Subversion Repositories Projects

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

 *   Copyright (C) 2009 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 <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"

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

#include "osd_ncmode_default.h"

#include "osd_ncmode_minimal.h"

#include "osd_fcmode_default.h"

#endif

/* TODO:

 * - verifiy correctness of values

 * - clean up code :)

 */

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

 * global definitions and global vars

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

volatile uint16_t setsReceived = 0;

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;

// 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 = 0, COSD_FLAGS2 = 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;

// 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

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

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

const char str_1[] PROGMEM  = "default";

const char str_2[] PROGMEM  = "minimal";

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 },

};

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

int (*osd_fcmode)(void) = (int(*)(void)) &osd_ncmode_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

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

/**

 * timer kicks in every 1000uS ^= 1ms

 */

ISR(TIMER0_COMP_vect) {

    if (!timer--) {

        uptime++;

        timer = 999;

        seconds_since_last_data++;

    }

    // in case there is still some spi data to send do it now

    if (spi_ready && icnt) {

        SPDR = *iptr;

    }

}

#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))

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

 * MAIN

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

int main(void) {

    // set up FLAGS, compiler should flatten this one

    COSD_FLAGS = (NTSC << 0);

    COSD_FLAGS |= (HUD << 1);

    COSD_FLAGS |= (ARTHORIZON << 2);

    COSD_FLAGS |= (BIGVARIO << 3);

    COSD_FLAGS |= (STATS << 4);

    COSD_FLAGS |= (WARNINGS << 5);

    // 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(2000);

    LED4_OFF

    //Pushing NEW chars to the MAX7456

#if (WRITECHARS != -1)

        // DISABLE display (VM0)

        spi_send_byte(0x00, 0b00000000);

#include "characters.c"

#else

        // read out config for NTSC/PAL distinguishing

        get_eeprom(0);

#endif

        // Setup Video Mode

        if (COSD_FLAGS & 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();

    // 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,  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

#if ALLCHARSDEBUG | (WRITECHARS != -1)

        clear();

    write_all_chars();

#else

        // clear serial screen

        //usart1_puts("\x1B[2J\x1B[H");

        //usart1_puts("hello world!123\r\n");

#if FCONLY

        // request data ever 100ms from FC;

        usart1_request_mk_data(0, 'd', 100);

#else

        // request OSD Data from NC every 100ms

        usart1_request_mk_data(1, 'o', 100);

    // and disable debug...

    usart1_request_mk_data(0, 'd', 0);

#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_cmd_buffer[0] == 'd') {

                ampere = spi_cmd_buffer[1] << 8;

                ampere |= spi_cmd_buffer[2];

                                ampere_wasted = spi_cmd_buffer[3];

                                ampere_wasted = ampere_wasted << 8;

                                ampere_wasted |= spi_cmd_buffer[4];

                                ampere_wasted = ampere_wasted << 8;

                                ampere_wasted |= spi_cmd_buffer[5];

                                ampere_wasted = ampere_wasted << 8;

                                ampere_wasted |= spi_cmd_buffer[6];

                                //ampere = *((int16_t *) spi_cmd_buffer + 1);

                                //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3);

                                // if this is the first receival we should print the small A

                                if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {

                                        clear();

                                        COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;

                                        // update this flag

                        COSD_FLAGS2 |= COSD_FLAG_STROMREC;

                                }

                //write_ascii_char(8+4*30, 'v'); // valid

            } else {

                // update flags

                COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;

                //write_ascii_char(8+4*30, 'i'); // invalid

            }

            spi_cmd_buffer[0] = 'A';

            spi_cmd_buffer[1] = 'B';

            spi_cmd_buffer[2] = 'C';

                        spi_cmd_buffer[3] = 'D';

                        spi_cmd_buffer[4] = 'E';

                        spi_cmd_buffer[5] = 'F';

                        spi_cmd_buffer[6] = 'G';

            StartTransfer((unsigned char*) spi_cmd_buffer, 7);

        }

        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) {

                    // fix for min_UBat

                    min_UBat = debugData.Analog[9];

                    init_cosd(debugData.Analog[9]);

                }

                                osd_fcmode();

            }

#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) {

                    // fix for min_UBat

                    min_UBat = naviData.UBat;

                    init_cosd(naviData.UBat);

                }

                                osd_ncmode();

            }

#endif

            rxd_buffer_locked = 0;

        }

        // handle keypress

        if (s1_pressed()) {

            config_menu();

        }

        if (seconds_since_last_data > 2) {

#if FCONLY

            // request data ever 100ms from FC;

            usart1_request_mk_data(0, 'd', 100);

#else

            // request OSD Data from NC every 100ms

            usart1_request_mk_data(1, 'o', 100);

            // and disable debug...

            usart1_request_mk_data(0, 'd', 0);

                        // reset last time counter

                        seconds_since_last_data = 0;

#endif

        }

    }

#endif

    return 0;

}