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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;
}