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| Rev 336 | Rev 339 | ||
|---|---|---|---|
| Line 45... | Line 45... | ||
| 45 | #define WRITECHARS -1 // set to 2XX and flash firmware to write new char |
45 | #define WRITECHARS -1 // set to 2XX and flash firmware to write new char |
| 46 | // enables the allchars as well to see results |
46 | // enables the allchars as well to see results |
| 47 | #endif |
47 | #endif |
| Line 48... | Line 48... | ||
| 48 | 48 | ||
| 49 | #ifndef NTSC // if NTSC is not thet via makefile |
49 | #ifndef NTSC // if NTSC is not thet via makefile |
| 50 | #define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line |
50 | #define NTSC 1 // set to 1 for NTSC mode + lifts the bottom line |
| Line 51... | Line 51... | ||
| 51 | #endif |
51 | #endif |
| 52 | 52 | ||
| 53 | #define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon |
53 | #define HUD 1 // set to 0 to disable HUD by default |
| 54 | #define NOOSD 0 // set to 1 to disable OSD completely |
54 | #define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon by default |
| - | 55 | #define STATS 1 // set to 1 to enable statistics during motor off by default |
|
| 55 | #define NOOSD_BUT_WRN 0 // set to 1 to disable OSD completely but show |
56 | #define WARNINGS 1 // set to 1 to display battery+rc warning even if HUD is disabled |
| 56 | // battery and receive signal warnings |
57 | |
| Line 57... | Line 58... | ||
| 57 | #define UBAT_WRN 94 // voltage for blinking warning, like FC settings |
58 | #define UBAT_WRN 94 // voltage for blinking warning, like FC settings |
| 58 | #define RCLVL_WRN 100 // make the RC level blink if below this number |
59 | #define RCLVL_WRN 100 // make the RC level blink if below this number |
| Line 59... | Line 60... | ||
| 59 | 60 | ||
| 60 | // ### read datasheet before changing stuff below this line :) |
61 | // ### read datasheet before changing stuff below this line :) |
| 61 | #define BLINK 0b01001111 // attribute byte for blinking chars |
62 | #define BLINK 0b01001111 // attribute byte for blinking chars |
| 62 | 63 | ||
| - | 64 | /* ########################################################################## |
|
| 63 | /* ########################################################################## |
65 | * FLAGS usable during runtime |
| 64 | * FLAGS usable during runtime |
66 | * ##########################################################################*/ |
| 65 | * ##########################################################################*/ |
67 | #define COSD_FLAG_NTSC 1 |
| 66 | #define COSD_FLAG_NTSC 1 |
68 | #define COSD_FLAG_HUD 2 |
| Line 67... | Line 69... | ||
| 67 | #define COSD_FLAG_ARTHORIZON 2 |
69 | #define COSD_FLAG_ARTHORIZON 4 |
| 68 | #define COSD_FLAG_NOOSD 4 |
70 | #define COSD_FLAG_STATS 8 |
| 69 | #define COSD_FLAG_NOOSD_BUT_WRN 8 |
71 | #define COSD_FLAG_WARNINGS 16 |
| 70 | #define COSD_ICONS_WRITTEN 16 |
72 | #define COSD_ICONS_WRITTEN 32 |
| Line 290... | Line 292... | ||
| 290 | } |
292 | } |
| Line 291... | Line 293... | ||
| 291 | 293 | ||
| 292 | /* ########################################################################## |
294 | /* ########################################################################## |
| 293 | * A simple config menu for the flags |
295 | * A simple config menu for the flags |
| - | 296 | * ##########################################################################*/ |
|
| - | 297 | ||
| - | 298 | /** |
|
| - | 299 | * helper function for menu updating |
|
| - | 300 | */ |
|
| - | 301 | void config_menu_drawings(uint8_t chosen) { |
|
| - | 302 | // clear prevoius _cursor_ |
|
| - | 303 | write_ascii_string(3, (chosen + 4) % 5, " "); |
|
| - | 304 | // draw current _cursor_ |
|
| - | 305 | write_ascii_string(3, chosen + 6, ">"); |
|
| - | 306 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
|
| - | 307 | write_ascii_string(23, 6, "ON "); |
|
| - | 308 | } else { |
|
| - | 309 | write_ascii_string(23, 6, "OFF"); |
|
| - | 310 | } |
|
| - | 311 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
|
| - | 312 | write_ascii_string(23, 7, "ON "); |
|
| - | 313 | } else { |
|
| - | 314 | write_ascii_string(23, 7, "OFF"); |
|
| - | 315 | } |
|
| - | 316 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
|
| - | 317 | write_ascii_string(23, 8, "ON "); |
|
| - | 318 | } else { |
|
| - | 319 | write_ascii_string(23, 8, "OFF"); |
|
| - | 320 | } |
|
| - | 321 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
|
| - | 322 | write_ascii_string(23, 9, "ON "); |
|
| - | 323 | } else { |
|
| - | 324 | write_ascii_string(23, 9, "OFF"); |
|
| - | 325 | } |
|
| - | 326 | } |
|
| - | 327 | ||
| - | 328 | /** |
|
| - | 329 | * a simple config menu tryout |
|
| 294 | * ##########################################################################*/ |
330 | */ |
| 295 | void config_menu(void) { |
331 | void config_menu(void) { |
| 296 | // disable interrupts (makes the menu more smoothely) |
332 | // disable interrupts (makes the menu more smoothely) |
| Line 297... | Line 333... | ||
| 297 | cli(); |
333 | cli(); |
| 298 | 334 | ||
| Line 299... | Line 335... | ||
| 299 | // clear screen |
335 | // clear screen |
| 300 | clear(); |
336 | clear(); |
| 301 | 337 | ||
| - | 338 | char* menu[5] = {"Full HUD", |
|
| 302 | char* menu[4] = {"Normal OSD ", |
339 | "Art.Horizon in HUD", |
| Line 303... | Line 340... | ||
| 303 | "Art.Horizon ", |
340 | "Statistics", |
| 304 | "NO OSD ", |
341 | "Warnings", // TODO: do it! |
| 305 | "NO OSD but WRN "}; |
342 | "EXIT"}; |
| 306 | - | ||
| 307 | uint8_t inmenu = 1; |
- | |
| 308 | uint8_t chosen = 0; |
- | |
| Line 309... | Line 343... | ||
| 309 | write_ascii_string(10, 4, "Config Menu"); |
343 | |
| 310 | 344 | uint8_t inmenu = 1; |
|
| Line -... | Line 345... | ||
| - | 345 | uint8_t chosen = 0; |
|
| - | 346 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
|
| - | 347 | ||
| - | 348 | // wait a bit before doing stuff so user has chance to release button |
|
| - | 349 | _delay_ms(250); |
|
| - | 350 | ||
| - | 351 | write_ascii_string(4, 6, menu[0]); |
|
| - | 352 | write_ascii_string(4, 7, menu[1]); |
|
| 311 | // clear all mode flags |
353 | write_ascii_string(4, 8, menu[2]); |
| 312 | COSD_FLAGS &= ~(COSD_FLAG_ARTHORIZON | COSD_FLAG_NOOSD | COSD_FLAG_NOOSD_BUT_WRN); |
- | |
| 313 | 354 | write_ascii_string(4, 9, menu[3]); |
|
| - | 355 | write_ascii_string(4, 10, menu[4]); |
|
| 314 | // wait a bit before doing stuff so user has chance to release button |
356 | |
| - | 357 | config_menu_drawings(chosen); |
|
| 315 | _delay_ms(250); |
358 | |
| 316 | 359 | while (inmenu) { |
|
| 317 | while (inmenu) { |
360 | if (s2_pressed()) { |
| 318 | write_ascii_string(2, 7, menu[chosen]); |
361 | write_ascii_string(3, chosen+6, " "); |
| 319 | if (s2_pressed()) { |
362 | chosen = (chosen + 1) % 5; |
| - | 363 | write_ascii_string(3, chosen+6, ">"); |
|
| 320 | chosen = (chosen + 1) % 4; |
364 | _delay_ms(500); |
| 321 | _delay_ms(500); |
365 | } else if (s1_pressed()) { |
| 322 | } else if (s1_pressed()) { |
366 | switch (chosen) { |
| - | 367 | case 0: // full HUD |
|
| 323 | switch (chosen) { |
368 | COSD_FLAGS ^= COSD_FLAG_HUD; |
| - | 369 | config_menu_drawings(chosen); |
|
| - | 370 | break; |
|
| - | 371 | case 1: // art horizon |
|
| - | 372 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
|
| 324 | case 1: // artificial horizon |
373 | config_menu_drawings(chosen); |
| 325 | COSD_FLAGS |= COSD_FLAG_ARTHORIZON; |
374 | break; |
| - | 375 | case 2: // statistics |
|
| - | 376 | COSD_FLAGS ^= COSD_FLAG_STATS; |
|
| - | 377 | config_menu_drawings(chosen); |
|
| - | 378 | break; |
|
| 326 | break; |
379 | case 3: // warnings |
| 327 | case 2: // everything off |
- | |
| 328 | COSD_FLAGS |= COSD_FLAG_NOOSD; |
380 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
| 329 | break; |
- | |
| 330 | case 3: // only warning |
- | |
| 331 | COSD_FLAGS |= COSD_FLAG_NOOSD_BUT_WRN; |
381 | config_menu_drawings(chosen); |
| 332 | break; |
382 | break; |
| 333 | //default: // normal OSD, so let the flags cleared |
383 | case 4: // exit |
| Line 334... | Line 384... | ||
| 334 | } |
384 | inmenu = 0; |
| 335 | // leave menu |
385 | break; |
| Line 347... | Line 397... | ||
| 347 | // enable interrupts again |
397 | // enable interrupts again |
| 348 | sei(); |
398 | sei(); |
| 349 | } |
399 | } |
| Line 350... | Line 400... | ||
| 350 | 400 | ||
| 351 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
- | |
| 352 | 401 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
|
| 353 | /* ########################################################################## |
402 | /* ########################################################################## |
| 354 | * MAIN |
403 | * MAIN |
| 355 | * ##########################################################################*/ |
404 | * ##########################################################################*/ |
| 356 | int main(void) { |
405 | int main(void) { |
| 357 | // set up FLAGS, compiler should flatten this one |
406 | // set up FLAGS, compiler should flatten this one |
| - | 407 | COSD_FLAGS = (NTSC << 0); |
|
| 358 | COSD_FLAGS = (NTSC << (COSD_FLAG_NTSC - 1)); |
408 | COSD_FLAGS |= (HUD << 1); |
| 359 | COSD_FLAGS |= (ARTHORIZON << (COSD_FLAG_ARTHORIZON - 1)); |
409 | COSD_FLAGS |= (ARTHORIZON << 2); |
| 360 | COSD_FLAGS |= (NOOSD << (COSD_FLAG_NOOSD - 1)); |
410 | COSD_FLAGS |= (STATS << 3); |
| Line 361... | Line 411... | ||
| 361 | COSD_FLAGS |= (NOOSD_BUT_WRN << (COSD_FLAG_NOOSD_BUT_WRN - 1)); |
411 | COSD_FLAGS |= (WARNINGS << 4); |
| 362 | 412 | ||
| 363 | // set up Atmega162 Ports |
413 | // set up Atmega162 Ports |
| 364 | DDRA |= (1 << PA1); // PA1 output (/CS) |
414 | DDRA |= (1 << PA1); // PA1 output (/CS) |
| 365 | MAX_CS_HIGH |
415 | MAX_CS_HIGH |
| 366 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
416 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
| Line 382... | Line 432... | ||
| 382 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
432 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
| 383 | PORTC |= (1 << PC4); // pullup |
433 | PORTC |= (1 << PC4); // pullup |
| 384 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
434 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
| 385 | PORTC |= (1 << PC5); // pullup |
435 | PORTC |= (1 << PC5); // pullup |
| Line 386... | Line 436... | ||
| 386 | 436 | ||
| 387 | // set up top and bottom lines |
437 | // set up top and bottom lines |
| 388 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
438 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
| 389 | bottom_line = 12; |
439 | bottom_line = 12; |
| 390 | } else { |
440 | } else { |
| 391 | bottom_line = 14; |
441 | bottom_line = 14; |
| Line 392... | Line 442... | ||
| 392 | } |
442 | } |
| 393 | 443 | ||
| 394 | // reset the MAX7456 to be sure any undefined states do no harm |
444 | // reset the MAX7456 to be sure any undefined states do no harm |
| Line 395... | Line -... | ||
| 395 | MAX_RESET_LOW |
- | |
| 396 | MAX_RESET_HIGH |
- | |
| 397 | - | ||
| 398 | // check for keypress at startup |
- | |
| 399 | if (s2_pressed()) { // togle COSD_FLAG_ARTHORIZON |
- | |
| 400 | COSD_FLAGS ^= (1 << (COSD_FLAG_ARTHORIZON - 1)); |
- | |
| 401 | _delay_ms(100); |
445 | MAX_RESET_LOW |
| 402 | } |
446 | MAX_RESET_HIGH |
| 403 | 447 | ||
| Line 404... | Line 448... | ||
| 404 | // give the FC/NC and the maxim time to come up |
448 | // give the FC/NC and the maxim time to come up |
| Line 405... | Line 449... | ||
| 405 | LED4_ON |
449 | LED4_ON |
| 406 | _delay_ms(2000); |
450 | _delay_ms(2000); |
| 407 | 451 | ||
| 408 | LED4_OFF |
452 | LED4_OFF |
| - | 453 | ||
| Line 409... | Line -... | ||
| 409 | - | ||
| 410 | 454 | ||
| Line 411... | Line 455... | ||
| 411 | //Pushing NEW chars to the MAX7456 |
455 | //Pushing NEW chars to the MAX7456 |
| 412 | #if (WRITECHARS != -1) |
456 | #if (WRITECHARS != -1) |
| 413 | // DISABLE display (VM0) |
457 | // DISABLE display (VM0) |
| 414 | spi_send_byte(0x00, 0b00000000); |
458 | spi_send_byte(0x00, 0b00000000); |
| 415 | 459 | #include "characters.c" |
|
| 416 | #include "characters.c" |
460 | |
| 417 | #endif |
461 | #endif |
| 418 | 462 | ||
| Line 419... | Line 463... | ||
| 419 | // Setup Video Mode |
463 | // Setup Video Mode |
| 420 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
464 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
| Line 421... | Line 465... | ||
| 421 | // NTSC + enable display immediately (VM0) |
465 | // NTSC + enable display immediately (VM0) |
| Line 479... | Line 523... | ||
| 479 | 523 | ||
| 480 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
524 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
| 481 | clear(); |
525 | clear(); |
| 482 | write_all_chars(); |
526 | write_all_chars(); |
| 483 | #else |
527 | #else |
| 484 | // clear serial screen |
528 | // clear serial screen |
| 485 | //usart1_puts("\x1B[2J\x1B[H"); |
529 | //usart1_puts("\x1B[2J\x1B[H"); |
| Line 486... | Line 530... | ||
| 486 | //usart1_puts("hello world!\r\n"); |
530 | //usart1_puts("hello world!\r\n"); |
| 487 | 531 | ||
| 488 | 532 | ||
| 489 | // request data ever 100ms from FC |
533 | // request data ever 100ms from FC |
| 490 | //unsigned char ms = 10; |
534 | //unsigned char ms = 10; |
| 491 | //sendMKData('d', 0, &ms, 1); |
535 | //sendMKData('d', 0, &ms, 1); |
| 492 | 536 | ||
| 493 | // request OSD Data from NC every 100ms |
537 | // request OSD Data from NC every 100ms |
| 494 | unsigned char ms = 10; |
538 | unsigned char ms = 10; |
| 495 | sendMKData('o', 1, &ms, 1); |
539 | sendMKData('o', 1, &ms, 1); |
| 496 | // and disable debug... |
540 | // and disable debug... |
| - | 541 | //ms = 0; |
|
| - | 542 | //sendMKData('d', 0, &ms, 1); |
|
| - | 543 | ||
| - | 544 | // disable TXD-pin |
|
| - | 545 | usart1_DisableTXD(); |
|
| - | 546 | ||
| - | 547 | // stats for after flight |
|
| - | 548 | int16_t max_Altimeter = 0; |
|
| - | 549 | uint16_t max_GroundSpeed = 0; |
|
| - | 550 | int16_t max_Distance = 0; |
|
| Line 497... | Line 551... | ||
| 497 | //ms = 0; |
551 | uint8_t min_UBat = 255; |
| 498 | //sendMKData('d', 0, &ms, 1); |
552 | uint16_t max_FlyingTime = 0; |
| Line 499... | Line -... | ||
| 499 | - | ||
| 500 | // disable TXD-pin |
- | |
| 501 | usart1_DisableTXD(); |
- | |
| 502 | - | ||
| 503 | // stats for after flight |
- | |
| 504 | int16_t max_Altimeter = 0; |
- | |
| 505 | uint16_t max_GroundSpeed = 0; |
- | |
| 506 | int16_t max_Distance = 0; |
- | |
| 507 | uint8_t min_UBat = 255; |
- | |
| 508 | uint16_t max_FlyingTime = 0; |
- | |
| 509 | 553 | ||
| 510 | // flags from last round to check for changes |
554 | // flags from last round to check for changes |
| Line 511... | Line 555... | ||
| 511 | uint8_t old_MKFlags = 0; |
555 | uint8_t old_MKFlags = 0; |
| 512 | 556 | ||
| 513 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
557 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
| 514 | char arrowdir[8] = { 218, 217, 224, 223, 222, 221, 220, 219}; |
558 | char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
| 515 | 559 | ||
| 516 | while (1) { |
560 | while (1) { |
| 517 | // write icons at init or after menu/mode-switch |
561 | // write icons at init or after menu/mode-switch |
| 518 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && !(COSD_FLAGS & COSD_FLAG_NOOSD)) { |
562 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) { |
| 519 | write_char_xy(5, top_line, 203); // km/h |
563 | write_char_xy(5, top_line, 203); // km/h |
| 520 | write_char_xy(10, top_line, 202); // RC-transmitter |
564 | write_char_xy(10, top_line, 202); // RC-transmitter |
| 521 | write_char_xy(16, top_line, 208); // degree symbol |
565 | write_char_xy(16, top_line, 208); // degree symbol |
| 522 | write_char_xy(27, top_line, 204); // small meters m |
566 | write_char_xy(27, top_line, 204); // small meters m |
| 523 | write_ascii_string(6, bottom_line, "V"); // voltage |
567 | write_ascii_string(6, bottom_line, "V"); // voltage |
| 524 | write_char_xy(14, bottom_line, 209); // on clock |
568 | write_char_xy(14, bottom_line, 209); // on clock |
| 525 | write_char_xy(22, bottom_line, 210); // fly clock |
569 | write_char_xy(22, bottom_line, 210); // fly clock |
| 526 | write_char_xy(26, bottom_line, 200); // sat1 |
570 | write_char_xy(26, bottom_line, 200); // sat1 |
| 527 | write_char_xy(27, bottom_line, 201); // sat2 |
571 | write_char_xy(27, bottom_line, 201); // sat2 |
| 528 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
572 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
| 529 | } |
573 | } |
| 530 | if (rxd_buffer_locked) { |
574 | if (rxd_buffer_locked) { |
| 531 | if (!(COSD_FLAGS & COSD_FLAG_NOOSD)) { |
575 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
| 532 | if (rxd_buffer[2] == 'D') { // FC Data |
576 | if (rxd_buffer[2] == 'D') { // FC Data |
| 533 | /*Decode64(); |
577 | /*Decode64(); |
| 534 | debugData = *((DebugOut_t*) pRxData); |
578 | debugData = *((DebugOut_t*) pRxData); |
| 535 | write_number_s(12, 2, RxDataLen); |
579 | write_number_s(12, 2, RxDataLen); |
| 536 | write_number_s(20, 2, setsReceived++); |
580 | write_number_s(20, 2, setsReceived++); |
| 537 | write_number_s(12, 3, debugData.Analog[0]); // AngleNick |
581 | write_number_s(12, 3, debugData.Analog[0]); // AngleNick |
| 538 | write_number_s(12, 4, debugData.Analog[1]); // AngleRoll |
582 | write_number_s(12, 4, debugData.Analog[1]); // AngleRoll |
| 539 | write_number_s(12, 5, debugData.Analog[5]); // Height |
583 | write_number_s(12, 5, debugData.Analog[5]); // Height |
| 540 | write_number_s(12, 6, debugData.Analog[9]); // Voltage |
584 | write_number_s(12, 6, debugData.Analog[9]); // Voltage |
| 541 | write_number_s(12, 7, debugData.Analog[10]);// RC Signal |
585 | write_number_s(12, 7, debugData.Analog[10]);// RC Signal |
| 542 | write_number_s(12, 8, debugData.Analog[11]);// Gyro compass*/ |
586 | write_number_s(12, 8, debugData.Analog[11]);// Gyro compass*/ |
| 543 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
587 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
| 544 | Decode64(); |
588 | Decode64(); |
| 545 | naviData = *((NaviData_t*) pRxData); |
589 | naviData = *((NaviData_t*) pRxData); |
| 546 | 590 | ||
| 547 | // first line |
591 | // first line |
| 548 | write_3digit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed*36)/1000)); |
592 | write_3digit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * 36) / 1000)); |
| 549 | 593 | ||
| 550 | write_3digit_number_u(7, top_line, naviData.RC_Quality); |
594 | write_3digit_number_u(7, top_line, naviData.RC_Quality); |
| 551 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
595 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
| 552 | for (uint8_t x = 0; x < 4; x++) |
596 | for (uint8_t x = 0; x < 4; x++) |
| 553 | write_char_att_xy(7 + x, top_line, BLINK); |
597 | write_char_att_xy(7 + x, top_line, BLINK); |
| 554 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
598 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
| 555 | for (uint8_t x = 0; x < 4; x++) |
599 | for (uint8_t x = 0; x < 4; x++) |
| 556 | write_char_att_xy(7 + x, top_line, 0); |
600 | write_char_att_xy(7 + x, top_line, 0); |
| 557 | } |
601 | } |
| 558 | last_RC_Quality = naviData.RC_Quality; |
602 | last_RC_Quality = naviData.RC_Quality; |
| 559 | 603 | ||
| 560 | write_3digit_number_u(13, top_line, naviData.CompassHeading); |
604 | write_3digit_number_u(13, top_line, naviData.CompassHeading); |
| 561 | 605 | ||
| 562 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
606 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
| 563 | 607 | ||
| 564 | if (naviData.Variometer == 0) { |
608 | if (naviData.Variometer == 0) { |
| 565 | write_char_xy(20, top_line, 206); // plain line |
609 | write_char_xy(20, top_line, 206); // plain line |
| 566 | } else if (naviData.Variometer > 0 && naviData.Variometer <= 10) { |
610 | } else if (naviData.Variometer > 0 && naviData.Variometer <= 10) { |
| 567 | write_char_xy(20, top_line, 234); // small arrow up |
611 | write_char_xy(20, top_line, 234); // small arrow up |
| 568 | } else if (naviData.Variometer > 10) { |
612 | } else if (naviData.Variometer > 10) { |
| 569 | write_char_xy(20, top_line, 235); // big arrow up |
613 | write_char_xy(20, top_line, 235); // big arrow up |
| 570 | } else if (naviData.Variometer < 0 && naviData.Variometer >= -10) { |
614 | } else if (naviData.Variometer < 0 && naviData.Variometer >= -10) { |
| 571 | write_char_xy(20, top_line, 232); // small arrow down |
- | |
| 572 | } else { |
615 | write_char_xy(20, top_line, 232); // small arrow down |
| 573 | write_char_xy(20, top_line, 233); //big arrow down |
- | |
| 574 | } |
616 | } else { |
| 575 | 617 | write_char_xy(20, top_line, 233); //big arrow down |
|
| 576 | // TODO: is this really dm? |
618 | } |
| 577 | //note:lephisto:according to several sources it's /30 |
619 | |
| 578 | //write_number_s(22, top_line, naviData.Altimeter/30); |
620 | //note:lephisto:according to several sources it's /30 |
| 579 | if (naviData.Altimeter > 300) { |
621 | if (naviData.Altimeter > 300) { |
| 580 | // above 10m only write full meters |
622 | // above 10m only write full meters |
| 581 | write_number_s(22, top_line, naviData.Altimeter/30); |
623 | write_number_s(22, top_line, naviData.Altimeter / 30); |
| 582 | } else { |
624 | } else { |
| 583 | // up to 10m write meters.dm |
625 | // up to 10m write meters.dm |
| 584 | write_number_u_10th(21, top_line, naviData.Altimeter/3); |
626 | write_number_u_10th(21, top_line, naviData.Altimeter / 3); |
| 585 | } |
627 | } |
| 586 | 628 | ||
| 587 | // seccond line |
629 | // seccond line |
| 588 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
- | |
| 589 | 630 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
|
| 590 | // TODO: verify correctness |
631 | |
| 591 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
632 | // TODO: verify correctness |
| 592 | write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]); |
633 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
| 593 | 634 | write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]); |
|
| 594 | 635 | ||
| 595 | write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance/100); |
636 | write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance / 100); |
| 596 | 637 | ||
| 597 | // center |
638 | // center |
| 598 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
639 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
| 599 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
640 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
| 600 | clear(); |
641 | clear(); |
| 601 | // update flags to paint display again if needed |
642 | // update flags to paint display again if needed |
| 602 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
643 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
| 603 | } |
644 | } |
| - | 645 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
|
| 604 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
646 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
| 605 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
647 | } |
| 606 | } |
648 | } else { |
| 607 | } else { |
649 | // stats |
| 608 | // stats |
650 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
| 609 | write_ascii_string(2, 5, "max Altitude:"); |
651 | write_ascii_string(2, 5, "max Altitude:"); |
| 610 | write_number_s(17, 5, max_Altimeter/30); |
652 | write_number_s(17, 5, max_Altimeter / 30); |
| 611 | write_char_xy(22, 5, 204); // small meters m |
653 | write_char_xy(22, 5, 204); // small meters m |
| 612 | write_ascii_string(2, 6, "max Speed :"); |
654 | write_ascii_string(2, 6, "max Speed :"); |
| 613 | write_3digit_number_u(19, 6, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000)); |
655 | write_3digit_number_u(19, 6, (uint16_t) (((uint32_t) max_GroundSpeed * 36) / 1000)); |
| 614 | write_char_xy(22, 6, 203); // km/h |
- | |
| 615 | write_ascii_string(2, 7, "max Distance:"); |
656 | write_char_xy(22, 6, 203); // km/h |
| 616 | write_number_s(17, 7, max_Distance/100); |
657 | write_ascii_string(2, 7, "max Distance:"); |
| 617 | write_char_xy(22, 7, 204); // small meters m |
658 | write_number_s(17, 7, max_Distance / 100); |
| 618 | write_ascii_string(2, 8, "min voltage :"); |
659 | write_char_xy(22, 7, 204); // small meters m |
| 619 | //write_number_s(17, 8, min_UBat/10); |
660 | write_ascii_string(2, 8, "min voltage :"); |
| - | 661 | write_number_u_10th(16, 8, min_UBat); |
|
| - | 662 | write_ascii_string(22, 8, "V"); // voltage |
|
| - | 663 | write_ascii_string(2, 9, "max time :"); |
|
| 620 | write_number_u_10th(16, 8, min_UBat); |
664 | write_time(16, 9, max_FlyingTime); |
| 621 | write_ascii_string(22, 8, "V"); // voltage |
665 | write_char_xy(22, 9, 210); // fly clock |
| 622 | write_ascii_string(2, 9, "max time :"); |
666 | } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
| 623 | write_time(16, 9, max_FlyingTime); |
667 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
| 624 | write_char_xy(22, 9, 210); // fly clock |
668 | } |
| 625 | } |
669 | } |
| 626 | 670 | ||
| 627 | // bottom line |
671 | // bottom line |
| 628 | write_number_u_10th(0, bottom_line, naviData.UBat); |
672 | write_number_u_10th(0, bottom_line, naviData.UBat); |
| 629 | if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
673 | if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
| 630 | for (uint8_t x = 0; x < 7; x++) |
674 | for (uint8_t x = 0; x < 7; x++) |
| 631 | write_char_att_xy(x, bottom_line, BLINK); |
675 | write_char_att_xy(x, bottom_line, BLINK); |
| 632 | } else { |
676 | } else { |
| 633 | for (uint8_t x = 0; x < 7; x++) |
677 | for (uint8_t x = 0; x < 7; x++) |
| 634 | write_char_att_xy(x, bottom_line, 0); |
678 | write_char_att_xy(x, bottom_line, 0); |
| 635 | } |
679 | } |
| 636 | 680 | ||
| 637 | write_time(8, bottom_line, uptime); |
681 | write_time(8, bottom_line, uptime); |
| 638 | write_time(16, bottom_line, naviData.FlyingTime); |
682 | write_time(16, bottom_line, naviData.FlyingTime); |
| 639 | 683 | ||
| 640 | write_3digit_number_u(23, bottom_line, naviData.SatsInUse); |
684 | write_3digit_number_u(23, bottom_line, naviData.SatsInUse); |
| 641 | 685 | ||
| 642 | if (naviData.NCFlags & NC_FLAG_CH) { |
686 | if (naviData.NCFlags & NC_FLAG_CH) { |
| 643 | write_char_xy(27, bottom_line, 231); // gps ch |
687 | write_char_xy(27, bottom_line, 231); // gps ch |
| 644 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
688 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
| 645 | write_char_xy(27, bottom_line, 230); // gps ph |
689 | write_char_xy(27, bottom_line, 230); // gps ph |
| 646 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
690 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
| 647 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
691 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
| 648 | } |
692 | } |
| 649 | 693 | ||
| 650 | //write_number_s(8, 5, RxDataLen); |
694 | //write_number_s(8, 5, RxDataLen); |
| 651 | //write_number_s(16, 5, setsReceived++); |
695 | //write_number_s(16, 5, setsReceived++); |
| 652 | 696 | ||
| 653 | // remember statistics |
697 | // remember statistics |
| 654 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
698 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
| 655 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
699 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
| 656 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
700 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
| 657 | max_Distance = naviData.HomePositionDeviation.Distance; |
701 | max_Distance = naviData.HomePositionDeviation.Distance; |
| 658 | } |
702 | } |
| 659 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
703 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
| 660 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
704 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
| 661 | 705 | ||
| 662 | old_MKFlags = naviData.MKFlags; |
706 | old_MKFlags = naviData.MKFlags; |
| 663 | } // (!(COSD_FLAGS & COSD_FLAG_NOOSD)) |
707 | } |
| 664 | } |
708 | } |
| 665 | seconds_since_last_data = 0; |
709 | seconds_since_last_data = 0; |
| 666 | rxd_buffer_locked = 0; |
710 | rxd_buffer_locked = 0; |
| 667 | } |
711 | } |
| 668 | // handle keypress |
712 | // handle keypress |
| 669 | if (s1_pressed()) { |
713 | if (s1_pressed()) { |
| 670 | //sendMKData('d', 1, (unsigned char*) 0, 1); |
714 | //sendMKData('d', 1, (unsigned char*) 0, 1); |
| 671 | // request OSD Data from NC every 100ms |
715 | // request OSD Data from NC every 100ms |
| 672 | /*unsigned char ms = 10; |
716 | /*unsigned char ms = 10; |
| 673 | sendMKData('o', 1, &ms, 1); |
717 | sendMKData('o', 1, &ms, 1); |
| 674 | _delay_ms(500);*/ |
718 | _delay_ms(500);*/ |
| 675 | config_menu(); |
719 | config_menu(); |
| 676 | } |
720 | } |
| 677 | if (s2_pressed()) { |
721 | if (s2_pressed()) { |
| 678 | uptime = 0; |
722 | uptime = 0; |
| 679 | _delay_ms(100); |
723 | _delay_ms(100); |
| 680 | } |
724 | } |
| 681 | if (seconds_since_last_data > 2) { |
725 | if (seconds_since_last_data > 2) { |
| 682 | // re-request OSD Data from NC |
726 | // re-request OSD Data from NC |
| 683 | 727 | ||
| 684 | // re-enable TXD pin |
728 | // re-enable TXD pin |
| 685 | usart1_EnableTXD(); |
- | |
| 686 | - | ||
| 687 | // every 100ms |
- | |
| Line -... | Line 729... | ||
| - | 729 | usart1_EnableTXD(); |
|
| - | 730 | ||
| - | 731 | // every 100ms |
|
| 688 | unsigned char ms = 10; |
732 | unsigned char ms = 10; |
| 689 | sendMKData('o', 1, &ms, 1); |
733 | sendMKData('o', 1, &ms, 1); |
| 690 | 734 | ||
| 691 | // disable TXD pin again |
735 | // disable TXD pin again |
| 692 | usart1_DisableTXD(); |
736 | usart1_DisableTXD(); |
| 693 | 737 | ||