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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
 * ##########################################################################*/
762 - 58
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
346 cascade 59
 
321 cascade 60
volatile NaviData_t naviData;
61
volatile DebugOut_t debugData;
62
 
63
// cache old vars for blinking attribute, checkup is faster than full
64
// attribute write each time
65
volatile uint8_t last_UBat = 255;
66
volatile uint8_t last_RC_Quality = 255;
67
 
68
// 16bit should be enough, normal LiPos don't last that long
69
volatile uint16_t uptime = 0;
70
volatile uint16_t timer = 0;
685 cascade 71
volatile uint16_t flytime_fc = 0;
321 cascade 72
 
331 cascade 73
// remember last time data was received
74
volatile uint8_t seconds_since_last_data = 0;
75
 
497 cascade 76
// general PAL|NTSC distingiusch stuff
77
uint8_t top_line = 1;
78
uint8_t bottom_line = 14;
79
 
80
// battery voltages
81
uint8_t min_voltage = 0;
82
uint8_t max_voltage = 0;
83
 
84
// Flags
528 cascade 85
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
497 cascade 86
 
514 cascade 87
 
762 - 88
 
497 cascade 89
// stats for after flight
90
int16_t max_Altimeter = 0;
91
uint8_t min_UBat = 255;
92
uint16_t max_GroundSpeed = 0;
93
int16_t max_Distance = 0;
94
uint16_t max_FlyingTime = 0;
95
 
96
// flags from last round to check for changes
97
uint8_t old_MKFlags = 0;
98
 
346 cascade 99
// store stats description in progmem to save space
489 woggle 100
const char stats_item_0[] PROGMEM = "max Altitude:";
101
const char stats_item_1[] PROGMEM = "max Speed   :";
102
const char stats_item_2[] PROGMEM = "max Distance:";
103
const char stats_item_3[] PROGMEM = "min Voltage :";
104
const char stats_item_4[] PROGMEM = "max Time    :";
105
const char stats_item_5[] PROGMEM = "longitude   :";
106
const char stats_item_6[] PROGMEM = "latitude    :";
107
const char stats_item_7[] PROGMEM = "max current :";
499 cascade 108
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
467 cascade 109
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
346 cascade 110
 
489 woggle 111
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
761 - 112
//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
489 woggle 113
const char str_NE[] PROGMEM = "NE";
761 - 114
const char str_E[] PROGMEM = "E ";
489 woggle 115
const char str_SE[] PROGMEM = "SE";
761 - 116
const char str_S[] PROGMEM = "S ";
489 woggle 117
const char str_SW[] PROGMEM = "SW";
761 - 118
const char str_W[] PROGMEM = "W ";
489 woggle 119
const char str_NW[] PROGMEM = "NW";
761 - 120
const char str_N[] PROGMEM = "N ";
489 woggle 121
const char *directions[8] PROGMEM = {
761 - 122
    str_NE,
123
    str_E,
124
    str_SE,
125
    str_S,
126
    str_SW,
127
    str_W,
128
    str_NW,
129
    str_N
130
};
489 woggle 131
 
497 cascade 132
/* ##########################################################################
133
 * Different display mode function pointers
134
 * ##########################################################################*/
761 - 135
const char str_1[] PROGMEM = "default";
136
const char str_2[] PROGMEM = "minimal";
137
const char str_3[] PROGMEM = "   jopl";
326 cascade 138
 
497 cascade 139
const displaymode_t ncdisplaymodes[] PROGMEM = {
761 - 140
    { osd_ncmode_default, (char *)str_1},
141
    { osd_ncmode_minimal, (char *)str_2}
497 cascade 142
};
326 cascade 143
 
497 cascade 144
const displaymode_t fcdisplaymodes[] PROGMEM = {
761 - 145
    { osd_fcmode_default, (char *)str_1},
146
    { osd_fcmode_jopl, (char *)str_3}
497 cascade 147
};
453 cascade 148
 
761 - 149
int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default;
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
 
761 - 179
#if FCONLY
180
        if (debugData.Analog[12] > 10) {
181
            flytime_fc++;
182
        }
183
#endif
685 cascade 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
761 - 189
    // delay to give the slave some time to compute values
466 cascade 190
    if (spi_ready && icnt) {
761 - 191
        if (!delay_spi--) {
192
            delay_spi = 8;
193
            spi_send_next();
194
        }
466 cascade 195
    }
321 cascade 196
}
762 - 197
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
455 cascade 198
 
321 cascade 199
/* ##########################################################################
200
 * MAIN
201
 * ##########################################################################*/
202
int main(void) {
761 - 203
    // set up FLAGS
204
    COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
205
#if NTSC
206
    COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC;
207
#endif
208
#if HUD
209
    COSD_FLAGS_MODES |= COSD_FLAG_HUD;
210
#endif
211
#if ARTHORIZON
212
    COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON;
213
#endif
214
#if BIGVARIO
215
    COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO;
216
#endif
217
#if STATS
218
    COSD_FLAGS_MODES |= COSD_FLAG_STATS;
219
#endif
220
#if WARNINGS
221
    COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS;
222
#endif
223
#if FCONLY
224
    COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE;
225
#endif
466 cascade 226
 
324 cascade 227
 
339 cascade 228
    // set up Atmega162 Ports
321 cascade 229
    DDRA |= (1 << PA1); // PA1 output (/CS)
230
    MAX_CS_HIGH
231
    DDRA |= (1 << PA2); // PA2 output (SDIN)
232
    MAX_SDIN_LOW
233
    DDRA |= (1 << PA3); // PA3 output (SCLK)
234
    MAX_SCLK_LOW
235
    DDRA |= (1 << PA5); // PA5 output (RESET)
236
    MAX_RESET_HIGH
237
 
238
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
239
    LED1_OFF
240
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
241
    LED2_OFF
242
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
243
    LED3_OFF
244
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
245
    LED4_OFF
246
 
247
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
248
    PORTC |= (1 << PC4); // pullup
249
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
250
    PORTC |= (1 << PC5); // pullup
251
 
339 cascade 252
    // reset the MAX7456 to be sure any undefined states do no harm
321 cascade 253
    MAX_RESET_LOW
254
    MAX_RESET_HIGH
255
 
256
    // give the FC/NC and the maxim time to come up
257
    LED4_ON
736 cascade 258
    _delay_ms(1000);
321 cascade 259
    LED4_OFF
260
 
339 cascade 261
    //Pushing NEW chars to the MAX7456
329 cascade 262
#if (WRITECHARS != -1)
761 - 263
        // DISABLE display (VM0)
264
        spi_send_byte(0x00, 0b00000000);
265
    learn_all_chars_pgm();
474 cascade 266
#else
761 - 267
        // read out config for NTSC/PAL distinguishing
268
        get_eeprom(0);
455 cascade 269
#endif
321 cascade 270
 
761 - 271
    // Setup Video Mode
272
    if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
273
        // NTSC + enable display immediately (VM0)
274
        spi_send_byte(0x00, 0b00001000);
321 cascade 275
 
761 - 276
        bottom_line = 12;
277
    } else {
278
        // PAL + enable display immediately (VM0)
279
        spi_send_byte(0x00, 0b01001000);
474 cascade 280
 
761 - 281
        bottom_line = 14;
282
    }
474 cascade 283
 
404 cascade 284
    /*// clear all display-mem (DMM)
403 cascade 285
    spi_send_byte(0x04, 0b00000100);
286
 
287
    // clearing takes 12uS according to maxim so lets wait longer
288
    _delay_us(120);
289
 
321 cascade 290
    // 8bit mode
404 cascade 291
    spi_send_byte(0x04, 0b01000000);*/
321 cascade 292
 
404 cascade 293
    // clear display memory and set to 8bit mode
321 cascade 294
    clear();
295
 
329 cascade 296
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 297
    // init usart
298
    usart1_init();
299
 
738 cascade 300
    // keep serial port clean
301
    usart1_DisableTXD();
302
 
321 cascade 303
    // set up timer
761 - 304
    // CTC, Prescaler /64
305
    TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
321 cascade 306
 
761 - 307
    TCNT0 = 0;
308
    OCR0 = 250;
489 woggle 309
 
761 - 310
    // enable timer output compare interrupt
311
    TIMSK &= ~(1 << TOIE0);
312
    TIMSK |= (1 << OCIE0);
489 woggle 313
 
761 - 314
    // SPI setup
466 cascade 315
    DDRD |= (1 << PD2); // PD2 output (INT0)
316
    SpiMasterInit();
465 cascade 317
 
761 - 318
    // PPM detection setup
319
    ppm_init();
477 cascade 320
 
326 cascade 321
    // enable interrupts
321 cascade 322
    sei();
323
 
762 - 324
 
321 cascade 325
    //write_ascii_string(2,  7, "         CaScAdE          ");
326
    //write_ascii_string(2,  8, "is TESTING his open source");
327
    //write_ascii_string(2,  9, "    EPi OSD Firmware");
328
 
329
    // we are ready
330
    LED3_ON
331
 
477 cascade 332
 
762 - 333
    // clear serial screen
334
    //usart1_puts("\x1B[2J\x1B[H");
477 cascade 335
 
321 cascade 336
    while (1) {
466 cascade 337
        // in case SPI is ready and there is nothing to send right now
338
        if (!icnt && spi_ready) {
339
            // correct transfer ends with d (done)
507 cascade 340
            if (SPI_buffer.buffer.chk == 'd') {
761 - 341
                ampere = SPI_buffer.data.ampere;
342
                ampere_wasted = SPI_buffer.data.mah;
343
                s_volt = SPI_buffer.data.volt;
507 cascade 344
 
761 - 345
                // if this is the first receival we should print the small A
346
                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
347
                    clear();
348
                    COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
349
                    // update this flag
350
                    COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
351
                }
466 cascade 352
            } else {
353
                // update flags
528 cascade 354
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
466 cascade 355
            }
761 - 356
            StartTransfer(9);
466 cascade 357
        }
321 cascade 358
        if (rxd_buffer_locked) {
454 cascade 359
#if FCONLY
471 cascade 360
            if (rxd_buffer[2] == 'D') { // FC Data
361
                Decode64();
761 - 362
                debugData = *((DebugOut_t*)pRxData);
454 cascade 363
 
471 cascade 364
                // init on first data retrival, distinguished by last battery :)
365
                if (last_UBat == 255) {
761 - 366
                    if (debugData.Analog[9] > 40) {
367
                        // fix for min_UBat
368
                        min_UBat = debugData.Analog[9];
369
                        last_UBat = debugData.Analog[9];
370
                        init_cosd(last_UBat);
371
                    }
677 cascade 372
                } else {
761 - 373
                    osd_fcmode();
374
                }
375
                seconds_since_last_data = 0;
471 cascade 376
            }
454 cascade 377
#else
471 cascade 378
            if (rxd_buffer[2] == 'O') { // NC OSD Data
379
                Decode64();
761 - 380
                naviData = *((NaviData_t*)pRxData);
453 cascade 381
 
471 cascade 382
                // init on first data retrival, distinguished by last battery :)
383
                if (last_UBat == 255) {
761 - 384
                    if (naviData.UBat > 40) {
385
                        // fix for min_UBat
386
                        min_UBat = naviData.UBat;
387
                        last_UBat = naviData.UBat;
388
                        init_cosd(last_UBat);
389
                    }
677 cascade 390
                } else {
761 - 391
                    osd_ncmode();
392
                }
393
                //seconds_since_last_data = 0;
471 cascade 394
            }
454 cascade 395
#endif
321 cascade 396
            rxd_buffer_locked = 0;
397
        }
398
        // handle keypress
326 cascade 399
        if (s1_pressed()) {
339 cascade 400
            config_menu();
321 cascade 401
        }
738 cascade 402
        if (seconds_since_last_data > 0) {
761 - 403
            usart1_EnableTXD();
404
            //usart1_puts_pgm(PSTR("zu alt\r\n"));
454 cascade 405
#if FCONLY
455 cascade 406
            // request data ever 100ms from FC;
738 cascade 407
            //usart1_request_mk_data(0, 'd', 100);
761 - 408
            usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
454 cascade 409
#else
455 cascade 410
            // request OSD Data from NC every 100ms
738 cascade 411
            //usart1_request_mk_data(1, 'o', 100);
761 - 412
            usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
454 cascade 413
 
455 cascade 414
            // and disable debug...
738 cascade 415
            //usart1_request_mk_data(0, 'd', 0);                
416
#endif
761 - 417
            // reset last time counter
418
            seconds_since_last_data = 0;
419
            usart1_DisableTXD();
339 cascade 420
        }
321 cascade 421
    }
762 - 422
 
423
#else // character flashing...
424
        clear();
425
    write_all_chars();
426
    LED1_ON
427
    LED2_ON
428
    LED3_ON
429
    LED4_ON
430
        while(1) {
431
 
432
        };
321 cascade 433
#endif
762 - 434
 
435
 
321 cascade 436
    return 0;
437
}