WebSVN - Projects - Rev 2039 - /C-OSD/trunk/main.c

/****************************************************************************
* Copyright (C) 2009-2014 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 <string.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;
volatile Data3D_t data3d;
#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) {
// debug ppm
//write_ndigit_number_u(9, 4, ppm, 5, 0);

// 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);
memcpy((char*)(&debugData), (char*)pRxData, sizeof(str_DebugOut));
rxd_buffer_locked = 0;

// 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 {
rxd_buffer_locked = 0;
}
#else
if (rxd_buffer[2] == 'O') { // NC OSD Data
Decode64();
//naviData = *((NaviData_t*)pRxData);
memcpy((char*)(&naviData), (char*)pRxData, sizeof(NaviData_t));
rxd_buffer_locked = 0;

#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;
// } else if (rxd_buffer[2] == 'C') { // 3D and Stick Data
// Decode64();
// memcpy((char*)(&data3d), (char*)pRxData, sizeof(Data3D_t));
// rxd_buffer_locked = 0;
} else {
rxd_buffer_locked = 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

}
// 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));

// request 3D Data from NC every 100ms
//usart1_request_mk_data(1, 'c', 100);
// _delay_ms(10);
// usart1_puts_pgm(PSTR(REQUEST_3DDATA));

// 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(100);
}
}

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;
}

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