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321 cascade 1
/****************************************************************************
728 cascade 2
 *   Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje               *
321 cascade 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"
477 cascade 39
#include "ppm.h"
497 cascade 40
#include "osd_ncmode_default.h"
41
#include "osd_ncmode_minimal.h"
42
#include "osd_fcmode_default.h"
685 cascade 43
#include "osd_fcmode_jopl.h"
514 cascade 44
 
45
#if WRITECHARS != -1
46
#include "characters.h"
497 cascade 47
#endif
321 cascade 48
 
49
/* TODO:
50
 * - verifiy correctness of values
324 cascade 51
 * - clean up code :)
321 cascade 52
 */
53
 
54
 
55
/* ##########################################################################
56
 * global definitions and global vars
57
 * ##########################################################################*/
346 cascade 58
 
321 cascade 59
volatile NaviData_t naviData;
60
volatile DebugOut_t debugData;
61
 
62
// cache old vars for blinking attribute, checkup is faster than full
63
// attribute write each time
64
volatile uint8_t last_UBat = 255;
65
volatile uint8_t last_RC_Quality = 255;
66
 
67
// 16bit should be enough, normal LiPos don't last that long
68
volatile uint16_t uptime = 0;
69
volatile uint16_t timer = 0;
685 cascade 70
volatile uint16_t flytime_fc = 0;
321 cascade 71
 
331 cascade 72
// remember last time data was received
73
volatile uint8_t seconds_since_last_data = 0;
74
 
497 cascade 75
// general PAL|NTSC distingiusch stuff
76
uint8_t top_line = 1;
77
uint8_t bottom_line = 14;
78
 
79
// battery voltages
80
uint8_t min_voltage = 0;
81
uint8_t max_voltage = 0;
82
 
83
// Flags
528 cascade 84
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
497 cascade 85
 
514 cascade 86
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
87
 
497 cascade 88
// stats for after flight
89
int16_t max_Altimeter = 0;
90
uint8_t min_UBat = 255;
91
uint16_t max_GroundSpeed = 0;
92
int16_t max_Distance = 0;
93
uint16_t max_FlyingTime = 0;
94
 
95
// flags from last round to check for changes
96
uint8_t old_MKFlags = 0;
97
 
346 cascade 98
// store stats description in progmem to save space
489 woggle 99
const char stats_item_0[] PROGMEM = "max Altitude:";
100
const char stats_item_1[] PROGMEM = "max Speed   :";
101
const char stats_item_2[] PROGMEM = "max Distance:";
102
const char stats_item_3[] PROGMEM = "min Voltage :";
103
const char stats_item_4[] PROGMEM = "max Time    :";
104
const char stats_item_5[] PROGMEM = "longitude   :";
105
const char stats_item_6[] PROGMEM = "latitude    :";
106
const char stats_item_7[] PROGMEM = "max current :";
499 cascade 107
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
467 cascade 108
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
346 cascade 109
 
489 woggle 110
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
761 - 111
//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
489 woggle 112
const char str_NE[] PROGMEM = "NE";
761 - 113
const char str_E[] PROGMEM = "E ";
489 woggle 114
const char str_SE[] PROGMEM = "SE";
761 - 115
const char str_S[] PROGMEM = "S ";
489 woggle 116
const char str_SW[] PROGMEM = "SW";
761 - 117
const char str_W[] PROGMEM = "W ";
489 woggle 118
const char str_NW[] PROGMEM = "NW";
761 - 119
const char str_N[] PROGMEM = "N ";
489 woggle 120
const char *directions[8] PROGMEM = {
761 - 121
    str_NE,
122
    str_E,
123
    str_SE,
124
    str_S,
125
    str_SW,
126
    str_W,
127
    str_NW,
128
    str_N
129
};
489 woggle 130
 
497 cascade 131
/* ##########################################################################
132
 * Different display mode function pointers
133
 * ##########################################################################*/
761 - 134
const char str_1[] PROGMEM = "default";
135
const char str_2[] PROGMEM = "minimal";
136
const char str_3[] PROGMEM = "   jopl";
326 cascade 137
 
497 cascade 138
const displaymode_t ncdisplaymodes[] PROGMEM = {
761 - 139
    { osd_ncmode_default, (char *)str_1},
140
    { osd_ncmode_minimal, (char *)str_2}
497 cascade 141
};
326 cascade 142
 
497 cascade 143
const displaymode_t fcdisplaymodes[] PROGMEM = {
761 - 144
    { osd_fcmode_default, (char *)str_1},
145
    { osd_fcmode_jopl, (char *)str_3}
497 cascade 146
};
453 cascade 147
 
761 - 148
int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default;
149
int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default;
497 cascade 150
#endif
326 cascade 151
 
321 cascade 152
/* ##########################################################################
389 cascade 153
 * Interrupt handler
154
 * ##########################################################################*/
455 cascade 155
 
321 cascade 156
/**
389 cascade 157
 * handler for undefined Interrupts
158
 * if not defined AVR will reset in case any unhandled interrupts occur
321 cascade 159
 */
389 cascade 160
ISR(__vector_default) {
455 cascade 161
    asm("nop");
389 cascade 162
}
321 cascade 163
 
389 cascade 164
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 165
/* ##########################################################################
166
 * timer stuff
167
 * ##########################################################################*/
455 cascade 168
 
507 cascade 169
static uint8_t delay_spi = 0;
170
 
466 cascade 171
/**
331 cascade 172
 * timer kicks in every 1000uS ^= 1ms
321 cascade 173
 */
489 woggle 174
ISR(TIMER0_COMP_vect) {
321 cascade 175
    if (!timer--) {
176
        uptime++;
685 cascade 177
 
761 - 178
#if FCONLY
179
        if (debugData.Analog[12] > 10) {
180
            flytime_fc++;
181
        }
182
#endif
685 cascade 183
 
321 cascade 184
        timer = 999;
455 cascade 185
        seconds_since_last_data++;
321 cascade 186
    }
466 cascade 187
    // in case there is still some spi data to send do it now
761 - 188
    // delay to give the slave some time to compute values
466 cascade 189
    if (spi_ready && icnt) {
761 - 190
        if (!delay_spi--) {
191
            delay_spi = 8;
192
            spi_send_next();
193
        }
466 cascade 194
    }
321 cascade 195
}
465 cascade 196
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
455 cascade 197
 
321 cascade 198
/* ##########################################################################
199
 * MAIN
200
 * ##########################################################################*/
201
int main(void) {
761 - 202
    // set up FLAGS
203
    COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
204
#if NTSC
205
    COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC;
206
#endif
207
#if HUD
208
    COSD_FLAGS_MODES |= COSD_FLAG_HUD;
209
#endif
210
#if ARTHORIZON
211
    COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON;
212
#endif
213
#if BIGVARIO
214
    COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO;
215
#endif
216
#if STATS
217
    COSD_FLAGS_MODES |= COSD_FLAG_STATS;
218
#endif
219
#if WARNINGS
220
    COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS;
221
#endif
222
#if FCONLY
223
    COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE;
224
#endif
466 cascade 225
 
324 cascade 226
 
339 cascade 227
    // set up Atmega162 Ports
321 cascade 228
    DDRA |= (1 << PA1); // PA1 output (/CS)
229
    MAX_CS_HIGH
230
    DDRA |= (1 << PA2); // PA2 output (SDIN)
231
    MAX_SDIN_LOW
232
    DDRA |= (1 << PA3); // PA3 output (SCLK)
233
    MAX_SCLK_LOW
234
    DDRA |= (1 << PA5); // PA5 output (RESET)
235
    MAX_RESET_HIGH
236
 
237
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
238
    LED1_OFF
239
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
240
    LED2_OFF
241
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
242
    LED3_OFF
243
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
244
    LED4_OFF
245
 
246
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
247
    PORTC |= (1 << PC4); // pullup
248
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
249
    PORTC |= (1 << PC5); // pullup
250
 
339 cascade 251
    // reset the MAX7456 to be sure any undefined states do no harm
321 cascade 252
    MAX_RESET_LOW
253
    MAX_RESET_HIGH
254
 
255
    // give the FC/NC and the maxim time to come up
256
    LED4_ON
736 cascade 257
    _delay_ms(1000);
321 cascade 258
    LED4_OFF
259
 
339 cascade 260
    //Pushing NEW chars to the MAX7456
329 cascade 261
#if (WRITECHARS != -1)
761 - 262
        // DISABLE display (VM0)
263
        spi_send_byte(0x00, 0b00000000);
264
    learn_all_chars_pgm();
474 cascade 265
#else
761 - 266
        // read out config for NTSC/PAL distinguishing
267
        get_eeprom(0);
455 cascade 268
#endif
321 cascade 269
 
761 - 270
    // Setup Video Mode
271
    if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
272
        // NTSC + enable display immediately (VM0)
273
        spi_send_byte(0x00, 0b00001000);
321 cascade 274
 
761 - 275
        bottom_line = 12;
276
    } else {
277
        // PAL + enable display immediately (VM0)
278
        spi_send_byte(0x00, 0b01001000);
474 cascade 279
 
761 - 280
        bottom_line = 14;
281
    }
474 cascade 282
 
404 cascade 283
    /*// clear all display-mem (DMM)
403 cascade 284
    spi_send_byte(0x04, 0b00000100);
285
 
286
    // clearing takes 12uS according to maxim so lets wait longer
287
    _delay_us(120);
288
 
321 cascade 289
    // 8bit mode
404 cascade 290
    spi_send_byte(0x04, 0b01000000);*/
321 cascade 291
 
404 cascade 292
    // clear display memory and set to 8bit mode
321 cascade 293
    clear();
294
 
329 cascade 295
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 296
    // init usart
297
    usart1_init();
298
 
738 cascade 299
    // keep serial port clean
300
    usart1_DisableTXD();
301
 
321 cascade 302
    // set up timer
761 - 303
    // CTC, Prescaler /64
304
    TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
321 cascade 305
 
761 - 306
    TCNT0 = 0;
307
    OCR0 = 250;
489 woggle 308
 
761 - 309
    // enable timer output compare interrupt
310
    TIMSK &= ~(1 << TOIE0);
311
    TIMSK |= (1 << OCIE0);
489 woggle 312
 
761 - 313
    // SPI setup
466 cascade 314
    DDRD |= (1 << PD2); // PD2 output (INT0)
315
    SpiMasterInit();
465 cascade 316
 
761 - 317
    // PPM detection setup
318
    ppm_init();
477 cascade 319
 
326 cascade 320
    // enable interrupts
321 cascade 321
    sei();
322
#endif
323
 
324
    //write_ascii_string(2,  7, "         CaScAdE          ");
325
    //write_ascii_string(2,  8, "is TESTING his open source");
326
    //write_ascii_string(2,  9, "    EPi OSD Firmware");
327
 
328
    // we are ready
329
    LED3_ON
330
 
329 cascade 331
#if ALLCHARSDEBUG | (WRITECHARS != -1)
761 - 332
        clear();
333
    write_all_chars();
334
    LED1_ON
335
    LED2_ON
336
    LED3_ON
337
    LED4_ON
321 cascade 338
#else
477 cascade 339
 
761 - 340
        // clear serial screen
341
        //usart1_puts("\x1B[2J\x1B[H");
342
        //usart1_puts("hello world!123\r\n");
477 cascade 343
 
321 cascade 344
    while (1) {
466 cascade 345
        // in case SPI is ready and there is nothing to send right now
346
        if (!icnt && spi_ready) {
347
            // correct transfer ends with d (done)
507 cascade 348
            if (SPI_buffer.buffer.chk == 'd') {
761 - 349
                ampere = SPI_buffer.data.ampere;
350
                ampere_wasted = SPI_buffer.data.mah;
351
                s_volt = SPI_buffer.data.volt;
507 cascade 352
 
761 - 353
                // if this is the first receival we should print the small A
354
                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
355
                    clear();
356
                    COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
357
                    // update this flag
358
                    COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
359
                }
466 cascade 360
            } else {
361
                // update flags
528 cascade 362
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
466 cascade 363
            }
761 - 364
            StartTransfer(9);
466 cascade 365
        }
321 cascade 366
        if (rxd_buffer_locked) {
454 cascade 367
#if FCONLY
471 cascade 368
            if (rxd_buffer[2] == 'D') { // FC Data
369
                Decode64();
761 - 370
                debugData = *((DebugOut_t*)pRxData);
454 cascade 371
 
471 cascade 372
                // init on first data retrival, distinguished by last battery :)
373
                if (last_UBat == 255) {
761 - 374
                    if (debugData.Analog[9] > 40) {
375
                        // fix for min_UBat
376
                        min_UBat = debugData.Analog[9];
377
                        last_UBat = debugData.Analog[9];
378
                        init_cosd(last_UBat);
379
                    }
677 cascade 380
                } else {
761 - 381
                    osd_fcmode();
382
                }
383
                seconds_since_last_data = 0;
471 cascade 384
            }
454 cascade 385
#else
471 cascade 386
            if (rxd_buffer[2] == 'O') { // NC OSD Data
387
                Decode64();
761 - 388
                naviData = *((NaviData_t*)pRxData);
453 cascade 389
 
471 cascade 390
                // init on first data retrival, distinguished by last battery :)
391
                if (last_UBat == 255) {
761 - 392
                    if (naviData.UBat > 40) {
393
                        // fix for min_UBat
394
                        min_UBat = naviData.UBat;
395
                        last_UBat = naviData.UBat;
396
                        init_cosd(last_UBat);
397
                    }
677 cascade 398
                } else {
761 - 399
                    osd_ncmode();
400
                }
401
                //seconds_since_last_data = 0;
471 cascade 402
            }
454 cascade 403
#endif
321 cascade 404
            rxd_buffer_locked = 0;
405
        }
406
        // handle keypress
326 cascade 407
        if (s1_pressed()) {
339 cascade 408
            config_menu();
321 cascade 409
        }
738 cascade 410
        if (seconds_since_last_data > 0) {
761 - 411
            usart1_EnableTXD();
412
            //usart1_puts_pgm(PSTR("zu alt\r\n"));
454 cascade 413
#if FCONLY
455 cascade 414
            // request data ever 100ms from FC;
738 cascade 415
            //usart1_request_mk_data(0, 'd', 100);
761 - 416
            usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
454 cascade 417
#else
455 cascade 418
            // request OSD Data from NC every 100ms
738 cascade 419
            //usart1_request_mk_data(1, 'o', 100);
761 - 420
            usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
454 cascade 421
 
455 cascade 422
            // and disable debug...
738 cascade 423
            //usart1_request_mk_data(0, 'd', 0);                
424
#endif
761 - 425
            // reset last time counter
426
            seconds_since_last_data = 0;
427
            usart1_DisableTXD();
339 cascade 428
        }
321 cascade 429
    }
430
#endif
431
    return 0;
432
}