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459 cascade 1
/****************************************************************************
902 - 2
 *   Copyright (C) 2009-2011 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);
902 - 72
 
73
            // draw big speed-meter only if configure AND not flying OR stats off and not flying
74
            if ((COSD_FLAGS_CONFIG & COSD_FLAG_BIGSPEED)
75
                && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
76
                || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
77
 
78
                draw_big_variometer(2, 8, (uint16_t)((uint32_t)naviData.GroundSpeed / (uint32_t)125));
79
            }
761 - 80
        }
459 cascade 81
 
761 - 82
        write_ndigit_number_u(7, top_line, rc_signal, 3, 0);
83
        if (rc_signal <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
84
            for (uint8_t x = 0; x < 4; x++)
85
                write_char_att_xy(7 + x, top_line, BLINK);
86
        } else if (rc_signal > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
87
            for (uint8_t x = 0; x < 4; x++)
88
                write_char_att_xy(7 + x, top_line, 0);
89
        }
459 cascade 90
 
91
 
761 - 92
        if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
93
            write_char_xy(11, top_line, 0); // clear
94
        } else {
95
            write_char_xy(11, top_line, 0xC6); // PC icon
96
        }
459 cascade 97
 
761 - 98
        write_ndigit_number_u(13, top_line, naviData.CompassHeading, 3, 0);
459 cascade 99
 
761 - 100
        write_ascii_string_pgm(17, top_line, (const char *)(pgm_read_word(&(directions[heading_conv(naviData.CompassHeading)]))));
459 cascade 101
 
761 - 102
        draw_variometer(21, top_line, naviData.Variometer);
459 cascade 103
 
761 - 104
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
105
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
106
                // feet
107
                write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset) * 32 / 10, 4, 0); // GPS
108
            } else {
109
                if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > 10 || naviData.CurrentPosition.Altitude / 1000 - altimeter_offset < -10) {
110
                    // above 10m only write full meters
111
                    write_ndigit_number_s(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 1000 - altimeter_offset), 4, 0); // GPS
112
                } else {
113
                    // up to 10m write meters.dm
114
                    write_ndigit_number_s_10th(23, top_line, (int16_t)(naviData.CurrentPosition.Altitude / 100 - altimeter_offset * 10), 3, 0); // GPS
115
                }
116
            }
117
        } else {
118
            if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
766 - 119
                write_ndigit_number_s(23, top_line, naviData.Altimeter / 10 * 32 / 20, 4, 0); // BARO
761 - 120
            } else {
800 - 121
                //cite:killagreg "Faktor 20 bis 21 w�re korrekt." (http://forum.mikrokopter.de/topic-post211192.html#post211192)
766 - 122
                if (naviData.Altimeter > 200 || naviData.Altimeter < -200) {
761 - 123
                    // above 10m only write full meters
766 - 124
                    write_ndigit_number_s(23, top_line, naviData.Altimeter / 20, 4, 0); // BARO
761 - 125
                } else {
126
                    // up to 10m write meters.dm
766 - 127
                    write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 2, 3, 0); // BARO
761 - 128
                }
129
            }
130
        }
757 cascade 131
 
459 cascade 132
 
761 - 133
        // seccond line
134
        draw_compass(11, top_line + 1, naviData.CompassHeading);
465 cascade 135
 
761 - 136
        // TODO: verify correctness
137
        uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
138
        //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
139
        // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
140
        write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
728 cascade 141
 
761 - 142
        if (COSD_FLAGS_CONFIG & COSD_FLAG_FEET) {
143
            // feet
144
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10 * 32 / 10, 4, 0);
145
        } else {
146
            write_ndigit_number_u(23, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 4, 0);
147
        }
459 cascade 148
 
761 - 149
        // center
783 - 150
        if (naviData.FCFlags & FCFLAG_MOTOR_RUN) { // should be engines running
151
            if (!(old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just started, clear middle
761 - 152
                clear();
809 - 153
                // remember current heigth for offsets
154
                if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
155
                    altimeter_offset = naviData.CurrentPosition.Altitude / 1000; // GPS
156
                } else {
157
                    altimeter_offset = naviData.Altimeter / 20; // BARO
158
                }
761 - 159
                // set wasted counter to current offset
160
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
161
                    wasted_ampere_offset = ampere_wasted / 10;
162
                } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
163
                    wasted_ampere_offset = naviData.UsedCapacity;
164
                }
165
                // update flags to paint display again if needed
166
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
167
            }
168
            if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // horizon
169
                uint8_t horizon_bottom = bottom_line - 1;
170
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
171
                    horizon_bottom--;
172
                }
173
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
174
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
175
                } else {
176
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
177
                }
178
            }
179
            // motors are on, assume we were/are flying
180
            COSD_FLAGS_RUNTIME |= COSD_WASFLYING;
181
        } else {
783 - 182
            if ((old_MKFlags & FCFLAG_MOTOR_RUN)) { // motors just stopped
761 - 183
                clear(); // clear whole screen in case there is horizon stuff left
184
                // update flags to paint display again if needed
185
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
186
            }
187
            // stats
188
            if ((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)) {
902 - 189
                draw_stats();
761 - 190
            } else if (COSD_FLAGS_MODES & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
191
                uint8_t horizon_bottom = bottom_line - 1;
192
                if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) || (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
193
                    horizon_bottom--;
194
                }
195
                if (COSD_FLAGS_MODES & COSD_FLAG_AGGRHORIZON) {
196
                    draw_agressiva_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
197
                } else {
198
                    draw_artificial_horizon(top_line + 2, horizon_bottom, naviData.AngleNick, naviData.AngleRoll);
199
                }
200
            }
201
        }
902 - 202
 
203
        // show coords only when configure AND stats are off OR stats are on and motors are off
204
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_COORDS)
205
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
206
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
207
            write_gps_pos(15, bottom_line - 2, naviData.CurrentPosition.Longitude);
208
            write_gps_pos(15, bottom_line - 1, naviData.CurrentPosition.Latitude);
209
        }
210
 
761 - 211
        if (COSD_FLAGS_MODES & COSD_FLAG_BIGVARIO) {
212
            draw_big_variometer(27, 8, naviData.Variometer);
213
        }
459 cascade 214
 
761 - 215
        // pre-bottom line
216
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
217
            //write_ndigit_number_s(3, bottom_line - 1, ampere, 4, 0);
800 - 218
            write_ndigit_number_u_10th(2, bottom_line - 1, ampere / 10, 4, 0);
761 - 219
            write_ndigit_number_s(10, bottom_line - 1, ampere_wasted / 10, 4, 0);
826 - 220
 
761 - 221
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
800 - 222
            write_ndigit_number_u_10th(2, bottom_line - 1, naviData.Current, 4, 0);
761 - 223
            write_ndigit_number_u(10, bottom_line - 1, naviData.UsedCapacity, 4, 0);
224
        }
826 - 225
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && COSD_FLAGS_MODES & COSD_FLAG_STROMVOLT) {
226
            write_ndigit_number_u_10th(17, bottom_line - 1, s_volt, 3, 0);
227
        }
761 - 228
        //DEBUGwrite_ndigit_number_u(1, 5, COSD_FLAGS_MODES, 3, 0);
229
 
230
        // bottom line
231
        draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
232
        write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 3, 0);
233
        if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
234
            for (uint8_t x = 2; x < 8; x++)
235
                write_char_att_xy(x, bottom_line, BLINK);
236
        } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
237
            for (uint8_t x = 2; x < 8; x++)
238
                write_char_att_xy(x, bottom_line, 0);
239
        }
240
 
241
        write_time(8, bottom_line, uptime);
242
        write_time(15, bottom_line, naviData.FlyingTime);
243
 
244
        write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 2, 0);
835 - 245
        // blink GPS in case no fix... 
246
        if (!(naviData.NCFlags & NC_FLAG_GPS_OK) && ((old_NCFlags & NC_FLAG_GPS_OK) || old_NCFlags == 0)) {
832 - 247
            for (uint8_t x = 24; x < 28; x++)
248
                write_char_att_xy(x, bottom_line, BLINK);
249
        } else if ((naviData.NCFlags & NC_FLAG_GPS_OK) && !(old_NCFlags & NC_FLAG_GPS_OK)) {
250
            for (uint8_t x = 24; x < 28; x++)
251
                write_char_att_xy(x, bottom_line, 0);
252
        }
761 - 253
 
254
        if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
255
            write_char_xy(23, bottom_line, 0xB3); // rc transmitter
256
        } else {
257
            write_char_xy(23, bottom_line, 0); // clear
258
        }
259
 
260
        if (naviData.NCFlags & NC_FLAG_CH) {
261
            write_char_xy(27, bottom_line, 231); // gps ch
262
        } else if (naviData.NCFlags & NC_FLAG_PH) {
263
            write_char_xy(27, bottom_line, 230); // gps ph
264
        } else { // (naviData.NCFlags & NC_FLAG_FREE)
265
            write_char_xy(27, bottom_line, 201); // sat2 (free)
266
        }
837 - 267
 
902 - 268
        // after all, draw scope WHEN configured AND flying OR Stats are off
269
        if ((COSD_FLAGS_CONFIG & COSD_FLAG_SHOW_SCOPE)
270
            && ((naviData.FCFlags & FCFLAG_MOTOR_RUN)
271
            || !((COSD_FLAGS_RUNTIME & COSD_WASFLYING) && (COSD_FLAGS_MODES & COSD_FLAG_STATS)))) {
837 - 272
            draw_scope();
273
        }
761 - 274
    }
275
 
276
    //write_number_s(8, 5, RxDataLen);
277
    //write_number_s(16, 5, setsReceived++);
278
 
279
    // remember statistics (only when engines running)
783 - 280
    if (naviData.FCFlags & FCFLAG_MOTOR_RUN) {
761 - 281
        if (COSD_FLAGS_CONFIG & COSD_FLAG_GPSHEIGHT) {
282
            if (naviData.CurrentPosition.Altitude / 1000 - altimeter_offset > max_Altimeter) max_Altimeter = naviData.CurrentPosition.Altitude / 1000;
283
        } else {
772 - 284
            if (naviData.Altimeter / 20 > max_Altimeter) max_Altimeter = naviData.Altimeter / 20;
761 - 285
        }
286
        if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
287
        if (naviData.HomePositionDeviation.Distance > max_Distance) {
288
            max_Distance = naviData.HomePositionDeviation.Distance;
289
        }
290
        if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
291
        if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
292
        if ((COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC) && !(COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT)) {
293
            if (ampere > max_ampere) max_ampere = ampere;
294
        } else if (COSD_FLAGS_MODES & COSD_FLAG_FCCURRENT) {
295
            if (naviData.Current * 10 > max_ampere) max_ampere = naviData.Current * 10;
296
        }
297
    }
298
 
299
    // remember last values
300
    last_RC_Quality = rc_signal;
301
    last_UBat = naviData.UBat;
302
    old_MKFlags = naviData.FCFlags;
832 - 303
    old_NCFlags = naviData.NCFlags;
761 - 304
    seconds_since_last_data = 0;
305
 
306
    return 0;
459 cascade 307
}
308
 
497 cascade 309
#endif