423	#ifdef ANTENNATRACKTEST
423	#include <stdlib.h>	424	#include <stdlib.h>
424	//#include <float.h>	425	//#include <float.h>
425	//#include <math.h>	426	//#include <math.h>
426		427
427	//usart0_puts("\x1B[2J\x1B[H");	428	//usart0_puts("\x1B[2J\x1B[H");
428		429
429		430
430	/*	431	/*
431	naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)	432	naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
432	naviData.HomePositionDeviation.Bearing = 35; // 35�	433	naviData.HomePositionDeviation.Bearing = 35; // 35�
433	altimeter_offset = 50; // 50m start height	434	altimeter_offset = 50; // 50m start height
434	naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)	435	naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
435	*/	436	*/
436		437
437	static char conv_array[7];	438	static char conv_array[7];
438		439
439	// should be float	440	// should be float
440	int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);	441	int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
441		442
442	// we need math.h and some faster AVR :)	443	// we need math.h and some faster AVR :)
443	//tanheight = rad2deg(atan(tanheight));	444	//tanheight = rad2deg(atan(tanheight));
444		445
445	itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);	446	itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
446	usart0_puts("Bearing: ");	447	usart0_puts("Bearing: ");
447	usart0_puts(conv_array);	448	usart0_puts(conv_array);
448	usart0_puts("\tHeightangle: ");	449	usart0_puts("\tHeightangle: ");
449	itoa(tanheight, conv_array, 10);	450	itoa(tanheight, conv_array, 10);
450	usart0_puts(conv_array);	451	usart0_puts(conv_array);
451	usart0_puts("\r\n");	452	usart0_puts("\r\n");
452	#endif	453	#endif
453		454
454		455
455	rxd_buffer_locked = 0;	456	rxd_buffer_locked = 0;
456	}	457	}
457	// handle keypress	458	// handle keypress
458	if (s1_pressed()) {	459	if (s1_pressed()) {
459	config_menu();	460	config_menu();
460	}	461	}
461	// reqest data untill there has been some answer	462	// reqest data untill there has been some answer
462	if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) \|\|	463	if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) \|\|
463	// or while not in passive mode	464	// or while not in passive mode
464	(seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {	465	(seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {
465	usart1_EnableTXD();	466	usart1_EnableTXD();
466	//usart1_puts_pgm(PSTR("zu alt\r\n"));	467	//usart1_puts_pgm(PSTR("zu alt\r\n"));
467	#if FCONLY	468	#if FCONLY
468	// request data ever 100ms from FC;	469	// request data ever 100ms from FC;
469	//usart1_request_mk_data(0, 'd', 100);	470	//usart1_request_mk_data(0, 'd', 100);
470	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));	471	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
471	#else	472	#else
472	// request OSD Data from NC every 100ms	473	// request OSD Data from NC every 100ms
473	//usart1_request_mk_data(1, 'o', 100);	474	//usart1_request_mk_data(1, 'o', 100);
474	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));	475	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
475		476
476	// and disable debug...	477	// and disable debug...
477	//usart1_request_mk_data(0, 'd', 0);	478	//usart1_request_mk_data(0, 'd', 0);
478	#endif	479	#endif
479	// reset last time counter	480	// reset last time counter
480	seconds_since_last_data = 0;	481	seconds_since_last_data = 0;
481	usart1_DisableTXD();	482	usart1_DisableTXD();
482		483
483	// do not spam too much	484	// do not spam too much
484	if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {	485	if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {
485	_delay_ms(300);	486	_delay_ms(300);
486	}	487	}
487	}	488	}
-		489
-		490
-		491	if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore
-		492	if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
-		493	clear();
-		494	}
-		495	COSD_FLAGS_MODES &= ~COSD_FLAG_HUD;
-		496	COSD_FLAGS_RUNTIME \|= COSD_BLANKBYSJ;
-		497	} else if (!SJ1_CLOSED && (COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we want the HUD back again
-		498	if (!(COSD_FLAGS_MODES & COSD_FLAG_HUD)) {
-		499	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
-		500	}

Subversion Repositories Projects

(root)/C-OSD/trunk/main.c - Rev 932 → 942