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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"
772 - 34
#ifdef ANTENNATRACKTEST 
35
#include "usart0.h"
36
#endif
331 cascade 37
#include "usart1.h"
389 cascade 38
#include "osd_helpers.h"
471 cascade 39
#include "config.h"
40
#include "spi.h"
41
#include "buttons.h"
477 cascade 42
#include "ppm.h"
497 cascade 43
#include "osd_ncmode_default.h"
44
#include "osd_ncmode_minimal.h"
45
#include "osd_fcmode_default.h"
685 cascade 46
#include "osd_fcmode_jopl.h"
514 cascade 47
 
48
#if WRITECHARS != -1
49
#include "characters.h"
497 cascade 50
#endif
321 cascade 51
 
52
/* TODO:
53
 * - verifiy correctness of values
324 cascade 54
 * - clean up code :)
321 cascade 55
 */
56
 
57
 
58
/* ##########################################################################
59
 * global definitions and global vars
60
 * ##########################################################################*/
762 - 61
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
346 cascade 62
 
321 cascade 63
volatile NaviData_t naviData;
783 - 64
volatile str_DebugOut debugData;
321 cascade 65
 
66
// cache old vars for blinking attribute, checkup is faster than full
67
// attribute write each time
68
volatile uint8_t last_UBat = 255;
69
volatile uint8_t last_RC_Quality = 255;
70
 
71
// 16bit should be enough, normal LiPos don't last that long
72
volatile uint16_t uptime = 0;
73
volatile uint16_t timer = 0;
685 cascade 74
volatile uint16_t flytime_fc = 0;
321 cascade 75
 
331 cascade 76
// remember last time data was received
77
volatile uint8_t seconds_since_last_data = 0;
78
 
497 cascade 79
// general PAL|NTSC distingiusch stuff
80
uint8_t top_line = 1;
81
uint8_t bottom_line = 14;
82
 
83
// battery voltages
84
uint8_t min_voltage = 0;
85
uint8_t max_voltage = 0;
86
 
87
// Flags
528 cascade 88
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
497 cascade 89
 
514 cascade 90
 
762 - 91
 
497 cascade 92
// stats for after flight
93
int16_t max_Altimeter = 0;
94
uint8_t min_UBat = 255;
95
uint16_t max_GroundSpeed = 0;
96
int16_t max_Distance = 0;
97
uint16_t max_FlyingTime = 0;
98
 
99
// flags from last round to check for changes
100
uint8_t old_MKFlags = 0;
101
 
346 cascade 102
// store stats description in progmem to save space
489 woggle 103
const char stats_item_0[] PROGMEM = "max Altitude:";
104
const char stats_item_1[] PROGMEM = "max Speed   :";
105
const char stats_item_2[] PROGMEM = "max Distance:";
106
const char stats_item_3[] PROGMEM = "min Voltage :";
107
const char stats_item_4[] PROGMEM = "max Time    :";
108
const char stats_item_5[] PROGMEM = "longitude   :";
109
const char stats_item_6[] PROGMEM = "latitude    :";
110
const char stats_item_7[] PROGMEM = "max current :";
499 cascade 111
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
467 cascade 112
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
346 cascade 113
 
489 woggle 114
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
761 - 115
//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
489 woggle 116
const char str_NE[] PROGMEM = "NE";
761 - 117
const char str_E[] PROGMEM = "E ";
489 woggle 118
const char str_SE[] PROGMEM = "SE";
761 - 119
const char str_S[] PROGMEM = "S ";
489 woggle 120
const char str_SW[] PROGMEM = "SW";
761 - 121
const char str_W[] PROGMEM = "W ";
489 woggle 122
const char str_NW[] PROGMEM = "NW";
761 - 123
const char str_N[] PROGMEM = "N ";
489 woggle 124
const char *directions[8] PROGMEM = {
761 - 125
    str_NE,
126
    str_E,
127
    str_SE,
128
    str_S,
129
    str_SW,
130
    str_W,
131
    str_NW,
132
    str_N
133
};
489 woggle 134
 
497 cascade 135
/* ##########################################################################
136
 * Different display mode function pointers
137
 * ##########################################################################*/
761 - 138
const char str_1[] PROGMEM = "default";
139
const char str_2[] PROGMEM = "minimal";
140
const char str_3[] PROGMEM = "   jopl";
326 cascade 141
 
783 - 142
#if FCONLY
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
};
783 - 147
int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default;
148
#else
453 cascade 149
 
783 - 150
const displaymode_t ncdisplaymodes[] PROGMEM = {
151
    { osd_ncmode_default, (char *)str_1},
152
    { osd_ncmode_minimal, (char *)str_2}
153
};
761 - 154
int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default;
497 cascade 155
#endif
326 cascade 156
 
783 - 157
 
158
#endif
159
 
321 cascade 160
/* ##########################################################################
389 cascade 161
 * Interrupt handler
162
 * ##########################################################################*/
455 cascade 163
 
321 cascade 164
/**
389 cascade 165
 * handler for undefined Interrupts
166
 * if not defined AVR will reset in case any unhandled interrupts occur
321 cascade 167
 */
389 cascade 168
ISR(__vector_default) {
455 cascade 169
    asm("nop");
389 cascade 170
}
321 cascade 171
 
389 cascade 172
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 173
/* ##########################################################################
174
 * timer stuff
175
 * ##########################################################################*/
455 cascade 176
 
507 cascade 177
static uint8_t delay_spi = 0;
178
 
466 cascade 179
/**
331 cascade 180
 * timer kicks in every 1000uS ^= 1ms
321 cascade 181
 */
489 woggle 182
ISR(TIMER0_COMP_vect) {
321 cascade 183
    if (!timer--) {
184
        uptime++;
685 cascade 185
 
761 - 186
#if FCONLY
187
        if (debugData.Analog[12] > 10) {
188
            flytime_fc++;
189
        }
190
#endif
685 cascade 191
 
321 cascade 192
        timer = 999;
455 cascade 193
        seconds_since_last_data++;
321 cascade 194
    }
466 cascade 195
    // in case there is still some spi data to send do it now
761 - 196
    // delay to give the slave some time to compute values
466 cascade 197
    if (spi_ready && icnt) {
761 - 198
        if (!delay_spi--) {
199
            delay_spi = 8;
200
            spi_send_next();
201
        }
466 cascade 202
    }
321 cascade 203
}
762 - 204
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
455 cascade 205
 
321 cascade 206
/* ##########################################################################
207
 * MAIN
208
 * ##########################################################################*/
209
int main(void) {
761 - 210
    // set up FLAGS
211
    COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
212
#if NTSC
213
    COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC;
214
#endif
215
#if HUD
216
    COSD_FLAGS_MODES |= COSD_FLAG_HUD;
217
#endif
218
#if ARTHORIZON
219
    COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON;
220
#endif
221
#if BIGVARIO
222
    COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO;
223
#endif
224
#if STATS
225
    COSD_FLAGS_MODES |= COSD_FLAG_STATS;
226
#endif
227
#if WARNINGS
228
    COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS;
229
#endif
230
#if FCONLY
231
    COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE;
232
#endif
466 cascade 233
 
324 cascade 234
 
339 cascade 235
    // set up Atmega162 Ports
772 - 236
    DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |  PA3 output (SCLK) | PA5 output (RESET)
321 cascade 237
    MAX_CS_HIGH
238
    MAX_SDIN_LOW
239
    MAX_SCLK_LOW
240
    MAX_RESET_HIGH
241
 
772 - 242
    DDRC |= ((1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3)); // PC0 output (LED1 gn) | PC1 output (LED2 rt) | PC2 output (LED3 gn) | PC3 output (LED4 rt)
321 cascade 243
    LED1_OFF
244
    LED2_OFF
245
    LED3_OFF
246
    LED4_OFF
247
 
772 - 248
    DDRC &= ~((1 << PC4) | (1 << PC5)); // PC4 input  (MODE) | PC5 input  (SET)
249
    PORTC |= ((1 << PC4) | (1 << PC5)); // pullup    
321 cascade 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
 
772 - 299
 
300
 
301
#ifdef ANTENNATRACKTEST 
302
        usart0_init();
303
#endif
304
 
738 cascade 305
    // keep serial port clean
306
    usart1_DisableTXD();
307
 
321 cascade 308
    // set up timer
761 - 309
    // CTC, Prescaler /64
310
    TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
321 cascade 311
 
761 - 312
    TCNT0 = 0;
313
    OCR0 = 250;
489 woggle 314
 
761 - 315
    // enable timer output compare interrupt
316
    TIMSK &= ~(1 << TOIE0);
317
    TIMSK |= (1 << OCIE0);
489 woggle 318
 
761 - 319
    // SPI setup
466 cascade 320
    DDRD |= (1 << PD2); // PD2 output (INT0)
321
    SpiMasterInit();
465 cascade 322
 
761 - 323
    // PPM detection setup
324
    ppm_init();
477 cascade 325
 
326 cascade 326
    // enable interrupts
321 cascade 327
    sei();
328
 
762 - 329
 
321 cascade 330
    //write_ascii_string(2,  7, "         CaScAdE          ");
331
    //write_ascii_string(2,  8, "is TESTING his open source");
332
    //write_ascii_string(2,  9, "    EPi OSD Firmware");
333
 
334
    // we are ready
335
    LED3_ON
336
 
477 cascade 337
 
762 - 338
    // clear serial screen
339
    //usart1_puts("\x1B[2J\x1B[H");
477 cascade 340
 
783 - 341
 
321 cascade 342
    while (1) {
466 cascade 343
        // in case SPI is ready and there is nothing to send right now
344
        if (!icnt && spi_ready) {
345
            // correct transfer ends with d (done)
507 cascade 346
            if (SPI_buffer.buffer.chk == 'd') {
761 - 347
                ampere = SPI_buffer.data.ampere;
348
                ampere_wasted = SPI_buffer.data.mah;
349
                s_volt = SPI_buffer.data.volt;
507 cascade 350
 
761 - 351
                // if this is the first receival we should print the small A
352
                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
353
                    clear();
354
                    COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
355
                    // update this flag
356
                    COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
357
                }
466 cascade 358
            } else {
359
                // update flags
528 cascade 360
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
466 cascade 361
            }
761 - 362
            StartTransfer(9);
466 cascade 363
        }
321 cascade 364
        if (rxd_buffer_locked) {
454 cascade 365
#if FCONLY
471 cascade 366
            if (rxd_buffer[2] == 'D') { // FC Data
367
                Decode64();
783 - 368
                debugData = *((str_DebugOut*)pRxData);
454 cascade 369
 
471 cascade 370
                // init on first data retrival, distinguished by last battery :)
371
                if (last_UBat == 255) {
761 - 372
                    if (debugData.Analog[9] > 40) {
373
                        // fix for min_UBat
374
                        min_UBat = debugData.Analog[9];
375
                        last_UBat = debugData.Analog[9];
376
                        init_cosd(last_UBat);
377
                    }
677 cascade 378
                } else {
761 - 379
                    osd_fcmode();
380
                }
381
                seconds_since_last_data = 0;
471 cascade 382
            }
454 cascade 383
#else
471 cascade 384
            if (rxd_buffer[2] == 'O') { // NC OSD Data
385
                Decode64();
761 - 386
                naviData = *((NaviData_t*)pRxData);
453 cascade 387
 
471 cascade 388
                // init on first data retrival, distinguished by last battery :)
389
                if (last_UBat == 255) {
761 - 390
                    if (naviData.UBat > 40) {
391
                        // fix for min_UBat
392
                        min_UBat = naviData.UBat;
393
                        last_UBat = naviData.UBat;
394
                        init_cosd(last_UBat);
395
                    }
677 cascade 396
                } else {
761 - 397
                    osd_ncmode();
398
                }
399
                //seconds_since_last_data = 0;
471 cascade 400
            }
454 cascade 401
#endif
772 - 402
 
403
                        // ONLY FOR TESTING
404
                        #ifdef ANTENNATRACKTEST 
405
                                #include <stdlib.h>
406
                                //#include <float.h>
407
                                //#include <math.h>
408
 
409
                                //usart0_puts("\x1B[2J\x1B[H");
410
 
411
 
412
                                /*
413
                                naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
414
                                naviData.HomePositionDeviation.Bearing = 35; // 35
415
                                altimeter_offset = 50; // 50m start height
416
                                naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
417
                                */
418
 
419
                                static char conv_array[7];
420
 
421
                                // should be float
422
                                int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
423
 
424
                                // we need math.h and some faster AVR :)
425
                                //tanheight = rad2deg(atan(tanheight));
426
 
427
                                itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
428
                                usart0_puts("Bearing: ");
429
                                usart0_puts(conv_array);
430
                                usart0_puts("\tHeightangle: ");
431
                                itoa(tanheight, conv_array, 10);
432
                                usart0_puts(conv_array);
433
                                usart0_puts("\r\n");
434
                        #endif
435
 
436
 
321 cascade 437
            rxd_buffer_locked = 0;
438
        }
439
        // handle keypress
326 cascade 440
        if (s1_pressed()) {
339 cascade 441
            config_menu();
321 cascade 442
        }
738 cascade 443
        if (seconds_since_last_data > 0) {
783 - 444
                        #if !FCONLY
445
                        usart1_request_nc_uart();
446
                        #endif
447
 
761 - 448
            usart1_EnableTXD();
449
            //usart1_puts_pgm(PSTR("zu alt\r\n"));
454 cascade 450
#if FCONLY
455 cascade 451
            // request data ever 100ms from FC;
738 cascade 452
            //usart1_request_mk_data(0, 'd', 100);
761 - 453
            usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
783 - 454
#else                   
455 cascade 455
            // request OSD Data from NC every 100ms
738 cascade 456
            //usart1_request_mk_data(1, 'o', 100);
761 - 457
            usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
454 cascade 458
 
455 cascade 459
            // and disable debug...
738 cascade 460
            //usart1_request_mk_data(0, 'd', 0);                
461
#endif
761 - 462
            // reset last time counter
463
            seconds_since_last_data = 0;
464
            usart1_DisableTXD();
339 cascade 465
        }
321 cascade 466
    }
762 - 467
 
468
#else // character flashing...
469
        clear();
470
    write_all_chars();
471
    LED1_ON
472
    LED2_ON
473
    LED3_ON
474
    LED4_ON
475
        while(1) {
476
 
477
        };
321 cascade 478
#endif
762 - 479
 
480
 
321 cascade 481
    return 0;
482
}