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321 cascade 1
/****************************************************************************
2
 *   Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje                    *
3
 *   admiralcascade@gmail.com                                               *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
5
 *                                                                          *
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   *
8
 *   the Free Software Foundation; either version 2 of the License.         *
9
 *                                                                          *
10
 *   This program is distributed in the hope that it will be useful,        *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
13
 *   GNU General Public License for more details.                           *
14
 *                                                                          *
15
 *   You should have received a copy of the GNU General Public License      *
16
 *   along with this program; if not, write to the                          *
17
 *   Free Software Foundation, Inc.,                                        *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
19
 *                                                                          *
20
 *                                                                          *
21
 *   Credits to:                                                            *
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                                 *
25
 *   Manuel "KeyOz" Schrape for explaining the MK protocol to me            *
26
 ****************************************************************************/
27
 
28
#include <avr/io.h>
29
#include <avr/interrupt.h>
30
#include <util/delay.h>
455 cascade 31
#include <avr/pgmspace.h>
346 cascade 32
#include "main.h"
33
#include "max7456_software_spi.h"
331 cascade 34
#include "usart1.h"
389 cascade 35
#include "osd_helpers.h"
471 cascade 36
#include "config.h"
37
#include "spi.h"
38
#include "buttons.h"
321 cascade 39
 
40
/* TODO:
41
 * - verifiy correctness of values
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
/* ##########################################################################
50
 * global definitions and global vars
51
 * ##########################################################################*/
346 cascade 52
 
321 cascade 53
volatile uint16_t setsReceived = 0;
54
 
55
volatile NaviData_t naviData;
56
volatile DebugOut_t debugData;
57
 
58
// cache old vars for blinking attribute, checkup is faster than full
59
// attribute write each time
60
volatile uint8_t last_UBat = 255;
61
volatile uint8_t last_RC_Quality = 255;
62
 
63
// 16bit should be enough, normal LiPos don't last that long
64
volatile uint16_t uptime = 0;
65
volatile uint16_t timer = 0;
66
 
331 cascade 67
// remember last time data was received
68
volatile uint8_t seconds_since_last_data = 0;
69
 
346 cascade 70
// store stats description in progmem to save space
71
char stats_item_0[] PROGMEM = "max Altitude:";
72
char stats_item_1[] PROGMEM = "max Speed   :";
73
char stats_item_2[] PROGMEM = "max Distance:";
74
char stats_item_3[] PROGMEM = "min voltage :";
75
char stats_item_4[] PROGMEM = "max time    :";
412 cascade 76
char stats_item_5[] PROGMEM = "longitude   :";
77
char stats_item_6[] PROGMEM = "latitude    :";
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
85
uint8_t top_line = 1;
86
uint8_t bottom_line = 14;
87
 
453 cascade 88
// battery voltages
89
uint8_t min_voltage = 0;
90
uint8_t max_voltage = 0;
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
 * ##########################################################################*/
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
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
110
 * ##########################################################################*/
455 cascade 111
 
466 cascade 112
/**
331 cascade 113
 * timer kicks in every 1000uS ^= 1ms
321 cascade 114
 */
115
ISR(TIMER0_OVF_vect) {
385 cascade 116
    OCR0 = 15; // preload
321 cascade 117
    if (!timer--) {
118
        uptime++;
119
        timer = 999;
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) {
124
        SPDR = *iptr;
125
    }
321 cascade 126
}
465 cascade 127
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
455 cascade 128
 
321 cascade 129
/* ##########################################################################
130
 * MAIN
131
 * ##########################################################################*/
132
int main(void) {
466 cascade 133
 
339 cascade 134
    // set up FLAGS, compiler should flatten this one
135
    COSD_FLAGS = (NTSC << 0);
136
    COSD_FLAGS |= (HUD << 1);
137
    COSD_FLAGS |= (ARTHORIZON << 2);
455 cascade 138
    COSD_FLAGS |= (BIGVARIO << 3);
139
    COSD_FLAGS |= (STATS << 4);
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)
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    MAX_CS_HIGH
145
    DDRA |= (1 << PA2); // PA2 output (SDIN)
146
    MAX_SDIN_LOW
147
    DDRA |= (1 << PA3); // PA3 output (SCLK)
148
    MAX_SCLK_LOW
149
    DDRA |= (1 << PA5); // PA5 output (RESET)
150
    MAX_RESET_HIGH
151
 
152
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
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    LED1_OFF
154
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
155
    LED2_OFF
156
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
157
    LED3_OFF
158
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
159
    LED4_OFF
160
 
161
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
162
    PORTC |= (1 << PC4); // pullup
163
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
164
    PORTC |= (1 << PC5); // pullup
165
 
339 cascade 166
    // set up top and bottom lines
167
    if (COSD_FLAGS & COSD_FLAG_NTSC) {
168
        bottom_line = 12;
169
    } else {
170
        bottom_line = 14;
171
    }
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
176
 
177
    // give the FC/NC and the maxim time to come up
178
    LED4_ON
179
    _delay_ms(2000);
180
 
181
    LED4_OFF
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);
188
#include "characters.c"
455 cascade 189
#endif
321 cascade 190
 
339 cascade 191
    // Setup Video Mode
192
    if (COSD_FLAGS & COSD_FLAG_NTSC) {
193
        // NTSC + enable display immediately (VM0)
194
        spi_send_byte(0x00, 0b00001000);
195
    } else {
196
        // PAL + enable display immediately (VM0)
197
        spi_send_byte(0x00, 0b01001000);
198
    }
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
204
    _delay_us(120);
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();
215
 
216
    // set up timer
217
    TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
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();
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          ");
230
    //write_ascii_string(2,  8, "is TESTING his open source");
231
    //write_ascii_string(2,  9, "    EPi OSD Firmware");
232
 
233
    // we are ready
234
    LED3_ON
235
 
329 cascade 236
#if ALLCHARSDEBUG | (WRITECHARS != -1)
471 cascade 237
        clear();
321 cascade 238
    write_all_chars();
239
#else
471 cascade 240
        // clear serial screen
241
        //usart1_puts("\x1B[2J\x1B[H");
242
        //usart1_puts("hello world!\r\n");
454 cascade 243
#if FCONLY
471 cascade 244
        // request data ever 100ms from FC;
245
        usart1_request_mk_data(0, 'd', 100);
454 cascade 246
#else
471 cascade 247
        // request OSD Data from NC every 100ms
248
        usart1_request_mk_data(1, 'o', 100);
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;
459 cascade 256
    uint8_t min_UBat = 255;
257
#if !(FCONLY)
466 cascade 258
    uint16_t max_GroundSpeed = 0;
339 cascade 259
    int16_t max_Distance = 0;
260
    uint16_t max_FlyingTime = 0;
321 cascade 261
 
339 cascade 262
    // flags from last round to check for changes
263
    uint8_t old_MKFlags = 0;
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) {
466 cascade 270
        // in case SPI is ready and there is nothing to send right now
271
        if (!icnt && spi_ready) {
272
            // correct transfer ends with d (done)
273
            if (spi_cmd_buffer[0] == 'd') {
274
                ampere = spi_cmd_buffer[1] << 8;
275
                ampere |= spi_cmd_buffer[2];
468 cascade 276
                                ampere_wasted = spi_cmd_buffer[3];
277
                                ampere_wasted = ampere_wasted << 8;
278
                                ampere_wasted |= spi_cmd_buffer[4];
279
                                ampere_wasted = ampere_wasted << 8;
280
                                ampere_wasted |= spi_cmd_buffer[5];
281
                                ampere_wasted = ampere_wasted << 8;
282
                                ampere_wasted |= spi_cmd_buffer[6];
283
                                //ampere = *((int16_t *) spi_cmd_buffer + 1);
284
                                //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3);
467 cascade 285
                                // if this is the first receival we should print the small A
286
                                if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {
471 cascade 287
                                        COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;
467 cascade 288
                                        // update this flag
289
                        COSD_FLAGS2 |= COSD_FLAG_STROMREC;
290
                                }
466 cascade 291
                //write_ascii_char(8+4*30, 'v'); // valid
292
            } else {
293
                // update flags
294
                COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
295
                //write_ascii_char(8+4*30, 'i'); // invalid
296
            }
297
            spi_cmd_buffer[0] = 'A';
298
            spi_cmd_buffer[1] = 'B';
299
            spi_cmd_buffer[2] = 'C';
468 cascade 300
                        spi_cmd_buffer[3] = 'D';
301
                        spi_cmd_buffer[4] = 'E';
302
                        spi_cmd_buffer[5] = 'F';
303
                        spi_cmd_buffer[6] = 'G';
304
            StartTransfer((unsigned char*) spi_cmd_buffer, 7);
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();
310
                debugData = *((DebugOut_t*) pRxData);
454 cascade 311
 
471 cascade 312
                // init on first data retrival, distinguished by last battery :)
313
                if (last_UBat == 255) {
314
                    // fix for min_UBat
315
                    min_UBat = debugData.Analog[9];
316
                    init_cosd(debugData.Analog[9]);
454 cascade 317
                }
471 cascade 318
                #include "osd_fcmode_default.c"
319
            }
454 cascade 320
#else
471 cascade 321
            if (rxd_buffer[2] == 'O') { // NC OSD Data
322
                Decode64();
323
                naviData = *((NaviData_t*) pRxData);
453 cascade 324
 
471 cascade 325
                // init on first data retrival, distinguished by last battery :)
326
                if (last_UBat == 255) {
327
                    // fix for min_UBat
328
                    min_UBat = naviData.UBat;
329
                    init_cosd(naviData.UBat);
466 cascade 330
                }
471 cascade 331
                #include "osd_ncmode_default.c"
332
            }
454 cascade 333
#endif
321 cascade 334
            rxd_buffer_locked = 0;
335
        }
336
        // handle keypress
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);
454 cascade 344
#else
455 cascade 345
            // request OSD Data from NC every 100ms
346
            usart1_request_mk_data(1, 'o', 100);
454 cascade 347
 
455 cascade 348
            // and disable debug...
349
            usart1_request_mk_data(0, 'd', 0);
454 cascade 350
#endif
339 cascade 351
        }
321 cascade 352
    }
353
#endif
354
    return 0;
355
}