Go to most recent revision | Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
741 | agressiva | 1 | /**************************************************************************** |
2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
||
3 | * admiralcascade@gmail.com * |
||
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
||
5 | * MOD By Eduardo R Lavratti - aKKa AGRESSiVA * |
||
6 | * |
||
7 | * This program is free software; you can redistribute it and/or modify * |
||
8 | * it under the terms of the GNU General Public License as published by * |
||
9 | * the Free Software Foundation; either version 2 of the License. * |
||
10 | * * |
||
11 | * This program is distributed in the hope that it will be useful, * |
||
12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
||
13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
||
14 | * GNU General Public License for more details. * |
||
15 | * * |
||
16 | * You should have received a copy of the GNU General Public License * |
||
17 | * along with this program; if not, write to the * |
||
18 | * Free Software Foundation, Inc., * |
||
19 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
||
20 | * * |
||
21 | * * |
||
22 | * Credits to: * |
||
23 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
||
24 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
||
25 | * Klaus "akku" Buettner for the hardware * |
||
26 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
||
27 | ****************************************************************************/ |
||
28 | |||
29 | #include <avr/io.h> |
||
30 | #include <avr/interrupt.h> |
||
31 | #include <util/delay.h> |
||
32 | #include <avr/pgmspace.h> |
||
33 | #include "main.h" |
||
34 | #include "max7456_software_spi.h" |
||
35 | #include "usart1.h" |
||
36 | #include "osd_helpers.h" |
||
37 | #include "config.h" |
||
38 | #include "spi.h" |
||
39 | #include "buttons.h" |
||
40 | #include "ppm.h" |
||
41 | #include "osd_ncmode_default.h" |
||
42 | #include "osd_ncmode_minimal.h" |
||
43 | #include "osd_fcmode_default.h" |
||
44 | #include "osd_fcmode_jopl.h" |
||
45 | |||
46 | #if WRITECHARS != -1 |
||
47 | #include "characters.h" |
||
48 | #endif |
||
49 | |||
50 | /* TODO: |
||
51 | * - verifiy correctness of values |
||
52 | * - clean up code :) |
||
53 | */ |
||
54 | |||
55 | |||
56 | /* ########################################################################## |
||
57 | * global definitions and global vars |
||
58 | * ##########################################################################*/ |
||
59 | |||
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; |
||
71 | volatile uint16_t flytime_fc = 0; |
||
72 | |||
73 | // remember last time data was received |
||
74 | volatile uint8_t seconds_since_last_data = 0; |
||
75 | |||
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 |
||
85 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
||
86 | |||
87 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
||
88 | |||
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 | |||
99 | // store stats description in progmem to save space |
||
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 :"; |
||
108 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
||
109 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
||
110 | |||
111 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
||
112 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
||
113 | const char str_NE[] PROGMEM = "NE"; |
||
114 | const char str_E[] PROGMEM = "E "; |
||
115 | const char str_SE[] PROGMEM = "SE"; |
||
116 | const char str_S[] PROGMEM = "S "; |
||
117 | const char str_SW[] PROGMEM = "SW"; |
||
118 | const char str_W[] PROGMEM = "W "; |
||
119 | const char str_NW[] PROGMEM = "NW"; |
||
120 | const char str_N[] PROGMEM = "N "; |
||
121 | const char *directions[8] PROGMEM = { |
||
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 | |||
131 | /* ########################################################################## |
||
132 | * Different display mode function pointers |
||
133 | * ##########################################################################*/ |
||
134 | const char str_1[] PROGMEM = "default"; |
||
135 | const char str_2[] PROGMEM = "minimal"; |
||
136 | const char str_3[] PROGMEM = " jopl"; |
||
137 | |||
138 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
||
139 | { osd_ncmode_default, (char *)str_1 }, |
||
140 | { osd_ncmode_minimal, (char *)str_2 } |
||
141 | }; |
||
142 | |||
143 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
||
144 | { osd_fcmode_default, (char *)str_1 }, |
||
145 | { osd_fcmode_jopl, (char *)str_3 } |
||
146 | }; |
||
147 | |||
148 | int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default; |
||
149 | int (*osd_fcmode)(void) = (int(*)(void)) &osd_fcmode_default; |
||
150 | #endif |
||
151 | |||
152 | /* ########################################################################## |
||
153 | * Interrupt handler |
||
154 | * ##########################################################################*/ |
||
155 | |||
156 | /** |
||
157 | * handler for undefined Interrupts |
||
158 | * if not defined AVR will reset in case any unhandled interrupts occur |
||
159 | */ |
||
160 | ISR(__vector_default) { |
||
161 | asm("nop"); |
||
162 | } |
||
163 | |||
164 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
||
165 | /* ########################################################################## |
||
166 | * timer stuff |
||
167 | * ##########################################################################*/ |
||
168 | |||
169 | static uint8_t delay_spi = 0; |
||
170 | |||
171 | /** |
||
172 | * timer kicks in every 1000uS ^= 1ms |
||
173 | */ |
||
174 | ISR(TIMER0_COMP_vect) { |
||
175 | if (!timer--) { |
||
176 | uptime++; |
||
177 | |||
178 | #if FCONLY |
||
179 | if (debugData.Analog[12]>10) { |
||
180 | flytime_fc++; |
||
181 | } |
||
182 | #endif |
||
183 | |||
184 | timer = 999; |
||
185 | seconds_since_last_data++; |
||
186 | } |
||
187 | // in case there is still some spi data to send do it now |
||
188 | // delay to give the slave some time to compute values |
||
189 | if (spi_ready && icnt) { |
||
190 | if (!delay_spi--) { |
||
191 | delay_spi = 8; |
||
192 | spi_send_next(); |
||
193 | } |
||
194 | } |
||
195 | } |
||
196 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
||
197 | |||
198 | /* ########################################################################## |
||
199 | * MAIN |
||
200 | * ##########################################################################*/ |
||
201 | int main(void) { |
||
202 | // set up FLAGS |
||
203 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
||
204 | #if NTSC |
||
205 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
||
206 | #endif |
||
207 | #if HUD |
||
208 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
||
209 | #endif |
||
210 | #if ARTHORIZON |
||
211 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
||
212 | #endif |
||
213 | #if BIGVARIO |
||
214 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
||
215 | #endif |
||
216 | #if STATS |
||
217 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
||
218 | #endif |
||
219 | #if WARNINGS |
||
220 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
||
221 | #endif |
||
222 | #if FCONLY |
||
223 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
||
224 | #endif |
||
225 | |||
226 | |||
227 | // set up Atmega162 Ports |
||
228 | DDRA |= (1 << PA1); // PA1 output (/CS) |
||
229 | MAX_CS_HIGH |
||
230 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
||
231 | MAX_SDIN_LOW |
||
232 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
||
233 | MAX_SCLK_LOW |
||
234 | DDRA |= (1 << PA5); // PA5 output (RESET) |
||
235 | MAX_RESET_HIGH |
||
236 | |||
237 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
||
238 | LED1_OFF |
||
239 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
||
240 | LED2_OFF |
||
241 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
||
242 | LED3_OFF |
||
243 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
||
244 | LED4_OFF |
||
245 | |||
246 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
||
247 | PORTC |= (1 << PC4); // pullup |
||
248 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
||
249 | PORTC |= (1 << PC5); // pullup |
||
250 | |||
251 | // reset the MAX7456 to be sure any undefined states do no harm |
||
252 | MAX_RESET_LOW |
||
253 | MAX_RESET_HIGH |
||
254 | |||
255 | // give the FC/NC and the maxim time to come up |
||
256 | LED4_ON |
||
257 | _delay_ms(1000); |
||
258 | LED4_OFF |
||
259 | |||
260 | //Pushing NEW chars to the MAX7456 |
||
261 | #if (WRITECHARS != -1) |
||
262 | // DISABLE display (VM0) |
||
263 | spi_send_byte(0x00, 0b00000000); |
||
264 | learn_all_chars_pgm(); |
||
265 | #else |
||
266 | // read out config for NTSC/PAL distinguishing |
||
267 | get_eeprom(0); |
||
268 | #endif |
||
269 | |||
270 | // Setup Video Mode |
||
271 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
||
272 | // NTSC + enable display immediately (VM0) |
||
273 | spi_send_byte(0x00, 0b00001000); |
||
274 | |||
275 | bottom_line = 12; |
||
276 | } else { |
||
277 | // PAL + enable display immediately (VM0) |
||
278 | spi_send_byte(0x00, 0b01001000); |
||
279 | |||
280 | bottom_line = 14; |
||
281 | } |
||
282 | |||
283 | /*// clear all display-mem (DMM) |
||
284 | spi_send_byte(0x04, 0b00000100); |
||
285 | |||
286 | // clearing takes 12uS according to maxim so lets wait longer |
||
287 | _delay_us(120); |
||
288 | |||
289 | // 8bit mode |
||
290 | spi_send_byte(0x04, 0b01000000);*/ |
||
291 | |||
292 | // clear display memory and set to 8bit mode |
||
293 | clear(); |
||
294 | |||
295 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
||
296 | // init usart |
||
297 | usart1_init(); |
||
298 | |||
299 | // keep serial port clean |
||
300 | usart1_DisableTXD(); |
||
301 | |||
302 | // set up timer |
||
303 | // CTC, Prescaler /64 |
||
304 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
||
305 | |||
306 | TCNT0 = 0; |
||
307 | OCR0 = 250; |
||
308 | |||
309 | // enable timer output compare interrupt |
||
310 | TIMSK &= ~(1 << TOIE0); |
||
311 | TIMSK |= (1 << OCIE0); |
||
312 | |||
313 | // SPI setup |
||
314 | DDRD |= (1 << PD2); // PD2 output (INT0) |
||
315 | SpiMasterInit(); |
||
316 | |||
317 | // PPM detection setup |
||
318 | ppm_init(); |
||
319 | |||
320 | // enable interrupts |
||
321 | sei(); |
||
322 | #endif |
||
323 | |||
324 | write_ascii_string(2, 5, " AGRESSiVA MOD"); |
||
325 | write_ascii_string(2, 7, " EPi OSD Firmware"); |
||
326 | write_ascii_string(2, 9, " WAiTiNG for Controller"); |
||
327 | // we are ready |
||
328 | LED3_ON |
||
329 | |||
330 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
||
331 | clear(); |
||
332 | write_all_chars(); |
||
333 | LED1_ON |
||
334 | LED2_ON |
||
335 | LED3_ON |
||
336 | LED4_ON |
||
337 | #else |
||
338 | |||
339 | // clear serial screen |
||
340 | //usart1_puts("\x1B[2J\x1B[H"); |
||
341 | //usart1_puts("hello world!123\r\n"); |
||
342 | |||
343 | while (1) { |
||
344 | // in case SPI is ready and there is nothing to send right now |
||
345 | if (!icnt && spi_ready) { |
||
346 | // correct transfer ends with d (done) |
||
347 | if (SPI_buffer.buffer.chk == 'd') { |
||
348 | ampere = SPI_buffer.data.ampere; |
||
349 | ampere_wasted = SPI_buffer.data.mah; |
||
350 | s_volt = SPI_buffer.data.volt; |
||
351 | |||
352 | // if this is the first receival we should print the small A |
||
353 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
||
354 | clear(); |
||
355 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
||
356 | // update this flag |
||
357 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
||
358 | } |
||
359 | } else { |
||
360 | // update flags |
||
361 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
||
362 | } |
||
363 | StartTransfer(9); |
||
364 | } |
||
365 | if (rxd_buffer_locked) { |
||
366 | #if FCONLY |
||
367 | if (rxd_buffer[2] == 'D') { // FC Data |
||
368 | Decode64(); |
||
369 | debugData = *((DebugOut_t*) pRxData); |
||
370 | |||
371 | // init on first data retrival, distinguished by last battery :) |
||
372 | if (last_UBat == 255) { |
||
373 | if (debugData.Analog[9] > 40) { |
||
374 | // fix for min_UBat |
||
375 | min_UBat = debugData.Analog[9]; |
||
376 | last_UBat = debugData.Analog[9]; |
||
377 | init_cosd(last_UBat); |
||
378 | } |
||
379 | } else { |
||
380 | osd_fcmode(); |
||
381 | } |
||
382 | seconds_since_last_data = 0; |
||
383 | } |
||
384 | #else |
||
385 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
||
386 | Decode64(); |
||
387 | naviData = *((NaviData_t*) pRxData); |
||
388 | |||
389 | // init on first data retrival, distinguished by last battery :) |
||
390 | if (last_UBat == 255) { |
||
391 | if (naviData.UBat > 40) { |
||
392 | // fix for min_UBat |
||
393 | min_UBat = naviData.UBat; |
||
394 | last_UBat = naviData.UBat; |
||
395 | init_cosd(last_UBat); |
||
396 | } |
||
397 | } else { |
||
398 | osd_ncmode(); |
||
399 | } |
||
400 | //seconds_since_last_data = 0; |
||
401 | } |
||
402 | #endif |
||
403 | rxd_buffer_locked = 0; |
||
404 | } |
||
405 | // handle keypress |
||
406 | if (s1_pressed()) { |
||
407 | config_menu(); |
||
408 | } |
||
409 | if (seconds_since_last_data > 0) { |
||
410 | usart1_EnableTXD(); |
||
411 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
||
412 | #if FCONLY |
||
413 | // request data ever 100ms from FC; |
||
414 | //usart1_request_mk_data(0, 'd', 100); |
||
415 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
||
416 | #else |
||
417 | // request OSD Data from NC every 100ms |
||
418 | //usart1_request_mk_data(1, 'o', 100); |
||
419 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
||
420 | |||
421 | // and disable debug... |
||
422 | //usart1_request_mk_data(0, 'd', 0); |
||
423 | #endif |
||
424 | // reset last time counter |
||
425 | seconds_since_last_data = 0; |
||
426 | usart1_DisableTXD(); |
||
427 | } |
||
428 | } |
||
429 | #endif |
||
430 | return 0; |
||
431 | } |