| 0,0 → 1,501 |
|---|
| /***************************************************************************** |
| * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
| * based on the C-OSD code from CaScAdE * |
| * http://www.mylifesucks.de/oss/c-osd/ * |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| * * |
| *****************************************************************************/ |
| |
| #include <avr/io.h> |
| #include <inttypes.h> |
| #include <stdlib.h> |
| #include <avr/pgmspace.h> |
| |
| #include "main.h" |
| #include "osd.h" |
| #include "lcd.h" |
| #include "timer.h" |
| #include "usart.h" |
| |
| #include "mk-data-structs.h" |
| |
| #define COSD_WASFLYING 4 |
| |
| /* ########################################################################## |
| * global definitions and global vars |
| * ##########################################################################*/ |
| NaviData_t *naviData; |
| |
| // stats for after flight |
| int16_t max_Altimeter = 0; |
| uint16_t max_GroundSpeed = 0; |
| int16_t max_Distance = 0; |
| uint8_t min_UBat = 255; |
| uint16_t max_FlyingTime = 0; |
| uint16_t max_Current = 0; |
| uint16_t max_Capacity = 0; |
| |
| // cache old vars for blinking attribute, checkup is faster than full |
| // attribute write each time |
| volatile uint8_t last_UBat = 255; |
| volatile uint8_t last_RC_Quality = 255; |
| |
| volatile uint16_t ftimer = 0; |
| |
| // store stats description in progmem to save space |
| const char stats_item_0[] PROGMEM = "max Altitude:"; |
| const char stats_item_1[] PROGMEM = "max Speed :"; |
| const char stats_item_2[] PROGMEM = "max Distance:"; |
| const char stats_item_3[] PROGMEM = "min Voltage :"; |
| const char stats_item_4[] PROGMEM = "max Time :"; |
| #if 1 |
| const char stats_item_5[] PROGMEM = "max Current :"; |
| const char stats_item_6[] PROGMEM = "UsedCapacity:"; |
| #else |
| const char stats_item_5[] PROGMEM = "Long. :"; |
| const char stats_item_6[] PROGMEM = "Lat. :"; |
| #endif |
| const char *stats_item_pointers[] PROGMEM = { |
| stats_item_0, |
| stats_item_1, |
| stats_item_2, |
| stats_item_3, |
| stats_item_4, |
| stats_item_5, |
| stats_item_6 |
| }; |
| |
| //char* rose = "-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W"; |
| const char rose[48] PROGMEM = { |
| 0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S', |
| 0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O', |
| 0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N', |
| 0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W'}; |
| // the center is char 19 (north), we add the current heading in 8th |
| // which would be 22.5 degrees, but float would bloat up the code |
| // and *10 / 225 would take ages... so we take the uncorrect way |
| |
| |
| const char str_NE[] PROGMEM = "NE"; |
| const char str_E[] PROGMEM = "E "; |
| const char str_SE[] PROGMEM = "SE"; |
| const char str_S[] PROGMEM = "S "; |
| const char str_SW[] PROGMEM = "SW"; |
| const char str_W[] PROGMEM = "W "; |
| const char str_NW[] PROGMEM = "NW"; |
| const char str_N[] PROGMEM = "N "; |
| const char *directions_p[8] PROGMEM = { |
| str_NE, |
| str_E, |
| str_SE, |
| str_S, |
| str_SW, |
| str_W, |
| str_NW, |
| str_N |
| }; |
| |
| // Flags |
| uint8_t COSD_FLAGS2 = 0; |
| |
| |
| /** |
| * convert the <heading> gotton from NC into an index |
| */ |
| uint8_t heading_conv (uint16_t heading) |
| { |
| if (heading > 23 && heading < 68) |
| { |
| return 0; //direction = "NE"; |
| } |
| else if (heading > 67 && heading < 113) |
| { |
| return 1; //direction = "E "; |
| } |
| else if (heading > 112 && heading < 158) |
| { |
| return 2; //direction = "SE"; |
| } |
| else if (heading > 157 && heading < 203) |
| { |
| return 3; //direction = "S "; |
| } |
| else if (heading > 202 && heading < 248) |
| { |
| return 4; //direction = "SW"; |
| } |
| else if (heading > 247 && heading < 293) |
| { |
| return 5; //direction = "W "; |
| } |
| else if (heading > 292 && heading < 338) |
| { |
| return 6; //direction = "NW"; |
| } |
| return 7; //direction = "N "; |
| } |
| |
| /** |
| * draw a compass rose at <x>/<y> for <heading> |
| */ |
| void draw_compass (uint8_t x, uint8_t y, uint16_t heading) |
| { |
| uint8_t front = 19 + (heading / 22); |
| for (uint8_t i = 0; i < 9; i++) |
| { |
| lcd_putc (x++, y, pgm_read_byte(&rose[front - 4 + i]), 0); |
| } |
| } |
| |
| /* ########################################################################## |
| * variometer |
| * ##########################################################################*/ |
| /** |
| * draw variometer arrows at <x>/<y> according to <variometer> |
| */ |
| void draw_variometer (uint8_t x, uint8_t y, uint8_t width_x, uint8_t width_y, int16_t variometer) |
| { |
| lcd_rect (x, y - ((width_y - 1) / 2), width_x, width_y, 1); |
| lcd_frect (x + 1, y - ((width_y - 1) / 2) + 1, width_x - 2, width_y - 2, 0); |
| lcd_line (x, y, x + width_x, y, 1); |
| |
| if (variometer > 0) |
| { // gain height |
| switch (variometer / 5) |
| { |
| case 0: |
| lcd_frect (x + 3, y - 1, 3, 1, 1); |
| break; |
| case 1: |
| lcd_frect (x + 2, y - 3, 5, 3, 1); |
| break; |
| case 2: |
| lcd_frect (x + 2, y - 4, 5, 4, 1); |
| break; |
| default: |
| lcd_frect (x + 1, y - 5, 7, 5, 1); |
| break; |
| } |
| } |
| else |
| { // sink |
| switch (variometer / -5) |
| { |
| case 0: |
| lcd_frect (x + 3, y, 3, 1, 1); |
| break; |
| case 1: |
| lcd_frect (x + 2, y, 5, 3, 1); |
| break; |
| case 2: |
| lcd_frect (x + 2, y, 5, 4, 1); |
| break; |
| default: |
| lcd_frect (x + 1, y, 7, 5, 1); |
| break; |
| } |
| } |
| } |
| |
| |
| #define TIMEOUT 200 // 2 sec |
| |
| void print_statistics (void) |
| { |
| uint8_t line = 0; |
| lcd_cls (); |
| |
| // max Altitude |
| lcd_printpns_at (0, line, stats_item_pointers[0], 0); |
| write_ndigit_number_s (13, line, max_Altimeter / 30, 4, 0); |
| lcd_putc (17, line, 'm', 0); |
| |
| // max Speed |
| lcd_printpns_at (0, ++line, stats_item_pointers[1], 0); |
| write_ndigit_number_u (14, line, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0); |
| lcd_printpns_at(17, line, PSTR("km/h"), 0); |
| |
| // max Distance |
| lcd_printpns_at (0, ++line, stats_item_pointers[2], 0); |
| write_ndigit_number_u (14, line, max_Distance / 10, 3, 0); |
| lcd_putc (17, line, 'm', 0); |
| |
| // max time |
| lcd_printpns_at (0, ++line, stats_item_pointers[4], 0); |
| write_time (13, line, max_FlyingTime); |
| |
| // min voltage |
| lcd_printpns_at (0, ++line, stats_item_pointers[3], 0); |
| write_ndigit_number_u_10th (13, line, min_UBat, 3, 0); |
| lcd_putc (17, line, 'V', 0); |
| |
| #if 1 |
| // max Current |
| lcd_printpns_at (0, ++line, stats_item_pointers[5], 0); |
| write_ndigit_number_u_10th (13, line, max_Current, 3, 0); |
| lcd_putc (17, line, 'A', 0); |
| |
| // Used Capacity |
| lcd_printpns_at (0, ++line, stats_item_pointers[6], 0); |
| write_ndigit_number_u (13, line, max_Capacity, 4, 0); |
| lcd_printpns_at(17, line, PSTR("mAh"), 0); |
| #else |
| // longitude |
| lcd_printpns_at (0, ++line, stats_item_pointers[5], 0); |
| write_gps_pos (8, line, naviData->CurrentPosition.Longitude); |
| |
| // latitude |
| lcd_printpns_at (0, ++line, stats_item_pointers[6], 0); |
| write_gps_pos (8, line, naviData->CurrentPosition.Latitude); |
| #endif |
| while (!get_key_press (1 << KEY_ESC)) |
| timer = TIMEOUT; |
| COSD_FLAGS2 &= ~COSD_WASFLYING; |
| get_key_press(KEY_ALL); |
| lcd_cls(); |
| } |
| |
| void osd (void) |
| { |
| uint8_t flag; |
| uint8_t tmp_dat; |
| |
| // Clear statistics |
| max_Altimeter = 0; |
| max_GroundSpeed = 0; |
| max_Distance = 0; |
| min_UBat = 255; |
| max_FlyingTime = 0; |
| |
| // flags from last round to check for changes |
| uint8_t old_FCFlags = 0; |
| |
| uint16_t old_hh = 0; |
| |
| lcd_cls(); |
| |
| if (hardware == FC) |
| { |
| lcd_printp_at(0, 3, PSTR("Only with NC !"), 0); |
| timer = 100; |
| while (timer > 0); |
| } |
| |
| SwitchToNC(); |
| |
| mode = 'O'; |
| |
| // disable debug... |
| // RS232_request_mk_data (0, 'd', 0); |
| tmp_dat = 0; |
| SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
| |
| // request OSD Data from NC every 100ms |
| // RS232_request_mk_data (1, 'o', 100); |
| tmp_dat = 10; |
| SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
| |
| flag = 0; |
| timer = TIMEOUT; |
| abo_timer = ABO_TIMEOUT; |
| |
| do |
| { |
| if (rxd_buffer_locked) |
| { |
| timer = TIMEOUT; |
| Decode64 (); |
| naviData = (NaviData_t *) pRxData; |
| |
| flag = 1; |
| |
| if (naviData->FCFlags & FCFLAG_MOTOR_RUN) |
| { // should be engines running |
| // motors are on, assume we were/are flying |
| COSD_FLAGS2 |= COSD_WASFLYING; |
| } |
| else |
| { // stats |
| if ((COSD_FLAGS2 & COSD_WASFLYING) || (get_key_press (1 << KEY_ENTER))) |
| { |
| print_statistics (); |
| } |
| } |
| |
| // lcd_printpns_at (0, 3, PSTR("012345678901234567890"), 0); |
| lcd_ecircle(22, 35, 16, 1); |
| |
| // Ground Speed |
| write_ndigit_number_u (1, 0, (uint16_t) (((uint32_t) naviData->GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0); |
| lcd_printpns_at(4, 0, PSTR("km/h"), 0); |
| |
| // Compass |
| write_ndigit_number_u (14, 0, naviData->CompassHeading, 3, 0); |
| lcd_putc (17, 0, 0x1E, 0); // degree symbol |
| lcd_printpns_at (18, 0, (const char *) (pgm_read_word ( &(directions_p[heading_conv(naviData->CompassHeading)]))), 0); |
| |
| draw_compass (12, 1, naviData->CompassHeading); |
| |
| // Altitude |
| //note:lephisto:according to several sources it's /30 |
| if (naviData->Altimeter > 300 || naviData->Altimeter < -300) |
| { |
| // above 10m only write full meters |
| write_ndigit_number_s (0, 1, naviData->Altimeter / 30, 4, 0); |
| } |
| else |
| { |
| // up to 10m write meters.dm |
| write_ndigit_number_s_10th (0, 1, naviData->Altimeter / 3, 3, 0); |
| } |
| lcd_putc (4, 1, 'm', 0); |
| |
| draw_variometer (55, 7, 9, 13, naviData->Variometer); |
| |
| // TODO: verify correctness |
| uint16_t heading_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360; |
| lcd_ecirc_line (22, 35, 15, old_hh, 0); |
| old_hh = heading_home; |
| lcd_ecirc_line (22, 35, 15, heading_home, 1); |
| |
| write_ndigit_number_u (7, 3, heading_home, 3, 0); |
| lcd_putc (10, 3, 0x1e, 0); // degree symbol |
| |
| write_ndigit_number_u (7, 2, naviData->HomePositionDeviation.Distance / 10, 3, 0); |
| lcd_putc (10, 2, 'm', 0); |
| |
| // Sats in use |
| lcd_printp_at(10, 4, PSTR("Sats"), 0); |
| write_ndigit_number_u (8, 4, naviData->SatsInUse, 2, 0); |
| |
| if (naviData->NCFlags & NC_FLAG_MANUAL_CONTROL) |
| { |
| lcd_putc (19, 4, 'M', 0); // rc transmitter |
| } |
| else |
| { |
| lcd_putc (19, 4, ' ', 0); // clear |
| } |
| #if 0 |
| lcd_printp_at(11, 5, PSTR("Mode:"), 0); |
| if (naviData->NCFlags & NC_FLAG_CH) |
| { |
| lcd_printpns_at (17, 5, PSTR("CH "), 0); |
| } |
| else if (naviData->NCFlags & NC_FLAG_PH) |
| { |
| lcd_printpns_at (17, 5, PSTR("PH "), 0); |
| } |
| else |
| { // (naviData->NCFlags & NC_FLAG_FREE) |
| lcd_printpns_at (17, 5, PSTR("Free"), 0); // sat2 (free) |
| } |
| #endif |
| if (naviData->NCFlags & NC_FLAG_CH) |
| { |
| lcd_printpns_at (10, 5, PSTR("Coming Home"), 0); |
| } |
| else if (naviData->NCFlags & NC_FLAG_PH) |
| { |
| lcd_printpns_at (10, 5, PSTR("Pos. Hold "), 0); |
| } |
| else |
| { // (naviData->NCFlags & NC_FLAG_FREE) |
| lcd_printpns_at (10, 5, PSTR("Free "), 0); |
| } |
| |
| // Flying time |
| write_time (7, 6, naviData->FlyingTime); |
| // lcd_printp_at (7, 6, PSTR("Fly"), 0); |
| |
| // RC |
| write_ndigit_number_u (15, 6, naviData->RC_Quality, 3, 0); |
| lcd_putc (18, 6, 0x1F, 0); // RC-transmitter |
| if (naviData->NCFlags & NC_FLAG_NOSERIALLINK) |
| { |
| lcd_printpns_at(19, 6, PSTR(" "), 0); // clear |
| } |
| else |
| { |
| lcd_printpns_at(19, 6, PSTR("PC"), 0); |
| } |
| |
| // Battery level |
| write_ndigit_number_u_10th (0, 7, naviData->UBat, 3, 0); |
| lcd_putc (4, 7, 'V', 0); |
| |
| // Current |
| write_ndigit_number_u_10th (7, 7, naviData->Current, 3, 0); |
| lcd_putc (11, 7, 'A', 0); |
| |
| // Capacity |
| write_ndigit_number_u (14, 7, naviData->UsedCapacity, 4, 0); |
| lcd_printpns_at(18, 7, PSTR("mAh"), 0); |
| |
| // remember statistics (only when engines running) |
| if (naviData->FCFlags & FCFLAG_MOTOR_RUN) |
| { |
| if (naviData->Altimeter > max_Altimeter) max_Altimeter = naviData->Altimeter; |
| if (naviData->GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData->GroundSpeed; |
| if (naviData->HomePositionDeviation.Distance > max_Distance) max_Distance = naviData->HomePositionDeviation.Distance; |
| if (naviData->UBat < min_UBat) min_UBat = naviData->UBat; |
| if (naviData->FlyingTime > max_FlyingTime) max_FlyingTime = naviData->FlyingTime; |
| if (naviData->Current > max_Current) max_Current = naviData->Current; |
| if (naviData->UsedCapacity > max_Capacity) max_Capacity = naviData->UsedCapacity; |
| } |
| |
| // remember last values |
| last_RC_Quality = naviData->RC_Quality; |
| last_UBat = naviData->UBat; |
| old_FCFlags = naviData->FCFlags; |
| |
| rxd_buffer_locked = FALSE; |
| } |
| |
| if (!abo_timer) |
| { // renew abo every 3 sec |
| // request OSD Data from NC every 100ms |
| // RS232_request_mk_data (1, 'o', 100); |
| tmp_dat = 10; |
| SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
| |
| abo_timer = ABO_TIMEOUT; |
| } |
| } |
| while (!get_key_press (1 << KEY_ESC) && timer); |
| get_key_press(KEY_ALL); |
| |
| // disable OSD Data from NC |
| // RS232_request_mk_data (1, 'o', 0); |
| tmp_dat = 0; |
| SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
| |
| mode = 0; |
| rxd_buffer_locked = FALSE; |
| |
| if (!timer) |
| { // timeout occured |
| if (flag) |
| { |
| lcd_cls (); |
| } |
| lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0); |
| |
| timer = 100; |
| while (timer > 0); |
| print_statistics (); |
| } |
| } |