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Rev | Author | Line No. | Line |
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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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346 | cascade | 31 | #include <avr/pgmspace.h> |
32 | #include "main.h" |
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33 | #include "max7456_software_spi.h" |
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331 | cascade | 34 | #include "usart1.h" |
321 | cascade | 35 | |
36 | /* TODO: |
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37 | * - verifiy correctness of values |
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324 | cascade | 38 | * - clean up code :) |
321 | cascade | 39 | */ |
40 | |||
329 | cascade | 41 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
346 | cascade | 42 | // data structs not needed for character flashin |
331 | cascade | 43 | #include "mk-data-structs.h" |
321 | cascade | 44 | |
45 | /* ########################################################################## |
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46 | * global definitions and global vars |
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47 | * ##########################################################################*/ |
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346 | cascade | 48 | |
321 | cascade | 49 | volatile uint16_t setsReceived = 0; |
50 | |||
51 | volatile NaviData_t naviData; |
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52 | volatile DebugOut_t debugData; |
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53 | |||
54 | // cache old vars for blinking attribute, checkup is faster than full |
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55 | // attribute write each time |
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56 | volatile uint8_t last_UBat = 255; |
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57 | volatile uint8_t last_RC_Quality = 255; |
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58 | |||
59 | // 16bit should be enough, normal LiPos don't last that long |
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60 | volatile uint16_t uptime = 0; |
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61 | volatile uint16_t timer = 0; |
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62 | |||
331 | cascade | 63 | // remember last time data was received |
64 | volatile uint8_t seconds_since_last_data = 0; |
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65 | |||
346 | cascade | 66 | // store stats description in progmem to save space |
67 | char stats_item_0[] PROGMEM = "max Altitude:"; |
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68 | char stats_item_1[] PROGMEM = "max Speed :"; |
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69 | char stats_item_2[] PROGMEM = "max Distance:"; |
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70 | char stats_item_3[] PROGMEM = "min voltage :"; |
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71 | char stats_item_4[] PROGMEM = "max time :"; |
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72 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, stats_item_3, stats_item_4}; |
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73 | |||
74 | // store more fixed strings in progmen |
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75 | char ON[] PROGMEM = "ON "; |
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76 | char OFF[] PROGMEM = "OFF"; |
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77 | |||
329 | cascade | 78 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
326 | cascade | 79 | |
80 | // general PAL|NTSC distingiusch stuff |
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81 | uint8_t top_line = 1; |
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82 | uint8_t bottom_line = 14; |
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83 | |||
84 | // Flags |
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85 | uint8_t COSD_FLAGS = 0; |
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86 | |||
321 | cascade | 87 | /* ########################################################################## |
326 | cascade | 88 | * debounce buttons |
89 | * ##########################################################################*/ |
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90 | int s1_pressed() { |
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91 | if (S1_PRESSED) { |
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92 | _delay_ms(25); |
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93 | if (S1_PRESSED) return 1; |
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94 | } |
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95 | return 0; |
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96 | } |
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97 | |||
98 | int s2_pressed() { |
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99 | if (S2_PRESSED) { |
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100 | _delay_ms(25); |
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101 | if (S2_PRESSED) return 1; |
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102 | } |
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103 | return 0; |
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104 | } |
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105 | |||
321 | cascade | 106 | |
329 | cascade | 107 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 108 | |
109 | /** |
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331 | cascade | 110 | * serial support |
321 | cascade | 111 | */ |
346 | cascade | 112 | //#include "usart1.c" |
321 | cascade | 113 | |
114 | |||
115 | /* ########################################################################## |
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116 | * timer stuff |
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117 | * ##########################################################################*/ |
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118 | |||
331 | cascade | 119 | /** |
120 | * timer kicks in every 1000uS ^= 1ms |
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321 | cascade | 121 | */ |
122 | ISR(TIMER0_OVF_vect) { |
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123 | OCR0 = 6; // preload |
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124 | if (!timer--) { |
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125 | uptime++; |
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126 | timer = 999; |
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331 | cascade | 127 | seconds_since_last_data++; |
321 | cascade | 128 | } |
129 | } |
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130 | |||
131 | /* ########################################################################## |
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132 | * compass stuff |
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133 | * ##########################################################################*/ |
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134 | |||
135 | /** |
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136 | * convert the <heading> gotton from NC into an index |
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137 | */ |
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138 | uint8_t heading_conv(uint16_t heading) { |
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139 | if (heading > 23 && heading < 68) { |
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140 | //direction = "NE"; |
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141 | return 0; |
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142 | } else if (heading > 67 && heading < 113) { |
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143 | //direction = "E "; |
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144 | return 1; |
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145 | } else if (heading > 112 && heading < 158) { |
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146 | //direction = "SE"; |
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147 | return 2; |
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148 | } else if (heading > 157 && heading < 203) { |
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149 | //direction = "S "; |
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150 | return 3; |
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151 | } else if (heading > 202 && heading < 248) { |
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152 | //direction = "SW"; |
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153 | return 4; |
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154 | } else if (heading > 247 && heading < 293) { |
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155 | //direction = "W "; |
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156 | return 5; |
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157 | } else if (heading > 292 && heading < 338) { |
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158 | //direction = "NW"; |
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159 | return 6; |
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160 | } |
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161 | //direction = "N "; |
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162 | return 7; |
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163 | } |
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164 | |||
165 | /** |
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166 | * draw a compass rose at <x>/<y> for <heading> |
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167 | */ |
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168 | void draw_compass(uint8_t x, uint8_t y, uint16_t heading) { |
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169 | //char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W"; |
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170 | char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212, |
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171 | 216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213, |
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172 | 216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211, |
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173 | 216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214}; |
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174 | // the center is char 19 (north), we add the current heading in 8th |
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175 | // which would be 22.5 degrees, but float would bloat up the code |
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176 | // and *10 / 225 would take ages... so we take the uncorrect way |
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177 | uint8_t front = 19 + (heading / 22); |
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178 | for (uint8_t i = 0; i < 9; i++) { |
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179 | write_char_xy(x++, y, rose[front - 4 + i]); |
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180 | } |
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181 | } |
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182 | |||
183 | /* ########################################################################## |
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184 | * artificial horizon |
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185 | * ##########################################################################*/ |
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186 | // remember last time displayed values |
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187 | int8_t old_af_x = -1, old_af_y = -1; |
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188 | |||
189 | /** |
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190 | * draw roll und nick indicators (could be enhanced to full artificial horizon) |
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191 | * from line <firstline> to <listlines> for given <nick> and <roll> values |
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192 | */ |
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193 | void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) { |
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194 | char noodle[5] = {225, 225, 226, 227, 227}; |
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195 | uint8_t center_x = 15; |
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196 | uint8_t center_y = lastline - firstline; |
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197 | center_y = 7; |
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198 | write_char_xy(center_x,center_y,228); |
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199 | uint8_t cpos, nicky, rollx; |
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200 | |||
201 | // which line |
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202 | int8_t ypos = nick / 20; |
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203 | // which character from the array? |
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204 | if (nick < 0) { |
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205 | cpos = -1*((nick - (ypos * 20))/4); |
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206 | ypos--; |
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207 | } else cpos = 4-((nick - (ypos * 20))/4); |
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208 | if (cpos > 4) cpos = 4; |
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209 | |||
210 | nicky = center_y - ypos; |
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211 | if (nicky > lastline) nicky = lastline; |
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212 | else if (nicky < firstline) nicky = firstline; |
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213 | |||
214 | // ensure roll-borders |
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215 | rollx = (roll / 8)+15; |
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216 | if (rollx < 2) rollx = 2; |
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217 | else if (rollx > 28) rollx = 28; |
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218 | |||
219 | |||
220 | // clear roll |
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221 | if (old_af_x != rollx && old_af_x >= 0) { |
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222 | write_char_xy(old_af_x,13,0); |
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223 | } |
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224 | |||
225 | // clear nick |
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226 | if (old_af_y != nicky && old_af_y >= 0) { |
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227 | write_char_xy(center_x-1,old_af_y,0); |
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228 | write_char_xy(center_x+1,old_af_y,0); |
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229 | } |
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230 | |||
231 | |||
232 | // draw nick |
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233 | write_char_xy(center_x-1,nicky,noodle[cpos]); |
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234 | write_char_xy(center_x+1,nicky,noodle[cpos]); |
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235 | |||
236 | // draw roll |
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237 | write_char_xy(rollx,lastline,229); |
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238 | |||
239 | // update old vars |
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240 | old_af_x = rollx; |
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241 | old_af_y = nicky; |
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242 | |||
243 | // debug numbers |
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244 | //write_3digit_number_u(20,6,cpos); |
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245 | //write_number_s(20,7,ypos); |
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246 | //write_number_s(0,7,nick); |
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247 | //write_number_s(18,11,roll); |
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248 | } |
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249 | |||
326 | cascade | 250 | /* ########################################################################## |
251 | * A simple config menu for the flags |
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252 | * ##########################################################################*/ |
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339 | cascade | 253 | |
254 | /** |
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255 | * helper function for menu updating |
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256 | */ |
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257 | void config_menu_drawings(uint8_t chosen) { |
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258 | // clear prevoius _cursor_ |
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346 | cascade | 259 | write_ascii_string(3, (chosen + 6) % 7, " "); |
339 | cascade | 260 | // draw current _cursor_ |
261 | write_ascii_string(3, chosen + 6, ">"); |
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262 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
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346 | cascade | 263 | write_ascii_string_pgm(23, 6, ON); |
339 | cascade | 264 | } else { |
346 | cascade | 265 | write_ascii_string_pgm(23, 6, OFF); |
339 | cascade | 266 | } |
267 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
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346 | cascade | 268 | write_ascii_string_pgm(23, 7, ON); |
339 | cascade | 269 | } else { |
346 | cascade | 270 | write_ascii_string_pgm(23, 7, OFF); |
339 | cascade | 271 | } |
272 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
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346 | cascade | 273 | write_ascii_string_pgm(23, 8, ON); |
339 | cascade | 274 | } else { |
346 | cascade | 275 | write_ascii_string_pgm(23, 8, OFF); |
339 | cascade | 276 | } |
277 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
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346 | cascade | 278 | write_ascii_string_pgm(23, 9, ON); |
339 | cascade | 279 | } else { |
346 | cascade | 280 | write_ascii_string_pgm(23, 9, OFF); |
339 | cascade | 281 | } |
282 | } |
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283 | |||
284 | /** |
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346 | cascade | 285 | * some sort of clicking response in the menu |
286 | */ |
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287 | void config_menu_doclick(uint8_t chosen, char** menu) { |
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288 | write_ascii_string(4, chosen + 6, "DONE "); |
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289 | _delay_ms(1000); |
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290 | write_ascii_string(4, chosen + 6, menu[chosen]); |
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291 | } |
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292 | |||
293 | /** |
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339 | cascade | 294 | * a simple config menu tryout |
295 | */ |
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326 | cascade | 296 | void config_menu(void) { |
297 | // disable interrupts (makes the menu more smoothely) |
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298 | cli(); |
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321 | cascade | 299 | |
326 | cascade | 300 | // clear screen |
301 | clear(); |
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302 | |||
346 | cascade | 303 | char* menu[8] = {"Full HUD", |
339 | cascade | 304 | "Art.Horizon in HUD", |
305 | "Statistics", |
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306 | "Warnings", // TODO: do it! |
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346 | cascade | 307 | "Reset uptime", |
308 | "Request OSD-data", |
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309 | "Disable Debug-data", |
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339 | cascade | 310 | "EXIT"}; |
326 | cascade | 311 | |
312 | uint8_t inmenu = 1; |
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313 | uint8_t chosen = 0; |
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339 | cascade | 314 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
326 | cascade | 315 | |
316 | // wait a bit before doing stuff so user has chance to release button |
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317 | _delay_ms(250); |
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318 | |||
339 | cascade | 319 | write_ascii_string(4, 6, menu[0]); |
320 | write_ascii_string(4, 7, menu[1]); |
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321 | write_ascii_string(4, 8, menu[2]); |
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322 | write_ascii_string(4, 9, menu[3]); |
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323 | write_ascii_string(4, 10, menu[4]); |
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346 | cascade | 324 | write_ascii_string(4, 11, menu[5]); |
325 | write_ascii_string(4, 12, menu[6]); |
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326 | write_ascii_string(4, 13, menu[7]); |
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339 | cascade | 327 | |
328 | config_menu_drawings(chosen); |
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329 | |||
326 | cascade | 330 | while (inmenu) { |
331 | if (s2_pressed()) { |
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339 | cascade | 332 | write_ascii_string(3, chosen+6, " "); |
346 | cascade | 333 | chosen = (chosen + 1) % 8; |
339 | cascade | 334 | write_ascii_string(3, chosen+6, ">"); |
326 | cascade | 335 | _delay_ms(500); |
336 | } else if (s1_pressed()) { |
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337 | switch (chosen) { |
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339 | cascade | 338 | case 0: // full HUD |
339 | COSD_FLAGS ^= COSD_FLAG_HUD; |
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340 | config_menu_drawings(chosen); |
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326 | cascade | 341 | break; |
339 | cascade | 342 | case 1: // art horizon |
343 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
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344 | config_menu_drawings(chosen); |
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326 | cascade | 345 | break; |
339 | cascade | 346 | case 2: // statistics |
347 | COSD_FLAGS ^= COSD_FLAG_STATS; |
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348 | config_menu_drawings(chosen); |
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326 | cascade | 349 | break; |
339 | cascade | 350 | case 3: // warnings |
351 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
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352 | config_menu_drawings(chosen); |
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353 | break; |
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346 | cascade | 354 | case 4: // reset uptime |
355 | uptime = 0; |
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356 | config_menu_doclick(chosen, menu); |
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357 | break; |
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358 | case 5: // re-request OSD data |
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359 | // request OSD Data from NC every 100ms |
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360 | usart1_request_mk_data(1, 'o', 100); |
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361 | config_menu_doclick(chosen, menu); |
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362 | break; |
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363 | case 6: // disable debug data |
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364 | // disable sending of debug data |
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365 | // may result in smoother ddata display |
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366 | usart1_request_mk_data(0, 'd', 0); |
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367 | config_menu_doclick(chosen, menu); |
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368 | break; |
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369 | case 7: // exit |
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339 | cascade | 370 | inmenu = 0; |
371 | break; |
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326 | cascade | 372 | } |
339 | cascade | 373 | _delay_ms(250); |
326 | cascade | 374 | } |
375 | } |
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376 | |||
377 | // clear screen up again |
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378 | clear(); |
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379 | |||
380 | // update flags to paint display again if needed |
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381 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
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382 | |||
383 | // enable interrupts again |
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384 | sei(); |
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385 | } |
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386 | |||
329 | cascade | 387 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 388 | /* ########################################################################## |
389 | * MAIN |
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390 | * ##########################################################################*/ |
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391 | int main(void) { |
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339 | cascade | 392 | // set up FLAGS, compiler should flatten this one |
393 | COSD_FLAGS = (NTSC << 0); |
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394 | COSD_FLAGS |= (HUD << 1); |
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395 | COSD_FLAGS |= (ARTHORIZON << 2); |
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396 | COSD_FLAGS |= (STATS << 3); |
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397 | COSD_FLAGS |= (WARNINGS << 4); |
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324 | cascade | 398 | |
339 | cascade | 399 | // set up Atmega162 Ports |
321 | cascade | 400 | DDRA |= (1 << PA1); // PA1 output (/CS) |
401 | MAX_CS_HIGH |
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402 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
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403 | MAX_SDIN_LOW |
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404 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
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405 | MAX_SCLK_LOW |
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406 | DDRA |= (1 << PA5); // PA5 output (RESET) |
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407 | MAX_RESET_HIGH |
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408 | |||
409 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
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410 | LED1_OFF |
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411 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
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412 | LED2_OFF |
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413 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
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414 | LED3_OFF |
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415 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
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416 | LED4_OFF |
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417 | |||
418 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
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419 | PORTC |= (1 << PC4); // pullup |
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420 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
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421 | PORTC |= (1 << PC5); // pullup |
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422 | |||
339 | cascade | 423 | // set up top and bottom lines |
424 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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425 | bottom_line = 12; |
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426 | } else { |
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427 | bottom_line = 14; |
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428 | } |
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326 | cascade | 429 | |
339 | cascade | 430 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 431 | MAX_RESET_LOW |
432 | MAX_RESET_HIGH |
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433 | |||
434 | // give the FC/NC and the maxim time to come up |
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435 | LED4_ON |
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436 | _delay_ms(2000); |
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437 | |||
438 | LED4_OFF |
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439 | |||
331 | cascade | 440 | |
339 | cascade | 441 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 442 | #if (WRITECHARS != -1) |
339 | cascade | 443 | // DISABLE display (VM0) |
321 | cascade | 444 | spi_send_byte(0x00, 0b00000000); |
339 | cascade | 445 | #include "characters.c" |
321 | cascade | 446 | |
331 | cascade | 447 | #endif |
321 | cascade | 448 | |
339 | cascade | 449 | // Setup Video Mode |
450 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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451 | // NTSC + enable display immediately (VM0) |
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452 | spi_send_byte(0x00, 0b00001000); |
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453 | } else { |
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454 | // PAL + enable display immediately (VM0) |
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455 | spi_send_byte(0x00, 0b01001000); |
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456 | } |
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321 | cascade | 457 | |
458 | // clear all display-mem (DMM) |
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459 | spi_send_byte(0x04, 0b00000100); |
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460 | |||
461 | // clearing takes 12uS according to maxim so lets wait longer |
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462 | _delay_us(120); |
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463 | |||
464 | // 8bit mode |
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465 | spi_send_byte(0x04, 0b01000000); |
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466 | |||
467 | // write blank chars to whole screen |
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468 | clear(); |
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469 | |||
329 | cascade | 470 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 471 | // init usart |
472 | usart1_init(); |
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473 | |||
474 | // set up timer |
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475 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
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476 | OCR0 = 6; // preload |
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477 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
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478 | |||
326 | cascade | 479 | // enable interrupts |
321 | cascade | 480 | sei(); |
481 | #endif |
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482 | |||
483 | //write_ascii_string(2, 7, " CaScAdE "); |
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484 | //write_ascii_string(2, 8, "is TESTING his open source"); |
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485 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
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486 | |||
487 | // custom char preview |
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488 | /*write_char_xy( 2, 7, 200); |
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489 | write_char_xy( 3, 7, 201); |
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490 | write_char_xy( 4, 7, 202); |
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491 | write_char_xy( 5, 7, 203); |
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492 | write_char_xy( 6, 7, 204); |
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493 | write_char_xy( 7, 7, 205); |
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494 | write_char_xy( 8, 7, 206); |
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495 | write_char_xy( 9, 7, 207); |
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496 | write_char_xy(10, 7, 208); |
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497 | write_char_xy(11, 7, 209); |
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498 | write_char_xy(12, 7, 210); |
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499 | write_char_xy(13, 7, 211); |
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500 | write_char_xy(14, 7, 212); |
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501 | write_char_xy(15, 7, 213); |
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502 | write_char_xy(16, 7, 214); |
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503 | write_char_xy(17, 7, 215);*/ |
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504 | |||
505 | // we are ready |
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506 | LED3_ON |
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507 | |||
508 | |||
509 | |||
329 | cascade | 510 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
321 | cascade | 511 | clear(); |
512 | write_all_chars(); |
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513 | #else |
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339 | cascade | 514 | // clear serial screen |
515 | //usart1_puts("\x1B[2J\x1B[H"); |
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516 | //usart1_puts("hello world!\r\n"); |
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321 | cascade | 517 | |
339 | cascade | 518 | |
346 | cascade | 519 | // request data ever 100ms from FC; |
520 | //usart1_request_mk_data(0, 'd', 100); |
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339 | cascade | 521 | |
522 | // request OSD Data from NC every 100ms |
||
346 | cascade | 523 | usart1_request_mk_data(1, 'o', 100); |
524 | |||
339 | cascade | 525 | // and disable debug... |
346 | cascade | 526 | //usart1_request_mk_data(0, 'd', 0); |
321 | cascade | 527 | |
339 | cascade | 528 | // disable TXD-pin |
529 | usart1_DisableTXD(); |
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331 | cascade | 530 | |
339 | cascade | 531 | // stats for after flight |
532 | int16_t max_Altimeter = 0; |
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533 | uint16_t max_GroundSpeed = 0; |
||
534 | int16_t max_Distance = 0; |
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535 | uint8_t min_UBat = 255; |
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536 | uint16_t max_FlyingTime = 0; |
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321 | cascade | 537 | |
339 | cascade | 538 | // flags from last round to check for changes |
539 | uint8_t old_MKFlags = 0; |
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540 | |||
321 | cascade | 541 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
339 | cascade | 542 | char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
321 | cascade | 543 | |
349 | cascade | 544 | /*write_ndigit_number_s_10th(5, 10, 1, 100, 0); |
545 | write_ndigit_number_s_10th(5, 11, -1, 100, 0); |
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546 | write_ndigit_number_s_10th(5, 12, -11, 100, 0);*/ |
||
547 | |||
321 | cascade | 548 | while (1) { |
339 | cascade | 549 | // write icons at init or after menu/mode-switch |
550 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) { |
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551 | write_char_xy(5, top_line, 203); // km/h |
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552 | write_char_xy(10, top_line, 202); // RC-transmitter |
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553 | write_char_xy(16, top_line, 208); // degree symbol |
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554 | write_char_xy(27, top_line, 204); // small meters m |
||
555 | write_ascii_string(6, bottom_line, "V"); // voltage |
||
556 | write_char_xy(14, bottom_line, 209); // on clock |
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557 | write_char_xy(22, bottom_line, 210); // fly clock |
||
558 | write_char_xy(26, bottom_line, 200); // sat1 |
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559 | write_char_xy(27, bottom_line, 201); // sat2 |
||
560 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
||
561 | } |
||
321 | cascade | 562 | if (rxd_buffer_locked) { |
339 | cascade | 563 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
564 | if (rxd_buffer[2] == 'D') { // FC Data |
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565 | /*Decode64(); |
||
566 | debugData = *((DebugOut_t*) pRxData); |
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567 | write_number_s(12, 2, RxDataLen); |
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568 | write_number_s(20, 2, setsReceived++); |
||
569 | write_number_s(12, 3, debugData.Analog[0]); // AngleNick |
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570 | write_number_s(12, 4, debugData.Analog[1]); // AngleRoll |
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336 | cascade | 571 | write_number_s(12, 5, debugData.Analog[5]); // Height |
339 | cascade | 572 | write_number_s(12, 6, debugData.Analog[9]); // Voltage |
573 | write_number_s(12, 7, debugData.Analog[10]);// RC Signal |
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336 | cascade | 574 | write_number_s(12, 8, debugData.Analog[11]);// Gyro compass*/ |
339 | cascade | 575 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
576 | Decode64(); |
||
577 | naviData = *((NaviData_t*) pRxData); |
||
321 | cascade | 578 | |
339 | cascade | 579 | // first line |
349 | cascade | 580 | write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * 36) / 1000), 100, 0); |
321 | cascade | 581 | |
349 | cascade | 582 | write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0); |
339 | cascade | 583 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
584 | for (uint8_t x = 0; x < 4; x++) |
||
585 | write_char_att_xy(7 + x, top_line, BLINK); |
||
586 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
||
587 | for (uint8_t x = 0; x < 4; x++) |
||
588 | write_char_att_xy(7 + x, top_line, 0); |
||
589 | } |
||
590 | last_RC_Quality = naviData.RC_Quality; |
||
321 | cascade | 591 | |
349 | cascade | 592 | write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0); |
321 | cascade | 593 | |
339 | cascade | 594 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
321 | cascade | 595 | |
339 | cascade | 596 | if (naviData.Variometer == 0) { |
597 | write_char_xy(20, top_line, 206); // plain line |
||
598 | } else if (naviData.Variometer > 0 && naviData.Variometer <= 10) { |
||
599 | write_char_xy(20, top_line, 234); // small arrow up |
||
600 | } else if (naviData.Variometer > 10) { |
||
601 | write_char_xy(20, top_line, 235); // big arrow up |
||
602 | } else if (naviData.Variometer < 0 && naviData.Variometer >= -10) { |
||
603 | write_char_xy(20, top_line, 232); // small arrow down |
||
604 | } else { |
||
605 | write_char_xy(20, top_line, 233); //big arrow down |
||
606 | } |
||
321 | cascade | 607 | |
339 | cascade | 608 | //note:lephisto:according to several sources it's /30 |
349 | cascade | 609 | if (naviData.Altimeter > 300 || naviData.Altimeter < -300) { |
339 | cascade | 610 | // above 10m only write full meters |
349 | cascade | 611 | write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0); |
339 | cascade | 612 | } else { |
613 | // up to 10m write meters.dm |
||
349 | cascade | 614 | //write_number_u_10th(21, top_line, naviData.Altimeter / 3); |
615 | write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0); |
||
339 | cascade | 616 | } |
321 | cascade | 617 | |
339 | cascade | 618 | // seccond line |
619 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
||
321 | cascade | 620 | |
339 | cascade | 621 | // TODO: verify correctness |
622 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
||
623 | write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]); |
||
321 | cascade | 624 | |
349 | cascade | 625 | write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 100, 100, 0); |
321 | cascade | 626 | |
339 | cascade | 627 | // center |
628 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
||
629 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
||
630 | clear(); |
||
631 | // update flags to paint display again if needed |
||
632 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
||
633 | } |
||
634 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
||
635 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
||
636 | } |
||
637 | } else { |
||
336 | cascade | 638 | // stats |
339 | cascade | 639 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
346 | cascade | 640 | write_ascii_string_pgm(2, 5, stats_item_pointers[0]); // max Altitude |
349 | cascade | 641 | write_ndigit_number_s(18, 5, max_Altimeter / 30, 1000, 0); |
339 | cascade | 642 | write_char_xy(22, 5, 204); // small meters m |
346 | cascade | 643 | write_ascii_string_pgm(2, 6, stats_item_pointers[1]); // max Speed |
349 | cascade | 644 | write_ndigit_number_u(19, 6, (uint16_t) (((uint32_t) max_GroundSpeed * 36) / 1000), 100, 0); |
339 | cascade | 645 | write_char_xy(22, 6, 203); // km/h |
346 | cascade | 646 | write_ascii_string_pgm(2, 7, stats_item_pointers[2]); // max Distance |
349 | cascade | 647 | write_ndigit_number_u(19, 7, max_Distance / 100, 100, 0); |
339 | cascade | 648 | write_char_xy(22, 7, 204); // small meters m |
346 | cascade | 649 | write_ascii_string_pgm(2, 8, stats_item_pointers[3]); // min voltage |
349 | cascade | 650 | write_ndigit_number_u_10th(18, 8, min_UBat, 100, 0); |
339 | cascade | 651 | write_ascii_string(22, 8, "V"); // voltage |
346 | cascade | 652 | write_ascii_string_pgm(2, 9, stats_item_pointers[4]); // max time |
339 | cascade | 653 | write_time(16, 9, max_FlyingTime); |
654 | write_char_xy(22, 9, 210); // fly clock |
||
655 | } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
||
656 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
||
657 | } |
||
658 | } |
||
321 | cascade | 659 | |
339 | cascade | 660 | // bottom line |
349 | cascade | 661 | write_ndigit_number_u_10th(2, bottom_line, naviData.UBat, 100, 0); |
339 | cascade | 662 | if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
663 | for (uint8_t x = 0; x < 7; x++) |
||
664 | write_char_att_xy(x, bottom_line, BLINK); |
||
665 | } else { |
||
666 | for (uint8_t x = 0; x < 7; x++) |
||
667 | write_char_att_xy(x, bottom_line, 0); |
||
668 | } |
||
321 | cascade | 669 | |
339 | cascade | 670 | write_time(8, bottom_line, uptime); |
671 | write_time(16, bottom_line, naviData.FlyingTime); |
||
321 | cascade | 672 | |
349 | cascade | 673 | write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0); |
321 | cascade | 674 | |
339 | cascade | 675 | if (naviData.NCFlags & NC_FLAG_CH) { |
676 | write_char_xy(27, bottom_line, 231); // gps ch |
||
677 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
||
678 | write_char_xy(27, bottom_line, 230); // gps ph |
||
679 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
||
680 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
||
681 | } |
||
321 | cascade | 682 | |
339 | cascade | 683 | //write_number_s(8, 5, RxDataLen); |
684 | //write_number_s(16, 5, setsReceived++); |
||
321 | cascade | 685 | |
339 | cascade | 686 | // remember statistics |
687 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
||
688 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
||
689 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
||
690 | max_Distance = naviData.HomePositionDeviation.Distance; |
||
691 | } |
||
692 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
||
693 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
||
694 | |||
695 | old_MKFlags = naviData.MKFlags; |
||
696 | } |
||
697 | } |
||
698 | seconds_since_last_data = 0; |
||
321 | cascade | 699 | rxd_buffer_locked = 0; |
700 | } |
||
701 | // handle keypress |
||
326 | cascade | 702 | if (s1_pressed()) { |
339 | cascade | 703 | config_menu(); |
321 | cascade | 704 | } |
339 | cascade | 705 | if (seconds_since_last_data > 2) { |
346 | cascade | 706 | // request OSD Data from NC every 100ms |
707 | usart1_request_mk_data(1, 'o', 100); |
||
708 | seconds_since_last_data = 0; |
||
339 | cascade | 709 | } |
321 | cascade | 710 | } |
711 | #endif |
||
712 | return 0; |
||
713 | } |