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| /* |
| |
| Copyright (c) 2011. All rights reserved. |
| An Open Source Arduino based OSD and Camera Control project. |
| |
| Program : ArduCAM-OSD (Supports the variant: minimOSD) |
| Version : V1.9, 14 February 2012 |
| Author(s): Sandro Benigno |
| Coauthor(s): |
| Jani Hirvinen (All the EEPROM routines) |
| Michael Oborne (OSD Configutator) |
| Mike Smith (BetterStream and Fast Serial libraries) |
| Special Contribuitor: |
| Andrew Tridgell by all the support on MAVLink |
| Doug Weibel by his great orientation since the start of this project |
| Contributors: James Goppert, Max Levine |
| and all other members of DIY Drones Dev team |
| Thanks to: Chris Anderson, Jordi Munoz |
| |
| |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by |
| the Free Software Foundation, either version 3 of the License, or |
| (at your option) any later version. |
| |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/> |
| |
| */ |
| |
| /* ************************************************************ */ |
| /* **************** MAIN PROGRAM - MODULES ******************** */ |
| /* ************************************************************ */ |
| |
| #undef PROGMEM |
| #define PROGMEM __attribute__(( section(".progmem.data") )) |
| |
| #undef PSTR |
| #define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &__c[0];})) |
| |
| #define MAVLINK10 |
| |
| /* **********************************************/ |
| /* ***************** INCLUDES *******************/ |
| |
| //#define membug |
| //#define FORCEINIT // You should never use this unless you know what you are doing |
| |
| |
| // AVR Includes |
| #include <FastSerial.h> |
| #include <AP_Common.h> |
| #include <AP_Math.h> |
| #include <math.h> |
| #include <inttypes.h> |
| #include <avr/pgmspace.h> |
| // Get the common arduino functions |
| #if defined(ARDUINO) && ARDUINO >= 100 |
| #include "Arduino.h" |
| #else |
| #include "wiring.h" |
| #endif |
| #include <EEPROM.h> |
| #include <SimpleTimer.h> |
| #include <GCS_MAVLink.h> |
| |
| #ifdef membug |
| #include <MemoryFree.h> |
| #endif |
| |
| // Configurations |
| #include "OSD_Config.h" |
| #include "ArduCam_Max7456.h" |
| #include "OSD_Vars.h" |
| #include "OSD_Func.h" |
| |
| /* *************************************************/ |
| /* ***************** DEFINITIONS *******************/ |
| |
| //OSD Hardware |
| //#define ArduCAM328 |
| #define MinimOSD |
| |
| #define TELEMETRY_SPEED 57600 // How fast our MAVLink telemetry is coming to Serial port |
| #define BOOTTIME 2000 // Time in milliseconds that we show boot loading bar and wait user input |
| |
| // Objects and Serial definitions |
| FastSerialPort0(Serial); |
| OSD osd; //OSD object |
| |
| SimpleTimer mavlinkTimer; |
| |
| |
| /* **********************************************/ |
| /* ***************** SETUP() *******************/ |
| |
| void setup() |
| { |
| #ifdef ArduCAM328 |
| pinMode(10, OUTPUT); // USB ArduCam Only |
| #endif |
| pinMode(MAX7456_SELECT, OUTPUT); // OSD CS |
| |
| Serial.begin(TELEMETRY_SPEED); |
| // setup mavlink port |
| mavlink_comm_0_port = &Serial; |
| |
| #ifdef membug |
| Serial.println(freeMem()); |
| #endif |
| |
| // Prepare OSD for displaying |
| unplugSlaves(); |
| osd.init(); |
| |
| // Start |
| startPanels(); |
| delay(500); |
| |
| // OSD debug for development (Shown at start) |
| #ifdef membug |
| osd.setPanel(1,1); |
| osd.openPanel(); |
| osd.printf("%i",freeMem()); |
| osd.closePanel(); |
| #endif |
| |
| // Just to easy up development things |
| #ifdef FORCEINIT |
| InitializeOSD(); |
| #endif |
| |
| |
| // Check EEPROM to see if we have initialized it already or not |
| // also checks if we have new version that needs EEPROM reset |
| if(readEEPROM(CHK1) + readEEPROM(CHK2) != VER) { |
| osd.setPanel(6,9); |
| osd.openPanel(); |
| osd.printf_P(PSTR("Missing/Old Config")); |
| osd.closePanel(); |
| InitializeOSD(); |
| } |
| |
| // Get correct panel settings from EEPROM |
| readSettings(); |
| |
| // Show bootloader bar |
| loadBar(); |
| |
| // Startup MAVLink timers |
| mavlinkTimer.Set(&OnMavlinkTimer, 120); |
| |
| // House cleaning, clear display and enable timers |
| osd.clear(); |
| mavlinkTimer.Enable(); |
| |
| } // END of setup(); |
| |
| |
| |
| /* ***********************************************/ |
| /* ***************** MAIN LOOP *******************/ |
| |
| // Mother of all happenings, The loop() |
| // As simple as possible. |
| void loop() |
| { |
| |
| if(enable_mav_request == 1){//Request rate control |
| osd.clear(); |
| osd.setPanel(3,10); |
| osd.openPanel(); |
| osd.printf_P(PSTR("Requesting DataStreams...")); |
| osd.closePanel(); |
| for(int n = 0; n < 3; n++){ |
| request_mavlink_rates();//Three times to certify it will be readed |
| delay(50); |
| } |
| enable_mav_request = 0; |
| delay(2000); |
| osd.clear(); |
| waitingMAVBeats = 0; |
| lastMAVBeat = millis();//Preventing error from delay sensing |
| } |
| |
| read_mavlink(); |
| mavlinkTimer.Run(); |
| } |
| |
| /* *********************************************** */ |
| /* ******** functions used in main loop() ******** */ |
| void OnMavlinkTimer() |
| { |
| setHeadingPatern(); // generate the heading patern |
| |
| osd_battery_pic_A = setBatteryPic(osd_battery_remaining_A); // battery A remmaning picture |
| //osd_battery_pic_B = setBatteryPic(osd_battery_remaining_B); // battery B remmaning picture |
| |
| setHomeVars(osd); // calculate and set Distance from home and Direction to home |
| |
| writePanels(); // writing enabled panels (check OSD_Panels Tab) |
| } |
| |
| |
| void unplugSlaves(){ |
| //Unplug list of SPI |
| #ifdef ArduCAM328 |
| digitalWrite(10, HIGH); // unplug USB HOST: ArduCam Only |
| #endif |
| digitalWrite(MAX7456_SELECT, HIGH); // unplug OSD |
| } |