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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 <avr/pgmspace.h>
#include "main.h"
#include "max7456_software_spi.h"
#include "usart1.h"
#include "osd_helpers.h"
/* TODO:
* - verifiy correctness of values
* - clean up code :)
*/
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
// data structs not needed for character flashin
#include "mk-data-structs.h"
/* ##########################################################################
* 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;
// store stats description in progmem to save space
char stats_item_0[] PROGMEM = "max Altitude:";
char stats_item_1[] PROGMEM = "max Speed :";
char stats_item_2[] PROGMEM = "max Distance:";
char stats_item_3[] PROGMEM = "min voltage :";
char stats_item_4[] PROGMEM = "max time :";
char stats_item_5[] PROGMEM = "longitude :";
char stats_item_6[] PROGMEM = "latitude :";
char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
stats_item_3, stats_item_4, stats_item_5, stats_item_6};
// store more fixed strings in progmen
char ON[] PROGMEM = "ON ";
char OFF[] PROGMEM = "OFF";
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
// 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;
/* ##########################################################################
* 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;
}
/* ##########################################################################
* 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_OVF_vect) {
OCR0 = 15; // preload
if (!timer--) {
uptime++;
timer = 999;
seconds_since_last_data++;
}
}
/* ##########################################################################
* A simple config menu for the flags
* ##########################################################################*/
/**
* helper function for menu updating
*/
void config_menu_drawings(uint8_t chosen) {
// clear prevoius _cursor_
write_ascii_string(3, (chosen + 5) % 8, " ");
// draw current _cursor_
write_ascii_string(3, chosen + 5, ">");
if (COSD_FLAGS & COSD_FLAG_HUD) {
write_ascii_string_pgm(23, 5, ON);
} else {
write_ascii_string_pgm(23, 5, OFF);
}
if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
write_ascii_string_pgm(23, 6, ON);
} else {
write_ascii_string_pgm(23, 6, OFF);
}
if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
write_ascii_string_pgm(23, 7, ON);
} else {
write_ascii_string_pgm(23, 7, OFF);
}
if (COSD_FLAGS & COSD_FLAG_STATS) {
write_ascii_string_pgm(23, 8, ON);
} else {
write_ascii_string_pgm(23, 8, OFF);
}
if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
write_ascii_string_pgm(23, 9, ON);
} else {
write_ascii_string_pgm(23, 9, OFF);
}
}
/**
* some sort of clicking response in the menu
*/
void config_menu_doclick(uint8_t chosen, char** menu) {
write_ascii_string(4, chosen + 5, "DONE ");
_delay_ms(1000);
write_ascii_string(4, chosen + 5, menu[chosen]);
}
/**
* a simple config menu tryout
*/
void config_menu(void) {
// disable interrupts (makes the menu more smoothely)
cli();
// clear screen
clear();
char* menu[9] = {"Full HUD",
"Art.Horizon in HUD",
"Big Vario bar",
"Statistics",
"Warnings", // TODO: do it!
"Reset uptime",
"Request OSD-data",
"Disable Debug-data",
"EXIT"};
uint8_t inmenu = 1;
uint8_t chosen = 0;
write_ascii_string(6, 2, "C-OSD Config Menu");
// wait a bit before doing stuff so user has chance to release button
_delay_ms(250);
write_ascii_string(4, 5, menu[0]);
write_ascii_string(4, 6, menu[1]);
write_ascii_string(4, 7, menu[2]);
write_ascii_string(4, 8, menu[3]);
write_ascii_string(4, 9, menu[4]);
write_ascii_string(4, 10, menu[5]);
write_ascii_string(4, 11, menu[6]);
write_ascii_string(4, 12, menu[7]);
write_ascii_string(4, 13, menu[8]);
config_menu_drawings(chosen);
while (inmenu) {
if (s2_pressed()) {
write_ascii_string(3, chosen + 5, " ");
chosen = (chosen + 1) % 9;
write_ascii_string(3, chosen + 5, ">");
_delay_ms(500);
} else if (s1_pressed()) {
switch (chosen) {
case 0: // full HUD
COSD_FLAGS ^= COSD_FLAG_HUD;
config_menu_drawings(chosen);
break;
case 1: // art horizon
COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
config_menu_drawings(chosen);
break;
case 2: // big vario
COSD_FLAGS ^= COSD_FLAG_BIGVARIO;
config_menu_drawings(chosen);
break;
case 3: // statistics
COSD_FLAGS ^= COSD_FLAG_STATS;
config_menu_drawings(chosen);
break;
case 4: // warnings
COSD_FLAGS ^= COSD_FLAG_WARNINGS;
config_menu_drawings(chosen);
break;
case 5: // reset uptime
uptime = 0;
config_menu_doclick(chosen, menu);
break;
case 6: // re-request OSD data
#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
config_menu_doclick(chosen, menu);
break;
case 7: // disable debug data
// disable sending of debug data
// may result in smoother ddata display
usart1_request_mk_data(0, 'd', 0);
config_menu_doclick(chosen, menu);
break;
case 8: // exit
inmenu = 0;
break;
}
_delay_ms(250);
}
}
// clear screen up again
clear();
// update flags to paint display again if needed
COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
// enable interrupts again
sei();
}
/**
* auto config some stuff on startup, currently only battery cells
* TODO: this is testing stuff, strings should go progmem and so on...
*/
void auto_config(uint8_t UBat) {
clear();
write_ascii_string(2, 2, "C-OSD Initialisation");
#if FCONLY
write_ascii_string(2, 3, "FC only Mode");
#else
write_ascii_string(2, 3, "NaviCtrl Mode");
#endif
write_ascii_string(2, 4, BUILDDATE);
uint8_t cellnum = 0;
if (CELL_NUM == -1) {
write_ascii_string(2, 6, "Guessing Number of Cells");
do {
cellnum++;
} while (UBat > ((cellnum * CELL_VOLT_MAX) + 15));
} else {
cellnum = CELL_NUM;
}
min_voltage = cellnum * CELL_VOLT_MIN;
max_voltage = cellnum * CELL_VOLT_MAX;
write_ascii_string(2, 7, "Number of Cells:");
write_ndigit_number_u(21, 7, cellnum, 1, 0);
write_ascii_string(2, 8, "Warn Voltage :");
write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0);
write_ascii_string(2, 9, "Max Voltage :");
write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0);
_delay_ms(200);
clear();
// update flags to paint display again because of clear
COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
}
#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
// 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
// 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);*/
// clear display memory and set to 8bit mode
clear();
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
// init usart
usart1_init();
// set up timer
TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
OCR0 = 15; // 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");
// 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");
#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
// stats for after flight
int16_t max_Altimeter = 0;
uint8_t min_UBat = 255;
#if !(FCONLY)
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};
#endif
while (1) {
if (rxd_buffer_locked) {
if (COSD_FLAGS & COSD_FLAG_HUD) {
#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];
auto_config(debugData.Analog[9]);
}
#include "osd_fcmode_default.c"
}
#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;
auto_config(naviData.UBat);
}
#include "osd_ncmode_default.c"
}
#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);
#endif
}
}
#endif
return 0;
}