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321 | cascade | 1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
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3 | * admiralcascade@gmail.com * |
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4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | * * |
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20 | * * |
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21 | * Credits to: * |
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22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project * |
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23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
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24 | * Klaus "akku" Buettner for the hardware * |
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25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
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26 | ****************************************************************************/ |
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27 | |||
28 | #include <avr/io.h> |
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29 | #include <avr/interrupt.h> |
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30 | #include <util/delay.h> |
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346 | cascade | 31 | #include <avr/pgmspace.h> |
32 | #include "main.h" |
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33 | #include "max7456_software_spi.h" |
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331 | cascade | 34 | #include "usart1.h" |
321 | cascade | 35 | |
36 | /* TODO: |
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37 | * - verifiy correctness of values |
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324 | cascade | 38 | * - clean up code :) |
321 | cascade | 39 | */ |
40 | |||
329 | cascade | 41 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
346 | cascade | 42 | // data structs not needed for character flashin |
331 | cascade | 43 | #include "mk-data-structs.h" |
321 | cascade | 44 | |
45 | /* ########################################################################## |
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46 | * global definitions and global vars |
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47 | * ##########################################################################*/ |
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346 | cascade | 48 | |
321 | cascade | 49 | volatile uint16_t setsReceived = 0; |
50 | |||
51 | volatile NaviData_t naviData; |
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52 | volatile DebugOut_t debugData; |
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53 | |||
54 | // cache old vars for blinking attribute, checkup is faster than full |
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55 | // attribute write each time |
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56 | volatile uint8_t last_UBat = 255; |
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57 | volatile uint8_t last_RC_Quality = 255; |
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58 | |||
59 | // 16bit should be enough, normal LiPos don't last that long |
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60 | volatile uint16_t uptime = 0; |
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61 | volatile uint16_t timer = 0; |
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62 | |||
331 | cascade | 63 | // remember last time data was received |
64 | volatile uint8_t seconds_since_last_data = 0; |
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65 | |||
346 | cascade | 66 | // store stats description in progmem to save space |
67 | char stats_item_0[] PROGMEM = "max Altitude:"; |
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68 | char stats_item_1[] PROGMEM = "max Speed :"; |
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69 | char stats_item_2[] PROGMEM = "max Distance:"; |
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70 | char stats_item_3[] PROGMEM = "min voltage :"; |
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71 | char stats_item_4[] PROGMEM = "max time :"; |
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379 | cascade | 72 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
73 | stats_item_3, stats_item_4}; |
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346 | cascade | 74 | |
75 | // store more fixed strings in progmen |
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379 | cascade | 76 | char ON[] PROGMEM = "ON "; |
346 | cascade | 77 | char OFF[] PROGMEM = "OFF"; |
78 | |||
379 | cascade | 79 | // big vario arrays |
80 | char vario_00[5] PROGMEM = {0x00, 0x00, 0xc2, 0xff, 0xff}; |
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81 | char vario_01[5] PROGMEM = {0x00, 0x00, 0xc2, 0xff, 0xc0}; |
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82 | char vario_02[5] PROGMEM = {0x00, 0x00, 0xc2, 0xff, 0xc1}; |
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83 | char vario_03[5] PROGMEM = {0x00, 0x00, 0xc2, 0xff, 0x00}; |
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84 | char vario_04[5] PROGMEM = {0x00, 0x00, 0xc2, 0xc0, 0x00}; |
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85 | char vario_05[5] PROGMEM = {0x00, 0x00, 0xc2, 0xc1, 0x00}; |
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86 | char vario_06[5] PROGMEM = {0x00, 0x00, 0xc2, 0x00, 0x00}; |
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87 | char vario_07[5] PROGMEM = {0x00, 0x00, 0xbb, 0x00, 0x00}; |
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88 | char vario_08[5] PROGMEM = {0x00, 0x00, 0xc3, 0x00, 0x00}; |
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89 | char vario_09[5] PROGMEM = {0x00, 0xc4, 0xc3, 0x00, 0x00}; |
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90 | char vario_10[5] PROGMEM = {0x00, 0xc5, 0xc3, 0x00, 0x00}; |
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91 | char vario_11[5] PROGMEM = {0x00, 0xff, 0xc3, 0x00, 0x00}; |
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92 | char vario_12[5] PROGMEM = {0xc4, 0xff, 0xc3, 0x00, 0x00}; |
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93 | char vario_13[5] PROGMEM = {0xc5, 0xff, 0xc3, 0x00, 0x00}; |
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94 | char vario_14[5] PROGMEM = {0xff, 0xff, 0xc3, 0x00, 0x00}; |
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95 | char* vario_pnt[15] PROGMEM = {vario_00, vario_01, vario_02, vario_03, vario_04, |
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96 | vario_05, vario_06, vario_07, vario_08, |
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97 | vario_09, vario_10, vario_11, vario_12, |
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98 | vario_13, vario_14}; |
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99 | |||
329 | cascade | 100 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
326 | cascade | 101 | |
102 | // general PAL|NTSC distingiusch stuff |
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103 | uint8_t top_line = 1; |
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104 | uint8_t bottom_line = 14; |
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105 | |||
106 | // Flags |
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107 | uint8_t COSD_FLAGS = 0; |
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108 | |||
321 | cascade | 109 | /* ########################################################################## |
326 | cascade | 110 | * debounce buttons |
111 | * ##########################################################################*/ |
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112 | int s1_pressed() { |
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113 | if (S1_PRESSED) { |
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114 | _delay_ms(25); |
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115 | if (S1_PRESSED) return 1; |
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116 | } |
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117 | return 0; |
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118 | } |
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119 | |||
120 | int s2_pressed() { |
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121 | if (S2_PRESSED) { |
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122 | _delay_ms(25); |
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123 | if (S2_PRESSED) return 1; |
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124 | } |
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125 | return 0; |
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126 | } |
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127 | |||
321 | cascade | 128 | |
329 | cascade | 129 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 130 | |
131 | /** |
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331 | cascade | 132 | * serial support |
321 | cascade | 133 | */ |
346 | cascade | 134 | //#include "usart1.c" |
321 | cascade | 135 | |
136 | |||
137 | /* ########################################################################## |
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138 | * timer stuff |
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139 | * ##########################################################################*/ |
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140 | |||
331 | cascade | 141 | /** |
142 | * timer kicks in every 1000uS ^= 1ms |
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321 | cascade | 143 | */ |
144 | ISR(TIMER0_OVF_vect) { |
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145 | OCR0 = 6; // preload |
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146 | if (!timer--) { |
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147 | uptime++; |
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148 | timer = 999; |
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331 | cascade | 149 | seconds_since_last_data++; |
321 | cascade | 150 | } |
151 | } |
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152 | |||
153 | /* ########################################################################## |
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154 | * compass stuff |
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155 | * ##########################################################################*/ |
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156 | |||
157 | /** |
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158 | * convert the <heading> gotton from NC into an index |
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159 | */ |
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160 | uint8_t heading_conv(uint16_t heading) { |
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161 | if (heading > 23 && heading < 68) { |
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162 | //direction = "NE"; |
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163 | return 0; |
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164 | } else if (heading > 67 && heading < 113) { |
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165 | //direction = "E "; |
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166 | return 1; |
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167 | } else if (heading > 112 && heading < 158) { |
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168 | //direction = "SE"; |
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169 | return 2; |
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170 | } else if (heading > 157 && heading < 203) { |
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171 | //direction = "S "; |
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172 | return 3; |
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173 | } else if (heading > 202 && heading < 248) { |
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174 | //direction = "SW"; |
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175 | return 4; |
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176 | } else if (heading > 247 && heading < 293) { |
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177 | //direction = "W "; |
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178 | return 5; |
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179 | } else if (heading > 292 && heading < 338) { |
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180 | //direction = "NW"; |
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181 | return 6; |
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182 | } |
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183 | //direction = "N "; |
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184 | return 7; |
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185 | } |
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186 | |||
187 | /** |
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377 | cascade | 188 | * convert the <heading> gotton from NC into a more |
189 | * precise index |
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190 | */ |
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191 | uint8_t heading_fine_conv(uint16_t heading) { |
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192 | if (heading > 337) return 0; |
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193 | return (heading * 10) / 225; |
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194 | } |
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195 | |||
196 | /** |
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321 | cascade | 197 | * draw a compass rose at <x>/<y> for <heading> |
198 | */ |
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199 | void draw_compass(uint8_t x, uint8_t y, uint16_t heading) { |
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200 | //char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W"; |
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201 | char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212, |
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202 | 216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213, |
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203 | 216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211, |
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204 | 216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214}; |
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205 | // the center is char 19 (north), we add the current heading in 8th |
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206 | // which would be 22.5 degrees, but float would bloat up the code |
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207 | // and *10 / 225 would take ages... so we take the uncorrect way |
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208 | uint8_t front = 19 + (heading / 22); |
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209 | for (uint8_t i = 0; i < 9; i++) { |
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210 | write_char_xy(x++, y, rose[front - 4 + i]); |
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211 | } |
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212 | } |
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213 | |||
214 | /* ########################################################################## |
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377 | cascade | 215 | * battery index |
216 | * ##########################################################################*/ |
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217 | /** |
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218 | * draw a battery symbol at <x>/<y> according to <voltage> |
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219 | */ |
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220 | void draw_battery(uint8_t x, uint8_t y, uint16_t voltage) { |
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221 | uint8_t percent = (100* (voltage - UBAT_WRN) / (UBAT_MAX - UBAT_WRN)); |
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222 | if (percent > 100) percent = 100; |
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378 | cascade | 223 | if (voltage < UBAT_WRN) percent = 0; |
377 | cascade | 224 | write_char_xy(x, y, 0x9d - (percent * 13 / 100)); |
225 | //write_ndigit_number_u(x, y-1, percent * 13 / 100, 100, 0); |
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226 | } |
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227 | |||
379 | cascade | 228 | /* ########################################################################## |
229 | * variometer |
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230 | * ##########################################################################*/ |
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377 | cascade | 231 | /** |
232 | * draw variometer arrows at <x>/<y> according to <variometer> |
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233 | */ |
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234 | void draw_variometer(uint8_t x, uint8_t y, int16_t variometer) { |
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235 | if (variometer == 0) { |
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236 | write_char_xy(x, y, 0xbb); // plain line |
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237 | } else if (variometer > 0) { // gain height |
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238 | switch (variometer / 5){ |
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239 | case 0: |
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383 | cascade | 240 | //write_char_xy(x, y, 0xba); // smallest arrow up |
241 | write_char_xy(x, y, 0x70); // one arrow up |
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377 | cascade | 242 | break; |
243 | case 1: |
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383 | cascade | 244 | //write_char_xy(x, y, 0xb9); // small arrow up |
245 | write_char_xy(x, y, 0x71); // two arrows up |
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377 | cascade | 246 | break; |
247 | case 2: |
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383 | cascade | 248 | //write_char_xy(x, y, 0xb8); // large arrow up |
249 | write_char_xy(x, y, 0x72); // three arrows up |
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377 | cascade | 250 | break; |
251 | default: |
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383 | cascade | 252 | //write_char_xy(x, y, 0xb7); // largest arrow up |
253 | write_char_xy(x, y, 0x73); // three black arrows up |
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377 | cascade | 254 | } |
255 | } else { // sink |
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256 | switch (variometer / -5){ |
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257 | case 0: |
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383 | cascade | 258 | //write_char_xy(x, y, 0xbc); // smallest arrow down |
259 | write_char_xy(x, y, 0x77); // one arrow down |
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377 | cascade | 260 | break; |
261 | case 1: |
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383 | cascade | 262 | //write_char_xy(x, y, 0xbd); // small arrow down |
263 | write_char_xy(x, y, 0x76); // two arrows down |
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377 | cascade | 264 | break; |
265 | case 2: |
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383 | cascade | 266 | //write_char_xy(x, y, 0xbe); // large arrow down |
267 | write_char_xy(x, y, 0x75); // three arrows down |
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377 | cascade | 268 | break; |
269 | default: |
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383 | cascade | 270 | //write_char_xy(x, y, 0xbf); // largest arrow down |
271 | write_char_xy(x, y, 0x74); // three black arrows down |
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377 | cascade | 272 | } |
273 | } |
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274 | } |
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275 | |||
379 | cascade | 276 | /** |
277 | * draw a bigger vario with middle at <x>/<y> acording to <variometer> |
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278 | */ |
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279 | void draw_big_variometer(uint8_t x, uint8_t y, int16_t variometer) { |
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280 | int16_t index = 7 + variometer; |
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281 | if (index > 14) index = 14; |
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282 | else if (index < 0) index = 0; |
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283 | |||
284 | // TODO: why does write_string_pgm_down(x, y-2, vario_pnt[index], 5); |
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285 | // not work??? WTF?! |
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286 | switch (index) { |
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287 | case 0: write_string_pgm_down(x, y-2, vario_pnt[0], 5); |
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288 | break; |
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289 | case 1: write_string_pgm_down(x, y-2, vario_pnt[1], 5); |
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290 | break; |
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291 | case 2: write_string_pgm_down(x, y-2, vario_pnt[2], 5); |
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292 | break; |
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293 | case 3: write_string_pgm_down(x, y-2, vario_pnt[3], 5); |
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294 | break; |
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295 | case 4: write_string_pgm_down(x, y-2, vario_pnt[4], 5); |
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296 | break; |
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297 | case 5: write_string_pgm_down(x, y-2, vario_pnt[5], 5); |
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298 | break; |
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299 | case 6: write_string_pgm_down(x, y-2, vario_pnt[6], 5); |
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300 | break; |
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301 | case 7: write_string_pgm_down(x, y-2, vario_pnt[7], 5); |
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302 | break; |
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303 | case 8: write_string_pgm_down(x, y-2, vario_pnt[8], 5); |
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304 | break; |
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305 | case 9: write_string_pgm_down(x, y-2, vario_pnt[9], 5); |
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306 | break; |
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307 | case 10: write_string_pgm_down(x, y-2, vario_pnt[10], 5); |
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308 | break; |
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309 | case 11: write_string_pgm_down(x, y-2, vario_pnt[11], 5); |
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310 | break; |
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311 | case 12: write_string_pgm_down(x, y-2, vario_pnt[12], 5); |
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312 | break; |
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313 | case 13: write_string_pgm_down(x, y-2, vario_pnt[13], 5); |
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314 | break; |
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315 | default: write_string_pgm_down(x, y-2, vario_pnt[14], 5); |
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316 | } |
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317 | } |
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318 | |||
377 | cascade | 319 | /* ########################################################################## |
321 | cascade | 320 | * artificial horizon |
321 | * ##########################################################################*/ |
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322 | // remember last time displayed values |
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323 | int8_t old_af_x = -1, old_af_y = -1; |
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324 | |||
325 | /** |
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326 | * draw roll und nick indicators (could be enhanced to full artificial horizon) |
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327 | * from line <firstline> to <listlines> for given <nick> and <roll> values |
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328 | */ |
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329 | void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) { |
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330 | char noodle[5] = {225, 225, 226, 227, 227}; |
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331 | uint8_t center_x = 15; |
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332 | uint8_t center_y = lastline - firstline; |
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333 | center_y = 7; |
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334 | write_char_xy(center_x,center_y,228); |
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335 | uint8_t cpos, nicky, rollx; |
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336 | |||
337 | // which line |
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338 | int8_t ypos = nick / 20; |
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339 | // which character from the array? |
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340 | if (nick < 0) { |
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341 | cpos = -1*((nick - (ypos * 20))/4); |
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342 | ypos--; |
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343 | } else cpos = 4-((nick - (ypos * 20))/4); |
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344 | if (cpos > 4) cpos = 4; |
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345 | |||
346 | nicky = center_y - ypos; |
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347 | if (nicky > lastline) nicky = lastline; |
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348 | else if (nicky < firstline) nicky = firstline; |
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349 | |||
350 | // ensure roll-borders |
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351 | rollx = (roll / 8)+15; |
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352 | if (rollx < 2) rollx = 2; |
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353 | else if (rollx > 28) rollx = 28; |
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354 | |||
355 | |||
356 | // clear roll |
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357 | if (old_af_x != rollx && old_af_x >= 0) { |
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358 | write_char_xy(old_af_x,13,0); |
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359 | } |
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360 | |||
361 | // clear nick |
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362 | if (old_af_y != nicky && old_af_y >= 0) { |
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363 | write_char_xy(center_x-1,old_af_y,0); |
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364 | write_char_xy(center_x+1,old_af_y,0); |
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365 | } |
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366 | |||
367 | |||
368 | // draw nick |
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369 | write_char_xy(center_x-1,nicky,noodle[cpos]); |
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370 | write_char_xy(center_x+1,nicky,noodle[cpos]); |
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371 | |||
372 | // draw roll |
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373 | write_char_xy(rollx,lastline,229); |
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374 | |||
375 | // update old vars |
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376 | old_af_x = rollx; |
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377 | old_af_y = nicky; |
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378 | |||
379 | // debug numbers |
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380 | //write_3digit_number_u(20,6,cpos); |
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381 | //write_number_s(20,7,ypos); |
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382 | //write_number_s(0,7,nick); |
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383 | //write_number_s(18,11,roll); |
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384 | } |
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385 | |||
326 | cascade | 386 | /* ########################################################################## |
387 | * A simple config menu for the flags |
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388 | * ##########################################################################*/ |
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339 | cascade | 389 | |
390 | /** |
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391 | * helper function for menu updating |
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392 | */ |
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393 | void config_menu_drawings(uint8_t chosen) { |
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394 | // clear prevoius _cursor_ |
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383 | cascade | 395 | write_ascii_string(3, (chosen + 5) % 8, " "); |
339 | cascade | 396 | // draw current _cursor_ |
383 | cascade | 397 | write_ascii_string(3, chosen + 5, ">"); |
339 | cascade | 398 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
383 | cascade | 399 | write_ascii_string_pgm(23, 5, ON); |
400 | } else { |
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401 | write_ascii_string_pgm(23, 5, OFF); |
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402 | } |
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403 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
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346 | cascade | 404 | write_ascii_string_pgm(23, 6, ON); |
339 | cascade | 405 | } else { |
383 | cascade | 406 | write_ascii_string_pgm(23, 6, OFF); |
339 | cascade | 407 | } |
383 | cascade | 408 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
346 | cascade | 409 | write_ascii_string_pgm(23, 7, ON); |
339 | cascade | 410 | } else { |
383 | cascade | 411 | write_ascii_string_pgm(23, 7, OFF); |
339 | cascade | 412 | } |
413 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
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346 | cascade | 414 | write_ascii_string_pgm(23, 8, ON); |
339 | cascade | 415 | } else { |
346 | cascade | 416 | write_ascii_string_pgm(23, 8, OFF); |
339 | cascade | 417 | } |
418 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
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346 | cascade | 419 | write_ascii_string_pgm(23, 9, ON); |
339 | cascade | 420 | } else { |
346 | cascade | 421 | write_ascii_string_pgm(23, 9, OFF); |
339 | cascade | 422 | } |
423 | } |
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424 | |||
425 | /** |
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346 | cascade | 426 | * some sort of clicking response in the menu |
427 | */ |
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428 | void config_menu_doclick(uint8_t chosen, char** menu) { |
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383 | cascade | 429 | write_ascii_string(4, chosen + 5, "DONE "); |
346 | cascade | 430 | _delay_ms(1000); |
383 | cascade | 431 | write_ascii_string(4, chosen + 5, menu[chosen]); |
346 | cascade | 432 | } |
433 | |||
434 | /** |
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339 | cascade | 435 | * a simple config menu tryout |
436 | */ |
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326 | cascade | 437 | void config_menu(void) { |
438 | // disable interrupts (makes the menu more smoothely) |
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439 | cli(); |
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321 | cascade | 440 | |
326 | cascade | 441 | // clear screen |
442 | clear(); |
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443 | |||
383 | cascade | 444 | char* menu[9] = {"Full HUD", |
339 | cascade | 445 | "Art.Horizon in HUD", |
383 | cascade | 446 | "Big Vario bar", |
339 | cascade | 447 | "Statistics", |
448 | "Warnings", // TODO: do it! |
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346 | cascade | 449 | "Reset uptime", |
450 | "Request OSD-data", |
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451 | "Disable Debug-data", |
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339 | cascade | 452 | "EXIT"}; |
326 | cascade | 453 | |
454 | uint8_t inmenu = 1; |
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455 | uint8_t chosen = 0; |
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339 | cascade | 456 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
326 | cascade | 457 | |
458 | // wait a bit before doing stuff so user has chance to release button |
||
459 | _delay_ms(250); |
||
460 | |||
383 | cascade | 461 | write_ascii_string(4, 5, menu[0]); |
462 | write_ascii_string(4, 6, menu[1]); |
||
463 | write_ascii_string(4, 7, menu[2]); |
||
464 | write_ascii_string(4, 8, menu[3]); |
||
465 | write_ascii_string(4, 9, menu[4]); |
||
466 | write_ascii_string(4, 10, menu[5]); |
||
467 | write_ascii_string(4, 11, menu[6]); |
||
468 | write_ascii_string(4, 12, menu[7]); |
||
469 | write_ascii_string(4, 13, menu[8]); |
||
339 | cascade | 470 | |
471 | config_menu_drawings(chosen); |
||
472 | |||
326 | cascade | 473 | while (inmenu) { |
474 | if (s2_pressed()) { |
||
383 | cascade | 475 | write_ascii_string(3, chosen+5, " "); |
476 | chosen = (chosen + 1) % 9; |
||
477 | write_ascii_string(3, chosen+5, ">"); |
||
326 | cascade | 478 | _delay_ms(500); |
479 | } else if (s1_pressed()) { |
||
480 | switch (chosen) { |
||
339 | cascade | 481 | case 0: // full HUD |
482 | COSD_FLAGS ^= COSD_FLAG_HUD; |
||
483 | config_menu_drawings(chosen); |
||
326 | cascade | 484 | break; |
339 | cascade | 485 | case 1: // art horizon |
486 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
||
487 | config_menu_drawings(chosen); |
||
326 | cascade | 488 | break; |
383 | cascade | 489 | case 2: // big vario |
490 | COSD_FLAGS ^= COSD_FLAG_BIGVARIO; |
||
491 | config_menu_drawings(chosen); |
||
492 | break; |
||
493 | case 3: // statistics |
||
339 | cascade | 494 | COSD_FLAGS ^= COSD_FLAG_STATS; |
495 | config_menu_drawings(chosen); |
||
326 | cascade | 496 | break; |
383 | cascade | 497 | case 4: // warnings |
339 | cascade | 498 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
499 | config_menu_drawings(chosen); |
||
500 | break; |
||
383 | cascade | 501 | case 5: // reset uptime |
346 | cascade | 502 | uptime = 0; |
503 | config_menu_doclick(chosen, menu); |
||
504 | break; |
||
383 | cascade | 505 | case 6: // re-request OSD data |
346 | cascade | 506 | // request OSD Data from NC every 100ms |
507 | usart1_request_mk_data(1, 'o', 100); |
||
508 | config_menu_doclick(chosen, menu); |
||
509 | break; |
||
383 | cascade | 510 | case 7: // disable debug data |
346 | cascade | 511 | // disable sending of debug data |
512 | // may result in smoother ddata display |
||
513 | usart1_request_mk_data(0, 'd', 0); |
||
514 | config_menu_doclick(chosen, menu); |
||
515 | break; |
||
383 | cascade | 516 | case 8: // exit |
339 | cascade | 517 | inmenu = 0; |
518 | break; |
||
326 | cascade | 519 | } |
339 | cascade | 520 | _delay_ms(250); |
326 | cascade | 521 | } |
522 | } |
||
523 | |||
524 | // clear screen up again |
||
525 | clear(); |
||
526 | |||
527 | // update flags to paint display again if needed |
||
528 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
||
529 | |||
530 | // enable interrupts again |
||
531 | sei(); |
||
532 | } |
||
533 | |||
329 | cascade | 534 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 535 | /* ########################################################################## |
536 | * MAIN |
||
537 | * ##########################################################################*/ |
||
538 | int main(void) { |
||
339 | cascade | 539 | // set up FLAGS, compiler should flatten this one |
540 | COSD_FLAGS = (NTSC << 0); |
||
541 | COSD_FLAGS |= (HUD << 1); |
||
542 | COSD_FLAGS |= (ARTHORIZON << 2); |
||
383 | cascade | 543 | COSD_FLAGS |= (BIGVARIO << 3); |
544 | COSD_FLAGS |= (STATS << 4); |
||
545 | COSD_FLAGS |= (WARNINGS << 5); |
||
324 | cascade | 546 | |
339 | cascade | 547 | // set up Atmega162 Ports |
321 | cascade | 548 | DDRA |= (1 << PA1); // PA1 output (/CS) |
549 | MAX_CS_HIGH |
||
550 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
||
551 | MAX_SDIN_LOW |
||
552 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
||
553 | MAX_SCLK_LOW |
||
554 | DDRA |= (1 << PA5); // PA5 output (RESET) |
||
555 | MAX_RESET_HIGH |
||
556 | |||
557 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
||
558 | LED1_OFF |
||
559 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
||
560 | LED2_OFF |
||
561 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
||
562 | LED3_OFF |
||
563 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
||
564 | LED4_OFF |
||
565 | |||
566 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
||
567 | PORTC |= (1 << PC4); // pullup |
||
568 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
||
569 | PORTC |= (1 << PC5); // pullup |
||
570 | |||
339 | cascade | 571 | // set up top and bottom lines |
572 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
||
573 | bottom_line = 12; |
||
574 | } else { |
||
575 | bottom_line = 14; |
||
576 | } |
||
326 | cascade | 577 | |
339 | cascade | 578 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 579 | MAX_RESET_LOW |
580 | MAX_RESET_HIGH |
||
581 | |||
582 | // give the FC/NC and the maxim time to come up |
||
583 | LED4_ON |
||
584 | _delay_ms(2000); |
||
585 | |||
586 | LED4_OFF |
||
587 | |||
331 | cascade | 588 | |
339 | cascade | 589 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 590 | #if (WRITECHARS != -1) |
339 | cascade | 591 | // DISABLE display (VM0) |
321 | cascade | 592 | spi_send_byte(0x00, 0b00000000); |
339 | cascade | 593 | #include "characters.c" |
321 | cascade | 594 | |
331 | cascade | 595 | #endif |
321 | cascade | 596 | |
339 | cascade | 597 | // Setup Video Mode |
598 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
||
599 | // NTSC + enable display immediately (VM0) |
||
600 | spi_send_byte(0x00, 0b00001000); |
||
601 | } else { |
||
602 | // PAL + enable display immediately (VM0) |
||
603 | spi_send_byte(0x00, 0b01001000); |
||
604 | } |
||
321 | cascade | 605 | |
606 | // clear all display-mem (DMM) |
||
607 | spi_send_byte(0x04, 0b00000100); |
||
608 | |||
609 | // clearing takes 12uS according to maxim so lets wait longer |
||
610 | _delay_us(120); |
||
611 | |||
612 | // 8bit mode |
||
613 | spi_send_byte(0x04, 0b01000000); |
||
614 | |||
615 | // write blank chars to whole screen |
||
616 | clear(); |
||
617 | |||
329 | cascade | 618 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 619 | // init usart |
620 | usart1_init(); |
||
621 | |||
622 | // set up timer |
||
623 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
||
624 | OCR0 = 6; // preload |
||
625 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
||
626 | |||
326 | cascade | 627 | // enable interrupts |
321 | cascade | 628 | sei(); |
629 | #endif |
||
630 | |||
631 | //write_ascii_string(2, 7, " CaScAdE "); |
||
632 | //write_ascii_string(2, 8, "is TESTING his open source"); |
||
633 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
||
634 | |||
635 | // custom char preview |
||
636 | /*write_char_xy( 2, 7, 200); |
||
637 | write_char_xy( 3, 7, 201); |
||
638 | write_char_xy( 4, 7, 202); |
||
639 | write_char_xy( 5, 7, 203); |
||
640 | write_char_xy( 6, 7, 204); |
||
641 | write_char_xy( 7, 7, 205); |
||
642 | write_char_xy( 8, 7, 206); |
||
643 | write_char_xy( 9, 7, 207); |
||
644 | write_char_xy(10, 7, 208); |
||
645 | write_char_xy(11, 7, 209); |
||
646 | write_char_xy(12, 7, 210); |
||
647 | write_char_xy(13, 7, 211); |
||
648 | write_char_xy(14, 7, 212); |
||
649 | write_char_xy(15, 7, 213); |
||
650 | write_char_xy(16, 7, 214); |
||
651 | write_char_xy(17, 7, 215);*/ |
||
652 | |||
653 | // we are ready |
||
654 | LED3_ON |
||
655 | |||
656 | |||
657 | |||
329 | cascade | 658 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
321 | cascade | 659 | clear(); |
660 | write_all_chars(); |
||
661 | #else |
||
339 | cascade | 662 | // clear serial screen |
663 | //usart1_puts("\x1B[2J\x1B[H"); |
||
664 | //usart1_puts("hello world!\r\n"); |
||
321 | cascade | 665 | |
339 | cascade | 666 | |
346 | cascade | 667 | // request data ever 100ms from FC; |
668 | //usart1_request_mk_data(0, 'd', 100); |
||
339 | cascade | 669 | |
670 | // request OSD Data from NC every 100ms |
||
346 | cascade | 671 | usart1_request_mk_data(1, 'o', 100); |
672 | |||
339 | cascade | 673 | // and disable debug... |
346 | cascade | 674 | //usart1_request_mk_data(0, 'd', 0); |
321 | cascade | 675 | |
339 | cascade | 676 | // disable TXD-pin |
677 | usart1_DisableTXD(); |
||
331 | cascade | 678 | |
339 | cascade | 679 | // stats for after flight |
680 | int16_t max_Altimeter = 0; |
||
681 | uint16_t max_GroundSpeed = 0; |
||
682 | int16_t max_Distance = 0; |
||
683 | uint8_t min_UBat = 255; |
||
684 | uint16_t max_FlyingTime = 0; |
||
321 | cascade | 685 | |
339 | cascade | 686 | // flags from last round to check for changes |
687 | uint8_t old_MKFlags = 0; |
||
688 | |||
321 | cascade | 689 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
377 | cascade | 690 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
321 | cascade | 691 | |
349 | cascade | 692 | /*write_ndigit_number_s_10th(5, 10, 1, 100, 0); |
693 | write_ndigit_number_s_10th(5, 11, -1, 100, 0); |
||
694 | write_ndigit_number_s_10th(5, 12, -11, 100, 0);*/ |
||
695 | |||
377 | cascade | 696 | //write_ndigit_number_u(2,2, heading_fine_conv(45), 100, 0); |
697 | |||
321 | cascade | 698 | while (1) { |
339 | cascade | 699 | // write icons at init or after menu/mode-switch |
700 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) { |
||
701 | write_char_xy(5, top_line, 203); // km/h |
||
702 | write_char_xy(10, top_line, 202); // RC-transmitter |
||
703 | write_char_xy(16, top_line, 208); // degree symbol |
||
383 | cascade | 704 | write_char_xy(27, top_line, 204); // small meters m height |
705 | write_char_xy(20, top_line+1, 0xb0); // left circle |
||
706 | write_char_xy(22, top_line+1, 0xb2); // right circle |
||
707 | write_char_xy(27, top_line+1, 204); // small meters m home |
||
377 | cascade | 708 | //write_ascii_string(6, bottom_line, "V"); // voltage |
339 | cascade | 709 | write_char_xy(14, bottom_line, 209); // on clock |
710 | write_char_xy(22, bottom_line, 210); // fly clock |
||
711 | write_char_xy(26, bottom_line, 200); // sat1 |
||
712 | write_char_xy(27, bottom_line, 201); // sat2 |
||
713 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
||
714 | } |
||
321 | cascade | 715 | if (rxd_buffer_locked) { |
339 | cascade | 716 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
717 | if (rxd_buffer[2] == 'D') { // FC Data |
||
718 | /*Decode64(); |
||
719 | debugData = *((DebugOut_t*) pRxData); |
||
720 | write_number_s(12, 2, RxDataLen); |
||
721 | write_number_s(20, 2, setsReceived++); |
||
722 | write_number_s(12, 3, debugData.Analog[0]); // AngleNick |
||
723 | write_number_s(12, 4, debugData.Analog[1]); // AngleRoll |
||
336 | cascade | 724 | write_number_s(12, 5, debugData.Analog[5]); // Height |
339 | cascade | 725 | write_number_s(12, 6, debugData.Analog[9]); // Voltage |
726 | write_number_s(12, 7, debugData.Analog[10]);// RC Signal |
||
336 | cascade | 727 | write_number_s(12, 8, debugData.Analog[11]);// Gyro compass*/ |
339 | cascade | 728 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
729 | Decode64(); |
||
730 | naviData = *((NaviData_t*) pRxData); |
||
383 | cascade | 731 | |
339 | cascade | 732 | // first line |
373 | cascade | 733 | write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0); |
321 | cascade | 734 | |
349 | cascade | 735 | write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0); |
339 | cascade | 736 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
737 | for (uint8_t x = 0; x < 4; x++) |
||
738 | write_char_att_xy(7 + x, top_line, BLINK); |
||
739 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
||
740 | for (uint8_t x = 0; x < 4; x++) |
||
741 | write_char_att_xy(7 + x, top_line, 0); |
||
742 | } |
||
743 | last_RC_Quality = naviData.RC_Quality; |
||
321 | cascade | 744 | |
349 | cascade | 745 | write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0); |
321 | cascade | 746 | |
339 | cascade | 747 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
377 | cascade | 748 | |
383 | cascade | 749 | draw_variometer(21, top_line, naviData.Variometer); |
321 | cascade | 750 | |
339 | cascade | 751 | //note:lephisto:according to several sources it's /30 |
349 | cascade | 752 | if (naviData.Altimeter > 300 || naviData.Altimeter < -300) { |
339 | cascade | 753 | // above 10m only write full meters |
349 | cascade | 754 | write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0); |
339 | cascade | 755 | } else { |
756 | // up to 10m write meters.dm |
||
349 | cascade | 757 | //write_number_u_10th(21, top_line, naviData.Altimeter / 3); |
758 | write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0); |
||
339 | cascade | 759 | } |
321 | cascade | 760 | |
339 | cascade | 761 | // seccond line |
762 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
||
321 | cascade | 763 | |
339 | cascade | 764 | // TODO: verify correctness |
765 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
||
383 | cascade | 766 | //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]); |
377 | cascade | 767 | // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16 |
383 | cascade | 768 | write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home)); |
321 | cascade | 769 | |
355 | shaddi | 770 | write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0); |
321 | cascade | 771 | |
339 | cascade | 772 | // center |
773 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
||
774 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
||
775 | clear(); |
||
776 | // update flags to paint display again if needed |
||
777 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
||
778 | } |
||
779 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
||
780 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
||
781 | } |
||
782 | } else { |
||
336 | cascade | 783 | // stats |
339 | cascade | 784 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
346 | cascade | 785 | write_ascii_string_pgm(2, 5, stats_item_pointers[0]); // max Altitude |
349 | cascade | 786 | write_ndigit_number_s(18, 5, max_Altimeter / 30, 1000, 0); |
339 | cascade | 787 | write_char_xy(22, 5, 204); // small meters m |
346 | cascade | 788 | write_ascii_string_pgm(2, 6, stats_item_pointers[1]); // max Speed |
349 | cascade | 789 | write_ndigit_number_u(19, 6, (uint16_t) (((uint32_t) max_GroundSpeed * 36) / 1000), 100, 0); |
339 | cascade | 790 | write_char_xy(22, 6, 203); // km/h |
346 | cascade | 791 | write_ascii_string_pgm(2, 7, stats_item_pointers[2]); // max Distance |
349 | cascade | 792 | write_ndigit_number_u(19, 7, max_Distance / 100, 100, 0); |
339 | cascade | 793 | write_char_xy(22, 7, 204); // small meters m |
346 | cascade | 794 | write_ascii_string_pgm(2, 8, stats_item_pointers[3]); // min voltage |
349 | cascade | 795 | write_ndigit_number_u_10th(18, 8, min_UBat, 100, 0); |
339 | cascade | 796 | write_ascii_string(22, 8, "V"); // voltage |
346 | cascade | 797 | write_ascii_string_pgm(2, 9, stats_item_pointers[4]); // max time |
339 | cascade | 798 | write_time(16, 9, max_FlyingTime); |
799 | write_char_xy(22, 9, 210); // fly clock |
||
800 | } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
||
801 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
||
802 | } |
||
803 | } |
||
383 | cascade | 804 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
805 | draw_big_variometer(27, 8, naviData.Variometer); |
||
806 | } |
||
321 | cascade | 807 | |
339 | cascade | 808 | // bottom line |
349 | cascade | 809 | write_ndigit_number_u_10th(2, bottom_line, naviData.UBat, 100, 0); |
339 | cascade | 810 | if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
811 | for (uint8_t x = 0; x < 7; x++) |
||
812 | write_char_att_xy(x, bottom_line, BLINK); |
||
813 | } else { |
||
814 | for (uint8_t x = 0; x < 7; x++) |
||
815 | write_char_att_xy(x, bottom_line, 0); |
||
816 | } |
||
377 | cascade | 817 | draw_battery(6, bottom_line, naviData.UBat); |
321 | cascade | 818 | |
339 | cascade | 819 | write_time(8, bottom_line, uptime); |
820 | write_time(16, bottom_line, naviData.FlyingTime); |
||
321 | cascade | 821 | |
349 | cascade | 822 | write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0); |
321 | cascade | 823 | |
339 | cascade | 824 | if (naviData.NCFlags & NC_FLAG_CH) { |
825 | write_char_xy(27, bottom_line, 231); // gps ch |
||
826 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
||
827 | write_char_xy(27, bottom_line, 230); // gps ph |
||
828 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
||
829 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
||
830 | } |
||
321 | cascade | 831 | |
339 | cascade | 832 | //write_number_s(8, 5, RxDataLen); |
833 | //write_number_s(16, 5, setsReceived++); |
||
321 | cascade | 834 | |
339 | cascade | 835 | // remember statistics |
836 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
||
837 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
||
838 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
||
839 | max_Distance = naviData.HomePositionDeviation.Distance; |
||
840 | } |
||
841 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
||
842 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
||
843 | |||
844 | old_MKFlags = naviData.MKFlags; |
||
845 | } |
||
846 | } |
||
847 | seconds_since_last_data = 0; |
||
321 | cascade | 848 | rxd_buffer_locked = 0; |
849 | } |
||
850 | // handle keypress |
||
326 | cascade | 851 | if (s1_pressed()) { |
339 | cascade | 852 | config_menu(); |
321 | cascade | 853 | } |
339 | cascade | 854 | if (seconds_since_last_data > 2) { |
346 | cascade | 855 | // request OSD Data from NC every 100ms |
856 | usart1_request_mk_data(1, 'o', 100); |
||
857 | seconds_since_last_data = 0; |
||
339 | cascade | 858 | } |
321 | cascade | 859 | } |
860 | #endif |
||
861 | return 0; |
||
862 | } |