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321 | cascade | 1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
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3 | * admiralcascade@gmail.com * |
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4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | * * |
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20 | * * |
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21 | * Credits to: * |
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22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project * |
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23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
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24 | * Klaus "akku" Buettner for the hardware * |
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25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
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26 | ****************************************************************************/ |
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27 | |||
28 | #include <avr/io.h> |
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29 | #include <avr/interrupt.h> |
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30 | #include <util/delay.h> |
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331 | cascade | 31 | #include "max7456_software_spi.c" |
32 | #include "usart1.h" |
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321 | cascade | 33 | |
34 | /* TODO: |
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35 | * - verifiy correctness of values |
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324 | cascade | 36 | * - clean up code :) |
321 | cascade | 37 | */ |
38 | |||
39 | /* ########################################################################## |
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40 | * Debugging and general purpose definitions |
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41 | * ##########################################################################*/ |
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42 | #define ALLCHARSDEBUG 0 // set to 1 and flash firmware to see all chars |
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329 | cascade | 43 | |
44 | #ifndef WRITECHARS // if WRITECHARS not set via makefile |
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45 | #define WRITECHARS -1 // set to 2XX and flash firmware to write new char |
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321 | cascade | 46 | // enables the allchars as well to see results |
329 | cascade | 47 | #endif |
48 | |||
49 | #ifndef NTSC // if NTSC is not thet via makefile |
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344 | lephisto | 50 | #define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line |
329 | cascade | 51 | #endif |
52 | |||
339 | cascade | 53 | #define HUD 1 // set to 0 to disable HUD by default |
54 | #define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon by default |
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55 | #define STATS 1 // set to 1 to enable statistics during motor off by default |
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56 | #define WARNINGS 1 // set to 1 to display battery+rc warning even if HUD is disabled |
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57 | |||
321 | cascade | 58 | #define UBAT_WRN 94 // voltage for blinking warning, like FC settings |
59 | #define RCLVL_WRN 100 // make the RC level blink if below this number |
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60 | |||
61 | // ### read datasheet before changing stuff below this line :) |
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62 | #define BLINK 0b01001111 // attribute byte for blinking chars |
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63 | |||
64 | /* ########################################################################## |
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324 | cascade | 65 | * FLAGS usable during runtime |
66 | * ##########################################################################*/ |
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326 | cascade | 67 | #define COSD_FLAG_NTSC 1 |
339 | cascade | 68 | #define COSD_FLAG_HUD 2 |
69 | #define COSD_FLAG_ARTHORIZON 4 |
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70 | #define COSD_FLAG_STATS 8 |
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71 | #define COSD_FLAG_WARNINGS 16 |
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72 | #define COSD_ICONS_WRITTEN 32 |
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324 | cascade | 73 | |
74 | /* ########################################################################## |
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321 | cascade | 75 | * LED controll |
76 | * ##########################################################################*/ |
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77 | #define LED1_ON PORTC |= (1 << PC0); |
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78 | #define LED1_OFF PORTC &= ~(1 << PC0); |
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79 | #define LED2_ON PORTC |= (1 << PC1); |
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80 | #define LED2_OFF PORTC &= ~(1 << PC1); |
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81 | #define LED3_ON PORTC |= (1 << PC2); |
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82 | #define LED3_OFF PORTC &= ~(1 << PC2); |
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83 | #define LED4_ON PORTC |= (1 << PC3); |
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84 | #define LED4_OFF PORTC &= ~(1 << PC3); |
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85 | |||
86 | /* ########################################################################## |
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87 | * switch controll |
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88 | * ##########################################################################*/ |
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324 | cascade | 89 | #define S1_PRESSED !(PINC & (1<<PC5)) |
90 | #define S2_PRESSED !(PINC & (1<<PC4)) |
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321 | cascade | 91 | |
329 | cascade | 92 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
331 | cascade | 93 | // data structs |
94 | #include "mk-data-structs.h" |
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321 | cascade | 95 | |
96 | /* ########################################################################## |
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97 | * global definitions and global vars |
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98 | * ##########################################################################*/ |
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99 | volatile uint8_t rxd_buffer_locked = 0; |
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100 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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101 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
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102 | volatile uint8_t ReceivedBytes = 0; |
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103 | volatile uint8_t *pRxData = 0; |
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104 | volatile uint8_t RxDataLen = 0; |
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105 | volatile uint16_t setsReceived = 0; |
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106 | |||
107 | volatile NaviData_t naviData; |
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108 | volatile DebugOut_t debugData; |
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109 | |||
110 | // cache old vars for blinking attribute, checkup is faster than full |
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111 | // attribute write each time |
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112 | volatile uint8_t last_UBat = 255; |
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113 | volatile uint8_t last_RC_Quality = 255; |
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114 | |||
115 | // 16bit should be enough, normal LiPos don't last that long |
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116 | volatile uint16_t uptime = 0; |
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117 | volatile uint16_t timer = 0; |
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118 | |||
331 | cascade | 119 | // remember last time data was received |
120 | volatile uint8_t seconds_since_last_data = 0; |
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121 | |||
329 | cascade | 122 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
326 | cascade | 123 | |
124 | // general PAL|NTSC distingiusch stuff |
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125 | uint8_t top_line = 1; |
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126 | uint8_t bottom_line = 14; |
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127 | |||
128 | // Flags |
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129 | uint8_t COSD_FLAGS = 0; |
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130 | |||
321 | cascade | 131 | /* ########################################################################## |
326 | cascade | 132 | * debounce buttons |
133 | * ##########################################################################*/ |
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134 | int s1_pressed() { |
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135 | if (S1_PRESSED) { |
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136 | _delay_ms(25); |
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137 | if (S1_PRESSED) return 1; |
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138 | } |
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139 | return 0; |
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140 | } |
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141 | |||
142 | int s2_pressed() { |
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143 | if (S2_PRESSED) { |
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144 | _delay_ms(25); |
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145 | if (S2_PRESSED) return 1; |
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146 | } |
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147 | return 0; |
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148 | } |
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149 | |||
321 | cascade | 150 | |
329 | cascade | 151 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 152 | |
153 | /** |
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331 | cascade | 154 | * serial support |
321 | cascade | 155 | */ |
331 | cascade | 156 | #include "usart1.c" |
321 | cascade | 157 | |
158 | |||
159 | /* ########################################################################## |
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160 | * timer stuff |
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161 | * ##########################################################################*/ |
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162 | |||
331 | cascade | 163 | /** |
164 | * timer kicks in every 1000uS ^= 1ms |
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321 | cascade | 165 | */ |
166 | ISR(TIMER0_OVF_vect) { |
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167 | OCR0 = 6; // preload |
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168 | if (!timer--) { |
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169 | uptime++; |
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170 | timer = 999; |
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331 | cascade | 171 | seconds_since_last_data++; |
321 | cascade | 172 | } |
173 | } |
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174 | |||
175 | /* ########################################################################## |
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176 | * compass stuff |
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177 | * ##########################################################################*/ |
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178 | |||
179 | /** |
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180 | * convert the <heading> gotton from NC into an index |
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181 | */ |
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182 | uint8_t heading_conv(uint16_t heading) { |
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183 | if (heading > 23 && heading < 68) { |
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184 | //direction = "NE"; |
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185 | return 0; |
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186 | } else if (heading > 67 && heading < 113) { |
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187 | //direction = "E "; |
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188 | return 1; |
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189 | } else if (heading > 112 && heading < 158) { |
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190 | //direction = "SE"; |
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191 | return 2; |
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192 | } else if (heading > 157 && heading < 203) { |
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193 | //direction = "S "; |
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194 | return 3; |
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195 | } else if (heading > 202 && heading < 248) { |
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196 | //direction = "SW"; |
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197 | return 4; |
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198 | } else if (heading > 247 && heading < 293) { |
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199 | //direction = "W "; |
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200 | return 5; |
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201 | } else if (heading > 292 && heading < 338) { |
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202 | //direction = "NW"; |
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203 | return 6; |
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204 | } |
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205 | //direction = "N "; |
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206 | return 7; |
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207 | } |
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208 | |||
209 | /** |
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210 | * draw a compass rose at <x>/<y> for <heading> |
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211 | */ |
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212 | void draw_compass(uint8_t x, uint8_t y, uint16_t heading) { |
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213 | //char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W"; |
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214 | char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212, |
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215 | 216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213, |
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216 | 216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211, |
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217 | 216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214}; |
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218 | // the center is char 19 (north), we add the current heading in 8th |
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219 | // which would be 22.5 degrees, but float would bloat up the code |
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220 | // and *10 / 225 would take ages... so we take the uncorrect way |
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221 | uint8_t front = 19 + (heading / 22); |
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222 | for (uint8_t i = 0; i < 9; i++) { |
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223 | write_char_xy(x++, y, rose[front - 4 + i]); |
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224 | } |
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225 | } |
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226 | |||
227 | /* ########################################################################## |
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228 | * artificial horizon |
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229 | * ##########################################################################*/ |
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230 | // remember last time displayed values |
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231 | int8_t old_af_x = -1, old_af_y = -1; |
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232 | |||
233 | /** |
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234 | * draw roll und nick indicators (could be enhanced to full artificial horizon) |
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235 | * from line <firstline> to <listlines> for given <nick> and <roll> values |
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236 | */ |
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237 | void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) { |
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238 | char noodle[5] = {225, 225, 226, 227, 227}; |
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239 | uint8_t center_x = 15; |
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240 | uint8_t center_y = lastline - firstline; |
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241 | center_y = 7; |
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242 | write_char_xy(center_x,center_y,228); |
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243 | uint8_t cpos, nicky, rollx; |
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244 | |||
245 | // which line |
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246 | int8_t ypos = nick / 20; |
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247 | // which character from the array? |
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248 | if (nick < 0) { |
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249 | cpos = -1*((nick - (ypos * 20))/4); |
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250 | ypos--; |
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251 | } else cpos = 4-((nick - (ypos * 20))/4); |
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252 | if (cpos > 4) cpos = 4; |
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253 | |||
254 | nicky = center_y - ypos; |
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255 | if (nicky > lastline) nicky = lastline; |
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256 | else if (nicky < firstline) nicky = firstline; |
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257 | |||
258 | // ensure roll-borders |
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259 | rollx = (roll / 8)+15; |
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260 | if (rollx < 2) rollx = 2; |
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261 | else if (rollx > 28) rollx = 28; |
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262 | |||
263 | |||
264 | // clear roll |
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265 | if (old_af_x != rollx && old_af_x >= 0) { |
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266 | write_char_xy(old_af_x,13,0); |
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267 | } |
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268 | |||
269 | // clear nick |
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270 | if (old_af_y != nicky && old_af_y >= 0) { |
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271 | write_char_xy(center_x-1,old_af_y,0); |
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272 | write_char_xy(center_x+1,old_af_y,0); |
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273 | } |
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274 | |||
275 | |||
276 | // draw nick |
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277 | write_char_xy(center_x-1,nicky,noodle[cpos]); |
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278 | write_char_xy(center_x+1,nicky,noodle[cpos]); |
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279 | |||
280 | // draw roll |
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281 | write_char_xy(rollx,lastline,229); |
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282 | |||
283 | // update old vars |
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284 | old_af_x = rollx; |
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285 | old_af_y = nicky; |
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286 | |||
287 | // debug numbers |
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288 | //write_3digit_number_u(20,6,cpos); |
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289 | //write_number_s(20,7,ypos); |
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290 | //write_number_s(0,7,nick); |
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291 | //write_number_s(18,11,roll); |
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292 | } |
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293 | |||
326 | cascade | 294 | /* ########################################################################## |
295 | * A simple config menu for the flags |
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296 | * ##########################################################################*/ |
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339 | cascade | 297 | |
298 | /** |
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299 | * helper function for menu updating |
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300 | */ |
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301 | void config_menu_drawings(uint8_t chosen) { |
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302 | // clear prevoius _cursor_ |
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303 | write_ascii_string(3, (chosen + 4) % 5, " "); |
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304 | // draw current _cursor_ |
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305 | write_ascii_string(3, chosen + 6, ">"); |
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306 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
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307 | write_ascii_string(23, 6, "ON "); |
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308 | } else { |
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309 | write_ascii_string(23, 6, "OFF"); |
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310 | } |
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311 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
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312 | write_ascii_string(23, 7, "ON "); |
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313 | } else { |
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314 | write_ascii_string(23, 7, "OFF"); |
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315 | } |
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316 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
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317 | write_ascii_string(23, 8, "ON "); |
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318 | } else { |
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319 | write_ascii_string(23, 8, "OFF"); |
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320 | } |
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321 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
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322 | write_ascii_string(23, 9, "ON "); |
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323 | } else { |
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324 | write_ascii_string(23, 9, "OFF"); |
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325 | } |
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326 | } |
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327 | |||
328 | /** |
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329 | * a simple config menu tryout |
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330 | */ |
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326 | cascade | 331 | void config_menu(void) { |
332 | // disable interrupts (makes the menu more smoothely) |
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333 | cli(); |
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321 | cascade | 334 | |
326 | cascade | 335 | // clear screen |
336 | clear(); |
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337 | |||
339 | cascade | 338 | char* menu[5] = {"Full HUD", |
339 | "Art.Horizon in HUD", |
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340 | "Statistics", |
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341 | "Warnings", // TODO: do it! |
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342 | "EXIT"}; |
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326 | cascade | 343 | |
344 | uint8_t inmenu = 1; |
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345 | uint8_t chosen = 0; |
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339 | cascade | 346 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
326 | cascade | 347 | |
348 | // wait a bit before doing stuff so user has chance to release button |
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349 | _delay_ms(250); |
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350 | |||
339 | cascade | 351 | write_ascii_string(4, 6, menu[0]); |
352 | write_ascii_string(4, 7, menu[1]); |
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353 | write_ascii_string(4, 8, menu[2]); |
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354 | write_ascii_string(4, 9, menu[3]); |
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355 | write_ascii_string(4, 10, menu[4]); |
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356 | |||
357 | config_menu_drawings(chosen); |
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358 | |||
326 | cascade | 359 | while (inmenu) { |
360 | if (s2_pressed()) { |
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339 | cascade | 361 | write_ascii_string(3, chosen+6, " "); |
362 | chosen = (chosen + 1) % 5; |
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363 | write_ascii_string(3, chosen+6, ">"); |
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326 | cascade | 364 | _delay_ms(500); |
365 | } else if (s1_pressed()) { |
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366 | switch (chosen) { |
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339 | cascade | 367 | case 0: // full HUD |
368 | COSD_FLAGS ^= COSD_FLAG_HUD; |
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369 | config_menu_drawings(chosen); |
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326 | cascade | 370 | break; |
339 | cascade | 371 | case 1: // art horizon |
372 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
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373 | config_menu_drawings(chosen); |
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326 | cascade | 374 | break; |
339 | cascade | 375 | case 2: // statistics |
376 | COSD_FLAGS ^= COSD_FLAG_STATS; |
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377 | config_menu_drawings(chosen); |
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326 | cascade | 378 | break; |
339 | cascade | 379 | case 3: // warnings |
380 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
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381 | config_menu_drawings(chosen); |
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382 | break; |
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383 | case 4: // exit |
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384 | inmenu = 0; |
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385 | break; |
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326 | cascade | 386 | } |
339 | cascade | 387 | _delay_ms(250); |
326 | cascade | 388 | } |
389 | } |
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390 | |||
391 | // clear screen up again |
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392 | clear(); |
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393 | |||
394 | // update flags to paint display again if needed |
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395 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
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396 | |||
397 | // enable interrupts again |
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398 | sei(); |
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399 | } |
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400 | |||
329 | cascade | 401 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 402 | /* ########################################################################## |
403 | * MAIN |
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404 | * ##########################################################################*/ |
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405 | int main(void) { |
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339 | cascade | 406 | // set up FLAGS, compiler should flatten this one |
407 | COSD_FLAGS = (NTSC << 0); |
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408 | COSD_FLAGS |= (HUD << 1); |
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409 | COSD_FLAGS |= (ARTHORIZON << 2); |
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410 | COSD_FLAGS |= (STATS << 3); |
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411 | COSD_FLAGS |= (WARNINGS << 4); |
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324 | cascade | 412 | |
339 | cascade | 413 | // set up Atmega162 Ports |
321 | cascade | 414 | DDRA |= (1 << PA1); // PA1 output (/CS) |
415 | MAX_CS_HIGH |
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416 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
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417 | MAX_SDIN_LOW |
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418 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
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419 | MAX_SCLK_LOW |
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420 | DDRA |= (1 << PA5); // PA5 output (RESET) |
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421 | MAX_RESET_HIGH |
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422 | |||
423 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
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424 | LED1_OFF |
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425 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
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426 | LED2_OFF |
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427 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
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428 | LED3_OFF |
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429 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
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430 | LED4_OFF |
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431 | |||
432 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
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433 | PORTC |= (1 << PC4); // pullup |
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434 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
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435 | PORTC |= (1 << PC5); // pullup |
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436 | |||
339 | cascade | 437 | // set up top and bottom lines |
438 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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439 | bottom_line = 12; |
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440 | } else { |
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441 | bottom_line = 14; |
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442 | } |
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326 | cascade | 443 | |
339 | cascade | 444 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 445 | MAX_RESET_LOW |
446 | MAX_RESET_HIGH |
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447 | |||
448 | // give the FC/NC and the maxim time to come up |
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449 | LED4_ON |
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450 | _delay_ms(2000); |
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451 | |||
452 | LED4_OFF |
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453 | |||
331 | cascade | 454 | |
339 | cascade | 455 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 456 | #if (WRITECHARS != -1) |
339 | cascade | 457 | // DISABLE display (VM0) |
321 | cascade | 458 | spi_send_byte(0x00, 0b00000000); |
339 | cascade | 459 | #include "characters.c" |
321 | cascade | 460 | |
331 | cascade | 461 | #endif |
321 | cascade | 462 | |
339 | cascade | 463 | // Setup Video Mode |
464 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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465 | // NTSC + enable display immediately (VM0) |
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466 | spi_send_byte(0x00, 0b00001000); |
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467 | } else { |
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468 | // PAL + enable display immediately (VM0) |
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469 | spi_send_byte(0x00, 0b01001000); |
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470 | } |
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321 | cascade | 471 | |
472 | // clear all display-mem (DMM) |
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473 | spi_send_byte(0x04, 0b00000100); |
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474 | |||
475 | // clearing takes 12uS according to maxim so lets wait longer |
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476 | _delay_us(120); |
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477 | |||
478 | // 8bit mode |
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479 | spi_send_byte(0x04, 0b01000000); |
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480 | |||
481 | // write blank chars to whole screen |
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482 | clear(); |
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483 | |||
329 | cascade | 484 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 485 | // init usart |
486 | usart1_init(); |
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487 | |||
488 | // set up timer |
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489 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
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490 | OCR0 = 6; // preload |
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491 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
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492 | |||
326 | cascade | 493 | // enable interrupts |
321 | cascade | 494 | sei(); |
495 | #endif |
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496 | |||
497 | //write_ascii_string(2, 7, " CaScAdE "); |
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498 | //write_ascii_string(2, 8, "is TESTING his open source"); |
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499 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
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500 | |||
501 | // custom char preview |
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502 | /*write_char_xy( 2, 7, 200); |
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503 | write_char_xy( 3, 7, 201); |
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504 | write_char_xy( 4, 7, 202); |
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505 | write_char_xy( 5, 7, 203); |
||
506 | write_char_xy( 6, 7, 204); |
||
507 | write_char_xy( 7, 7, 205); |
||
508 | write_char_xy( 8, 7, 206); |
||
509 | write_char_xy( 9, 7, 207); |
||
510 | write_char_xy(10, 7, 208); |
||
511 | write_char_xy(11, 7, 209); |
||
512 | write_char_xy(12, 7, 210); |
||
513 | write_char_xy(13, 7, 211); |
||
514 | write_char_xy(14, 7, 212); |
||
515 | write_char_xy(15, 7, 213); |
||
516 | write_char_xy(16, 7, 214); |
||
517 | write_char_xy(17, 7, 215);*/ |
||
518 | |||
519 | // we are ready |
||
520 | LED3_ON |
||
521 | |||
522 | |||
523 | |||
329 | cascade | 524 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
321 | cascade | 525 | clear(); |
526 | write_all_chars(); |
||
527 | #else |
||
339 | cascade | 528 | // clear serial screen |
529 | //usart1_puts("\x1B[2J\x1B[H"); |
||
530 | //usart1_puts("hello world!\r\n"); |
||
321 | cascade | 531 | |
339 | cascade | 532 | |
533 | // request data ever 100ms from FC |
||
321 | cascade | 534 | //unsigned char ms = 10; |
535 | //sendMKData('d', 0, &ms, 1); |
||
339 | cascade | 536 | |
537 | // request OSD Data from NC every 100ms |
||
321 | cascade | 538 | unsigned char ms = 10; |
539 | sendMKData('o', 1, &ms, 1); |
||
339 | cascade | 540 | // and disable debug... |
541 | //ms = 0; |
||
542 | //sendMKData('d', 0, &ms, 1); |
||
321 | cascade | 543 | |
339 | cascade | 544 | // disable TXD-pin |
545 | usart1_DisableTXD(); |
||
331 | cascade | 546 | |
339 | cascade | 547 | // stats for after flight |
548 | int16_t max_Altimeter = 0; |
||
549 | uint16_t max_GroundSpeed = 0; |
||
550 | int16_t max_Distance = 0; |
||
551 | uint8_t min_UBat = 255; |
||
552 | uint16_t max_FlyingTime = 0; |
||
321 | cascade | 553 | |
339 | cascade | 554 | // flags from last round to check for changes |
555 | uint8_t old_MKFlags = 0; |
||
556 | |||
321 | cascade | 557 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
339 | cascade | 558 | char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
321 | cascade | 559 | |
560 | while (1) { |
||
339 | cascade | 561 | // write icons at init or after menu/mode-switch |
562 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) { |
||
563 | write_char_xy(5, top_line, 203); // km/h |
||
564 | write_char_xy(10, top_line, 202); // RC-transmitter |
||
565 | write_char_xy(16, top_line, 208); // degree symbol |
||
566 | write_char_xy(27, top_line, 204); // small meters m |
||
567 | write_ascii_string(6, bottom_line, "V"); // voltage |
||
568 | write_char_xy(14, bottom_line, 209); // on clock |
||
569 | write_char_xy(22, bottom_line, 210); // fly clock |
||
570 | write_char_xy(26, bottom_line, 200); // sat1 |
||
571 | write_char_xy(27, bottom_line, 201); // sat2 |
||
572 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
||
573 | } |
||
321 | cascade | 574 | if (rxd_buffer_locked) { |
339 | cascade | 575 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
576 | if (rxd_buffer[2] == 'D') { // FC Data |
||
577 | /*Decode64(); |
||
578 | debugData = *((DebugOut_t*) pRxData); |
||
579 | write_number_s(12, 2, RxDataLen); |
||
580 | write_number_s(20, 2, setsReceived++); |
||
581 | write_number_s(12, 3, debugData.Analog[0]); // AngleNick |
||
582 | write_number_s(12, 4, debugData.Analog[1]); // AngleRoll |
||
336 | cascade | 583 | write_number_s(12, 5, debugData.Analog[5]); // Height |
339 | cascade | 584 | write_number_s(12, 6, debugData.Analog[9]); // Voltage |
585 | write_number_s(12, 7, debugData.Analog[10]);// RC Signal |
||
336 | cascade | 586 | write_number_s(12, 8, debugData.Analog[11]);// Gyro compass*/ |
339 | cascade | 587 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
588 | Decode64(); |
||
589 | naviData = *((NaviData_t*) pRxData); |
||
321 | cascade | 590 | |
339 | cascade | 591 | // first line |
592 | write_3digit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * 36) / 1000)); |
||
321 | cascade | 593 | |
339 | cascade | 594 | write_3digit_number_u(7, top_line, naviData.RC_Quality); |
595 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
||
596 | for (uint8_t x = 0; x < 4; x++) |
||
597 | write_char_att_xy(7 + x, top_line, BLINK); |
||
598 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
||
599 | for (uint8_t x = 0; x < 4; x++) |
||
600 | write_char_att_xy(7 + x, top_line, 0); |
||
601 | } |
||
602 | last_RC_Quality = naviData.RC_Quality; |
||
321 | cascade | 603 | |
339 | cascade | 604 | write_3digit_number_u(13, top_line, naviData.CompassHeading); |
321 | cascade | 605 | |
339 | cascade | 606 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
321 | cascade | 607 | |
339 | cascade | 608 | if (naviData.Variometer == 0) { |
609 | write_char_xy(20, top_line, 206); // plain line |
||
610 | } else if (naviData.Variometer > 0 && naviData.Variometer <= 10) { |
||
611 | write_char_xy(20, top_line, 234); // small arrow up |
||
612 | } else if (naviData.Variometer > 10) { |
||
613 | write_char_xy(20, top_line, 235); // big arrow up |
||
614 | } else if (naviData.Variometer < 0 && naviData.Variometer >= -10) { |
||
615 | write_char_xy(20, top_line, 232); // small arrow down |
||
616 | } else { |
||
617 | write_char_xy(20, top_line, 233); //big arrow down |
||
618 | } |
||
321 | cascade | 619 | |
339 | cascade | 620 | //note:lephisto:according to several sources it's /30 |
621 | if (naviData.Altimeter > 300) { |
||
622 | // above 10m only write full meters |
||
623 | write_number_s(22, top_line, naviData.Altimeter / 30); |
||
624 | } else { |
||
625 | // up to 10m write meters.dm |
||
626 | write_number_u_10th(21, top_line, naviData.Altimeter / 3); |
||
627 | } |
||
321 | cascade | 628 | |
339 | cascade | 629 | // seccond line |
630 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
||
321 | cascade | 631 | |
339 | cascade | 632 | // TODO: verify correctness |
633 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
||
634 | write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]); |
||
321 | cascade | 635 | |
339 | cascade | 636 | write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance / 100); |
321 | cascade | 637 | |
339 | cascade | 638 | // center |
639 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
||
640 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
||
641 | clear(); |
||
642 | // update flags to paint display again if needed |
||
643 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
||
644 | } |
||
645 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
||
646 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
||
647 | } |
||
648 | } else { |
||
336 | cascade | 649 | // stats |
339 | cascade | 650 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
651 | write_ascii_string(2, 5, "max Altitude:"); |
||
652 | write_number_s(17, 5, max_Altimeter / 30); |
||
653 | write_char_xy(22, 5, 204); // small meters m |
||
654 | write_ascii_string(2, 6, "max Speed :"); |
||
655 | write_3digit_number_u(19, 6, (uint16_t) (((uint32_t) max_GroundSpeed * 36) / 1000)); |
||
656 | write_char_xy(22, 6, 203); // km/h |
||
657 | write_ascii_string(2, 7, "max Distance:"); |
||
658 | write_number_s(17, 7, max_Distance / 100); |
||
659 | write_char_xy(22, 7, 204); // small meters m |
||
660 | write_ascii_string(2, 8, "min voltage :"); |
||
661 | write_number_u_10th(16, 8, min_UBat); |
||
662 | write_ascii_string(22, 8, "V"); // voltage |
||
663 | write_ascii_string(2, 9, "max time :"); |
||
664 | write_time(16, 9, max_FlyingTime); |
||
665 | write_char_xy(22, 9, 210); // fly clock |
||
666 | } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
||
667 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
||
668 | } |
||
669 | } |
||
321 | cascade | 670 | |
339 | cascade | 671 | // bottom line |
672 | write_number_u_10th(0, bottom_line, naviData.UBat); |
||
673 | if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
||
674 | for (uint8_t x = 0; x < 7; x++) |
||
675 | write_char_att_xy(x, bottom_line, BLINK); |
||
676 | } else { |
||
677 | for (uint8_t x = 0; x < 7; x++) |
||
678 | write_char_att_xy(x, bottom_line, 0); |
||
679 | } |
||
321 | cascade | 680 | |
339 | cascade | 681 | write_time(8, bottom_line, uptime); |
682 | write_time(16, bottom_line, naviData.FlyingTime); |
||
321 | cascade | 683 | |
339 | cascade | 684 | write_3digit_number_u(23, bottom_line, naviData.SatsInUse); |
321 | cascade | 685 | |
339 | cascade | 686 | if (naviData.NCFlags & NC_FLAG_CH) { |
687 | write_char_xy(27, bottom_line, 231); // gps ch |
||
688 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
||
689 | write_char_xy(27, bottom_line, 230); // gps ph |
||
690 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
||
691 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
||
692 | } |
||
321 | cascade | 693 | |
339 | cascade | 694 | //write_number_s(8, 5, RxDataLen); |
695 | //write_number_s(16, 5, setsReceived++); |
||
321 | cascade | 696 | |
339 | cascade | 697 | // remember statistics |
698 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
||
699 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
||
700 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
||
701 | max_Distance = naviData.HomePositionDeviation.Distance; |
||
702 | } |
||
703 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
||
704 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
||
705 | |||
706 | old_MKFlags = naviData.MKFlags; |
||
707 | } |
||
708 | } |
||
709 | seconds_since_last_data = 0; |
||
321 | cascade | 710 | rxd_buffer_locked = 0; |
711 | } |
||
712 | // handle keypress |
||
326 | cascade | 713 | if (s1_pressed()) { |
339 | cascade | 714 | //sendMKData('d', 1, (unsigned char*) 0, 1); |
321 | cascade | 715 | // request OSD Data from NC every 100ms |
339 | cascade | 716 | /*unsigned char ms = 10; |
717 | sendMKData('o', 1, &ms, 1); |
||
718 | _delay_ms(500);*/ |
||
719 | config_menu(); |
||
321 | cascade | 720 | } |
339 | cascade | 721 | if (s2_pressed()) { |
326 | cascade | 722 | uptime = 0; |
723 | _delay_ms(100); |
||
724 | } |
||
339 | cascade | 725 | if (seconds_since_last_data > 2) { |
726 | // re-request OSD Data from NC |
||
727 | |||
728 | // re-enable TXD pin |
||
729 | usart1_EnableTXD(); |
||
730 | |||
731 | // every 100ms |
||
732 | unsigned char ms = 10; |
||
331 | cascade | 733 | sendMKData('o', 1, &ms, 1); |
734 | |||
339 | cascade | 735 | // disable TXD pin again |
736 | usart1_DisableTXD(); |
||
737 | |||
738 | seconds_since_last_data = 0; |
||
739 | } |
||
321 | cascade | 740 | } |
741 | #endif |
||
742 | return 0; |
||
743 | } |