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321 | cascade | 1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
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3 | * admiralcascade@gmail.com * |
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4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | * * |
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20 | * * |
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21 | * Credits to: * |
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471 | cascade | 22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
321 | cascade | 23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
24 | * Klaus "akku" Buettner for the hardware * |
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25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
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26 | ****************************************************************************/ |
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27 | |||
28 | #include <avr/io.h> |
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29 | #include <avr/interrupt.h> |
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30 | #include <util/delay.h> |
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455 | cascade | 31 | #include <avr/pgmspace.h> |
346 | cascade | 32 | #include "main.h" |
33 | #include "max7456_software_spi.h" |
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331 | cascade | 34 | #include "usart1.h" |
389 | cascade | 35 | #include "osd_helpers.h" |
471 | cascade | 36 | #include "config.h" |
37 | #include "spi.h" |
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38 | #include "buttons.h" |
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321 | cascade | 39 | |
40 | /* TODO: |
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41 | * - verifiy correctness of values |
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324 | cascade | 42 | * - clean up code :) |
321 | cascade | 43 | */ |
44 | |||
329 | cascade | 45 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
466 | cascade | 46 | // data structs not needed for character flashing |
331 | cascade | 47 | #include "mk-data-structs.h" |
321 | cascade | 48 | |
49 | /* ########################################################################## |
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50 | * global definitions and global vars |
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51 | * ##########################################################################*/ |
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346 | cascade | 52 | |
321 | cascade | 53 | volatile uint16_t setsReceived = 0; |
54 | |||
55 | volatile NaviData_t naviData; |
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56 | volatile DebugOut_t debugData; |
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57 | |||
58 | // cache old vars for blinking attribute, checkup is faster than full |
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59 | // attribute write each time |
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60 | volatile uint8_t last_UBat = 255; |
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61 | volatile uint8_t last_RC_Quality = 255; |
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62 | |||
63 | // 16bit should be enough, normal LiPos don't last that long |
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64 | volatile uint16_t uptime = 0; |
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65 | volatile uint16_t timer = 0; |
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66 | |||
331 | cascade | 67 | // remember last time data was received |
68 | volatile uint8_t seconds_since_last_data = 0; |
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69 | |||
346 | cascade | 70 | // store stats description in progmem to save space |
71 | char stats_item_0[] PROGMEM = "max Altitude:"; |
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72 | char stats_item_1[] PROGMEM = "max Speed :"; |
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73 | char stats_item_2[] PROGMEM = "max Distance:"; |
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74 | char stats_item_3[] PROGMEM = "min voltage :"; |
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75 | char stats_item_4[] PROGMEM = "max time :"; |
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412 | cascade | 76 | char stats_item_5[] PROGMEM = "longitude :"; |
77 | char stats_item_6[] PROGMEM = "latitude :"; |
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467 | cascade | 78 | char stats_item_7[] PROGMEM = "max current :"; |
455 | cascade | 79 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
467 | cascade | 80 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
346 | cascade | 81 | |
329 | cascade | 82 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
326 | cascade | 83 | |
84 | // general PAL|NTSC distingiusch stuff |
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85 | uint8_t top_line = 1; |
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86 | uint8_t bottom_line = 14; |
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87 | |||
453 | cascade | 88 | // battery voltages |
89 | uint8_t min_voltage = 0; |
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90 | uint8_t max_voltage = 0; |
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91 | |||
326 | cascade | 92 | // Flags |
471 | cascade | 93 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0; |
326 | cascade | 94 | |
321 | cascade | 95 | /* ########################################################################## |
389 | cascade | 96 | * Interrupt handler |
97 | * ##########################################################################*/ |
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455 | cascade | 98 | |
321 | cascade | 99 | /** |
389 | cascade | 100 | * handler for undefined Interrupts |
101 | * if not defined AVR will reset in case any unhandled interrupts occur |
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321 | cascade | 102 | */ |
389 | cascade | 103 | ISR(__vector_default) { |
455 | cascade | 104 | asm("nop"); |
389 | cascade | 105 | } |
321 | cascade | 106 | |
389 | cascade | 107 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 108 | /* ########################################################################## |
109 | * timer stuff |
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110 | * ##########################################################################*/ |
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455 | cascade | 111 | |
466 | cascade | 112 | /** |
331 | cascade | 113 | * timer kicks in every 1000uS ^= 1ms |
321 | cascade | 114 | */ |
115 | ISR(TIMER0_OVF_vect) { |
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385 | cascade | 116 | OCR0 = 15; // preload |
321 | cascade | 117 | if (!timer--) { |
118 | uptime++; |
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119 | timer = 999; |
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455 | cascade | 120 | seconds_since_last_data++; |
321 | cascade | 121 | } |
466 | cascade | 122 | // in case there is still some spi data to send do it now |
123 | if (spi_ready && icnt) { |
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124 | SPDR = *iptr; |
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125 | } |
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321 | cascade | 126 | } |
465 | cascade | 127 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
455 | cascade | 128 | |
321 | cascade | 129 | /* ########################################################################## |
130 | * MAIN |
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131 | * ##########################################################################*/ |
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132 | int main(void) { |
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466 | cascade | 133 | |
339 | cascade | 134 | // set up FLAGS, compiler should flatten this one |
135 | COSD_FLAGS = (NTSC << 0); |
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136 | COSD_FLAGS |= (HUD << 1); |
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137 | COSD_FLAGS |= (ARTHORIZON << 2); |
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455 | cascade | 138 | COSD_FLAGS |= (BIGVARIO << 3); |
139 | COSD_FLAGS |= (STATS << 4); |
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383 | cascade | 140 | COSD_FLAGS |= (WARNINGS << 5); |
324 | cascade | 141 | |
339 | cascade | 142 | // set up Atmega162 Ports |
321 | cascade | 143 | DDRA |= (1 << PA1); // PA1 output (/CS) |
144 | MAX_CS_HIGH |
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145 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
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146 | MAX_SDIN_LOW |
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147 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
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148 | MAX_SCLK_LOW |
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149 | DDRA |= (1 << PA5); // PA5 output (RESET) |
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150 | MAX_RESET_HIGH |
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151 | |||
152 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
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153 | LED1_OFF |
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154 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
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155 | LED2_OFF |
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156 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
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157 | LED3_OFF |
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158 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
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159 | LED4_OFF |
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160 | |||
161 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
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162 | PORTC |= (1 << PC4); // pullup |
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163 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
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164 | PORTC |= (1 << PC5); // pullup |
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165 | |||
339 | cascade | 166 | // set up top and bottom lines |
167 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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168 | bottom_line = 12; |
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169 | } else { |
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170 | bottom_line = 14; |
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171 | } |
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326 | cascade | 172 | |
339 | cascade | 173 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 174 | MAX_RESET_LOW |
175 | MAX_RESET_HIGH |
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176 | |||
177 | // give the FC/NC and the maxim time to come up |
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178 | LED4_ON |
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179 | _delay_ms(2000); |
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180 | |||
181 | LED4_OFF |
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182 | |||
331 | cascade | 183 | |
339 | cascade | 184 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 185 | #if (WRITECHARS != -1) |
466 | cascade | 186 | // DISABLE display (VM0) |
187 | spi_send_byte(0x00, 0b00000000); |
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188 | #include "characters.c" |
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455 | cascade | 189 | #endif |
321 | cascade | 190 | |
339 | cascade | 191 | // Setup Video Mode |
192 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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193 | // NTSC + enable display immediately (VM0) |
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194 | spi_send_byte(0x00, 0b00001000); |
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195 | } else { |
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196 | // PAL + enable display immediately (VM0) |
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197 | spi_send_byte(0x00, 0b01001000); |
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198 | } |
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321 | cascade | 199 | |
404 | cascade | 200 | /*// clear all display-mem (DMM) |
403 | cascade | 201 | spi_send_byte(0x04, 0b00000100); |
202 | |||
203 | // clearing takes 12uS according to maxim so lets wait longer |
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204 | _delay_us(120); |
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205 | |||
321 | cascade | 206 | // 8bit mode |
404 | cascade | 207 | spi_send_byte(0x04, 0b01000000);*/ |
321 | cascade | 208 | |
404 | cascade | 209 | // clear display memory and set to 8bit mode |
321 | cascade | 210 | clear(); |
211 | |||
329 | cascade | 212 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 213 | // init usart |
214 | usart1_init(); |
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215 | |||
216 | // set up timer |
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217 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
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385 | cascade | 218 | OCR0 = 15; // preload |
321 | cascade | 219 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
220 | |||
466 | cascade | 221 | DDRD |= (1 << PD2); // PD2 output (INT0) |
222 | SpiMasterInit(); |
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465 | cascade | 223 | |
326 | cascade | 224 | // enable interrupts |
321 | cascade | 225 | sei(); |
466 | cascade | 226 | |
321 | cascade | 227 | #endif |
228 | |||
229 | //write_ascii_string(2, 7, " CaScAdE "); |
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230 | //write_ascii_string(2, 8, "is TESTING his open source"); |
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231 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
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232 | |||
233 | // we are ready |
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234 | LED3_ON |
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235 | |||
329 | cascade | 236 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
471 | cascade | 237 | clear(); |
321 | cascade | 238 | write_all_chars(); |
239 | #else |
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471 | cascade | 240 | // clear serial screen |
241 | //usart1_puts("\x1B[2J\x1B[H"); |
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242 | //usart1_puts("hello world!\r\n"); |
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454 | cascade | 243 | #if FCONLY |
471 | cascade | 244 | // request data ever 100ms from FC; |
245 | usart1_request_mk_data(0, 'd', 100); |
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454 | cascade | 246 | #else |
471 | cascade | 247 | // request OSD Data from NC every 100ms |
248 | usart1_request_mk_data(1, 'o', 100); |
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346 | cascade | 249 | |
339 | cascade | 250 | // and disable debug... |
455 | cascade | 251 | usart1_request_mk_data(0, 'd', 0); |
454 | cascade | 252 | #endif |
321 | cascade | 253 | |
339 | cascade | 254 | // stats for after flight |
255 | int16_t max_Altimeter = 0; |
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459 | cascade | 256 | uint8_t min_UBat = 255; |
257 | #if !(FCONLY) |
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466 | cascade | 258 | uint16_t max_GroundSpeed = 0; |
339 | cascade | 259 | int16_t max_Distance = 0; |
260 | uint16_t max_FlyingTime = 0; |
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321 | cascade | 261 | |
339 | cascade | 262 | // flags from last round to check for changes |
263 | uint8_t old_MKFlags = 0; |
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264 | |||
321 | cascade | 265 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
377 | cascade | 266 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
459 | cascade | 267 | #endif |
321 | cascade | 268 | |
269 | while (1) { |
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466 | cascade | 270 | // in case SPI is ready and there is nothing to send right now |
271 | if (!icnt && spi_ready) { |
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272 | // correct transfer ends with d (done) |
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273 | if (spi_cmd_buffer[0] == 'd') { |
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274 | ampere = spi_cmd_buffer[1] << 8; |
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275 | ampere |= spi_cmd_buffer[2]; |
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468 | cascade | 276 | ampere_wasted = spi_cmd_buffer[3]; |
277 | ampere_wasted = ampere_wasted << 8; |
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278 | ampere_wasted |= spi_cmd_buffer[4]; |
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279 | ampere_wasted = ampere_wasted << 8; |
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280 | ampere_wasted |= spi_cmd_buffer[5]; |
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281 | ampere_wasted = ampere_wasted << 8; |
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282 | ampere_wasted |= spi_cmd_buffer[6]; |
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283 | //ampere = *((int16_t *) spi_cmd_buffer + 1); |
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284 | //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3); |
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467 | cascade | 285 | // if this is the first receival we should print the small A |
286 | if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) { |
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471 | cascade | 287 | COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN; |
467 | cascade | 288 | // update this flag |
289 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
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290 | } |
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466 | cascade | 291 | //write_ascii_char(8+4*30, 'v'); // valid |
292 | } else { |
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293 | // update flags |
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294 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
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295 | //write_ascii_char(8+4*30, 'i'); // invalid |
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296 | } |
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297 | spi_cmd_buffer[0] = 'A'; |
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298 | spi_cmd_buffer[1] = 'B'; |
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299 | spi_cmd_buffer[2] = 'C'; |
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468 | cascade | 300 | spi_cmd_buffer[3] = 'D'; |
301 | spi_cmd_buffer[4] = 'E'; |
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302 | spi_cmd_buffer[5] = 'F'; |
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303 | spi_cmd_buffer[6] = 'G'; |
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304 | StartTransfer((unsigned char*) spi_cmd_buffer, 7); |
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466 | cascade | 305 | } |
321 | cascade | 306 | if (rxd_buffer_locked) { |
454 | cascade | 307 | #if FCONLY |
471 | cascade | 308 | if (rxd_buffer[2] == 'D') { // FC Data |
309 | Decode64(); |
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310 | debugData = *((DebugOut_t*) pRxData); |
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454 | cascade | 311 | |
471 | cascade | 312 | // init on first data retrival, distinguished by last battery :) |
313 | if (last_UBat == 255) { |
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314 | // fix for min_UBat |
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315 | min_UBat = debugData.Analog[9]; |
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316 | init_cosd(debugData.Analog[9]); |
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454 | cascade | 317 | } |
471 | cascade | 318 | #include "osd_fcmode_default.c" |
319 | } |
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454 | cascade | 320 | #else |
471 | cascade | 321 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
322 | Decode64(); |
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323 | naviData = *((NaviData_t*) pRxData); |
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453 | cascade | 324 | |
471 | cascade | 325 | // init on first data retrival, distinguished by last battery :) |
326 | if (last_UBat == 255) { |
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327 | // fix for min_UBat |
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328 | min_UBat = naviData.UBat; |
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329 | init_cosd(naviData.UBat); |
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466 | cascade | 330 | } |
471 | cascade | 331 | #include "osd_ncmode_default.c" |
332 | } |
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454 | cascade | 333 | #endif |
321 | cascade | 334 | rxd_buffer_locked = 0; |
335 | } |
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336 | // handle keypress |
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326 | cascade | 337 | if (s1_pressed()) { |
339 | cascade | 338 | config_menu(); |
321 | cascade | 339 | } |
339 | cascade | 340 | if (seconds_since_last_data > 2) { |
454 | cascade | 341 | #if FCONLY |
455 | cascade | 342 | // request data ever 100ms from FC; |
343 | usart1_request_mk_data(0, 'd', 100); |
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454 | cascade | 344 | #else |
455 | cascade | 345 | // request OSD Data from NC every 100ms |
346 | usart1_request_mk_data(1, 'o', 100); |
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454 | cascade | 347 | |
455 | cascade | 348 | // and disable debug... |
349 | usart1_request_mk_data(0, 'd', 0); |
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454 | cascade | 350 | #endif |
339 | cascade | 351 | } |
321 | cascade | 352 | } |
353 | #endif |
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354 | return 0; |
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355 | } |