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/****************************************************************************
* 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 *
* 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 "max7456_software_spi.c"
#include "usart1.h"
/* TODO:
* - verifiy correctness of values
* - clean up code :)
*/
/* ##########################################################################
* Debugging and general purpose definitions
* ##########################################################################*/
#define ALLCHARSDEBUG 0 // set to 1 and flash firmware to see all chars
#ifndef WRITECHARS // if WRITECHARS not set via makefile
#define WRITECHARS -1 // set to 2XX and flash firmware to write new char
// enables the allchars as well to see results
#endif
#ifndef NTSC // if NTSC is not thet via makefile
#define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line
#endif
#define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon
#define NOOSD 0 // set to 1 to disable OSD completely
#define NOOSD_BUT_WRN 0 // set to 1 to disable OSD completely but show
// battery and receive signal warnings
#define UBAT_WRN 94 // voltage for blinking warning, like FC settings
#define RCLVL_WRN 100 // make the RC level blink if below this number
// ### read datasheet before changing stuff below this line :)
#define BLINK 0b01001111 // attribute byte for blinking chars
/* ##########################################################################
* FLAGS usable during runtime
* ##########################################################################*/
#define COSD_FLAG_NTSC 1
#define COSD_FLAG_ARTHORIZON 2
#define COSD_FLAG_NOOSD 4
#define COSD_FLAG_NOOSD_BUT_WRN 8
#define COSD_ICONS_WRITTEN 16
/* ##########################################################################
* LED controll
* ##########################################################################*/
#define LED1_ON PORTC |= (1 << PC0);
#define LED1_OFF PORTC &= ~(1 << PC0);
#define LED2_ON PORTC |= (1 << PC1);
#define LED2_OFF PORTC &= ~(1 << PC1);
#define LED3_ON PORTC |= (1 << PC2);
#define LED3_OFF PORTC &= ~(1 << PC2);
#define LED4_ON PORTC |= (1 << PC3);
#define LED4_OFF PORTC &= ~(1 << PC3);
/* ##########################################################################
* switch controll
* ##########################################################################*/
#define S1_PRESSED !(PINC & (1<<PC5))
#define S2_PRESSED !(PINC & (1<<PC4))
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
// data structs
#include "mk-data-structs.h"
/* ##########################################################################
* global definitions and global vars
* ##########################################################################*/
volatile uint8_t rxd_buffer_locked = 0;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t ReceivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t RxDataLen = 0;
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;
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
// general PAL|NTSC distingiusch stuff
uint8_t top_line = 1;
uint8_t bottom_line = 14;
// Flags
uint8_t COSD_FLAGS = 0;
/* ##########################################################################
* debounce buttons
* ##########################################################################*/
int s1_pressed() {
if (S1_PRESSED) {
_delay_ms(25);
if (S1_PRESSED) return 1;
}
return 0;
}
int s2_pressed() {
if (S2_PRESSED) {
_delay_ms(25);
if (S2_PRESSED) return 1;
}
return 0;
}
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
/**
* serial support
*/
#include "usart1.c"
/* ##########################################################################
* timer stuff
* ##########################################################################*/
/**
* timer kicks in every 1000uS ^= 1ms
*/
ISR(TIMER0_OVF_vect) {
OCR0 = 6; // preload
if (!timer--) {
uptime++;
timer = 999;
seconds_since_last_data++;
}
}
/* ##########################################################################
* compass stuff
* ##########################################################################*/
/**
* convert the <heading> gotton from NC into an index
*/
uint8_t heading_conv(uint16_t heading) {
if (heading > 23 && heading < 68) {
//direction = "NE";
return 0;
} else if (heading > 67 && heading < 113) {
//direction = "E ";
return 1;
} else if (heading > 112 && heading < 158) {
//direction = "SE";
return 2;
} else if (heading > 157 && heading < 203) {
//direction = "S ";
return 3;
} else if (heading > 202 && heading < 248) {
//direction = "SW";
return 4;
} else if (heading > 247 && heading < 293) {
//direction = "W ";
return 5;
} else if (heading > 292 && heading < 338) {
//direction = "NW";
return 6;
}
//direction = "N ";
return 7;
}
/**
* draw a compass rose at <x>/<y> for <heading>
*/
void draw_compass(uint8_t x, uint8_t y, uint16_t heading) {
//char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W";
char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212,
216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213,
216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211,
216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214};
// the center is char 19 (north), we add the current heading in 8th
// which would be 22.5 degrees, but float would bloat up the code
// and *10 / 225 would take ages... so we take the uncorrect way
uint8_t front = 19 + (heading / 22);
for (uint8_t i = 0; i < 9; i++) {
write_char_xy(x++, y, rose[front - 4 + i]);
}
}
/* ##########################################################################
* artificial horizon
* ##########################################################################*/
// remember last time displayed values
int8_t old_af_x = -1, old_af_y = -1;
/**
* draw roll und nick indicators (could be enhanced to full artificial horizon)
* from line <firstline> to <listlines> for given <nick> and <roll> values
*/
void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) {
char noodle[5] = {225, 225, 226, 227, 227};
uint8_t center_x = 15;
uint8_t center_y = lastline - firstline;
center_y = 7;
write_char_xy(center_x,center_y,228);
uint8_t cpos, nicky, rollx;
// which line
int8_t ypos = nick / 20;
// which character from the array?
if (nick < 0) {
cpos = -1*((nick - (ypos * 20))/4);
ypos--;
} else cpos = 4-((nick - (ypos * 20))/4);
if (cpos > 4) cpos = 4;
nicky = center_y - ypos;
if (nicky > lastline) nicky = lastline;
else if (nicky < firstline) nicky = firstline;
// ensure roll-borders
rollx = (roll / 8)+15;
if (rollx < 2) rollx = 2;
else if (rollx > 28) rollx = 28;
// clear roll
if (old_af_x != rollx && old_af_x >= 0) {
write_char_xy(old_af_x,13,0);
}
// clear nick
if (old_af_y != nicky && old_af_y >= 0) {
write_char_xy(center_x-1,old_af_y,0);
write_char_xy(center_x+1,old_af_y,0);
}
// draw nick
write_char_xy(center_x-1,nicky,noodle[cpos]);
write_char_xy(center_x+1,nicky,noodle[cpos]);
// draw roll
write_char_xy(rollx,lastline,229);
// update old vars
old_af_x = rollx;
old_af_y = nicky;
// debug numbers
//write_3digit_number_u(20,6,cpos);
//write_number_s(20,7,ypos);
//write_number_s(0,7,nick);
//write_number_s(18,11,roll);
}
/* ##########################################################################
* A simple config menu for the flags
* ##########################################################################*/
void config_menu(void) {
// disable interrupts (makes the menu more smoothely)
cli();
// clear screen
clear();
char* menu[4] = {"Normal OSD ",
"Art.Horizon ",
"NO OSD ",
"NO OSD but WRN "};
uint8_t inmenu = 1;
uint8_t chosen = 0;
write_ascii_string(10, 4, "Config Menu");
// clear all mode flags
COSD_FLAGS &= ~(COSD_FLAG_ARTHORIZON | COSD_FLAG_NOOSD | COSD_FLAG_NOOSD_BUT_WRN);
// wait a bit before doing stuff so user has chance to release button
_delay_ms(250);
while (inmenu) {
write_ascii_string(2, 7, menu[chosen]);
if (s2_pressed()) {
chosen = (chosen + 1) % 4;
_delay_ms(500);
} else if (s1_pressed()) {
switch (chosen) {
case 1: // artificial horizon
COSD_FLAGS |= COSD_FLAG_ARTHORIZON;
break;
case 2: // everything off
COSD_FLAGS |= COSD_FLAG_NOOSD;
break;
case 3: // only warning
COSD_FLAGS |= COSD_FLAG_NOOSD_BUT_WRN;
break;
//default: // normal OSD, so let the flags cleared
}
// leave menu
inmenu = 0;
_delay_ms(500);
}
}
// clear screen up again
clear();
// update flags to paint display again if needed
COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
// enable interrupts again
sei();
}
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
/* ##########################################################################
* MAIN
* ##########################################################################*/
int main(void) {
// set up FLAGS, compiler should flatten this one
COSD_FLAGS = (NTSC << (COSD_FLAG_NTSC - 1));
COSD_FLAGS |= (ARTHORIZON << (COSD_FLAG_ARTHORIZON - 1));
COSD_FLAGS |= (NOOSD << (COSD_FLAG_NOOSD - 1));
COSD_FLAGS |= (NOOSD_BUT_WRN << (COSD_FLAG_NOOSD_BUT_WRN - 1));
// 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
// set up top and bottom lines
if (COSD_FLAGS & COSD_FLAG_NTSC) {
bottom_line = 12;
} else {
bottom_line = 14;
}
// reset the MAX7456 to be sure any undefined states do no harm
MAX_RESET_LOW
MAX_RESET_HIGH
// check for keypress at startup
if (s2_pressed()) { // togle COSD_FLAG_ARTHORIZON
COSD_FLAGS ^= (1 << (COSD_FLAG_ARTHORIZON - 1));
_delay_ms(100);
}
// 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"
#endif
// Setup Video Mode
if (COSD_FLAGS & COSD_FLAG_NTSC) {
// NTSC + enable display immediately (VM0)
spi_send_byte(0x00, 0b00001000);
} else {
// PAL + enable display immediately (VM0)
spi_send_byte(0x00, 0b01001000);
}
// 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);
// write blank chars to whole screen
clear();
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
// init usart
usart1_init();
// set up timer
TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
OCR0 = 6; // preload
TIMSK |= (1 << TOIE0); // enable overflow timer0
// 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");
// custom char preview
/*write_char_xy( 2, 7, 200);
write_char_xy( 3, 7, 201);
write_char_xy( 4, 7, 202);
write_char_xy( 5, 7, 203);
write_char_xy( 6, 7, 204);
write_char_xy( 7, 7, 205);
write_char_xy( 8, 7, 206);
write_char_xy( 9, 7, 207);
write_char_xy(10, 7, 208);
write_char_xy(11, 7, 209);
write_char_xy(12, 7, 210);
write_char_xy(13, 7, 211);
write_char_xy(14, 7, 212);
write_char_xy(15, 7, 213);
write_char_xy(16, 7, 214);
write_char_xy(17, 7, 215);*/
// 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!\r\n");
// request data ever 100ms from FC
//unsigned char ms = 10;
//sendMKData('d', 0, &ms, 1);
// request OSD Data from NC every 100ms
unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
// and disable debug...
//ms = 0;
//sendMKData('d', 0, &ms, 1);
// disable TXD-pin
usart1_DisableTXD();
// stats for after flight
int16_t max_Altimeter = 0;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
uint8_t min_UBat = 255;
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};
while (1) {
// write icons at init or after menu/mode-switch
if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && !(COSD_FLAGS & COSD_FLAG_NOOSD)) {
write_char_xy(5, top_line, 203); // km/h
write_char_xy(10, top_line, 202); // RC-transmitter
write_char_xy(16, top_line, 208); // degree symbol
write_char_xy(27, top_line, 204); // small meters m
write_ascii_string(6, bottom_line, "V"); // voltage
write_char_xy(14, bottom_line, 209); // on clock
write_char_xy(22, bottom_line, 210); // fly clock
write_char_xy(26, bottom_line, 200); // sat1
write_char_xy(27, bottom_line, 201); // sat2
COSD_FLAGS |= COSD_ICONS_WRITTEN;
}
if (rxd_buffer_locked) {
if (!(COSD_FLAGS & COSD_FLAG_NOOSD)) {
if (rxd_buffer[2] == 'D') { // FC Data
/*Decode64();
debugData = *((DebugOut_t*) pRxData);
write_number_s(12, 2, RxDataLen);
write_number_s(20, 2, setsReceived++);
write_number_s(12, 3, debugData.Analog[0]); // AngleNick
write_number_s(12, 4, debugData.Analog[1]); // AngleRoll
write_number_s(12, 5, debugData.Analog[5]); // Height
write_number_s(12, 6, debugData.Analog[9]); // Voltage
write_number_s(12, 7, debugData.Analog[10]);// RC Signal
write_number_s(12, 8, debugData.Analog[11]);// Gyro compass*/
} else if (rxd_buffer[2] == 'O') { // NC OSD Data
Decode64();
naviData = *((NaviData_t*) pRxData);
// first line
write_3digit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed*36)/1000));
write_3digit_number_u(7, top_line, naviData.RC_Quality);
if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
for (uint8_t x = 0; x < 4; x++)
write_char_att_xy(7 + x, top_line, BLINK);
} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
for (uint8_t x = 0; x < 4; x++)
write_char_att_xy(7 + x, top_line, 0);
}
last_RC_Quality = naviData.RC_Quality;
write_3digit_number_u(13, top_line, naviData.CompassHeading);
write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
if (naviData.Variometer == 0) {
write_char_xy(20, top_line, 206); // plain line
} else if (naviData.Variometer > 0 && naviData.Variometer <= 10) {
write_char_xy(20, top_line, 234); // small arrow up
} else if (naviData.Variometer > 10) {
write_char_xy(20, top_line, 235); // big arrow up
} else if (naviData.Variometer < 0 && naviData.Variometer >= -10) {
write_char_xy(20, top_line, 232); // small arrow down
} else {
write_char_xy(20, top_line, 233); //big arrow down
}
// TODO: is this really dm?
//note:lephisto:according to several sources it's /30
//write_number_s(22, top_line, naviData.Altimeter/30);
if (naviData.Altimeter > 300) {
// above 10m only write full meters
write_number_s(22, top_line, naviData.Altimeter/30);
} else {
// up to 10m write meters.dm
write_number_u_10th(21, top_line, naviData.Altimeter/3);
}
// seccond line
draw_compass(11, top_line + 1, naviData.CompassHeading);
// TODO: verify correctness
uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]);
write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance/100);
// center
if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
clear();
// update flags to paint display again if needed
COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
}
if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
}
} else {
// stats
write_ascii_string(2, 5, "max Altitude:");
write_number_s(17, 5, max_Altimeter/30);
write_char_xy(22, 5, 204); // small meters m
write_ascii_string(2, 6, "max Speed :");
write_3digit_number_u(19, 6, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000));
write_char_xy(22, 6, 203); // km/h
write_ascii_string(2, 7, "max Distance:");
write_number_s(17, 7, max_Distance/100);
write_char_xy(22, 7, 204); // small meters m
write_ascii_string(2, 8, "min voltage :");
//write_number_s(17, 8, min_UBat/10);
write_number_u_10th(16, 8, min_UBat);
write_ascii_string(22, 8, "V"); // voltage
write_ascii_string(2, 9, "max time :");
write_time(16, 9, max_FlyingTime);
write_char_xy(22, 9, 210); // fly clock
}
// bottom line
write_number_u_10th(0, bottom_line, naviData.UBat);
if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {
for (uint8_t x = 0; x < 7; x++)
write_char_att_xy(x, bottom_line, BLINK);
} else {
for (uint8_t x = 0; x < 7; x++)
write_char_att_xy(x, bottom_line, 0);
}
write_time(8, bottom_line, uptime);
write_time(16, bottom_line, naviData.FlyingTime);
write_3digit_number_u(23, bottom_line, naviData.SatsInUse);
if (naviData.NCFlags & NC_FLAG_CH) {
write_char_xy(27, bottom_line, 231); // gps ch
} else if (naviData.NCFlags & NC_FLAG_PH) {
write_char_xy(27, bottom_line, 230); // gps ph
} else { // (naviData.NCFlags & NC_FLAG_FREE)
write_char_xy(27, bottom_line, 201); // sat2 (free)
}
//write_number_s(8, 5, RxDataLen);
//write_number_s(16, 5, setsReceived++);
// remember statistics
if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
if (naviData.HomePositionDeviation.Distance > max_Distance) {
max_Distance = naviData.HomePositionDeviation.Distance;
}
if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
old_MKFlags = naviData.MKFlags;
} // (!(COSD_FLAGS & COSD_FLAG_NOOSD))
}
seconds_since_last_data = 0;
rxd_buffer_locked = 0;
}
// handle keypress
if (s1_pressed()) {
//sendMKData('d', 1, (unsigned char*) 0, 1);
// request OSD Data from NC every 100ms
/*unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
_delay_ms(500);*/
config_menu();
}
if (s2_pressed()) {
uptime = 0;
_delay_ms(100);
}
if (seconds_since_last_data > 2) {
// re-request OSD Data from NC
// re-enable TXD pin
usart1_EnableTXD();
// every 100ms
unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
// disable TXD pin again
usart1_DisableTXD();
seconds_since_last_data = 0;
}
}
#endif
return 0;
}