Subversion Repositories Projects

Rev

Rev 677 | Rev 734 | Go to most recent revision | Blame | Compare with Previous | Last modification | View Log | RSS feed

/****************************************************************************
 *   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 + 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 <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"
#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
 * ##########################################################################*/


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;
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;

// Flags
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;

#if !(ALLCHARSDEBUG|(WRITECHARS != -1))

// 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;

// store stats description in progmem to save space
const char stats_item_0[] PROGMEM = "max Altitude:";
const char stats_item_1[] PROGMEM = "max Speed   :";
const char stats_item_2[] PROGMEM = "max Distance:";
const char stats_item_3[] PROGMEM = "min Voltage :";
const char stats_item_4[] PROGMEM = "max Time    :";
const char stats_item_5[] PROGMEM = "longitude   :";
const char stats_item_6[] PROGMEM = "latitude    :";
const char stats_item_7[] PROGMEM = "max current :";
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};

//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
const char str_NE[] PROGMEM = "NE";
const char str_E[] PROGMEM  = "E ";
const char str_SE[] PROGMEM = "SE";
const char str_S[] PROGMEM  = "S ";
const char str_SW[] PROGMEM = "SW";
const char str_W[] PROGMEM  = "W ";
const char str_NW[] PROGMEM = "NW";
const char str_N[] PROGMEM  = "N ";
const char *directions[8] PROGMEM = {
        str_NE,
        str_E,
        str_SE,
        str_S,
        str_SW,
        str_W,
        str_NW,
        str_N};

/* ##########################################################################
 * Different display mode function pointers
 * ##########################################################################*/

const char str_1[] PROGMEM  = "default";
const char str_2[] PROGMEM  = "minimal";
const char str_3[] PROGMEM  = "   jopl";

const displaymode_t ncdisplaymodes[] PROGMEM = {
   { osd_ncmode_default, (char *)str_1 },
   { osd_ncmode_minimal, (char *)str_2 }
};

const displaymode_t fcdisplaymodes[] PROGMEM = {
   { osd_fcmode_default, (char *)str_1 },
   { osd_fcmode_jopl, (char *)str_3 }
};

int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default;
int (*osd_fcmode)(void) = (int(*)(void)) &osd_fcmode_default;
#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))#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); // 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

    // 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);
        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();

    // 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();
#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();
        LED1_ON
        LED2_ON
        LED3_ON
        LED4_ON
#else

        // clear serial screen
        //usart1_puts("\x1B[2J\x1B[H");
        //usart1_puts("hello world!123\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

    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 = *((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];
                                        last_UBat = debugData.Analog[9];
                    init_cosd(last_UBat);
                } else {
                                        osd_fcmode();
                                }
            }
#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;
                                        last_UBat = naviData.UBat;
                    init_cosd(last_UBat);
                } else {
                                        osd_ncmode();
                                }
            }
#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);

                        // reset last time counter
                        seconds_since_last_data = 0;
#endif
        }
    }
#endif
    return 0;
}