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

 *   Copyright (C) 2009-2011 by Claas Anders "CaScAdE" Rathje               *

 *   admiralcascade@gmail.com                                               *

 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *

 *                                                                          *

 *   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 "main.h"

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

#include <avr/pgmspace.h>

#include "max7456_software_spi.h"

#ifdef ANTENNATRACKTEST 

#include "usart0.h"

#endif

#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

 * ##########################################################################*/

#if !(ALLCHARSDEBUG|(WRITECHARS != -1))

#if FCONLY

volatile str_DebugOut debugData;

#else

volatile NaviData_t naviData;

#endif

// 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;

uint8_t scope[12] = {

    5, 5, 0,

    25, 5, 0,

    5, 10, 0,

    25, 10, 0

};

// Flags

uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;

// 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;

char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};

//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};

/* ##########################################################################

 * Different display mode function pointers

 * ##########################################################################*/

const char str_1[] PROGMEM = "default";

const char str_2[] PROGMEM = "minimal";

const char str_3[] PROGMEM = " jopl";

#if FCONLY

const displaymode_t fcdisplaymodes[] PROGMEM = {

    { osd_fcmode_default, (char *)str_1},

    { osd_fcmode_jopl, (char *)str_3}

};

int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default;

#else

const displaymode_t ncdisplaymodes[] PROGMEM = {

    { osd_ncmode_default, (char *)str_1},

    { osd_ncmode_minimal, (char *)str_2}

};

int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default;

#endif

#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))

/* ##########################################################################

 * 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) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |PA3 output (SCLK) | PA5 output (RESET)

    MAX_CS_HIGH

    MAX_SDIN_LOW

    MAX_SCLK_LOW

    MAX_RESET_HIGH

    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)

    LED1_OFF

    LED2_OFF

    LED3_OFF

    LED4_OFF

    DDRC &= ~((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // PC4 input(MODE) | PC5 input(SET) | PC6 input SJ1 | PC7 input SJ2

    PORTC |= ((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // 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();

#ifdef SERIALDEBUGDRAW

#define USART0ENABLE 1

#endif

#ifdef ANTENNATRACKTEST

#define USART0ENABLE 1

#endif

#ifdef USART0ENABLE

    usart0_init();

    usart0_puts("\x1B[2J\x1B[H");

    usart0_puts("Welcome\r\n");

#endif

    // 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();

    //write_ascii_string(2,7, " CaScAdE");

    //write_ascii_string(2,8, "is TESTING his open source");

    //write_ascii_string(2,9, "EPi OSD Firmware");

    // we are ready

    LED3_ON

    // clear serial screen

    //usart1_puts("\x1B[2J\x1B[H");

    COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;

#if !FCONLY

    usart1_request_nc_uart();

#endif

    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 = *((str_DebugOut*)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);

                #ifdef SHIFTBYminus45

                naviData.AngleNick = (int8_t)(((int16_t)naviData.AngleRoll + (int16_t)naviData.AngleNick) / 2);

                naviData.AngleRoll = (int8_t)(((int16_t)naviData.AngleRoll - (int16_t)naviData.AngleNick) / 2);

                naviData.CompassHeading = (naviData.CompassHeading + (360 - 45)) % 360;

                #endif

                // 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

            // ONLY FOR TESTING

#ifdef ANTENNATRACKTEST 

#include <stdlib.h>

            //#include <float.h>

            //#include <math.h>

            //usart0_puts("\x1B[2J\x1B[H");

            /*

            naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)

            naviData.HomePositionDeviation.Bearing = 35; // 35�

            altimeter_offset = 50; // 50m start height

            naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)

             */

            static char conv_array[7];

            // should be float

            int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);

            // we need math.h and some faster AVR :)

            //tanheight = rad2deg(atan(tanheight));

            itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);

            usart0_puts("Bearing: ");

            usart0_puts(conv_array);

            usart0_puts("\tHeightangle: ");

            itoa(tanheight, conv_array, 10);

            usart0_puts(conv_array);

            usart0_puts("\r\n");

#endif

            rxd_buffer_locked = 0;

        }

        // handle keypress

        if (s1_pressed()) {

            config_menu();

        }

        // reqest data untill there has been some answer

        if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) ||

            // or while not in passive mode

            (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {

            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();

            // do not spam too much

            if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {

                _delay_ms(300);

            }

        }

        if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore

            if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {

                clear();

            }

            COSD_FLAGS_MODES &= ~COSD_FLAG_HUD;

            COSD_FLAGS_RUNTIME |= COSD_BLANKBYSJ;

        } else if (!SJ1_CLOSED && (COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we want the HUD back again            

            if (!(COSD_FLAGS_MODES & COSD_FLAG_HUD)) {

                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;

            }

            COSD_FLAGS_MODES |= COSD_FLAG_HUD;

            COSD_FLAGS_RUNTIME &= ~(COSD_BLANKBYSJ);

        }

    }

#else // character flashing...

    clear();

    write_all_chars();

    LED1_ON

    LED2_ON

    LED3_ON

    LED4_ON

    while (1) {

    };

#endif

    return 0;

}