| 0,0 → 1,431 |
|---|
| /**************************************************************************** |
| * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
| * admiralcascade@gmail.com * |
| * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
| * MOD By Eduardo R Lavratti - aKKa AGRESSiVA * |
| * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| * * |
| * * |
| * Credits to: * |
| * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
| * Gregor "killagreg" Stobrawa for making the MK code readable * |
| * Klaus "akku" Buettner for the hardware * |
| * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
| ****************************************************************************/ |
| |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/delay.h> |
| #include <avr/pgmspace.h> |
| #include "main.h" |
| #include "max7456_software_spi.h" |
| #include "usart1.h" |
| #include "osd_helpers.h" |
| #include "config.h" |
| #include "spi.h" |
| #include "buttons.h" |
| #include "ppm.h" |
| #include "osd_ncmode_default.h" |
| #include "osd_ncmode_minimal.h" |
| #include "osd_fcmode_default.h" |
| #include "osd_fcmode_jopl.h" |
| |
| #if WRITECHARS != -1 |
| #include "characters.h" |
| #endif |
| |
| /* TODO: |
| * - verifiy correctness of values |
| * - clean up code :) |
| */ |
| |
| |
| /* ########################################################################## |
| * global definitions and global vars |
| * ##########################################################################*/ |
| |
| volatile NaviData_t naviData; |
| volatile DebugOut_t debugData; |
| |
| // cache old vars for blinking attribute, checkup is faster than full |
| // attribute write each time |
| volatile uint8_t last_UBat = 255; |
| volatile uint8_t last_RC_Quality = 255; |
| |
| // 16bit should be enough, normal LiPos don't last that long |
| volatile uint16_t uptime = 0; |
| volatile uint16_t timer = 0; |
| volatile uint16_t flytime_fc = 0; |
| |
| // remember last time data was received |
| volatile uint8_t seconds_since_last_data = 0; |
| |
| // general PAL|NTSC distingiusch stuff |
| uint8_t top_line = 1; |
| uint8_t bottom_line = 14; |
| |
| // battery voltages |
| uint8_t min_voltage = 0; |
| uint8_t max_voltage = 0; |
| |
| // Flags |
| uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
| |
| #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| |
| // stats for after flight |
| int16_t max_Altimeter = 0; |
| uint8_t min_UBat = 255; |
| uint16_t max_GroundSpeed = 0; |
| int16_t max_Distance = 0; |
| uint16_t max_FlyingTime = 0; |
| |
| // flags from last round to check for changes |
| uint8_t old_MKFlags = 0; |
| |
| // store stats description in progmem to save space |
| const char stats_item_0[] PROGMEM = "max Altitude:"; |
| const char stats_item_1[] PROGMEM = "max Speed :"; |
| const char stats_item_2[] PROGMEM = "max Distance:"; |
| const char stats_item_3[] PROGMEM = "min Voltage :"; |
| const char stats_item_4[] PROGMEM = "max Time :"; |
| const char stats_item_5[] PROGMEM = "longitude :"; |
| const char stats_item_6[] PROGMEM = "latitude :"; |
| const char stats_item_7[] PROGMEM = "max current :"; |
| const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
| stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
| |
| //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
| //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
| const char str_NE[] PROGMEM = "NE"; |
| const char str_E[] PROGMEM = "E "; |
| const char str_SE[] PROGMEM = "SE"; |
| const char str_S[] PROGMEM = "S "; |
| const char str_SW[] PROGMEM = "SW"; |
| const char str_W[] PROGMEM = "W "; |
| const char str_NW[] PROGMEM = "NW"; |
| const char str_N[] PROGMEM = "N "; |
| const char *directions[8] PROGMEM = { |
| str_NE, |
| str_E, |
| str_SE, |
| str_S, |
| str_SW, |
| str_W, |
| str_NW, |
| str_N}; |
| |
| /* ########################################################################## |
| * Different display mode function pointers |
| * ##########################################################################*/ |
| const char str_1[] PROGMEM = "default"; |
| const char str_2[] PROGMEM = "minimal"; |
| const char str_3[] PROGMEM = " jopl"; |
| |
| const displaymode_t ncdisplaymodes[] PROGMEM = { |
| { osd_ncmode_default, (char *)str_1 }, |
| { osd_ncmode_minimal, (char *)str_2 } |
| }; |
| |
| const displaymode_t fcdisplaymodes[] PROGMEM = { |
| { osd_fcmode_default, (char *)str_1 }, |
| { osd_fcmode_jopl, (char *)str_3 } |
| }; |
| |
| int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default; |
| int (*osd_fcmode)(void) = (int(*)(void)) &osd_fcmode_default; |
| #endif |
| |
| /* ########################################################################## |
| * Interrupt handler |
| * ##########################################################################*/ |
| |
| /** |
| * handler for undefined Interrupts |
| * if not defined AVR will reset in case any unhandled interrupts occur |
| */ |
| ISR(__vector_default) { |
| asm("nop"); |
| } |
| |
| #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| /* ########################################################################## |
| * timer stuff |
| * ##########################################################################*/ |
| |
| static uint8_t delay_spi = 0; |
| |
| /** |
| * timer kicks in every 1000uS ^= 1ms |
| */ |
| ISR(TIMER0_COMP_vect) { |
| if (!timer--) { |
| uptime++; |
| |
| #if FCONLY |
| if (debugData.Analog[12]>10) { |
| flytime_fc++; |
| } |
| #endif |
| |
| timer = 999; |
| seconds_since_last_data++; |
| } |
| // in case there is still some spi data to send do it now |
| // delay to give the slave some time to compute values |
| if (spi_ready && icnt) { |
| if (!delay_spi--) { |
| delay_spi = 8; |
| spi_send_next(); |
| } |
| } |
| } |
| #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| |
| /* ########################################################################## |
| * MAIN |
| * ##########################################################################*/ |
| int main(void) { |
| // set up FLAGS |
| COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
| #if NTSC |
| COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
| #endif |
| #if HUD |
| COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
| #endif |
| #if ARTHORIZON |
| COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
| #endif |
| #if BIGVARIO |
| COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
| #endif |
| #if STATS |
| COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
| #endif |
| #if WARNINGS |
| COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
| #endif |
| #if FCONLY |
| COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
| #endif |
| |
| |
| // set up Atmega162 Ports |
| DDRA |= (1 << PA1); // PA1 output (/CS) |
| MAX_CS_HIGH |
| DDRA |= (1 << PA2); // PA2 output (SDIN) |
| MAX_SDIN_LOW |
| DDRA |= (1 << PA3); // PA3 output (SCLK) |
| MAX_SCLK_LOW |
| DDRA |= (1 << PA5); // PA5 output (RESET) |
| MAX_RESET_HIGH |
| |
| DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
| LED1_OFF |
| DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
| LED2_OFF |
| DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
| LED3_OFF |
| DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
| LED4_OFF |
| |
| DDRC &= ~(1 << PC4); // PC4 input (MODE) |
| PORTC |= (1 << PC4); // pullup |
| DDRC &= ~(1 << PC5); // PC5 input (SET) |
| PORTC |= (1 << PC5); // pullup |
| |
| // reset the MAX7456 to be sure any undefined states do no harm |
| MAX_RESET_LOW |
| MAX_RESET_HIGH |
| |
| // give the FC/NC and the maxim time to come up |
| LED4_ON |
| _delay_ms(1000); |
| LED4_OFF |
| |
| //Pushing NEW chars to the MAX7456 |
| #if (WRITECHARS != -1) |
| // DISABLE display (VM0) |
| spi_send_byte(0x00, 0b00000000); |
| learn_all_chars_pgm(); |
| #else |
| // read out config for NTSC/PAL distinguishing |
| get_eeprom(0); |
| #endif |
| |
| // Setup Video Mode |
| if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
| // NTSC + enable display immediately (VM0) |
| spi_send_byte(0x00, 0b00001000); |
| |
| bottom_line = 12; |
| } else { |
| // PAL + enable display immediately (VM0) |
| spi_send_byte(0x00, 0b01001000); |
| |
| bottom_line = 14; |
| } |
| |
| /*// clear all display-mem (DMM) |
| spi_send_byte(0x04, 0b00000100); |
| |
| // clearing takes 12uS according to maxim so lets wait longer |
| _delay_us(120); |
| |
| // 8bit mode |
| spi_send_byte(0x04, 0b01000000);*/ |
| |
| // clear display memory and set to 8bit mode |
| clear(); |
| |
| #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| // init usart |
| usart1_init(); |
| |
| // keep serial port clean |
| usart1_DisableTXD(); |
| |
| // set up timer |
| // CTC, Prescaler /64 |
| TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
| |
| TCNT0 = 0; |
| OCR0 = 250; |
| |
| // enable timer output compare interrupt |
| TIMSK &= ~(1 << TOIE0); |
| TIMSK |= (1 << OCIE0); |
| |
| // SPI setup |
| DDRD |= (1 << PD2); // PD2 output (INT0) |
| SpiMasterInit(); |
| |
| // PPM detection setup |
| ppm_init(); |
| |
| // enable interrupts |
| sei(); |
| #endif |
| |
| write_ascii_string(2, 5, " AGRESSiVA MOD"); |
| write_ascii_string(2, 7, " EPi OSD Firmware"); |
| write_ascii_string(2, 9, " WAiTiNG for Controller"); |
| // we are ready |
| LED3_ON |
| |
| #if ALLCHARSDEBUG | (WRITECHARS != -1) |
| clear(); |
| write_all_chars(); |
| LED1_ON |
| LED2_ON |
| LED3_ON |
| LED4_ON |
| #else |
| |
| // clear serial screen |
| //usart1_puts("\x1B[2J\x1B[H"); |
| //usart1_puts("hello world!123\r\n"); |
| |
| while (1) { |
| // in case SPI is ready and there is nothing to send right now |
| if (!icnt && spi_ready) { |
| // correct transfer ends with d (done) |
| if (SPI_buffer.buffer.chk == 'd') { |
| ampere = SPI_buffer.data.ampere; |
| ampere_wasted = SPI_buffer.data.mah; |
| s_volt = SPI_buffer.data.volt; |
| |
| // if this is the first receival we should print the small A |
| if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
| clear(); |
| COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
| // update this flag |
| COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
| } |
| } else { |
| // update flags |
| COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
| } |
| StartTransfer(9); |
| } |
| if (rxd_buffer_locked) { |
| #if FCONLY |
| if (rxd_buffer[2] == 'D') { // FC Data |
| Decode64(); |
| debugData = *((DebugOut_t*) pRxData); |
| |
| // init on first data retrival, distinguished by last battery :) |
| if (last_UBat == 255) { |
| if (debugData.Analog[9] > 40) { |
| // fix for min_UBat |
| min_UBat = debugData.Analog[9]; |
| last_UBat = debugData.Analog[9]; |
| init_cosd(last_UBat); |
| } |
| } else { |
| osd_fcmode(); |
| } |
| seconds_since_last_data = 0; |
| } |
| #else |
| if (rxd_buffer[2] == 'O') { // NC OSD Data |
| Decode64(); |
| naviData = *((NaviData_t*) pRxData); |
| |
| // init on first data retrival, distinguished by last battery :) |
| if (last_UBat == 255) { |
| if (naviData.UBat > 40) { |
| // fix for min_UBat |
| min_UBat = naviData.UBat; |
| last_UBat = naviData.UBat; |
| init_cosd(last_UBat); |
| } |
| } else { |
| osd_ncmode(); |
| } |
| //seconds_since_last_data = 0; |
| } |
| #endif |
| rxd_buffer_locked = 0; |
| } |
| // handle keypress |
| if (s1_pressed()) { |
| config_menu(); |
| } |
| if (seconds_since_last_data > 0) { |
| usart1_EnableTXD(); |
| //usart1_puts_pgm(PSTR("zu alt\r\n")); |
| #if FCONLY |
| // request data ever 100ms from FC; |
| //usart1_request_mk_data(0, 'd', 100); |
| usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
| #else |
| // request OSD Data from NC every 100ms |
| //usart1_request_mk_data(1, 'o', 100); |
| usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
| |
| // and disable debug... |
| //usart1_request_mk_data(0, 'd', 0); |
| #endif |
| // reset last time counter |
| seconds_since_last_data = 0; |
| usart1_DisableTXD(); |
| } |
| } |
| #endif |
| return 0; |
| } |