//video gen and sound //D.5 is sync:1000 ohm + diode to 75 ohm resistor //D.6 is video:330 ohm + diode to 75 ohm resistor //B.3 is sound and should have a 10k resistor to gnd #pragma regalloc- //I allocate the registers myself #pragma optsize- //optimize for speed #include #include #include #include #include //cycles = 63.625 * 16 Note NTSC is 63.55 //but this line duration makes each frame exactly 1/60 sec //which is nice for keeping a realtime clock #define lineTime 1018 #define begin { #define end } #define ScreenTop 30 #define ScreenBot 230 #define ipart(a) ((char)(a>>8)) //NOTE that v1 to v8 and i must be in registers! register char v1 @4; register char v2 @5; register char v3 @6; register char v4 @7; register char v5 @8; register char v6 @9; register char v7 @10; register char v8 @11; register int i @12; #pragma regalloc+ char syncON, syncOFF; int LineCount; int time; //animation char j,k; char screen[1600], t, ts[10]; char m1[]="RF"; char m12[]="DATA"; char m11[]="TELEMETRY"; char m5[]="TRACKING"; char m6f[]="FWD"; char m6b[]="AFT"; char m6d[]="STRBD"; char m6c[]="TEMP:"; char m6e[]="OK"; char m6g[]="DANGER"; char m6h[]="PORT"; char m71[]="NO"; char m72[]="SIGNAL"; char ir[]= "IR:"; char _ax[] = "AX:"; char _ay[] = "AY:"; char txbuf[30]; char txcnt,frmcnt,status,badpktcnt; char mybuf[25]; char data[7]; char valid[7]; //same indexing as data char buf[7]; float btemp, ftemp; flash char code[16] = {0b10001011,0b10001101,0b10010011,0b10010101,0b10010110, 0b10011001,0b10011010,0b10011100,0b10100011,0b10100101,0b10100110,0b10101001, 0b10101100,0b10110001,0b10110010,0b10110100}; //Point plot lookup table //One bit masks flash char pos[8]={0x80,0x40,0x20,0x10,0x08,0x04,0x02,0x01}; //define some character bitmaps //5x7 characters flash char bitmap[38][7]={ //0 0b01110000, 0b10001000, 0b10011000, 0b10101000, 0b11001000, 0b10001000, 0b01110000, //1 0b00100000, 0b01100000, 0b00100000, 0b00100000, 0b00100000, 0b00100000, 0b01110000, //2 0b01110000, 0b10001000, 0b00001000, 0b00010000, 0b00100000, 0b01000000, 0b11111000, //3 0b11111000, 0b00010000, 0b00100000, 0b00010000, 0b00001000, 0b10001000, 0b01110000, //4 0b00010000, 0b00110000, 0b01010000, 0b10010000, 0b11111000, 0b00010000, 0b00010000, //5 0b11111000, 0b10000000, 0b11110000, 0b00001000, 0b00001000, 0b10001000, 0b01110000, //6 0b01000000, 0b10000000, 0b10000000, 0b11110000, 0b10001000, 0b10001000, 0b01110000, //7 0b11111000, 0b00001000, 0b00010000, 0b00100000, 0b01000000, 0b10000000, 0b10000000, //8 0b01110000, 0b10001000, 0b10001000, 0b01110000, 0b10001000, 0b10001000, 0b01110000, //9 0b01110000, 0b10001000, 0b10001000, 0b01111000, 0b00001000, 0b00001000, 0b00010000, //A 0b01110000, 0b10001000, 0b10001000, 0b10001000, 0b11111000, 0b10001000, 0b10001000, //B 0b11110000, 0b10001000, 0b10001000, 0b11110000, 0b10001000, 0b10001000, 0b11110000, //C 0b01110000, 0b10001000, 0b10000000, 0b10000000, 0b10000000, 0b10001000, 0b01110000, //D 0b11110000, 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b11110000, //E 0b11111000, 0b10000000, 0b10000000, 0b11111000, 0b10000000, 0b10000000, 0b11111000, //F 0b11111000, 0b10000000, 0b10000000, 0b11111000, 0b10000000, 0b10000000, 0b10000000, //G 0b01110000, 0b10001000, 0b10000000, 0b10011000, 0b10001000, 0b10001000, 0b01110000, //H 0b10001000, 0b10001000, 0b10001000, 0b11111000, 0b10001000, 0b10001000, 0b10001000, //I 0b01110000, 0b00100000, 0b00100000, 0b00100000, 0b00100000, 0b00100000, 0b01110000, //J 0b00111000, 0b00010000, 0b00010000, 0b00010000, 0b00010000, 0b10010000, 0b01100000, //K 0b10001000, 0b10010000, 0b10100000, 0b11000000, 0b10100000, 0b10010000, 0b10001000, //L 0b10000000, 0b10000000, 0b10000000, 0b10000000, 0b10000000, 0b10000000, 0b11111000, //M 0b10001000, 0b11011000, 0b10101000, 0b10101000, 0b10001000, 0b10001000, 0b10001000, //N 0b10001000, 0b10001000, 0b11001000, 0b10101000, 0b10011000, 0b10001000, 0b10001000, //O 0b01110000, 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b01110000, //P 0b11110000, 0b10001000, 0b10001000, 0b11110000, 0b10000000, 0b10000000, 0b10000000, //Q 0b01110000, 0b10001000, 0b10001000, 0b10001000, 0b10101000, 0b10010000, 0b01101000, //R 0b11110000, 0b10001000, 0b10001000, 0b11110000, 0b10100000, 0b10010000, 0b10001000, //S 0b01111000, 0b10000000, 0b10000000, 0b01110000, 0b00001000, 0b00001000, 0b11110000, //T 0b11111000, 0b00100000, 0b00100000, 0b00100000, 0b00100000, 0b00100000, 0b00100000, //U 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b01110000, //V 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b01010000, 0b00100000, //W 0b10001000, 0b10001000, 0b10001000, 0b10101000, 0b10101000, 0b10101000, 0b01010000, //X 0b10001000, 0b10001000, 0b01010000, 0b00100000, 0b01010000, 0b10001000, 0b10001000, //Y 0b10001000, 0b10001000, 0b10001000, 0b01010000, 0b00100000, 0b00100000, 0b00100000, //Z 0b11111000, 0b00001000, 0b00010000, 0b00100000, 0b01000000, 0b10000000, 0b11111000, //figure1 0b01110000, 0b00100000, 0b01110000, 0b10101000, 0b00100000, 0b01010000, 0b10001000, //figure2 0b01110000, 0b10101000, 0b01110000, 0b00100000, 0b00100000, 0b01010000, 0b10001000}; //================================ //3x5 font numbers, then letters //packed two per definition for fast //copy to the screen at x-position divisible by 4 flash char smallbitmap[39][5]={ //0 0b11101110, 0b10101010, 0b10101010, 0b10101010, 0b11101110, //1 0b01000100, 0b11001100, 0b01000100, 0b01000100, 0b11101110, //2 0b11101110, 0b00100010, 0b11101110, 0b10001000, 0b11101110, //3 0b11101110, 0b00100010, 0b11101110, 0b00100010, 0b11101110, //4 0b10101010, 0b10101010, 0b11101110, 0b00100010, 0b00100010, //5 0b11101110, 0b10001000, 0b11101110, 0b00100010, 0b11101110, //6 0b11001100, 0b10001000, 0b11101110, 0b10101010, 0b11101110, //7 0b11101110, 0b00100010, 0b01000100, 0b10001000, 0b10001000, //8 0b11101110, 0b10101010, 0b11101110, 0b10101010, 0b11101110, //9 0b11101110, 0b10101010, 0b11101110, 0b00100010, 0b01100110, //: 0b00000000, 0b01000100, 0b00000000, 0b01000100, 0b00000000, //= 0b00000000, 0b11101110, 0b00000000, 0b11101110, 0b00000000, //blank 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, //A 0b11101110, 0b10101010, 0b11101110, 0b10101010, 0b10101010, //B 0b11001100, 0b10101010, 0b11101110, 0b10101010, 0b11001100, //C 0b11101110, 0b10001000, 0b10001000, 0b10001000, 0b11101110, //D 0b11001100, 0b10101010, 0b10101010, 0b10101010, 0b11001100, //E 0b11101110, 0b10001000, 0b11101110, 0b10001000, 0b11101110, //F 0b11101110, 0b10001000, 0b11101110, 0b10001000, 0b10001000, //G 0b11101110, 0b10001000, 0b10001000, 0b10101010, 0b11101110, //H 0b10101010, 0b10101010, 0b11101110, 0b10101010, 0b10101010, //I 0b11101110, 0b01000100, 0b01000100, 0b01000100, 0b11101110, //J 0b00100010, 0b00100010, 0b00100010, 0b10101010, 0b11101110, //K 0b10001000, 0b10101010, 0b11001100, 0b11001100, 0b10101010, //L 0b10001000, 0b10001000, 0b10001000, 0b10001000, 0b11101110, //M 0b10101010, 0b11101110, 0b11101110, 0b10101010, 0b10101010, //N 0b00000000, 0b11001100, 0b10101010, 0b10101010, 0b10101010, //O 0b01000100, 0b10101010, 0b10101010, 0b10101010, 0b01000100, //P 0b11101110, 0b10101010, 0b11101110, 0b10001000, 0b10001000, //Q 0b01000100, 0b10101010, 0b10101010, 0b11101110, 0b01100110, //R 0b11101110, 0b10101010, 0b11001100, 0b11101110, 0b10101010, //S 0b11101110, 0b10001000, 0b11101110, 0b00100010, 0b11101110, //T 0b11101110, 0b01000100, 0b01000100, 0b01000100, 0b01000100, //U 0b10101010, 0b10101010, 0b10101010, 0b10101010, 0b11101110, //V 0b10101010, 0b10101010, 0b10101010, 0b10101010, 0b01000100, //W 0b10101010, 0b10101010, 0b11101110, 0b11101110, 0b10101010, //X 0b00000000, 0b10101010, 0b01000100, 0b01000100, 0b10101010, //Y 0b10101010, 0b10101010, 0b01000100, 0b01000100, 0b01000100, //Z 0b11101110, 0b00100010, 0b01000100, 0b10001000, 0b11101110 }; //================================== //This is the sync generator and raster generator. It MUST be entered from //sleep mode to get accurate timing of the sync pulses #pragma warn- interrupt [TIM1_COMPA] void t1_cmpA(void) begin //start the Horizontal sync pulse PORTC = syncON; //update the curent scanline number LineCount ++ ; //begin inverted (Vertical) synch after line 247 if (LineCount==248) begin syncON = 0b00100000; syncOFF = 0; end //back to regular sync after line 250 if (LineCount==251) begin syncON = 0; syncOFF = 0b00100000; end //start new frame after line 262 if (LineCount==263) begin LineCount = 1; end // delay_us(2); //adjust to make 5 us pulses /* ADD ASSEMBLY CODE HERE WORTH 2us = 32 cycles... Poll for RXC interrupt, >>if so, dump byte in buffer >> increment counter >>if not, take another path with nops **Thanks to Dave netid?** 0b10001110 = */ #asm push r16 ;2 push r26 ;2 push r27 ;2 sbis 0x0b,7 ;+2-taken, 1-not taken rjmp bruce ;+2 sbis 0x0c,7 ;2-taken, 1-not taken rjmp brucey ;+2 ldi r26,low(_txbuf) ;base address of buffer +1 ldi r27,high(_txbuf) ;+1 lds r16,_txcnt ;+2 load the value of txcnt add r26,r16 ;1 add it to the low address of txbuf inc r16 ;1 increment txcnt sts _txcnt, r16 ;2 store txcnt back ldi r16,0 ;1 set r16 to zero adc r27,r16 ;1 add 0 to r27 with carry to propagate carry of low order sum in r16,0x0c ;1 store the value of UDR in r16 st X,r16 ;2 store r16 at address X (r27,r26) rjmp mpd25 ;2 jump the nop path to end brucey: nop ;1 nop ;1 nop ;1 nop ;1 nop ;1 nop ;1 nop ;1 nop ;1 nop ;1 nop ;1 nop ;1 nop ;1 rjmp mpd25 ;2 bruce: ;starts with 3 on this path ldi r26,low(_txbuf) ;+1 base address of buffer ldi r27,high(_txbuf) ;+1 lds r16,_txcnt ;+2 load the value of txcnt dec r16 ;+1 decrement txcnt add r26,r16 ;+1 add it to the low address of txbuf ldi r16,0 ;+1 set r16 to zero adc r27,r16 ;+1 add 0 to r27 with carry to propagate carry of low order sum ld r16,Z ;+2 load the value at Z+txcnt into r16 cpi r16,0b10001110 ;+1 compare it to 0b10001110 brne ylh3 ;1/2 if not equal, do something else ldi r16,0 ;+1 load 0 into r16 sts _txcnt, r16 ;+2 store txcnt back rjmp yl293 ;+2 jump to exit pops ylh3: nop ;1 nop ;1 nop ;1 mpd25: nop ;1 yl293: pop r27 ;2 pop r26 ;2 pop r16 ;2 #endasm //end sync pulse PORTC = syncOFF; if (LineCount=ScreenTop) begin //compute byte index for beginning of the next line //left-shift 4 would be individual lines // <<3 means line-double the pixels //The 0xfff8 truncates the odd line bit //i=(LineCount-ScreenTop)<<3 & 0xfff8; // #asm push r16 lds r12, _LineCount lds r13, _Linecount+1 ldi r16, 30 sub r12, r16 ldi r16,0 sbc r13, r16 lsl r12 rol r13 lsl r12 rol r13 lsl r12 rol r13 mov r16,r12 andi r16,0xf0 mov r12,r16 pop r16 #endasm //load 16 registers with screen info #asm push r14 push r15 push r16 push r17 push r18 push r19 push r26 push r27 ldi r26,low(_screen) ;base address of screen ldi r27,high(_screen) add r26,r12 ;offset into screen (add i) adc r27,r13 ld r4,x+ ;load 16 registers and inc pointer ld r5,x+ ld r6,x+ ld r7,x+ ld r8,x+ ld r9,x+ ld r10,x+ ld r11,x+ ld r12,x+ ld r13,x+ ld r14,x+ ld r15,x+ ld r16,x+ ld r17,x+ ld r18,x+ ld r19,x pop r27 pop r26 #endasm delay_us(4); //adjust to center image on screen //blast 16 bytes to the screen #asm ;but first a macro to make the code shorter ;the macro takes a register number as a parameter ;and dumps its bits serially to portD.6 ;the nop can be eliminated to make the display narrower .macro videobits ;regnum BST @0,7 IN R30,0x15 BLD R30,6 nop OUT 0x15,R30 BST @0,6 IN R30,0x15 BLD R30,6 nop OUT 0x15,R30 BST @0,5 IN R30,0x15 BLD R30,6 nop OUT 0x15,R30 BST @0,4 IN R30,0x15 BLD R30,6 nop OUT 0x15,R30 BST @0,3 IN R30,0x15 BLD R30,6 nop OUT 0x15,R30 BST @0,2 IN R30,0x15 BLD R30,6 nop OUT 0x15,R30 BST @0,1 IN R30,0x15 BLD R30,6 nop OUT 0x15,R30 BST @0,0 IN R30,0x15 BLD R30,6 nop OUT 0x15,R30 .endm videobits r4 ;video line -- byte 1 videobits r5 ;byte 2 videobits r6 ;byte 3 videobits r7 ;byte 4 videobits r8 ;byte 5 videobits r9 ;byte 6 videobits r10 ;byte 7 videobits r11 ;byte 8 videobits r12 ;byte 9 videobits r13 ;byte 10 videobits r14 ;byte 11 videobits r15 ;byte 12 videobits r16 ;byte 13 videobits r17 ;byte 14 videobits r18 ;byte 15 videobits r19 ;byte 16 clt ;clear video after the last pixel on the line IN R30,0x15 BLD R30,6 OUT 0x15,R30 pop r19 pop r18 pop r17 pop r16 pop r15 pop r14 #endasm end end #pragma warn+ //================================== //plot one point //at x,y with color 1=white 0=black 2=invert #pragma warn- void video_pt(char x, char y, char c) begin #asm ; i=(x>>3) + ((int)y<<4) ; the byte with the pixel in it push r16 ldd r30,y+2 ;get x lsr r30 lsr r30 lsr r30 ;divide x by 8 ldd r12,y+1 ;get y lsl r12 ;mult y by 16 clr r13 lsl r12 rol r13 lsl r12 rol r13 lsl r12 rol r13 add r12, r30 ;add in x/8 ;v2 = screen[i]; r5 ;v3 = pos[x & 7]; r6 ;v4 = c r7 ldi r30,low(_screen) ldi r31,high(_screen) add r30, r12 adc r31, r13 ld r5,Z ;get screen byte ldd r26,y+2 ;get x ldi r27,0 andi r26,0x07 ;form x & 7 ldi r30,low(_pos*2) ldi r31,high(_pos*2) add r30,r26 adc r31,r27 lpm r6,Z ld r16,y ;get c ;if (v4==1) screen[i] = v2 | v3 ; ;if (v4==0) screen[i] = v2 & ~v3; ;if (v4==2) screen[i] = v2 ^ v3 ; cpi r16,1 brne tst0 or r5,r6 tst0: cpi r16,0 brne tst2 com r6 and r5,r6 tst2: cpi r16,2 brne writescrn eor r5,r6 writescrn: ldi r30,low(_screen) ldi r31,high(_screen) add r30, r12 adc r31, r13 st Z, r5 ;write the byte back to the screen pop r16 #endasm end #pragma warn+ //================================== // put a big character on the screen // c is index into bitmap void video_putchar(char x, char y, char c) begin v7 = x; for (v6=0;v6<7;v6++) begin v1 = bitmap[c][v6]; v8 = y+v6; video_pt(v7, v8, (v1 & 0x80)==0x80); video_pt(v7+1, v8, (v1 & 0x40)==0x40); video_pt(v7+2, v8, (v1 & 0x20)==0x20); video_pt(v7+3, v8, (v1 & 0x10)==0x10); video_pt(v7+4, v8, (v1 & 0x08)==0x08); end end //================================== // put a string of big characters on the screen void video_puts(char x, char y, char *str) begin char i ; for (i=0; str[i]!=0; i++) begin if (str[i]>=0x30 && str[i]<=0x3a) video_putchar(x,y,str[i]-0x30); else video_putchar(x,y,str[i]-0x40+9); x = x+6; end end //================================== // put a small character on the screen // x-cood must be on divisible by 4 // c is index into bitmap void video_smallchar(char x, char y, char c) begin char mask; i=((int)x>>3) + ((int)y<<4) ; if (x == (x & 0xf8)) mask = 0x0f; //f8 else mask = 0xf0; screen[i] = (screen[i] & mask) | (smallbitmap[c][0] & ~mask); screen[i+16] = (screen[i+16] & mask) | (smallbitmap[c][1] & ~mask); screen[i+32] = (screen[i+32] & mask) | (smallbitmap[c][2] & ~mask); screen[i+48] = (screen[i+48] & mask) | (smallbitmap[c][3] & ~mask); screen[i+64] = (screen[i+64] & mask) | (smallbitmap[c][4] & ~mask); end //================================== // put a string of small characters on the screen // x-cood must be on divisible by 4 void video_putsmalls(char x, char y, char *str) begin char i ; for (i=0; str[i]!=0; i++) begin if (str[i]>=0x30 && str[i]<=0x3a) video_smallchar(x,y,str[i]-0x30); else video_smallchar(x,y,str[i]-0x40+12); x = x+4; end end //================================== //plot a line //at x1,y1 to x2,y2 with color 1=white 0=black 2=invert //NOTE: this function requires signed chars //Code is from David Rodgers, //"Procedural Elements of Computer Graphics",1985 void video_line(char x1, char y1, char x2, char y2, char c) begin int e; signed char dx,dy,j, temp; signed char s1,s2, xchange; signed char x,y; x = x1; y = y1; dx = cabs(x2-x1); dy = cabs(y2-y1); s1 = csign(x2-x1); s2 = csign(y2-y1); xchange = 0; if (dy>dx) begin temp = dx; dx = dy; dy = temp; xchange = 1; end e = ((int)dy<<1) - dx; for (j=0; j<=dx; j++) begin video_pt(x,y,c) ; if (e>=0) begin if (xchange==1) x = x + s1; else y = y + s2; e = e - ((int)dx<<1); end if (xchange==1) y = y + s2; else x = x + s1; e = e + ((int)dy<<1); end end //================================== //return the value of one point //at x,y with color 1=white 0=black 2=invert char video_set(char x, char y) begin //The following construction //detects exactly one bit at the x,y location i=((int)x>>3) + ((int)y<<4) ; return ( screen[i] & 1<<(7-(x & 0x7))); end //================================== // set up the ports and timers void main(void) begin //init timer 1 to generate sync OCR1A = lineTime; //One NTSC line TCCR1B = 9; //full speed; clear-on-match TCCR1A = 0x00; //turn off pwm and oc lines TIMSK = 0x10; //enable interrupt T1 cmp //init ports DDRA = 0xff; DDRB=0x00; PORTB=0xff; //DDRD = 0xf0; //video out and switches DDRC = 0xf0; //D.5 is sync:1000 ohm + diode to 75 ohm resistor //D.6 is video:330 ohm + diode to 75 ohm resistor //initialize synch constants LineCount = 1; syncON = 0b00000000; syncOFF = 0b00100000; //side lines #define width 126 video_line(0,0,0,99,1); video_line(width,0,width,99,1); //top line & bottom lines video_line(0,0,width,0,1); video_line(0,99,width,99,1); video_line(0,89,width,89,1); //menu text /* video_putsmalls(32,32,m1); video_putsmalls(44,32,m11); video_putsmalls(36,40,m2); video_putsmalls(40,48,m3); video_putsmalls(24,60,m4); video_putsmalls(48,60,m41); video_putsmalls(56,60,m42); video_putsmalls(68,60,m43); */ video_puts(60,4,m11); video_puts(12,4,m1); video_puts(32,4,m12); video_putsmalls(4,92,m71); video_putsmalls(16,92,m72); //Temperatures video_putsmalls(4,24,m6f); video_putsmalls(20,24,m6c); video_putsmalls(64,24,m6b); video_putsmalls(80,24,m6c); //IR Tranceivers video_putsmalls(4,32,m6b); video_putsmalls(20,32,ir); video_putsmalls(4,40,m6f); video_putsmalls(20,40,ir); video_putsmalls(4,48,m6d); video_putsmalls(28,48,ir); video_putsmalls(4,56,m6h); video_putsmalls(24,56,ir); //Accelerometer video_putsmalls(4,64,_ax); video_putsmalls(64,64,_ay); //init software timer t=0; time=0; //init animation txcnt=0; frmcnt=0; i=0; status=2; badpktcnt=10; data[0]=0; data[1]=0; data[2]=0; data[3]=0; data[4]=0; data[5]=0; data[6]=0; //setup the transmission... UCSRB = 0b00010000; //Bit4-Receive Enable UBRRL = 249; //4000 baud PORTA=0xff; //enable sleep mode MCUCR = 0b10000000; #asm ("sei"); //The following loop executes once/video line during lines //1-230, then does all of the frame-end processing while(1) begin //stall here until next line starts //sleep enable; mode=idle //use sleep to make entry into sync ISR uniform time #asm ("sleep"); //The following code executes during the vertical blanking //Code here can be as long as //a total of 60 lines x 63.5 uSec/line x 8 cycles/uSec if (LineCount==231) begin if(txcnt > 19) begin // UCSRB = 0b00000000; //Bit4-Receive Enable i=0; while(i<19) begin mybuf[i]=txbuf[i]; i++; end txcnt=0; PORTA.7=PORTA.7^1; frmcnt=0; // UCSRB = 0b00010000; //Bit4-Receive Enable end //decode the data if(frmcnt==1) begin //packet integrity check if(mybuf[2]==170) begin if(mybuf[3]==170) begin if(mybuf[4]==170) begin if(mybuf[5]==170) begin badpktcnt=0; video_line(4,92,60,92,0); video_line(4,93,60,93,0); video_line(4,94,60,94,0); video_line(4,95,60,95,0); video_line(4,96,60,96,0); video_putsmalls(4,92,m5); i=6; while(i < 20) begin PORTA.1=PORTA.1^1; j=0; k=0; while(j<16) begin if(mybuf[i]==code[j]) begin k=j; j=20; end j++; end switch(i) begin case 6: data[0] = (k<<4); break; case 7: data[0] = data[0]+k; break; case 8: data[1] = (k<<4); break; case 9: data[1] = data[1]+k; break; case 10: data[2] = (k<<4); break; case 11: data[2] = data[2]+k; break; case 12: data[3] = (k<<4); break; //straight case 13: data[3] = (data[3]+k)-128; break; case 14: data[4] = (k<<4); break; //lateral case 15: data[4] = (data[4]+k)-128; break; case 16: data[5] = (k<<4); break; case 17: data[5] = data[5]+k; break; case 18: data[6] = k; break; end i++; end PORTA.6 = PORTA.6^1; end end end end else begin if(badpktcnt<5) badpktcnt++; if(badpktcnt==5) begin data[0] = 0; data[1] = 0; data[2] = 0; data[3] = 0; data[4] = 0; data[5] = 0; data[6] = 0; video_line(4,92,60,92,0); video_line(4,93,60,93,0); video_line(4,94,60,94,0); video_line(4,95,60,95,0); video_line(4,96,60,96,0); video_putsmalls(4,92,m71); video_putsmalls(16,92,m72); end end end //process the temperature data if(frmcnt==2) begin btemp = (((float)data[2]) / 256.0 * 5)/0.025;// / 2.56; ftemp = (((float)data[1]) / 256.0 * 5)/0.025;// / 2.56; sprintf(buf,"%03i",(int)ftemp); video_putsmalls(44,24,buf); sprintf(buf,"%03i",(int)btemp); video_putsmalls(100,24,buf); end //Dump IR if(frmcnt==3) begin sprintf(buf,"%03i",data[0]); //FRONT video_putsmalls(40,40,buf); sprintf(buf,"%03i",data[5]); //PORT IR video_putsmalls(40,56,buf); if((data[6]<<7) == 0x80) //strbd begin video_putsmalls(40,48,m6g); end else begin video_line(40,48,80,48,0); video_line(40,49,80,49,0); video_line(40,50,80,50,0); video_line(40,51,80,51,0); video_line(40,52,80,52,0); video_putsmalls(40,48,m6e); end end if(frmcnt==4) begin sprintf(buf,"%03i",data[3]); //FRONT video_putsmalls(20,64,buf); sprintf(buf,"%03i",data[4]); //FRONT video_putsmalls(80,64,buf); if((data[6]<<6) == 0x00) //back begin video_putsmalls(40,32,m6g); end else begin video_line(40,32,80,32,0); video_line(40,33,80,33,0); video_line(40,34,80,34,0); video_line(40,35,80,35,0); video_line(40,36,80,36,0); video_putsmalls(40,32,m6e); end end frmcnt++; //update the second clock if (++t>59) begin t=0; time = time + 1; PORTA.0=PORTA.0^1; end end //line 231 end //while end //main