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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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477 | cascade | 39 | #include "ppm.h" |
321 | cascade | 40 | |
41 | /* TODO: |
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42 | * - verifiy correctness of values |
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324 | cascade | 43 | * - clean up code :) |
321 | cascade | 44 | */ |
45 | |||
329 | cascade | 46 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
466 | cascade | 47 | // data structs not needed for character flashing |
331 | cascade | 48 | #include "mk-data-structs.h" |
321 | cascade | 49 | |
50 | /* ########################################################################## |
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51 | * global definitions and global vars |
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52 | * ##########################################################################*/ |
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346 | cascade | 53 | |
321 | cascade | 54 | volatile uint16_t setsReceived = 0; |
55 | |||
56 | volatile NaviData_t naviData; |
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57 | volatile DebugOut_t debugData; |
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58 | |||
59 | // cache old vars for blinking attribute, checkup is faster than full |
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60 | // attribute write each time |
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61 | volatile uint8_t last_UBat = 255; |
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62 | volatile uint8_t last_RC_Quality = 255; |
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63 | |||
64 | // 16bit should be enough, normal LiPos don't last that long |
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65 | volatile uint16_t uptime = 0; |
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66 | volatile uint16_t timer = 0; |
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67 | |||
331 | cascade | 68 | // remember last time data was received |
69 | volatile uint8_t seconds_since_last_data = 0; |
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70 | |||
346 | cascade | 71 | // store stats description in progmem to save space |
489 | woggle | 72 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
73 | const char stats_item_1[] PROGMEM = "max Speed :"; |
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74 | const char stats_item_2[] PROGMEM = "max Distance:"; |
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75 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
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76 | const char stats_item_4[] PROGMEM = "max Time :"; |
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77 | const char stats_item_5[] PROGMEM = "longitude :"; |
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78 | const char stats_item_6[] PROGMEM = "latitude :"; |
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79 | const char stats_item_7[] PROGMEM = "max current :"; |
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80 | const char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
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467 | cascade | 81 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
346 | cascade | 82 | |
489 | woggle | 83 | #if !(FCONLY) |
84 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
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85 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
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86 | const char str_NE[] PROGMEM = "NE"; |
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87 | const char str_E[] PROGMEM = "E "; |
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88 | const char str_SE[] PROGMEM = "SE"; |
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89 | const char str_S[] PROGMEM = "S "; |
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90 | const char str_SW[] PROGMEM = "SW"; |
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91 | const char str_W[] PROGMEM = "W "; |
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92 | const char str_NW[] PROGMEM = "NW"; |
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93 | const char str_N[] PROGMEM = "N "; |
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94 | const char *directions[8] PROGMEM = { |
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95 | str_NE, |
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96 | str_E, |
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97 | str_SE, |
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98 | str_S, |
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99 | str_SW, |
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100 | str_W, |
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101 | str_NW, |
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102 | str_N}; |
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103 | #endif |
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104 | |||
329 | cascade | 105 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
326 | cascade | 106 | |
107 | // general PAL|NTSC distingiusch stuff |
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108 | uint8_t top_line = 1; |
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109 | uint8_t bottom_line = 14; |
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110 | |||
453 | cascade | 111 | // battery voltages |
112 | uint8_t min_voltage = 0; |
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113 | uint8_t max_voltage = 0; |
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114 | |||
326 | cascade | 115 | // Flags |
471 | cascade | 116 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0; |
326 | cascade | 117 | |
321 | cascade | 118 | /* ########################################################################## |
389 | cascade | 119 | * Interrupt handler |
120 | * ##########################################################################*/ |
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455 | cascade | 121 | |
321 | cascade | 122 | /** |
389 | cascade | 123 | * handler for undefined Interrupts |
124 | * if not defined AVR will reset in case any unhandled interrupts occur |
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321 | cascade | 125 | */ |
389 | cascade | 126 | ISR(__vector_default) { |
455 | cascade | 127 | asm("nop"); |
389 | cascade | 128 | } |
321 | cascade | 129 | |
389 | cascade | 130 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 131 | /* ########################################################################## |
132 | * timer stuff |
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133 | * ##########################################################################*/ |
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455 | cascade | 134 | |
466 | cascade | 135 | /** |
331 | cascade | 136 | * timer kicks in every 1000uS ^= 1ms |
321 | cascade | 137 | */ |
489 | woggle | 138 | ISR(TIMER0_COMP_vect) { |
321 | cascade | 139 | if (!timer--) { |
140 | uptime++; |
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141 | timer = 999; |
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455 | cascade | 142 | seconds_since_last_data++; |
321 | cascade | 143 | } |
466 | cascade | 144 | // in case there is still some spi data to send do it now |
145 | if (spi_ready && icnt) { |
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146 | SPDR = *iptr; |
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147 | } |
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321 | cascade | 148 | } |
465 | cascade | 149 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
455 | cascade | 150 | |
321 | cascade | 151 | /* ########################################################################## |
152 | * MAIN |
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153 | * ##########################################################################*/ |
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154 | int main(void) { |
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466 | cascade | 155 | |
339 | cascade | 156 | // set up FLAGS, compiler should flatten this one |
157 | COSD_FLAGS = (NTSC << 0); |
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158 | COSD_FLAGS |= (HUD << 1); |
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159 | COSD_FLAGS |= (ARTHORIZON << 2); |
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455 | cascade | 160 | COSD_FLAGS |= (BIGVARIO << 3); |
161 | COSD_FLAGS |= (STATS << 4); |
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383 | cascade | 162 | COSD_FLAGS |= (WARNINGS << 5); |
324 | cascade | 163 | |
339 | cascade | 164 | // set up Atmega162 Ports |
321 | cascade | 165 | DDRA |= (1 << PA1); // PA1 output (/CS) |
166 | MAX_CS_HIGH |
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167 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
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168 | MAX_SDIN_LOW |
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169 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
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170 | MAX_SCLK_LOW |
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171 | DDRA |= (1 << PA5); // PA5 output (RESET) |
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172 | MAX_RESET_HIGH |
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173 | |||
174 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
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175 | LED1_OFF |
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176 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
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177 | LED2_OFF |
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178 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
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179 | LED3_OFF |
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180 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
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181 | LED4_OFF |
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182 | |||
183 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
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184 | PORTC |= (1 << PC4); // pullup |
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185 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
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186 | PORTC |= (1 << PC5); // pullup |
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187 | |||
339 | cascade | 188 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 189 | MAX_RESET_LOW |
190 | MAX_RESET_HIGH |
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191 | |||
192 | // give the FC/NC and the maxim time to come up |
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193 | LED4_ON |
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194 | _delay_ms(2000); |
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195 | LED4_OFF |
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196 | |||
339 | cascade | 197 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 198 | #if (WRITECHARS != -1) |
474 | cascade | 199 | // DISABLE display (VM0) |
200 | spi_send_byte(0x00, 0b00000000); |
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466 | cascade | 201 | #include "characters.c" |
474 | cascade | 202 | #else |
203 | // read out config for NTSC/PAL distinguishing |
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204 | get_eeprom(0); |
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455 | cascade | 205 | #endif |
321 | cascade | 206 | |
474 | cascade | 207 | // Setup Video Mode |
208 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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209 | // NTSC + enable display immediately (VM0) |
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210 | spi_send_byte(0x00, 0b00001000); |
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321 | cascade | 211 | |
474 | cascade | 212 | bottom_line = 12; |
213 | } else { |
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214 | // PAL + enable display immediately (VM0) |
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215 | spi_send_byte(0x00, 0b01001000); |
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216 | |||
217 | bottom_line = 14; |
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218 | } |
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219 | |||
404 | cascade | 220 | /*// clear all display-mem (DMM) |
403 | cascade | 221 | spi_send_byte(0x04, 0b00000100); |
222 | |||
223 | // clearing takes 12uS according to maxim so lets wait longer |
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224 | _delay_us(120); |
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225 | |||
321 | cascade | 226 | // 8bit mode |
404 | cascade | 227 | spi_send_byte(0x04, 0b01000000);*/ |
321 | cascade | 228 | |
404 | cascade | 229 | // clear display memory and set to 8bit mode |
321 | cascade | 230 | clear(); |
231 | |||
329 | cascade | 232 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 233 | // init usart |
234 | usart1_init(); |
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235 | |||
236 | // set up timer |
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489 | woggle | 237 | // CTC, Prescaler /64 |
238 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
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321 | cascade | 239 | |
489 | woggle | 240 | TCNT0 = 0; |
241 | OCR0 = 250; |
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242 | |||
243 | // enable timer output compare interrupt |
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244 | TIMSK &= ~(1 << TOIE0); |
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245 | TIMSK |= (1 << OCIE0); |
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246 | |||
477 | cascade | 247 | // SPI setup |
466 | cascade | 248 | DDRD |= (1 << PD2); // PD2 output (INT0) |
249 | SpiMasterInit(); |
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465 | cascade | 250 | |
477 | cascade | 251 | // PPM detection setup |
252 | ppm_init(); |
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253 | |||
326 | cascade | 254 | // enable interrupts |
477 | cascade | 255 | |
321 | cascade | 256 | sei(); |
257 | #endif |
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258 | |||
259 | //write_ascii_string(2, 7, " CaScAdE "); |
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260 | //write_ascii_string(2, 8, "is TESTING his open source"); |
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261 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
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262 | |||
263 | // we are ready |
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264 | LED3_ON |
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265 | |||
329 | cascade | 266 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
471 | cascade | 267 | clear(); |
321 | cascade | 268 | write_all_chars(); |
269 | #else |
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477 | cascade | 270 | |
471 | cascade | 271 | // clear serial screen |
272 | //usart1_puts("\x1B[2J\x1B[H"); |
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477 | cascade | 273 | //usart1_puts("hello world!123\r\n"); |
274 | |||
454 | cascade | 275 | #if FCONLY |
471 | cascade | 276 | // request data ever 100ms from FC; |
277 | usart1_request_mk_data(0, 'd', 100); |
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454 | cascade | 278 | #else |
471 | cascade | 279 | // request OSD Data from NC every 100ms |
280 | usart1_request_mk_data(1, 'o', 100); |
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346 | cascade | 281 | |
339 | cascade | 282 | // and disable debug... |
455 | cascade | 283 | usart1_request_mk_data(0, 'd', 0); |
454 | cascade | 284 | #endif |
321 | cascade | 285 | |
339 | cascade | 286 | // stats for after flight |
287 | int16_t max_Altimeter = 0; |
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459 | cascade | 288 | uint8_t min_UBat = 255; |
289 | #if !(FCONLY) |
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466 | cascade | 290 | uint16_t max_GroundSpeed = 0; |
339 | cascade | 291 | int16_t max_Distance = 0; |
292 | uint16_t max_FlyingTime = 0; |
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321 | cascade | 293 | |
339 | cascade | 294 | // flags from last round to check for changes |
295 | uint8_t old_MKFlags = 0; |
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459 | cascade | 296 | #endif |
321 | cascade | 297 | |
298 | while (1) { |
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466 | cascade | 299 | // in case SPI is ready and there is nothing to send right now |
300 | if (!icnt && spi_ready) { |
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301 | // correct transfer ends with d (done) |
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302 | if (spi_cmd_buffer[0] == 'd') { |
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303 | ampere = spi_cmd_buffer[1] << 8; |
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304 | ampere |= spi_cmd_buffer[2]; |
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468 | cascade | 305 | ampere_wasted = spi_cmd_buffer[3]; |
306 | ampere_wasted = ampere_wasted << 8; |
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307 | ampere_wasted |= spi_cmd_buffer[4]; |
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308 | ampere_wasted = ampere_wasted << 8; |
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309 | ampere_wasted |= spi_cmd_buffer[5]; |
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310 | ampere_wasted = ampere_wasted << 8; |
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311 | ampere_wasted |= spi_cmd_buffer[6]; |
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312 | //ampere = *((int16_t *) spi_cmd_buffer + 1); |
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313 | //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3); |
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467 | cascade | 314 | // if this is the first receival we should print the small A |
315 | if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) { |
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474 | cascade | 316 | clear(); |
471 | cascade | 317 | COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN; |
467 | cascade | 318 | // update this flag |
319 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
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320 | } |
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466 | cascade | 321 | //write_ascii_char(8+4*30, 'v'); // valid |
322 | } else { |
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323 | // update flags |
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324 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
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325 | //write_ascii_char(8+4*30, 'i'); // invalid |
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326 | } |
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327 | spi_cmd_buffer[0] = 'A'; |
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328 | spi_cmd_buffer[1] = 'B'; |
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329 | spi_cmd_buffer[2] = 'C'; |
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468 | cascade | 330 | spi_cmd_buffer[3] = 'D'; |
331 | spi_cmd_buffer[4] = 'E'; |
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332 | spi_cmd_buffer[5] = 'F'; |
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333 | spi_cmd_buffer[6] = 'G'; |
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334 | StartTransfer((unsigned char*) spi_cmd_buffer, 7); |
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466 | cascade | 335 | } |
321 | cascade | 336 | if (rxd_buffer_locked) { |
454 | cascade | 337 | #if FCONLY |
471 | cascade | 338 | if (rxd_buffer[2] == 'D') { // FC Data |
339 | Decode64(); |
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340 | debugData = *((DebugOut_t*) pRxData); |
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454 | cascade | 341 | |
471 | cascade | 342 | // init on first data retrival, distinguished by last battery :) |
343 | if (last_UBat == 255) { |
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344 | // fix for min_UBat |
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345 | min_UBat = debugData.Analog[9]; |
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346 | init_cosd(debugData.Analog[9]); |
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454 | cascade | 347 | } |
471 | cascade | 348 | #include "osd_fcmode_default.c" |
349 | } |
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454 | cascade | 350 | #else |
471 | cascade | 351 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
352 | Decode64(); |
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353 | naviData = *((NaviData_t*) pRxData); |
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453 | cascade | 354 | |
471 | cascade | 355 | // init on first data retrival, distinguished by last battery :) |
356 | if (last_UBat == 255) { |
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357 | // fix for min_UBat |
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358 | min_UBat = naviData.UBat; |
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359 | init_cosd(naviData.UBat); |
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466 | cascade | 360 | } |
471 | cascade | 361 | #include "osd_ncmode_default.c" |
362 | } |
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454 | cascade | 363 | #endif |
321 | cascade | 364 | rxd_buffer_locked = 0; |
365 | } |
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366 | // handle keypress |
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326 | cascade | 367 | if (s1_pressed()) { |
339 | cascade | 368 | config_menu(); |
321 | cascade | 369 | } |
339 | cascade | 370 | if (seconds_since_last_data > 2) { |
454 | cascade | 371 | #if FCONLY |
455 | cascade | 372 | // request data ever 100ms from FC; |
373 | usart1_request_mk_data(0, 'd', 100); |
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454 | cascade | 374 | #else |
455 | cascade | 375 | // request OSD Data from NC every 100ms |
376 | usart1_request_mk_data(1, 'o', 100); |
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454 | cascade | 377 | |
455 | cascade | 378 | // and disable debug... |
379 | usart1_request_mk_data(0, 'd', 0); |
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477 | cascade | 380 | |
381 | // reset last time counter |
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382 | seconds_since_last_data = 0; |
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454 | cascade | 383 | #endif |
339 | cascade | 384 | } |
321 | cascade | 385 | } |
386 | #endif |
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387 | return 0; |
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388 | } |