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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"
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 uint16_t setsReceived = 0;
60
 
61
volatile NaviData_t naviData;
62
volatile DebugOut_t debugData;
63
 
64
// cache old vars for blinking attribute, checkup is faster than full
65
// attribute write each time
66
volatile uint8_t last_UBat = 255;
67
volatile uint8_t last_RC_Quality = 255;
68
 
69
// 16bit should be enough, normal LiPos don't last that long
70
volatile uint16_t uptime = 0;
71
volatile uint16_t timer = 0;
685 cascade 72
volatile uint16_t flytime_fc = 0;
321 cascade 73
 
331 cascade 74
// remember last time data was received
75
volatile uint8_t seconds_since_last_data = 0;
76
 
497 cascade 77
// general PAL|NTSC distingiusch stuff
78
uint8_t top_line = 1;
79
uint8_t bottom_line = 14;
80
 
81
// battery voltages
82
uint8_t min_voltage = 0;
83
uint8_t max_voltage = 0;
84
 
85
// Flags
528 cascade 86
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
497 cascade 87
 
514 cascade 88
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
89
 
497 cascade 90
// stats for after flight
91
int16_t max_Altimeter = 0;
92
uint8_t min_UBat = 255;
93
uint16_t max_GroundSpeed = 0;
94
int16_t max_Distance = 0;
95
uint16_t max_FlyingTime = 0;
96
 
97
// flags from last round to check for changes
98
uint8_t old_MKFlags = 0;
99
 
346 cascade 100
// store stats description in progmem to save space
489 woggle 101
const char stats_item_0[] PROGMEM = "max Altitude:";
102
const char stats_item_1[] PROGMEM = "max Speed   :";
103
const char stats_item_2[] PROGMEM = "max Distance:";
104
const char stats_item_3[] PROGMEM = "min Voltage :";
105
const char stats_item_4[] PROGMEM = "max Time    :";
106
const char stats_item_5[] PROGMEM = "longitude   :";
107
const char stats_item_6[] PROGMEM = "latitude    :";
108
const char stats_item_7[] PROGMEM = "max current :";
499 cascade 109
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
467 cascade 110
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
346 cascade 111
 
489 woggle 112
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
113
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
114
const char str_NE[] PROGMEM = "NE";
115
const char str_E[] PROGMEM  = "E ";
116
const char str_SE[] PROGMEM = "SE";
117
const char str_S[] PROGMEM  = "S ";
118
const char str_SW[] PROGMEM = "SW";
119
const char str_W[] PROGMEM  = "W ";
120
const char str_NW[] PROGMEM = "NW";
121
const char str_N[] PROGMEM  = "N ";
122
const char *directions[8] PROGMEM = {
123
        str_NE,
124
        str_E,
125
        str_SE,
126
        str_S,
127
        str_SW,
128
        str_W,
129
        str_NW,
130
        str_N};
131
 
497 cascade 132
/* ##########################################################################
133
 * Different display mode function pointers
134
 * ##########################################################################*/
135
const char str_1[] PROGMEM  = "default";
136
const char str_2[] PROGMEM  = "minimal";
685 cascade 137
const char str_3[] PROGMEM  = "   jopl";
326 cascade 138
 
497 cascade 139
const displaymode_t ncdisplaymodes[] PROGMEM = {
140
   { osd_ncmode_default, (char *)str_1 },
141
   { osd_ncmode_minimal, (char *)str_2 }
142
};
326 cascade 143
 
497 cascade 144
const displaymode_t fcdisplaymodes[] PROGMEM = {
145
   { osd_fcmode_default, (char *)str_1 },
685 cascade 146
   { osd_fcmode_jopl, (char *)str_3 }
497 cascade 147
};
453 cascade 148
 
497 cascade 149
int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default;
526 cascade 150
int (*osd_fcmode)(void) = (int(*)(void)) &osd_fcmode_default;
497 cascade 151
#endif
326 cascade 152
 
321 cascade 153
/* ##########################################################################
389 cascade 154
 * Interrupt handler
155
 * ##########################################################################*/
455 cascade 156
 
321 cascade 157
/**
389 cascade 158
 * handler for undefined Interrupts
159
 * if not defined AVR will reset in case any unhandled interrupts occur
321 cascade 160
 */
389 cascade 161
ISR(__vector_default) {
455 cascade 162
    asm("nop");
389 cascade 163
}
321 cascade 164
 
389 cascade 165
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 166
/* ##########################################################################
167
 * timer stuff
168
 * ##########################################################################*/
455 cascade 169
 
507 cascade 170
static uint8_t delay_spi = 0;
171
 
466 cascade 172
/**
331 cascade 173
 * timer kicks in every 1000uS ^= 1ms
321 cascade 174
 */
489 woggle 175
ISR(TIMER0_COMP_vect) {
321 cascade 176
    if (!timer--) {
177
        uptime++;
685 cascade 178
 
179
                #if FCONLY
180
                if (debugData.Analog[12]>10) {
181
                        flytime_fc++;
182
                }
183
                #endif
184
 
321 cascade 185
        timer = 999;
455 cascade 186
        seconds_since_last_data++;
321 cascade 187
    }
466 cascade 188
    // in case there is still some spi data to send do it now
507 cascade 189
        // delay to give the slave some time to compute values
466 cascade 190
    if (spi_ready && icnt) {
507 cascade 191
                if (!delay_spi--) {
192
                        delay_spi = 8;
193
                        spi_send_next();
194
                }
466 cascade 195
    }
321 cascade 196
}
465 cascade 197
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
455 cascade 198
 
321 cascade 199
/* ##########################################################################
200
 * MAIN
201
 * ##########################################################################*/
202
int main(void) {
514 cascade 203
        // set up FLAGS
523 cascade 204
        COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
514 cascade 205
        #if NTSC
523 cascade 206
        COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC;
514 cascade 207
        #endif
208
        #if HUD
523 cascade 209
        COSD_FLAGS_MODES |= COSD_FLAG_HUD;
514 cascade 210
        #endif
211
        #if ARTHORIZON
523 cascade 212
        COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON;
514 cascade 213
        #endif
214
        #if BIGVARIO
523 cascade 215
        COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO;
514 cascade 216
        #endif
217
        #if STATS
523 cascade 218
        COSD_FLAGS_MODES |= COSD_FLAG_STATS;
514 cascade 219
        #endif
220
        #if WARNINGS
523 cascade 221
        COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS;
514 cascade 222
        #endif
223
        #if FCONLY
523 cascade 224
        COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE;
514 cascade 225
        #endif
466 cascade 226
 
324 cascade 227
 
514 cascade 228
 
339 cascade 229
    // set up Atmega162 Ports
321 cascade 230
    DDRA |= (1 << PA1); // PA1 output (/CS)
231
    MAX_CS_HIGH
232
    DDRA |= (1 << PA2); // PA2 output (SDIN)
233
    MAX_SDIN_LOW
234
    DDRA |= (1 << PA3); // PA3 output (SCLK)
235
    MAX_SCLK_LOW
236
    DDRA |= (1 << PA5); // PA5 output (RESET)
237
    MAX_RESET_HIGH
238
 
239
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
240
    LED1_OFF
241
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
242
    LED2_OFF
243
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
244
    LED3_OFF
245
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
246
    LED4_OFF
247
 
248
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
249
    PORTC |= (1 << PC4); // pullup
250
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
251
    PORTC |= (1 << PC5); // pullup
252
 
339 cascade 253
    // reset the MAX7456 to be sure any undefined states do no harm
321 cascade 254
    MAX_RESET_LOW
255
    MAX_RESET_HIGH
256
 
257
    // give the FC/NC and the maxim time to come up
258
    LED4_ON
259
    _delay_ms(2000);
260
    LED4_OFF
261
 
339 cascade 262
    //Pushing NEW chars to the MAX7456
329 cascade 263
#if (WRITECHARS != -1)
474 cascade 264
        // DISABLE display (VM0)
265
        spi_send_byte(0x00, 0b00000000);
514 cascade 266
        learn_all_chars_pgm();
474 cascade 267
#else
268
        // read out config for NTSC/PAL distinguishing
269
        get_eeprom(0);
455 cascade 270
#endif
321 cascade 271
 
474 cascade 272
        // Setup Video Mode
528 cascade 273
        if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
474 cascade 274
            // NTSC + enable display immediately (VM0)
275
            spi_send_byte(0x00, 0b00001000);
321 cascade 276
 
474 cascade 277
                bottom_line = 12;
278
        } else {
279
            // PAL + enable display immediately (VM0)
280
            spi_send_byte(0x00, 0b01001000);
281
 
282
                bottom_line = 14;
283
        }
284
 
404 cascade 285
    /*// clear all display-mem (DMM)
403 cascade 286
    spi_send_byte(0x04, 0b00000100);
287
 
288
    // clearing takes 12uS according to maxim so lets wait longer
289
    _delay_us(120);
290
 
321 cascade 291
    // 8bit mode
404 cascade 292
    spi_send_byte(0x04, 0b01000000);*/
321 cascade 293
 
404 cascade 294
    // clear display memory and set to 8bit mode
321 cascade 295
    clear();
296
 
329 cascade 297
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 298
    // init usart
299
    usart1_init();
300
 
301
    // set up timer
489 woggle 302
        // CTC, Prescaler /64
303
        TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
321 cascade 304
 
489 woggle 305
        TCNT0 = 0;
306
        OCR0 = 250;
307
 
308
        // enable timer output compare interrupt
309
        TIMSK &= ~(1 << TOIE0);
310
        TIMSK |= (1 << OCIE0);
311
 
477 cascade 312
        // SPI setup
466 cascade 313
    DDRD |= (1 << PD2); // PD2 output (INT0)
314
    SpiMasterInit();
465 cascade 315
 
477 cascade 316
        // PPM detection setup
317
        ppm_init();
318
 
326 cascade 319
    // enable interrupts
477 cascade 320
 
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)
471 cascade 332
        clear();
685 cascade 333
        write_all_chars();
334
        LED1_ON
335
        LED2_ON
336
        LED3_ON
502 cascade 337
        LED4_ON
321 cascade 338
#else
477 cascade 339
 
471 cascade 340
        // clear serial screen
341
        //usart1_puts("\x1B[2J\x1B[H");
477 cascade 342
        //usart1_puts("hello world!123\r\n");
343
 
454 cascade 344
#if FCONLY
471 cascade 345
        // request data ever 100ms from FC;
346
        usart1_request_mk_data(0, 'd', 100);
454 cascade 347
#else
471 cascade 348
        // request OSD Data from NC every 100ms
349
        usart1_request_mk_data(1, 'o', 100);
346 cascade 350
 
339 cascade 351
    // and disable debug...
455 cascade 352
    usart1_request_mk_data(0, 'd', 0);
454 cascade 353
#endif
321 cascade 354
 
355
    while (1) {
466 cascade 356
        // in case SPI is ready and there is nothing to send right now
357
        if (!icnt && spi_ready) {
358
            // correct transfer ends with d (done)
507 cascade 359
            if (SPI_buffer.buffer.chk == 'd') {
360
                                ampere = SPI_buffer.data.ampere;
361
                                ampere_wasted = SPI_buffer.data.mah;
362
                                s_volt = SPI_buffer.data.volt;
363
 
467 cascade 364
                                // if this is the first receival we should print the small A
528 cascade 365
                                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
474 cascade 366
                                        clear();
528 cascade 367
                                        COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
467 cascade 368
                                        // update this flag
528 cascade 369
                        COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
467 cascade 370
                                }
466 cascade 371
            } else {
372
                // update flags
528 cascade 373
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
466 cascade 374
            }
507 cascade 375
                        StartTransfer(9);
466 cascade 376
        }
321 cascade 377
        if (rxd_buffer_locked) {
454 cascade 378
#if FCONLY
471 cascade 379
            if (rxd_buffer[2] == 'D') { // FC Data
380
                Decode64();
381
                debugData = *((DebugOut_t*) pRxData);
454 cascade 382
 
471 cascade 383
                // init on first data retrival, distinguished by last battery :)
384
                if (last_UBat == 255) {
385
                    // fix for min_UBat
386
                    min_UBat = debugData.Analog[9];
677 cascade 387
                                        last_UBat = debugData.Analog[9];
388
                    init_cosd(last_UBat);
389
                } else {
390
                                        osd_fcmode();
391
                                }
471 cascade 392
            }
454 cascade 393
#else
471 cascade 394
            if (rxd_buffer[2] == 'O') { // NC OSD Data
395
                Decode64();
396
                naviData = *((NaviData_t*) pRxData);
453 cascade 397
 
471 cascade 398
                // init on first data retrival, distinguished by last battery :)
399
                if (last_UBat == 255) {
400
                    // fix for min_UBat
401
                    min_UBat = naviData.UBat;
677 cascade 402
                                        last_UBat = naviData.UBat;
403
                    init_cosd(last_UBat);
404
                } else {
405
                                        osd_ncmode();
406
                                }
471 cascade 407
            }
454 cascade 408
#endif
321 cascade 409
            rxd_buffer_locked = 0;
410
        }
411
        // handle keypress
326 cascade 412
        if (s1_pressed()) {
339 cascade 413
            config_menu();
321 cascade 414
        }
339 cascade 415
        if (seconds_since_last_data > 2) {
454 cascade 416
#if FCONLY
455 cascade 417
            // request data ever 100ms from FC;
418
            usart1_request_mk_data(0, 'd', 100);
454 cascade 419
#else
455 cascade 420
            // request OSD Data from NC every 100ms
421
            usart1_request_mk_data(1, 'o', 100);
454 cascade 422
 
455 cascade 423
            // and disable debug...
424
            usart1_request_mk_data(0, 'd', 0);
477 cascade 425
 
426
                        // reset last time counter
427
                        seconds_since_last_data = 0;
454 cascade 428
#endif
339 cascade 429
        }
321 cascade 430
    }
431
#endif
432
    return 0;
433
}