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459 cascade 1
/****************************************************************************
728 cascade 2
 *   Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje               *
459 cascade 3
 *   admiralcascade@gmail.com                                               *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
5
 *                                                                          *
6
 *   This program is free software; you can redistribute it and/or modify   *
7
 *   it under the terms of the GNU General Public License as published by   *
8
 *   the Free Software Foundation; either version 2 of the License.         *
9
 *                                                                          *
10
 *   This program is distributed in the hope that it will be useful,        *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
13
 *   GNU General Public License for more details.                           *
14
 *                                                                          *
15
 *   You should have received a copy of the GNU General Public License      *
16
 *   along with this program; if not, write to the                          *
17
 *   Free Software Foundation, Inc.,                                        *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
19
 ****************************************************************************/
497 cascade 20
 
21
#include "main.h"
22
#include "max7456_software_spi.h"
23
#include "osd_helpers.h"
24
#include "osd_ncmode_default.h"
25
 
783 - 26
#if (!(ALLCHARSDEBUG || (WRITECHARS != -1)) && !FCONLY)
497 cascade 27
 
28
int osd_ncmode_default() {
761 - 29
    uint8_t rc_signal = naviData.RC_RSSI ? naviData.RC_RSSI : naviData.RC_Quality; // if RSSI is present use it, else use Qality
753 cascade 30
 
761 - 31
    if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
32
        // write icons at init or after menu/mode-switch
33
        if (!(COSD_FLAGS_RUNTIME & COSD_ICONS_WRITTEN)) {
34
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
35
                write_char_xy(5, top_line, 0x7D); // mph
36
                write_char_xy(27, top_line + 1, 0x7E); // small feet ft home
37
                write_char_xy(27, top_line, 0x7E); // small feet ft height
38
            } else {
39
                write_char_xy(5, top_line, 0xCB); // km/h
40
                write_char_xy(27, top_line + 1, 0xCC); // small meters m home
41
                write_char_xy(27, top_line, 0xCC); // small meters m height
42
            }
757 cascade 43
 
761 - 44
            write_char_xy(10, top_line, 0xCA); // RC-transmitter
45
            write_char_xy(16, top_line, 0xD0); // degree symbol
757 cascade 46
 
761 - 47
            write_char_xy(20, top_line + 1, 0xB0); // left circle
48
            write_char_xy(22, top_line + 1, 0xB2); // right circle
459 cascade 49
 
50
 
761 - 51
            write_char_xy(7, bottom_line, 0x9E); // small V
52
            if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
53
                write_char_xy(7, bottom_line - 1, 0x9F); // small A
54
                write_char_xy(14, bottom_line - 1, 0xB5); // mah
55
                if (COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
56
                    write_char_xy(21, bottom_line - 1, 0x9E); // small V
57
                }
58
            }
59
            write_char_xy(14, bottom_line, 0xD1); // on clock
60
            write_char_xy(21, bottom_line, 0xD2); // fly clock
61
            write_char_xy(26, bottom_line, 0xC8); // sat1
62
            write_char_xy(27, bottom_line, 0xC9); // sat2
63
            COSD_FLAGS_RUNTIME |= COSD_ICONS_WRITTEN;
64
        }
459 cascade 65
 
761 - 66
        // first line
67
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
68
            // experimental cm/s -> mph
69
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)279) / (uint32_t)12500), 3, 0);
70
        } else {
71
            write_ndigit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 3, 0);
72
        }
459 cascade 73
 
761 - 74
        write_ndigit_number_u(7, top_line, rc_signal, 3, 0);
75
        if (rc_signal <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
76
            for (uint8_t x = 0; x < 4; x++)
77
                write_char_att_xy(7 + x, top_line, BLINK);
78
        } else if (rc_signal > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
79
            for (uint8_t x = 0; x < 4; x++)
80
                write_char_att_xy(7 + x, top_line, 0);
81
        }
459 cascade 82
 
83
 
761 - 84
        if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
85
            write_char_xy(11, top_line, 0); // clear
86
        } else {
87
            write_char_xy(11, top_line, 0xC6); // PC icon
88
        }
459 cascade 89
 
761 - 90
        write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);
459 cascade 91
 
761 - 92
        write_ascii_string_pgm(17, top_line, (const char *)(pgm_read_word(&(directions[heading_conv(naviData.CompassHeading)]))));
459 cascade 93
 
761 - 94
        draw_variometer(21, top_line, naviData.Variometer);
459 cascade 95
 
761 - 96
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
97
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
98
                // feet
99
                write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset) * 32 / 10, 4, 0); // GPS
100
            } else {
101
                if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 || naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) {
102
                    // above 10m only write full meters
103
                    write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset), 4, 0); // GPS
104
                } else {
105
                    // up to 10m write meters.dm
106
                    write_ndigit_number_s_10th(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 100 - altimeter_offset * 10), 3, 0); // GPS
107
                }
108
            }
109
        } else {
110
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
766 - 111
                write_ndigit_number_s(23, top_line, naviData.Altimeter / 10 * 32 / 20, 4, 0); // BARO
761 - 112
            } else {
800 - 113
                //cite:killagreg "Faktor 20 bis 21 w�re korrekt." (http://forum.mikrokopter.de/topic-post211192.html#post211192)
766 - 114
                if (naviData.Altimeter > 200 || naviData.Altimeter < -200) {
761 - 115
                    // above 10m only write full meters
766 - 116
                    write_ndigit_number_s(23, top_line, naviData.Altimeter / 20, 4, 0); // BARO
761 - 117
                } else {
118
                    // up to 10m write meters.dm
766 - 119
                    write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 2, 3, 0); // BARO
761 - 120
                }
121
            }
122
        }
757 cascade 123
 
459 cascade 124
 
761 - 125
        // seccond line
126
        draw_compass(11, top_line + 1, naviData.CompassHeading);
465 cascade 127
 
761 - 128
        // TODO: verify correctness
129
        uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
130
        //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
131
        // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
132
        write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
728 cascade 133
 
761 - 134
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
135
            // feet
136
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10 * 32 / 10, 4, 0);
137
        } else {
138
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 4, 0);
139
        }
459 cascade 140
 
761 - 141
        // center
783 - 142
        if (naviData.FCFlags & FCFLAG_MOTOR_RUN) { // should be engines running
143
            if (!(old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just started, clear middle
761 - 144
                clear();
809 - 145
                // remember current heigth for offsets
146
                if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
147
                    altimeter_offset = naviData.CurrentPosition.Altitude / 1000; // GPS
148
                } else {
149
                    altimeter_offset = naviData.Altimeter / 20; // BARO
150
                }
761 - 151
                // set wasted counter to current offset
152
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
153
                    wasted_ampere_offset = ampere_wasted / 10;
154
                } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
155
                    wasted_ampere_offset = naviData.UsedCapacity;
156
                }
157
                // update flags to paint display again if needed
158
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
159
            }
160
            if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // horizon
161
                uint8_t horizon_bottom = bottom_line - 1;
162
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
163
                    horizon_bottom--;
164
                }
165
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
166
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
167
                } else {
168
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
169
                }
170
            }
171
            // motors are on, assume we were/are flying
172
            COSD_FLAGS_RUNTIME |= COSD_WASFLYING;
173
        } else {
783 - 174
            if ((old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just stopped
761 - 175
                clear(); // clear whole screen in case there is horizon stuff left
176
                // update flags to paint display again if needed
177
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
178
            }
179
            // stats
180
            if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) {
181
                uint8_t line = 3;
182
                write_ascii_string_pgm(1, line, (const char *)(pgm_read_word(&(stats_item_pointers[0])))); // max Altitude
183
                write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[1])))); // max Speed
184
                write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[2])))); // max Distance
459 cascade 185
 
761 - 186
                if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
187
                    write_ndigit_number_s(16, line - 2, max_Altimeter * 32 / 10, 4, 0);
188
                    write_char_xy(20, line - 2, 0x7E); // small feet ft
189
                    write_ndigit_number_u(17, line - 1, (uint16_t)(((uint32_t)max_GroundSpeed * (uint32_t)279) / (uint32_t)12500), 3, 0);
190
                    write_char_xy(20, line - 1, 0x7D); // mp/h
762 - 191
                    write_ndigit_number_u(16, line - 0, max_Distance / 10 * 32 / 10, 4, 0);
761 - 192
                    write_char_xy(20, line - 0, 0x7E); // small feet ft
193
                } else {
194
                    write_ndigit_number_s(16, line - 2, max_Altimeter, 4, 0);
195
                    write_char_xy(20, line - 2, 204); // small meters m
196
                    write_ndigit_number_u(17, line - 1, (uint16_t)(((uint32_t)max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 3, 0);
197
                    write_char_xy(20, line - 1, 203); // km/h
762 - 198
                    write_ndigit_number_u(16, line - 0, max_Distance / 10, 4, 0);
761 - 199
                    write_char_xy(20, line - 0, 204); // small meters m
200
                }
459 cascade 201
 
761 - 202
                write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[3])))); // min voltage
203
                write_ndigit_number_u_10th(16, line, min_UBat, 3, 0);
204
                write_char_xy(20, line, 0x9E); // small V
205
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
206
                    write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[7])))); // ampere
207
                    write_ndigit_number_u_10th(16, line, max_ampere / 10, 3, 0);
208
                    write_char_xy(20, line, 0x9F); // small A
497 cascade 209
 
761 - 210
                    // wasted mampere in this flight (will count up after landing)
211
                    if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
212
                        write_ndigit_number_u(21, line, (ampere_wasted / 10) - wasted_ampere_offset, 5, 0);
213
                    } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
459 cascade 214
 
761 - 215
                        write_ndigit_number_u(21, line, naviData.UsedCapacity - wasted_ampere_offset, 5, 0);
216
                    }
497 cascade 217
 
761 - 218
                    write_char_xy(26, line, 0xB5); // mah
219
                }
220
                write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[4])))); // max time
221
                write_time(14, line, max_FlyingTime);
222
                write_char_xy(20, line, 210); // fly clock
223
                write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[5])))); // longitude
224
                write_gps_pos(14, line, naviData.CurrentPosition.Longitude);
225
                write_ascii_string_pgm(1, ++line, (const char *)(pgm_read_word(&(stats_item_pointers[6])))); // latitude
226
                write_gps_pos(14, line, naviData.CurrentPosition.Latitude);
227
            } else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
228
                uint8_t horizon_bottom = bottom_line - 1;
229
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
230
                    horizon_bottom--;
231
                }
232
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
233
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
234
                } else {
235
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
236
                }
237
            }
238
        }
239
        if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) {
240
            draw_big_variometer(27, 8, naviData.Variometer);
241
        }
459 cascade 242
 
761 - 243
        // pre-bottom line
244
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
245
            //write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);
800 - 246
            write_ndigit_number_u_10th(2, bottom_line - 1, ampere / 10, 4, 0);
761 - 247
            write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);
826 - 248
 
761 - 249
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
800 - 250
            write_ndigit_number_u_10th(2, bottom_line - 1, naviData.Current, 4, 0);
761 - 251
            write_ndigit_number_u(10, bottom_line - 1, naviData.UsedCapacity, 4, 0);
252
        }
826 - 253
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
254
            write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);
255
        }
761 - 256
        //DEBUGwrite_ndigit_number_u(1, 5, COSD_FLAGS_MODES, 3, 0);
257
 
258
        // bottom line
259
        draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
260
        write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);
261
        if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
262
            for (uint8_t x = 2; x < 8; x++)
263
                write_char_att_xy(x, bottom_line, BLINK);
264
        } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
265
            for (uint8_t x = 2; x < 8; x++)
266
                write_char_att_xy(x, bottom_line, 0);
267
        }
268
 
269
        write_time(8, bottom_line, uptime);
270
        write_time(15, bottom_line, naviData.FlyingTime);
271
 
272
        write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);
832 - 273
        if (!(naviData.NCFlags & NC_FLAG_GPS_OK) && (old_NCFlags & NC_FLAG_GPS_OK)) {
274
            for (uint8_t x = 24; x < 28; x++)
275
                write_char_att_xy(x, bottom_line, BLINK);
276
        } else if ((naviData.NCFlags & NC_FLAG_GPS_OK) && !(old_NCFlags & NC_FLAG_GPS_OK)) {
277
            for (uint8_t x = 24; x < 28; x++)
278
                write_char_att_xy(x, bottom_line, 0);
279
        }
761 - 280
 
281
        if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
282
            write_char_xy(23, bottom_line, 0xB3); // rc transmitter
283
        } else {
284
            write_char_xy(23, bottom_line, 0); // clear
285
        }
286
 
287
        if (naviData.NCFlags & NC_FLAG_CH) {
288
            write_char_xy(27, bottom_line, 231); // gps ch
289
        } else if (naviData.NCFlags & NC_FLAG_PH) {
290
            write_char_xy(27, bottom_line, 230); // gps ph
291
        } else { // (naviData.NCFlags & NC_FLAG_FREE)
292
            write_char_xy(27, bottom_line, 201); // sat2 (free)
293
        }
294
    }
295
 
296
    //write_number_s(8, 5, RxDataLen);
297
    //write_number_s(16, 5, setsReceived++);
298
 
299
    // remember statistics (only when engines running)
783 - 300
    if (naviData.FCFlags & FCFLAG_MOTOR_RUN) {
761 - 301
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
302
            if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000;
303
        } else {
772 - 304
            if (naviData.Altimeter / 20 > max_Altimeter) max_Altimeter = naviData.Altimeter / 20;
761 - 305
        }
306
        if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
307
        if (naviData.HomePositionDeviation.Distance > max_Distance) {
308
            max_Distance = naviData.HomePositionDeviation.Distance;
309
        }
310
        if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
311
        if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
312
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
313
            if (ampere > max_ampere) max_ampere = ampere;
314
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
315
            if (naviData.Current * 10 > max_ampere) max_ampere = naviData.Current * 10;
316
        }
317
    }
318
 
319
    // remember last values
320
    last_RC_Quality = rc_signal;
321
    last_UBat = naviData.UBat;
322
    old_MKFlags = naviData.FCFlags;
832 - 323
    old_NCFlags = naviData.NCFlags;
761 - 324
    seconds_since_last_data = 0;
325
 
326
    return 0;
459 cascade 327
}
328
 
497 cascade 329
#endif