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/****************************************************************************
 *   Copyright (C) 2009-2012 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;
}