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/*

 Copyright (c) 2011.  All rights reserved.

 An Open Source Arduino based OSD and Camera Control project.

 Program  : ArduCAM-OSD (Supports the variant: minimOSD)

 Version  : V1.9, 14 February 2012

 Author(s): Sandro Benigno

 Coauthor(s):

   Jani Hirvinen   (All the EEPROM routines)

   Michael Oborne  (OSD Configutator)

   Mike Smith      (BetterStream and Fast Serial libraries)

 Special Contribuitor:

   Andrew Tridgell by all the support on MAVLink

   Doug Weibel by his great orientation since the start of this project

 Contributors: James Goppert, Max Levine

               and all other members of DIY Drones Dev team

 Thanks to: Chris Anderson, Jordi Munoz

 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 3 of the License, or

 (at your option) any later version.

 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, see <http://www.gnu.org/licenses/>

*/

/* ************************************************************ */

/* **************** MAIN PROGRAM - MODULES ******************** */

/* ************************************************************ */

#undef PROGMEM

#define PROGMEM __attribute__(( section(".progmem.data") ))

#undef PSTR

#define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &__c[0];}))

#define MAVLINK10

/* **********************************************/

/* ***************** INCLUDES *******************/

//#define membug

//#define FORCEINIT  // You should never use this unless you know what you are doing

// AVR Includes

#include <FastSerial.h>

#include <AP_Common.h>

#include <AP_Math.h>

#include <math.h>

#include <inttypes.h>

#include <avr/pgmspace.h>

// Get the common arduino functions

#if defined(ARDUINO) && ARDUINO >= 100

	#include "Arduino.h"

#else

	#include "wiring.h"

#endif

#include <EEPROM.h>

#include <SimpleTimer.h>

#include <GCS_MAVLink.h>

#ifdef membug

#include <MemoryFree.h>

#endif

// Configurations

#include "OSD_Config.h"

#include "ArduCam_Max7456.h"

#include "OSD_Vars.h"

#include "OSD_Func.h"

/* *************************************************/

/* ***************** DEFINITIONS *******************/

//OSD Hardware

//#define ArduCAM328

#define MinimOSD

#define TELEMETRY_SPEED  57600  // How fast our MAVLink telemetry is coming to Serial port

#define BOOTTIME         2000   // Time in milliseconds that we show boot loading bar and wait user input

// Objects and Serial definitions

FastSerialPort0(Serial);

OSD osd; //OSD object

SimpleTimer  mavlinkTimer;

/* **********************************************/

/* ***************** SETUP() *******************/

void setup()

{

#ifdef ArduCAM328

  pinMode(10, OUTPUT); // USB ArduCam Only

#endif

  pinMode(MAX7456_SELECT,  OUTPUT); // OSD CS

  Serial.begin(TELEMETRY_SPEED);

  // setup mavlink port

  mavlink_comm_0_port = &Serial;

#ifdef membug

  Serial.println(freeMem());

#endif

  // Prepare OSD for displaying

  unplugSlaves();

  osd.init();

  // Start

  startPanels();

  delay(500);

// OSD debug for development (Shown at start)

#ifdef membug

     osd.setPanel(1,1);

     osd.openPanel();

     osd.printf("%i",freeMem());

     osd.closePanel();

#endif

// Just to easy up development things

#ifdef FORCEINIT

     InitializeOSD();

#endif

  // Check EEPROM to see if we have initialized it already or not

  // also checks if we have new version that needs EEPROM reset

  if(readEEPROM(CHK1) + readEEPROM(CHK2) != VER) {

     osd.setPanel(6,9);

     osd.openPanel();

     osd.printf_P(PSTR("Missing/Old Config"));

     osd.closePanel();

     InitializeOSD();

  }

  // Get correct panel settings from EEPROM

  readSettings();

  // Show bootloader bar

  loadBar();

  // Startup MAVLink timers

  mavlinkTimer.Set(&OnMavlinkTimer, 120);

  // House cleaning, clear display and enable timers

  osd.clear();

  mavlinkTimer.Enable();

} // END of setup();

/* ***********************************************/

/* ***************** MAIN LOOP *******************/

// Mother of all happenings, The loop()

// As simple as possible.

void loop()

{

  if(enable_mav_request == 1){//Request rate control

    osd.clear();

    osd.setPanel(3,10);

    osd.openPanel();

    osd.printf_P(PSTR("Requesting DataStreams..."));

    osd.closePanel();

    for(int n = 0; n < 3; n++){

      request_mavlink_rates();//Three times to certify it will be readed

      delay(50);

    }

    enable_mav_request = 0;

    delay(2000);

    osd.clear();

    waitingMAVBeats = 0;

    lastMAVBeat = millis();//Preventing error from delay sensing

  }

  read_mavlink();

  mavlinkTimer.Run();

}

/* *********************************************** */

/* ******** functions used in main loop() ******** */

void OnMavlinkTimer()

{

  setHeadingPatern();  // generate the heading patern

  osd_battery_pic_A = setBatteryPic(osd_battery_remaining_A);     // battery A remmaning picture

  //osd_battery_pic_B = setBatteryPic(osd_battery_remaining_B);     // battery B remmaning picture

  setHomeVars(osd);   // calculate and set Distance from home and Direction to home

  writePanels();       // writing enabled panels (check OSD_Panels Tab)

}

void unplugSlaves(){

  //Unplug list of SPI

#ifdef ArduCAM328

  digitalWrite(10,  HIGH); // unplug USB HOST: ArduCam Only

#endif

  digitalWrite(MAX7456_SELECT,  HIGH); // unplug OSD

}