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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"
477 cascade 39
#include "ppm.h"
321 cascade 40
 
41
/* TODO:
42
 * - verifiy correctness of values
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
/* ##########################################################################
51
 * global definitions and global vars
52
 * ##########################################################################*/
346 cascade 53
 
321 cascade 54
volatile uint16_t setsReceived = 0;
55
 
56
volatile NaviData_t naviData;
57
volatile DebugOut_t debugData;
58
 
59
// cache old vars for blinking attribute, checkup is faster than full
60
// attribute write each time
61
volatile uint8_t last_UBat = 255;
62
volatile uint8_t last_RC_Quality = 255;
63
 
64
// 16bit should be enough, normal LiPos don't last that long
65
volatile uint16_t uptime = 0;
66
volatile uint16_t timer = 0;
67
 
331 cascade 68
// remember last time data was received
69
volatile uint8_t seconds_since_last_data = 0;
70
 
346 cascade 71
// store stats description in progmem to save space
72
char stats_item_0[] PROGMEM = "max Altitude:";
73
char stats_item_1[] PROGMEM = "max Speed   :";
74
char stats_item_2[] PROGMEM = "max Distance:";
75
char stats_item_3[] PROGMEM = "min voltage :";
76
char stats_item_4[] PROGMEM = "max time    :";
412 cascade 77
char stats_item_5[] PROGMEM = "longitude   :";
78
char stats_item_6[] PROGMEM = "latitude    :";
467 cascade 79
char stats_item_7[] PROGMEM = "max current :";
455 cascade 80
char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
467 cascade 81
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
346 cascade 82
 
329 cascade 83
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
326 cascade 84
 
85
// general PAL|NTSC distingiusch stuff
86
uint8_t top_line = 1;
87
uint8_t bottom_line = 14;
88
 
453 cascade 89
// battery voltages
90
uint8_t min_voltage = 0;
91
uint8_t max_voltage = 0;
92
 
326 cascade 93
// Flags
471 cascade 94
uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;
326 cascade 95
 
321 cascade 96
/* ##########################################################################
389 cascade 97
 * Interrupt handler
98
 * ##########################################################################*/
455 cascade 99
 
321 cascade 100
/**
389 cascade 101
 * handler for undefined Interrupts
102
 * if not defined AVR will reset in case any unhandled interrupts occur
321 cascade 103
 */
389 cascade 104
ISR(__vector_default) {
455 cascade 105
    asm("nop");
389 cascade 106
}
321 cascade 107
 
389 cascade 108
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 109
/* ##########################################################################
110
 * timer stuff
111
 * ##########################################################################*/
455 cascade 112
 
466 cascade 113
/**
331 cascade 114
 * timer kicks in every 1000uS ^= 1ms
321 cascade 115
 */
116
ISR(TIMER0_OVF_vect) {
385 cascade 117
    OCR0 = 15; // preload
321 cascade 118
    if (!timer--) {
119
        uptime++;
120
        timer = 999;
455 cascade 121
        seconds_since_last_data++;
321 cascade 122
    }
466 cascade 123
    // in case there is still some spi data to send do it now
124
    if (spi_ready && icnt) {
125
        SPDR = *iptr;
126
    }
321 cascade 127
}
465 cascade 128
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
455 cascade 129
 
321 cascade 130
/* ##########################################################################
131
 * MAIN
132
 * ##########################################################################*/
133
int main(void) {
466 cascade 134
 
339 cascade 135
    // set up FLAGS, compiler should flatten this one
136
    COSD_FLAGS = (NTSC << 0);
137
    COSD_FLAGS |= (HUD << 1);
138
    COSD_FLAGS |= (ARTHORIZON << 2);
455 cascade 139
    COSD_FLAGS |= (BIGVARIO << 3);
140
    COSD_FLAGS |= (STATS << 4);
383 cascade 141
    COSD_FLAGS |= (WARNINGS << 5);
324 cascade 142
 
339 cascade 143
    // set up Atmega162 Ports
321 cascade 144
    DDRA |= (1 << PA1); // PA1 output (/CS)
145
    MAX_CS_HIGH
146
    DDRA |= (1 << PA2); // PA2 output (SDIN)
147
    MAX_SDIN_LOW
148
    DDRA |= (1 << PA3); // PA3 output (SCLK)
149
    MAX_SCLK_LOW
150
    DDRA |= (1 << PA5); // PA5 output (RESET)
151
    MAX_RESET_HIGH
152
 
153
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
154
    LED1_OFF
155
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
156
    LED2_OFF
157
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
158
    LED3_OFF
159
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
160
    LED4_OFF
161
 
162
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
163
    PORTC |= (1 << PC4); // pullup
164
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
165
    PORTC |= (1 << PC5); // pullup
166
 
339 cascade 167
    // reset the MAX7456 to be sure any undefined states do no harm
321 cascade 168
    MAX_RESET_LOW
169
    MAX_RESET_HIGH
170
 
171
    // give the FC/NC and the maxim time to come up
172
    LED4_ON
173
    _delay_ms(2000);
174
    LED4_OFF
175
 
339 cascade 176
    //Pushing NEW chars to the MAX7456
329 cascade 177
#if (WRITECHARS != -1)
474 cascade 178
        // DISABLE display (VM0)
179
        spi_send_byte(0x00, 0b00000000);
466 cascade 180
#include "characters.c"
474 cascade 181
#else
182
        // read out config for NTSC/PAL distinguishing
183
        get_eeprom(0);
455 cascade 184
#endif
321 cascade 185
 
474 cascade 186
        // Setup Video Mode
187
        if (COSD_FLAGS & COSD_FLAG_NTSC) {
188
            // NTSC + enable display immediately (VM0)
189
            spi_send_byte(0x00, 0b00001000);
321 cascade 190
 
474 cascade 191
                bottom_line = 12;
192
        } else {
193
            // PAL + enable display immediately (VM0)
194
            spi_send_byte(0x00, 0b01001000);
195
 
196
                bottom_line = 14;
197
        }
198
 
404 cascade 199
    /*// clear all display-mem (DMM)
403 cascade 200
    spi_send_byte(0x04, 0b00000100);
201
 
202
    // clearing takes 12uS according to maxim so lets wait longer
203
    _delay_us(120);
204
 
321 cascade 205
    // 8bit mode
404 cascade 206
    spi_send_byte(0x04, 0b01000000);*/
321 cascade 207
 
404 cascade 208
    // clear display memory and set to 8bit mode
321 cascade 209
    clear();
210
 
329 cascade 211
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 212
    // init usart
213
    usart1_init();
214
 
215
    // set up timer
216
    TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
385 cascade 217
    OCR0 = 15; // preload
321 cascade 218
    TIMSK |= (1 << TOIE0); // enable overflow timer0
219
 
477 cascade 220
        // SPI setup
466 cascade 221
    DDRD |= (1 << PD2); // PD2 output (INT0)
222
    SpiMasterInit();
465 cascade 223
 
477 cascade 224
        // PPM detection setup
225
        ppm_init();
226
 
326 cascade 227
    // enable interrupts
477 cascade 228
 
321 cascade 229
    sei();
230
#endif
231
 
232
    //write_ascii_string(2,  7, "         CaScAdE          ");
233
    //write_ascii_string(2,  8, "is TESTING his open source");
234
    //write_ascii_string(2,  9, "    EPi OSD Firmware");
235
 
236
    // we are ready
237
    LED3_ON
238
 
329 cascade 239
#if ALLCHARSDEBUG | (WRITECHARS != -1)
471 cascade 240
        clear();
321 cascade 241
    write_all_chars();
242
#else
477 cascade 243
 
471 cascade 244
        // clear serial screen
245
        //usart1_puts("\x1B[2J\x1B[H");
477 cascade 246
        //usart1_puts("hello world!123\r\n");
247
 
454 cascade 248
#if FCONLY
471 cascade 249
        // request data ever 100ms from FC;
250
        usart1_request_mk_data(0, 'd', 100);
454 cascade 251
#else
471 cascade 252
        // request OSD Data from NC every 100ms
253
        usart1_request_mk_data(1, 'o', 100);
346 cascade 254
 
339 cascade 255
    // and disable debug...
455 cascade 256
    usart1_request_mk_data(0, 'd', 0);
454 cascade 257
#endif
321 cascade 258
 
339 cascade 259
    // stats for after flight
260
    int16_t max_Altimeter = 0;
459 cascade 261
    uint8_t min_UBat = 255;
262
#if !(FCONLY)
466 cascade 263
    uint16_t max_GroundSpeed = 0;
339 cascade 264
    int16_t max_Distance = 0;
265
    uint16_t max_FlyingTime = 0;
321 cascade 266
 
339 cascade 267
    // flags from last round to check for changes
268
    uint8_t old_MKFlags = 0;
269
 
321 cascade 270
    char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
377 cascade 271
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
459 cascade 272
#endif
321 cascade 273
 
274
    while (1) {
466 cascade 275
        // in case SPI is ready and there is nothing to send right now
276
        if (!icnt && spi_ready) {
277
            // correct transfer ends with d (done)
278
            if (spi_cmd_buffer[0] == 'd') {
279
                ampere = spi_cmd_buffer[1] << 8;
280
                ampere |= spi_cmd_buffer[2];
468 cascade 281
                                ampere_wasted = spi_cmd_buffer[3];
282
                                ampere_wasted = ampere_wasted << 8;
283
                                ampere_wasted |= spi_cmd_buffer[4];
284
                                ampere_wasted = ampere_wasted << 8;
285
                                ampere_wasted |= spi_cmd_buffer[5];
286
                                ampere_wasted = ampere_wasted << 8;
287
                                ampere_wasted |= spi_cmd_buffer[6];
288
                                //ampere = *((int16_t *) spi_cmd_buffer + 1);
289
                                //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3);
467 cascade 290
                                // if this is the first receival we should print the small A
291
                                if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {
474 cascade 292
                                        clear();
471 cascade 293
                                        COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;
467 cascade 294
                                        // update this flag
295
                        COSD_FLAGS2 |= COSD_FLAG_STROMREC;
296
                                }
466 cascade 297
                //write_ascii_char(8+4*30, 'v'); // valid
298
            } else {
299
                // update flags
300
                COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
301
                //write_ascii_char(8+4*30, 'i'); // invalid
302
            }
303
            spi_cmd_buffer[0] = 'A';
304
            spi_cmd_buffer[1] = 'B';
305
            spi_cmd_buffer[2] = 'C';
468 cascade 306
                        spi_cmd_buffer[3] = 'D';
307
                        spi_cmd_buffer[4] = 'E';
308
                        spi_cmd_buffer[5] = 'F';
309
                        spi_cmd_buffer[6] = 'G';
310
            StartTransfer((unsigned char*) spi_cmd_buffer, 7);
466 cascade 311
        }
321 cascade 312
        if (rxd_buffer_locked) {
454 cascade 313
#if FCONLY
471 cascade 314
            if (rxd_buffer[2] == 'D') { // FC Data
315
                Decode64();
316
                debugData = *((DebugOut_t*) pRxData);
454 cascade 317
 
471 cascade 318
                // init on first data retrival, distinguished by last battery :)
319
                if (last_UBat == 255) {
320
                    // fix for min_UBat
321
                    min_UBat = debugData.Analog[9];
322
                    init_cosd(debugData.Analog[9]);
454 cascade 323
                }
471 cascade 324
                #include "osd_fcmode_default.c"
325
            }
454 cascade 326
#else
471 cascade 327
            if (rxd_buffer[2] == 'O') { // NC OSD Data
328
                Decode64();
329
                naviData = *((NaviData_t*) pRxData);
453 cascade 330
 
471 cascade 331
                // init on first data retrival, distinguished by last battery :)
332
                if (last_UBat == 255) {
333
                    // fix for min_UBat
334
                    min_UBat = naviData.UBat;
335
                    init_cosd(naviData.UBat);
466 cascade 336
                }
471 cascade 337
                #include "osd_ncmode_default.c"
338
            }
454 cascade 339
#endif
321 cascade 340
            rxd_buffer_locked = 0;
341
        }
342
        // handle keypress
326 cascade 343
        if (s1_pressed()) {
339 cascade 344
            config_menu();
321 cascade 345
        }
339 cascade 346
        if (seconds_since_last_data > 2) {
454 cascade 347
#if FCONLY
455 cascade 348
            // request data ever 100ms from FC;
349
            usart1_request_mk_data(0, 'd', 100);
454 cascade 350
#else
455 cascade 351
            // request OSD Data from NC every 100ms
352
            usart1_request_mk_data(1, 'o', 100);
454 cascade 353
 
455 cascade 354
            // and disable debug...
355
            usart1_request_mk_data(0, 'd', 0);
477 cascade 356
 
357
                        // reset last time counter
358
                        seconds_since_last_data = 0;
454 cascade 359
#endif
339 cascade 360
        }
321 cascade 361
    }
362
#endif
363
    return 0;
364
}