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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;
// 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
// request OSD Data from NC every 100ms
usart1_request_mk_data(1, 'o', 100);
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();
}
#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");
// request data ever 100ms from FC;
//usart1_request_mk_data(0, 'd', 100);
// request OSD Data from NC every 100ms
usart1_request_mk_data(1, 'o', 100);
// and disable debug...
usart1_request_mk_data(0, 'd', 0);
// 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_HUD)) {
write_char_xy(5, top_line, 0xCB); // km/h
write_char_xy(10, top_line, 0xCA); // RC-transmitter
write_char_xy(16, top_line, 0xD0); // degree symbol
write_char_xy(27, top_line, 0xCC); // small meters m height
write_char_xy(20, top_line+1, 0xB0); // left circle
write_char_xy(22, top_line+1, 0xB2); // right circle
write_char_xy(27, top_line+1, 0xCC); // small meters m home
write_char_xy(7, bottom_line, 0x9E); // small v
write_char_xy(14, bottom_line, 0xD1); // on clock
write_char_xy(21, bottom_line, 0xD2); // fly clock
write_char_xy(26, bottom_line, 0xC8); // sat1
write_char_xy(27, bottom_line, 0xC9); // sat2
COSD_FLAGS |= COSD_ICONS_WRITTEN;
}
if (rxd_buffer_locked) {
if (COSD_FLAGS & COSD_FLAG_HUD) {
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
seconds_since_last_data = 0;*/
} else if (rxd_buffer[2] == 'O') { // NC OSD Data
Decode64();
naviData = *((NaviData_t*) pRxData);
// first line
write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);
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;
if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
write_char_xy(11, top_line, 0); // clear
} else {
write_char_xy(11, top_line, 0xC6); // PC icon
}
write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);
write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
draw_variometer(21, top_line, naviData.Variometer);
//note:lephisto:according to several sources it's /30
if (naviData.Altimeter > 300 || naviData.Altimeter < -300) {
// above 10m only write full meters
write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);
} else {
// up to 10m write meters.dm
//write_number_u_10th(21, top_line, naviData.Altimeter / 3);
write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);
}
// 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(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);
// 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);
}
// motors are on, assume we were/are flying
COSD_FLAGS |= COSD_WASFLYING;
} else {
// stats
if ((COSD_FLAGS & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) {
write_ascii_string_pgm(2, 4, stats_item_pointers[0]); // max Altitude
write_ndigit_number_s(18, 4, max_Altimeter / 30, 1000, 0);
write_char_xy(22, 4, 204); // small meters m
write_ascii_string_pgm(2, 5, stats_item_pointers[1]); // max Speed
write_ndigit_number_u(19, 5, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
write_char_xy(22, 5, 203); // km/h
write_ascii_string_pgm(2, 6, stats_item_pointers[2]); // max Distance
write_ndigit_number_u(19, 6, max_Distance / 10, 100, 0);
write_char_xy(22, 6, 204); // small meters m
write_ascii_string_pgm(2, 7, stats_item_pointers[3]); // min voltage
write_ndigit_number_u_10th(18, 7, min_UBat, 100, 0);
write_char_xy(22, 7, 0x9E); // small v
write_ascii_string_pgm(2, 8, stats_item_pointers[4]); // max time
write_time(16, 8, max_FlyingTime);
write_char_xy(22, 8, 210); // fly clock
write_ascii_string_pgm(2, 9, stats_item_pointers[5]); // longitude
write_gps_pos(15, 9, naviData.CurrentPosition.Longitude);
write_ascii_string_pgm(2, 10, stats_item_pointers[6]); // latitude
write_gps_pos(15, 10, naviData.CurrentPosition.Latitude);
} else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
}
}
if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
draw_big_variometer(27, 8, naviData.Variometer);
}
// bottom line
draw_battery(2, bottom_line, naviData.UBat);
write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0);
if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {
for (uint8_t x = 2; x < 8; x++)
write_char_att_xy(x, bottom_line, BLINK);
} else {
for (uint8_t x = 2; x < 8; x++)
write_char_att_xy(x, bottom_line, 0);
}
write_time(8, bottom_line, uptime);
write_time(15, bottom_line, naviData.FlyingTime);
write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0);
if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
write_char_xy(23, bottom_line, 0xB3); // rc transmitter
} else {
write_char_xy(23, bottom_line, 0); // clear
}
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 (only when engines running)
if (naviData.MKFlags & FLAG_MOTOR_RUN) {
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;
seconds_since_last_data = 0;
}
}
rxd_buffer_locked = 0;
}
// handle keypress
if (s1_pressed()) {
config_menu();
}
if (seconds_since_last_data > 2) {
// request OSD Data from NC every 100ms
usart1_request_mk_data(1, 'o', 100);
seconds_since_last_data = 0;
}
}
#endif
return 0;
}