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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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" |
| 389 | cascade | 35 | #include "osd_helpers.h" |
| 321 | cascade | 36 | |
| 37 | /* TODO: |
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| 38 | * - verifiy correctness of values |
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| 324 | cascade | 39 | * - clean up code :) |
| 321 | cascade | 40 | */ |
| 41 | |||
| 329 | cascade | 42 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 346 | cascade | 43 | // data structs not needed for character flashin |
| 331 | cascade | 44 | #include "mk-data-structs.h" |
| 321 | cascade | 45 | |
| 46 | /* ########################################################################## |
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| 47 | * global definitions and global vars |
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| 48 | * ##########################################################################*/ |
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| 346 | cascade | 49 | |
| 321 | cascade | 50 | volatile uint16_t setsReceived = 0; |
| 51 | |||
| 52 | volatile NaviData_t naviData; |
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| 53 | volatile DebugOut_t debugData; |
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| 54 | |||
| 55 | // cache old vars for blinking attribute, checkup is faster than full |
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| 56 | // attribute write each time |
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| 57 | volatile uint8_t last_UBat = 255; |
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| 58 | volatile uint8_t last_RC_Quality = 255; |
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| 59 | |||
| 60 | // 16bit should be enough, normal LiPos don't last that long |
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| 61 | volatile uint16_t uptime = 0; |
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| 62 | volatile uint16_t timer = 0; |
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| 63 | |||
| 331 | cascade | 64 | // remember last time data was received |
| 65 | volatile uint8_t seconds_since_last_data = 0; |
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| 66 | |||
| 346 | cascade | 67 | // store stats description in progmem to save space |
| 68 | char stats_item_0[] PROGMEM = "max Altitude:"; |
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| 69 | char stats_item_1[] PROGMEM = "max Speed :"; |
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| 70 | char stats_item_2[] PROGMEM = "max Distance:"; |
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| 71 | char stats_item_3[] PROGMEM = "min voltage :"; |
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| 72 | char stats_item_4[] PROGMEM = "max time :"; |
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| 379 | cascade | 73 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
| 74 | stats_item_3, stats_item_4}; |
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| 346 | cascade | 75 | |
| 76 | // store more fixed strings in progmen |
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| 379 | cascade | 77 | char ON[] PROGMEM = "ON "; |
| 346 | cascade | 78 | char OFF[] PROGMEM = "OFF"; |
| 79 | |||
| 329 | cascade | 80 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 326 | cascade | 81 | |
| 82 | // general PAL|NTSC distingiusch stuff |
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| 83 | uint8_t top_line = 1; |
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| 84 | uint8_t bottom_line = 14; |
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| 85 | |||
| 86 | // Flags |
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| 87 | uint8_t COSD_FLAGS = 0; |
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| 88 | |||
| 321 | cascade | 89 | /* ########################################################################## |
| 326 | cascade | 90 | * debounce buttons |
| 91 | * ##########################################################################*/ |
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| 92 | int s1_pressed() { |
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| 93 | if (S1_PRESSED) { |
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| 94 | _delay_ms(25); |
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| 95 | if (S1_PRESSED) return 1; |
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| 96 | } |
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| 97 | return 0; |
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| 98 | } |
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| 99 | |||
| 100 | int s2_pressed() { |
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| 101 | if (S2_PRESSED) { |
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| 102 | _delay_ms(25); |
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| 103 | if (S2_PRESSED) return 1; |
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| 104 | } |
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| 105 | return 0; |
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| 106 | } |
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| 107 | |||
| 389 | cascade | 108 | /* ########################################################################## |
| 109 | * Interrupt handler |
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| 110 | * ##########################################################################*/ |
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| 321 | cascade | 111 | /** |
| 389 | cascade | 112 | * handler for undefined Interrupts |
| 113 | * if not defined AVR will reset in case any unhandled interrupts occur |
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| 321 | cascade | 114 | */ |
| 389 | cascade | 115 | ISR(__vector_default) { |
| 116 | asm("nop"); |
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| 117 | } |
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| 321 | cascade | 118 | |
| 389 | cascade | 119 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 321 | cascade | 120 | /* ########################################################################## |
| 121 | * timer stuff |
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| 122 | * ##########################################################################*/ |
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| 331 | cascade | 123 | /** |
| 124 | * timer kicks in every 1000uS ^= 1ms |
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| 321 | cascade | 125 | */ |
| 126 | ISR(TIMER0_OVF_vect) { |
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| 385 | cascade | 127 | OCR0 = 15; // preload |
| 321 | cascade | 128 | if (!timer--) { |
| 129 | uptime++; |
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| 130 | timer = 999; |
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| 331 | cascade | 131 | seconds_since_last_data++; |
| 321 | cascade | 132 | } |
| 133 | } |
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| 134 | |||
| 135 | |||
| 136 | /* ########################################################################## |
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| 326 | cascade | 137 | * A simple config menu for the flags |
| 138 | * ##########################################################################*/ |
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| 339 | cascade | 139 | |
| 140 | /** |
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| 141 | * helper function for menu updating |
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| 142 | */ |
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| 143 | void config_menu_drawings(uint8_t chosen) { |
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| 144 | // clear prevoius _cursor_ |
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| 383 | cascade | 145 | write_ascii_string(3, (chosen + 5) % 8, " "); |
| 339 | cascade | 146 | // draw current _cursor_ |
| 383 | cascade | 147 | write_ascii_string(3, chosen + 5, ">"); |
| 339 | cascade | 148 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
| 383 | cascade | 149 | write_ascii_string_pgm(23, 5, ON); |
| 150 | } else { |
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| 151 | write_ascii_string_pgm(23, 5, OFF); |
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| 152 | } |
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| 153 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
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| 346 | cascade | 154 | write_ascii_string_pgm(23, 6, ON); |
| 339 | cascade | 155 | } else { |
| 383 | cascade | 156 | write_ascii_string_pgm(23, 6, OFF); |
| 339 | cascade | 157 | } |
| 383 | cascade | 158 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
| 346 | cascade | 159 | write_ascii_string_pgm(23, 7, ON); |
| 339 | cascade | 160 | } else { |
| 383 | cascade | 161 | write_ascii_string_pgm(23, 7, OFF); |
| 339 | cascade | 162 | } |
| 163 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
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| 346 | cascade | 164 | write_ascii_string_pgm(23, 8, ON); |
| 339 | cascade | 165 | } else { |
| 346 | cascade | 166 | write_ascii_string_pgm(23, 8, OFF); |
| 339 | cascade | 167 | } |
| 168 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
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| 346 | cascade | 169 | write_ascii_string_pgm(23, 9, ON); |
| 339 | cascade | 170 | } else { |
| 346 | cascade | 171 | write_ascii_string_pgm(23, 9, OFF); |
| 339 | cascade | 172 | } |
| 173 | } |
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| 174 | |||
| 175 | /** |
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| 346 | cascade | 176 | * some sort of clicking response in the menu |
| 177 | */ |
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| 178 | void config_menu_doclick(uint8_t chosen, char** menu) { |
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| 383 | cascade | 179 | write_ascii_string(4, chosen + 5, "DONE "); |
| 346 | cascade | 180 | _delay_ms(1000); |
| 383 | cascade | 181 | write_ascii_string(4, chosen + 5, menu[chosen]); |
| 346 | cascade | 182 | } |
| 183 | |||
| 184 | /** |
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| 339 | cascade | 185 | * a simple config menu tryout |
| 186 | */ |
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| 326 | cascade | 187 | void config_menu(void) { |
| 188 | // disable interrupts (makes the menu more smoothely) |
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| 189 | cli(); |
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| 321 | cascade | 190 | |
| 326 | cascade | 191 | // clear screen |
| 192 | clear(); |
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| 193 | |||
| 383 | cascade | 194 | char* menu[9] = {"Full HUD", |
| 339 | cascade | 195 | "Art.Horizon in HUD", |
| 383 | cascade | 196 | "Big Vario bar", |
| 339 | cascade | 197 | "Statistics", |
| 198 | "Warnings", // TODO: do it! |
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| 346 | cascade | 199 | "Reset uptime", |
| 200 | "Request OSD-data", |
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| 201 | "Disable Debug-data", |
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| 339 | cascade | 202 | "EXIT"}; |
| 326 | cascade | 203 | |
| 204 | uint8_t inmenu = 1; |
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| 205 | uint8_t chosen = 0; |
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| 339 | cascade | 206 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
| 326 | cascade | 207 | |
| 208 | // wait a bit before doing stuff so user has chance to release button |
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| 209 | _delay_ms(250); |
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| 210 | |||
| 383 | cascade | 211 | write_ascii_string(4, 5, menu[0]); |
| 212 | write_ascii_string(4, 6, menu[1]); |
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| 213 | write_ascii_string(4, 7, menu[2]); |
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| 214 | write_ascii_string(4, 8, menu[3]); |
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| 215 | write_ascii_string(4, 9, menu[4]); |
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| 216 | write_ascii_string(4, 10, menu[5]); |
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| 217 | write_ascii_string(4, 11, menu[6]); |
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| 218 | write_ascii_string(4, 12, menu[7]); |
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| 219 | write_ascii_string(4, 13, menu[8]); |
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| 339 | cascade | 220 | |
| 221 | config_menu_drawings(chosen); |
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| 222 | |||
| 326 | cascade | 223 | while (inmenu) { |
| 224 | if (s2_pressed()) { |
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| 383 | cascade | 225 | write_ascii_string(3, chosen+5, " "); |
| 226 | chosen = (chosen + 1) % 9; |
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| 227 | write_ascii_string(3, chosen+5, ">"); |
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| 326 | cascade | 228 | _delay_ms(500); |
| 229 | } else if (s1_pressed()) { |
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| 230 | switch (chosen) { |
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| 339 | cascade | 231 | case 0: // full HUD |
| 232 | COSD_FLAGS ^= COSD_FLAG_HUD; |
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| 233 | config_menu_drawings(chosen); |
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| 326 | cascade | 234 | break; |
| 339 | cascade | 235 | case 1: // art horizon |
| 236 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
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| 237 | config_menu_drawings(chosen); |
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| 326 | cascade | 238 | break; |
| 383 | cascade | 239 | case 2: // big vario |
| 240 | COSD_FLAGS ^= COSD_FLAG_BIGVARIO; |
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| 241 | config_menu_drawings(chosen); |
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| 242 | break; |
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| 243 | case 3: // statistics |
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| 339 | cascade | 244 | COSD_FLAGS ^= COSD_FLAG_STATS; |
| 245 | config_menu_drawings(chosen); |
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| 326 | cascade | 246 | break; |
| 383 | cascade | 247 | case 4: // warnings |
| 339 | cascade | 248 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
| 249 | config_menu_drawings(chosen); |
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| 250 | break; |
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| 383 | cascade | 251 | case 5: // reset uptime |
| 346 | cascade | 252 | uptime = 0; |
| 253 | config_menu_doclick(chosen, menu); |
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| 254 | break; |
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| 383 | cascade | 255 | case 6: // re-request OSD data |
| 346 | cascade | 256 | // request OSD Data from NC every 100ms |
| 257 | usart1_request_mk_data(1, 'o', 100); |
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| 258 | config_menu_doclick(chosen, menu); |
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| 259 | break; |
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| 383 | cascade | 260 | case 7: // disable debug data |
| 346 | cascade | 261 | // disable sending of debug data |
| 262 | // may result in smoother ddata display |
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| 263 | usart1_request_mk_data(0, 'd', 0); |
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| 264 | config_menu_doclick(chosen, menu); |
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| 265 | break; |
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| 383 | cascade | 266 | case 8: // exit |
| 339 | cascade | 267 | inmenu = 0; |
| 268 | break; |
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| 326 | cascade | 269 | } |
| 339 | cascade | 270 | _delay_ms(250); |
| 326 | cascade | 271 | } |
| 272 | } |
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| 273 | |||
| 274 | // clear screen up again |
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| 275 | clear(); |
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| 276 | |||
| 277 | // update flags to paint display again if needed |
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| 278 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
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| 279 | |||
| 280 | // enable interrupts again |
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| 281 | sei(); |
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| 282 | } |
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| 283 | |||
| 329 | cascade | 284 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 321 | cascade | 285 | /* ########################################################################## |
| 286 | * MAIN |
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| 287 | * ##########################################################################*/ |
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| 288 | int main(void) { |
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| 339 | cascade | 289 | // set up FLAGS, compiler should flatten this one |
| 290 | COSD_FLAGS = (NTSC << 0); |
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| 291 | COSD_FLAGS |= (HUD << 1); |
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| 292 | COSD_FLAGS |= (ARTHORIZON << 2); |
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| 383 | cascade | 293 | COSD_FLAGS |= (BIGVARIO << 3); |
| 294 | COSD_FLAGS |= (STATS << 4); |
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| 295 | COSD_FLAGS |= (WARNINGS << 5); |
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| 324 | cascade | 296 | |
| 339 | cascade | 297 | // set up Atmega162 Ports |
| 321 | cascade | 298 | DDRA |= (1 << PA1); // PA1 output (/CS) |
| 299 | MAX_CS_HIGH |
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| 300 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
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| 301 | MAX_SDIN_LOW |
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| 302 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
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| 303 | MAX_SCLK_LOW |
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| 304 | DDRA |= (1 << PA5); // PA5 output (RESET) |
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| 305 | MAX_RESET_HIGH |
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| 306 | |||
| 307 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
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| 308 | LED1_OFF |
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| 309 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
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| 310 | LED2_OFF |
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| 311 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
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| 312 | LED3_OFF |
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| 313 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
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| 314 | LED4_OFF |
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| 315 | |||
| 316 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
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| 317 | PORTC |= (1 << PC4); // pullup |
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| 318 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
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| 319 | PORTC |= (1 << PC5); // pullup |
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| 320 | |||
| 339 | cascade | 321 | // set up top and bottom lines |
| 322 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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| 323 | bottom_line = 12; |
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| 324 | } else { |
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| 325 | bottom_line = 14; |
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| 326 | } |
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| 326 | cascade | 327 | |
| 339 | cascade | 328 | // reset the MAX7456 to be sure any undefined states do no harm |
| 321 | cascade | 329 | MAX_RESET_LOW |
| 330 | MAX_RESET_HIGH |
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| 331 | |||
| 332 | // give the FC/NC and the maxim time to come up |
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| 333 | LED4_ON |
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| 334 | _delay_ms(2000); |
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| 335 | |||
| 336 | LED4_OFF |
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| 337 | |||
| 331 | cascade | 338 | |
| 339 | cascade | 339 | //Pushing NEW chars to the MAX7456 |
| 329 | cascade | 340 | #if (WRITECHARS != -1) |
| 339 | cascade | 341 | // DISABLE display (VM0) |
| 321 | cascade | 342 | spi_send_byte(0x00, 0b00000000); |
| 339 | cascade | 343 | #include "characters.c" |
| 321 | cascade | 344 | |
| 331 | cascade | 345 | #endif |
| 321 | cascade | 346 | |
| 339 | cascade | 347 | // Setup Video Mode |
| 348 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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| 349 | // NTSC + enable display immediately (VM0) |
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| 350 | spi_send_byte(0x00, 0b00001000); |
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| 351 | } else { |
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| 352 | // PAL + enable display immediately (VM0) |
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| 353 | spi_send_byte(0x00, 0b01001000); |
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| 354 | } |
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| 321 | cascade | 355 | |
| 356 | // 8bit mode |
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| 357 | spi_send_byte(0x04, 0b01000000); |
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| 358 | |||
| 402 | cascade | 359 | // clear display |
| 321 | cascade | 360 | clear(); |
| 361 | |||
| 329 | cascade | 362 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 321 | cascade | 363 | // init usart |
| 364 | usart1_init(); |
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| 365 | |||
| 366 | // set up timer |
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| 367 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
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| 385 | cascade | 368 | OCR0 = 15; // preload |
| 321 | cascade | 369 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
| 370 | |||
| 326 | cascade | 371 | // enable interrupts |
| 321 | cascade | 372 | sei(); |
| 373 | #endif |
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| 374 | |||
| 375 | //write_ascii_string(2, 7, " CaScAdE "); |
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| 376 | //write_ascii_string(2, 8, "is TESTING his open source"); |
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| 377 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
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| 378 | |||
| 379 | // we are ready |
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| 380 | LED3_ON |
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| 381 | |||
| 329 | cascade | 382 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
| 321 | cascade | 383 | clear(); |
| 384 | write_all_chars(); |
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| 385 | #else |
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| 339 | cascade | 386 | // clear serial screen |
| 387 | //usart1_puts("\x1B[2J\x1B[H"); |
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| 388 | //usart1_puts("hello world!\r\n"); |
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| 321 | cascade | 389 | |
| 339 | cascade | 390 | |
| 346 | cascade | 391 | // request data ever 100ms from FC; |
| 392 | //usart1_request_mk_data(0, 'd', 100); |
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| 339 | cascade | 393 | |
| 394 | // request OSD Data from NC every 100ms |
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| 346 | cascade | 395 | usart1_request_mk_data(1, 'o', 100); |
| 396 | |||
| 339 | cascade | 397 | // and disable debug... |
| 385 | cascade | 398 | usart1_request_mk_data(0, 'd', 0); |
| 321 | cascade | 399 | |
| 339 | cascade | 400 | // stats for after flight |
| 401 | int16_t max_Altimeter = 0; |
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| 402 | uint16_t max_GroundSpeed = 0; |
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| 403 | int16_t max_Distance = 0; |
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| 404 | uint8_t min_UBat = 255; |
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| 405 | uint16_t max_FlyingTime = 0; |
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| 321 | cascade | 406 | |
| 339 | cascade | 407 | // flags from last round to check for changes |
| 408 | uint8_t old_MKFlags = 0; |
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| 409 | |||
| 321 | cascade | 410 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
| 377 | cascade | 411 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
| 321 | cascade | 412 | |
| 413 | while (1) { |
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| 339 | cascade | 414 | // write icons at init or after menu/mode-switch |
| 415 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) { |
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| 385 | cascade | 416 | write_char_xy(5, top_line, 0xCB); // km/h |
| 417 | write_char_xy(10, top_line, 0xCA); // RC-transmitter |
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| 418 | write_char_xy(16, top_line, 0xD0); // degree symbol |
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| 419 | write_char_xy(27, top_line, 0xCC); // small meters m height |
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| 420 | write_char_xy(20, top_line+1, 0xB0); // left circle |
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| 421 | write_char_xy(22, top_line+1, 0xB2); // right circle |
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| 422 | write_char_xy(27, top_line+1, 0xCC); // small meters m home |
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| 423 | write_char_xy(7, bottom_line, 0x9E); // small v |
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| 424 | write_char_xy(14, bottom_line, 0xD1); // on clock |
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| 425 | write_char_xy(22, bottom_line, 0xD2); // fly clock |
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| 426 | write_char_xy(26, bottom_line, 0xC8); // sat1 |
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| 427 | write_char_xy(27, bottom_line, 0xC9); // sat2 |
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| 339 | cascade | 428 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
| 429 | } |
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| 321 | cascade | 430 | if (rxd_buffer_locked) { |
| 339 | cascade | 431 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
| 432 | if (rxd_buffer[2] == 'D') { // FC Data |
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| 433 | /*Decode64(); |
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| 434 | debugData = *((DebugOut_t*) pRxData); |
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| 435 | write_number_s(12, 2, RxDataLen); |
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| 436 | write_number_s(20, 2, setsReceived++); |
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| 437 | write_number_s(12, 3, debugData.Analog[0]); // AngleNick |
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| 438 | write_number_s(12, 4, debugData.Analog[1]); // AngleRoll |
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| 336 | cascade | 439 | write_number_s(12, 5, debugData.Analog[5]); // Height |
| 339 | cascade | 440 | write_number_s(12, 6, debugData.Analog[9]); // Voltage |
| 441 | write_number_s(12, 7, debugData.Analog[10]);// RC Signal |
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| 388 | cascade | 442 | write_number_s(12, 8, debugData.Analog[11]);// Gyro compass |
| 443 | seconds_since_last_data = 0;*/ |
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| 339 | cascade | 444 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
| 445 | Decode64(); |
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| 446 | naviData = *((NaviData_t*) pRxData); |
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| 383 | cascade | 447 | |
| 339 | cascade | 448 | // first line |
| 373 | cascade | 449 | write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0); |
| 321 | cascade | 450 | |
| 349 | cascade | 451 | write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0); |
| 339 | cascade | 452 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
| 453 | for (uint8_t x = 0; x < 4; x++) |
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| 454 | write_char_att_xy(7 + x, top_line, BLINK); |
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| 455 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
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| 456 | for (uint8_t x = 0; x < 4; x++) |
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| 457 | write_char_att_xy(7 + x, top_line, 0); |
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| 458 | } |
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| 459 | last_RC_Quality = naviData.RC_Quality; |
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| 321 | cascade | 460 | |
| 349 | cascade | 461 | write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0); |
| 321 | cascade | 462 | |
| 339 | cascade | 463 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
| 377 | cascade | 464 | |
| 383 | cascade | 465 | draw_variometer(21, top_line, naviData.Variometer); |
| 321 | cascade | 466 | |
| 339 | cascade | 467 | //note:lephisto:according to several sources it's /30 |
| 349 | cascade | 468 | if (naviData.Altimeter > 300 || naviData.Altimeter < -300) { |
| 339 | cascade | 469 | // above 10m only write full meters |
| 349 | cascade | 470 | write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0); |
| 339 | cascade | 471 | } else { |
| 472 | // up to 10m write meters.dm |
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| 349 | cascade | 473 | //write_number_u_10th(21, top_line, naviData.Altimeter / 3); |
| 474 | write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0); |
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| 339 | cascade | 475 | } |
| 321 | cascade | 476 | |
| 339 | cascade | 477 | // seccond line |
| 478 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
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| 321 | cascade | 479 | |
| 339 | cascade | 480 | // TODO: verify correctness |
| 481 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
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| 383 | cascade | 482 | //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]); |
| 377 | cascade | 483 | // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16 |
| 383 | cascade | 484 | write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home)); |
| 321 | cascade | 485 | |
| 355 | shaddi | 486 | write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0); |
| 321 | cascade | 487 | |
| 339 | cascade | 488 | // center |
| 489 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
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| 490 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
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| 491 | clear(); |
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| 492 | // update flags to paint display again if needed |
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| 493 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
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| 494 | } |
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| 495 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
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| 496 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
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| 497 | } |
||
| 498 | } else { |
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| 336 | cascade | 499 | // stats |
| 339 | cascade | 500 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
| 346 | cascade | 501 | write_ascii_string_pgm(2, 5, stats_item_pointers[0]); // max Altitude |
| 349 | cascade | 502 | write_ndigit_number_s(18, 5, max_Altimeter / 30, 1000, 0); |
| 339 | cascade | 503 | write_char_xy(22, 5, 204); // small meters m |
| 346 | cascade | 504 | write_ascii_string_pgm(2, 6, stats_item_pointers[1]); // max Speed |
| 402 | cascade | 505 | write_ndigit_number_u(19, 6, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0); |
| 339 | cascade | 506 | write_char_xy(22, 6, 203); // km/h |
| 346 | cascade | 507 | write_ascii_string_pgm(2, 7, stats_item_pointers[2]); // max Distance |
| 349 | cascade | 508 | write_ndigit_number_u(19, 7, max_Distance / 100, 100, 0); |
| 339 | cascade | 509 | write_char_xy(22, 7, 204); // small meters m |
| 346 | cascade | 510 | write_ascii_string_pgm(2, 8, stats_item_pointers[3]); // min voltage |
| 349 | cascade | 511 | write_ndigit_number_u_10th(18, 8, min_UBat, 100, 0); |
| 387 | cascade | 512 | write_char_xy(22, 8, 0x9E); // small v |
| 346 | cascade | 513 | write_ascii_string_pgm(2, 9, stats_item_pointers[4]); // max time |
| 339 | cascade | 514 | write_time(16, 9, max_FlyingTime); |
| 515 | write_char_xy(22, 9, 210); // fly clock |
||
| 516 | } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
||
| 517 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
||
| 518 | } |
||
| 519 | } |
||
| 383 | cascade | 520 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
| 521 | draw_big_variometer(27, 8, naviData.Variometer); |
||
| 522 | } |
||
| 321 | cascade | 523 | |
| 339 | cascade | 524 | // bottom line |
| 385 | cascade | 525 | draw_battery(2, bottom_line, naviData.UBat); |
| 526 | write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0); |
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| 339 | cascade | 527 | if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
| 385 | cascade | 528 | for (uint8_t x = 2; x < 8; x++) |
| 339 | cascade | 529 | write_char_att_xy(x, bottom_line, BLINK); |
| 530 | } else { |
||
| 385 | cascade | 531 | for (uint8_t x = 2; x < 8; x++) |
| 339 | cascade | 532 | write_char_att_xy(x, bottom_line, 0); |
| 533 | } |
||
| 385 | cascade | 534 | |
| 321 | cascade | 535 | |
| 339 | cascade | 536 | write_time(8, bottom_line, uptime); |
| 537 | write_time(16, bottom_line, naviData.FlyingTime); |
||
| 321 | cascade | 538 | |
| 349 | cascade | 539 | write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0); |
| 321 | cascade | 540 | |
| 339 | cascade | 541 | if (naviData.NCFlags & NC_FLAG_CH) { |
| 542 | write_char_xy(27, bottom_line, 231); // gps ch |
||
| 543 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
||
| 544 | write_char_xy(27, bottom_line, 230); // gps ph |
||
| 545 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
||
| 546 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
||
| 547 | } |
||
| 321 | cascade | 548 | |
| 339 | cascade | 549 | //write_number_s(8, 5, RxDataLen); |
| 550 | //write_number_s(16, 5, setsReceived++); |
||
| 321 | cascade | 551 | |
| 339 | cascade | 552 | // remember statistics |
| 553 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
||
| 554 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
||
| 555 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
||
| 556 | max_Distance = naviData.HomePositionDeviation.Distance; |
||
| 557 | } |
||
| 558 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
||
| 559 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
||
| 560 | |||
| 561 | old_MKFlags = naviData.MKFlags; |
||
| 388 | cascade | 562 | seconds_since_last_data = 0; |
| 339 | cascade | 563 | } |
| 564 | } |
||
| 321 | cascade | 565 | rxd_buffer_locked = 0; |
| 566 | } |
||
| 567 | // handle keypress |
||
| 326 | cascade | 568 | if (s1_pressed()) { |
| 339 | cascade | 569 | config_menu(); |
| 321 | cascade | 570 | } |
| 339 | cascade | 571 | if (seconds_since_last_data > 2) { |
| 346 | cascade | 572 | // request OSD Data from NC every 100ms |
| 573 | usart1_request_mk_data(1, 'o', 100); |
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| 389 | cascade | 574 | seconds_since_last_data = 0; |
| 339 | cascade | 575 | } |
| 321 | cascade | 576 | } |
| 577 | #endif |
||
| 578 | return 0; |
||
| 579 | } |