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| 1 | /**************************************************************************** |
1 | /**************************************************************************** |
| 2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
| 3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
| 4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
| 5 | * * |
5 | * * |
| 6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
| 7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
| 8 | * the Free Software Foundation; either version 2 of the License. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
| 9 | * * |
9 | * * |
| 10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
| 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| 13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
| 14 | * * |
14 | * * |
| 15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
| 16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
| 17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
| 18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| 19 | * * |
19 | * * |
| 20 | * * |
20 | * * |
| 21 | * Credits to: * |
21 | * Credits to: * |
| 22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project * |
| 23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
| 24 | * Klaus "akku" Buettner for the hardware * |
24 | * Klaus "akku" Buettner for the hardware * |
| 25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
| 26 | ****************************************************************************/ |
26 | ****************************************************************************/ |
| 27 | 27 | ||
| 28 | #include <avr/io.h> |
28 | #include <avr/io.h> |
| 29 | #include <avr/interrupt.h> |
29 | #include <avr/interrupt.h> |
| 30 | #include <util/delay.h> |
30 | #include <util/delay.h> |
| 31 | #include <avr/pgmspace.h> |
31 | #include <avr/pgmspace.h> |
| 32 | #include "main.h" |
32 | #include "main.h" |
| 33 | #include "max7456_software_spi.h" |
33 | #include "max7456_software_spi.h" |
| 34 | #include "usart1.h" |
34 | #include "usart1.h" |
| 35 | #include "osd_helpers.h" |
35 | #include "osd_helpers.h" |
| 36 | 36 | ||
| 37 | /* TODO: |
37 | /* TODO: |
| 38 | * - verifiy correctness of values |
38 | * - verifiy correctness of values |
| 39 | * - clean up code :) |
39 | * - clean up code :) |
| 40 | */ |
40 | */ |
| 41 | 41 | ||
| 42 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
42 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 43 | // data structs not needed for character flashin |
43 | // data structs not needed for character flashin |
| 44 | #include "mk-data-structs.h" |
44 | #include "mk-data-structs.h" |
| 45 | 45 | ||
| 46 | /* ########################################################################## |
46 | /* ########################################################################## |
| 47 | * global definitions and global vars |
47 | * global definitions and global vars |
| 48 | * ##########################################################################*/ |
48 | * ##########################################################################*/ |
| 49 | 49 | ||
| 50 | volatile uint16_t setsReceived = 0; |
50 | volatile uint16_t setsReceived = 0; |
| 51 | 51 | ||
| 52 | volatile NaviData_t naviData; |
52 | volatile NaviData_t naviData; |
| 53 | volatile DebugOut_t debugData; |
53 | volatile DebugOut_t debugData; |
| 54 | 54 | ||
| 55 | // cache old vars for blinking attribute, checkup is faster than full |
55 | // cache old vars for blinking attribute, checkup is faster than full |
| 56 | // attribute write each time |
56 | // attribute write each time |
| 57 | volatile uint8_t last_UBat = 255; |
57 | volatile uint8_t last_UBat = 255; |
| 58 | volatile uint8_t last_RC_Quality = 255; |
58 | volatile uint8_t last_RC_Quality = 255; |
| 59 | 59 | ||
| 60 | // 16bit should be enough, normal LiPos don't last that long |
60 | // 16bit should be enough, normal LiPos don't last that long |
| 61 | volatile uint16_t uptime = 0; |
61 | volatile uint16_t uptime = 0; |
| 62 | volatile uint16_t timer = 0; |
62 | volatile uint16_t timer = 0; |
| 63 | 63 | ||
| 64 | // remember last time data was received |
64 | // remember last time data was received |
| 65 | volatile uint8_t seconds_since_last_data = 0; |
65 | volatile uint8_t seconds_since_last_data = 0; |
| 66 | 66 | ||
| 67 | // store stats description in progmem to save space |
67 | // store stats description in progmem to save space |
| 68 | char stats_item_0[] PROGMEM = "max Altitude:"; |
68 | char stats_item_0[] PROGMEM = "max Altitude:"; |
| 69 | char stats_item_1[] PROGMEM = "max Speed :"; |
69 | char stats_item_1[] PROGMEM = "max Speed :"; |
| 70 | char stats_item_2[] PROGMEM = "max Distance:"; |
70 | char stats_item_2[] PROGMEM = "max Distance:"; |
| 71 | char stats_item_3[] PROGMEM = "min voltage :"; |
71 | char stats_item_3[] PROGMEM = "min voltage :"; |
| 72 | char stats_item_4[] PROGMEM = "max time :"; |
72 | char stats_item_4[] PROGMEM = "max time :"; |
| 73 | char stats_item_5[] PROGMEM = "longitude :"; |
73 | char stats_item_5[] PROGMEM = "longitude :"; |
| 74 | char stats_item_6[] PROGMEM = "latitude :"; |
74 | char stats_item_6[] PROGMEM = "latitude :"; |
| 75 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
75 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
| 76 | stats_item_3, stats_item_4, stats_item_5, stats_item_6}; |
76 | stats_item_3, stats_item_4, stats_item_5, stats_item_6}; |
| 77 | 77 | ||
| 78 | // store more fixed strings in progmen |
78 | // store more fixed strings in progmen |
| 79 | char ON[] PROGMEM = "ON "; |
79 | char ON[] PROGMEM = "ON "; |
| 80 | char OFF[] PROGMEM = "OFF"; |
80 | char OFF[] PROGMEM = "OFF"; |
| 81 | 81 | ||
| 82 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
82 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 83 | 83 | ||
| 84 | // general PAL|NTSC distingiusch stuff |
84 | // general PAL|NTSC distingiusch stuff |
| 85 | uint8_t top_line = 1; |
85 | uint8_t top_line = 1; |
| 86 | uint8_t bottom_line = 14; |
86 | uint8_t bottom_line = 14; |
| 87 | 87 | ||
| 88 | // battery voltages |
88 | // battery voltages |
| 89 | uint8_t min_voltage = 0; |
89 | uint8_t min_voltage = 0; |
| 90 | uint8_t max_voltage = 0; |
90 | uint8_t max_voltage = 0; |
| 91 | 91 | ||
| 92 | // Flags |
92 | // Flags |
| 93 | uint8_t COSD_FLAGS = 0; |
93 | uint8_t COSD_FLAGS = 0; |
| 94 | 94 | ||
| 95 | /* ########################################################################## |
95 | /* ########################################################################## |
| 96 | * debounce buttons |
96 | * debounce buttons |
| 97 | * ##########################################################################*/ |
97 | * ##########################################################################*/ |
| 98 | int s1_pressed() { |
98 | int s1_pressed() { |
| 99 | if (S1_PRESSED) { |
99 | if (S1_PRESSED) { |
| 100 | _delay_ms(25); |
100 | _delay_ms(25); |
| 101 | if (S1_PRESSED) return 1; |
101 | if (S1_PRESSED) return 1; |
| 102 | } |
102 | } |
| 103 | return 0; |
103 | return 0; |
| 104 | } |
104 | } |
| 105 | 105 | ||
| 106 | int s2_pressed() { |
106 | int s2_pressed() { |
| 107 | if (S2_PRESSED) { |
107 | if (S2_PRESSED) { |
| 108 | _delay_ms(25); |
108 | _delay_ms(25); |
| 109 | if (S2_PRESSED) return 1; |
109 | if (S2_PRESSED) return 1; |
| 110 | } |
110 | } |
| 111 | return 0; |
111 | return 0; |
| 112 | } |
112 | } |
| 113 | 113 | ||
| 114 | /* ########################################################################## |
114 | /* ########################################################################## |
| 115 | * Interrupt handler |
115 | * Interrupt handler |
| 116 | * ##########################################################################*/ |
116 | * ##########################################################################*/ |
| 117 | /** |
117 | /** |
| 118 | * handler for undefined Interrupts |
118 | * handler for undefined Interrupts |
| 119 | * if not defined AVR will reset in case any unhandled interrupts occur |
119 | * if not defined AVR will reset in case any unhandled interrupts occur |
| 120 | */ |
120 | */ |
| 121 | ISR(__vector_default) { |
121 | ISR(__vector_default) { |
| 122 | asm("nop"); |
122 | asm("nop"); |
| 123 | } |
123 | } |
| 124 | 124 | ||
| 125 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
125 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 126 | /* ########################################################################## |
126 | /* ########################################################################## |
| 127 | * timer stuff |
127 | * timer stuff |
| 128 | * ##########################################################################*/ |
128 | * ##########################################################################*/ |
| 129 | /** |
129 | /** |
| 130 | * timer kicks in every 1000uS ^= 1ms |
130 | * timer kicks in every 1000uS ^= 1ms |
| 131 | */ |
131 | */ |
| 132 | ISR(TIMER0_OVF_vect) { |
132 | ISR(TIMER0_OVF_vect) { |
| 133 | OCR0 = 15; // preload |
133 | OCR0 = 15; // preload |
| 134 | if (!timer--) { |
134 | if (!timer--) { |
| 135 | uptime++; |
135 | uptime++; |
| 136 | timer = 999; |
136 | timer = 999; |
| 137 | seconds_since_last_data++; |
137 | seconds_since_last_data++; |
| 138 | } |
138 | } |
| 139 | } |
139 | } |
| 140 | 140 | ||
| 141 | 141 | ||
| 142 | /* ########################################################################## |
142 | /* ########################################################################## |
| 143 | * A simple config menu for the flags |
143 | * A simple config menu for the flags |
| 144 | * ##########################################################################*/ |
144 | * ##########################################################################*/ |
| 145 | 145 | ||
| 146 | /** |
146 | /** |
| 147 | * helper function for menu updating |
147 | * helper function for menu updating |
| 148 | */ |
148 | */ |
| 149 | void config_menu_drawings(uint8_t chosen) { |
149 | void config_menu_drawings(uint8_t chosen) { |
| 150 | // clear prevoius _cursor_ |
150 | // clear prevoius _cursor_ |
| 151 | write_ascii_string(3, (chosen + 5) % 8, " "); |
151 | write_ascii_string(3, (chosen + 5) % 8, " "); |
| 152 | // draw current _cursor_ |
152 | // draw current _cursor_ |
| 153 | write_ascii_string(3, chosen + 5, ">"); |
153 | write_ascii_string(3, chosen + 5, ">"); |
| 154 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
154 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
| 155 | write_ascii_string_pgm(23, 5, ON); |
155 | write_ascii_string_pgm(23, 5, ON); |
| 156 | } else { |
156 | } else { |
| 157 | write_ascii_string_pgm(23, 5, OFF); |
157 | write_ascii_string_pgm(23, 5, OFF); |
| 158 | } |
158 | } |
| 159 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
159 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
| 160 | write_ascii_string_pgm(23, 6, ON); |
160 | write_ascii_string_pgm(23, 6, ON); |
| 161 | } else { |
161 | } else { |
| 162 | write_ascii_string_pgm(23, 6, OFF); |
162 | write_ascii_string_pgm(23, 6, OFF); |
| 163 | } |
163 | } |
| 164 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
164 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
| 165 | write_ascii_string_pgm(23, 7, ON); |
165 | write_ascii_string_pgm(23, 7, ON); |
| 166 | } else { |
166 | } else { |
| 167 | write_ascii_string_pgm(23, 7, OFF); |
167 | write_ascii_string_pgm(23, 7, OFF); |
| 168 | } |
168 | } |
| 169 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
169 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
| 170 | write_ascii_string_pgm(23, 8, ON); |
170 | write_ascii_string_pgm(23, 8, ON); |
| 171 | } else { |
171 | } else { |
| 172 | write_ascii_string_pgm(23, 8, OFF); |
172 | write_ascii_string_pgm(23, 8, OFF); |
| 173 | } |
173 | } |
| 174 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
174 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
| 175 | write_ascii_string_pgm(23, 9, ON); |
175 | write_ascii_string_pgm(23, 9, ON); |
| 176 | } else { |
176 | } else { |
| 177 | write_ascii_string_pgm(23, 9, OFF); |
177 | write_ascii_string_pgm(23, 9, OFF); |
| 178 | } |
178 | } |
| 179 | } |
179 | } |
| 180 | 180 | ||
| 181 | /** |
181 | /** |
| 182 | * some sort of clicking response in the menu |
182 | * some sort of clicking response in the menu |
| 183 | */ |
183 | */ |
| 184 | void config_menu_doclick(uint8_t chosen, char** menu) { |
184 | void config_menu_doclick(uint8_t chosen, char** menu) { |
| 185 | write_ascii_string(4, chosen + 5, "DONE "); |
185 | write_ascii_string(4, chosen + 5, "DONE "); |
| 186 | _delay_ms(1000); |
186 | _delay_ms(1000); |
| 187 | write_ascii_string(4, chosen + 5, menu[chosen]); |
187 | write_ascii_string(4, chosen + 5, menu[chosen]); |
| 188 | } |
188 | } |
| 189 | 189 | ||
| 190 | /** |
190 | /** |
| 191 | * a simple config menu tryout |
191 | * a simple config menu tryout |
| 192 | */ |
192 | */ |
| 193 | void config_menu(void) { |
193 | void config_menu(void) { |
| 194 | // disable interrupts (makes the menu more smoothely) |
194 | // disable interrupts (makes the menu more smoothely) |
| 195 | cli(); |
195 | cli(); |
| 196 | 196 | ||
| 197 | // clear screen |
197 | // clear screen |
| 198 | clear(); |
198 | clear(); |
| 199 | 199 | ||
| 200 | char* menu[9] = {"Full HUD", |
200 | char* menu[9] = {"Full HUD", |
| 201 | "Art.Horizon in HUD", |
201 | "Art.Horizon in HUD", |
| 202 | "Big Vario bar", |
202 | "Big Vario bar", |
| 203 | "Statistics", |
203 | "Statistics", |
| 204 | "Warnings", // TODO: do it! |
204 | "Warnings", // TODO: do it! |
| 205 | "Reset uptime", |
205 | "Reset uptime", |
| 206 | "Request OSD-data", |
206 | "Request OSD-data", |
| 207 | "Disable Debug-data", |
207 | "Disable Debug-data", |
| 208 | "EXIT"}; |
208 | "EXIT"}; |
| 209 | 209 | ||
| 210 | uint8_t inmenu = 1; |
210 | uint8_t inmenu = 1; |
| 211 | uint8_t chosen = 0; |
211 | uint8_t chosen = 0; |
| 212 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
212 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
| 213 | 213 | ||
| 214 | // wait a bit before doing stuff so user has chance to release button |
214 | // wait a bit before doing stuff so user has chance to release button |
| 215 | _delay_ms(250); |
215 | _delay_ms(250); |
| 216 | 216 | ||
| 217 | write_ascii_string(4, 5, menu[0]); |
217 | write_ascii_string(4, 5, menu[0]); |
| 218 | write_ascii_string(4, 6, menu[1]); |
218 | write_ascii_string(4, 6, menu[1]); |
| 219 | write_ascii_string(4, 7, menu[2]); |
219 | write_ascii_string(4, 7, menu[2]); |
| 220 | write_ascii_string(4, 8, menu[3]); |
220 | write_ascii_string(4, 8, menu[3]); |
| 221 | write_ascii_string(4, 9, menu[4]); |
221 | write_ascii_string(4, 9, menu[4]); |
| 222 | write_ascii_string(4, 10, menu[5]); |
222 | write_ascii_string(4, 10, menu[5]); |
| 223 | write_ascii_string(4, 11, menu[6]); |
223 | write_ascii_string(4, 11, menu[6]); |
| 224 | write_ascii_string(4, 12, menu[7]); |
224 | write_ascii_string(4, 12, menu[7]); |
| 225 | write_ascii_string(4, 13, menu[8]); |
225 | write_ascii_string(4, 13, menu[8]); |
| 226 | 226 | ||
| 227 | config_menu_drawings(chosen); |
227 | config_menu_drawings(chosen); |
| 228 | 228 | ||
| 229 | while (inmenu) { |
229 | while (inmenu) { |
| 230 | if (s2_pressed()) { |
230 | if (s2_pressed()) { |
| 231 | write_ascii_string(3, chosen+5, " "); |
231 | write_ascii_string(3, chosen+5, " "); |
| 232 | chosen = (chosen + 1) % 9; |
232 | chosen = (chosen + 1) % 9; |
| 233 | write_ascii_string(3, chosen+5, ">"); |
233 | write_ascii_string(3, chosen+5, ">"); |
| 234 | _delay_ms(500); |
234 | _delay_ms(500); |
| 235 | } else if (s1_pressed()) { |
235 | } else if (s1_pressed()) { |
| 236 | switch (chosen) { |
236 | switch (chosen) { |
| 237 | case 0: // full HUD |
237 | case 0: // full HUD |
| 238 | COSD_FLAGS ^= COSD_FLAG_HUD; |
238 | COSD_FLAGS ^= COSD_FLAG_HUD; |
| 239 | config_menu_drawings(chosen); |
239 | config_menu_drawings(chosen); |
| 240 | break; |
240 | break; |
| 241 | case 1: // art horizon |
241 | case 1: // art horizon |
| 242 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
242 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
| 243 | config_menu_drawings(chosen); |
243 | config_menu_drawings(chosen); |
| 244 | break; |
244 | break; |
| 245 | case 2: // big vario |
245 | case 2: // big vario |
| 246 | COSD_FLAGS ^= COSD_FLAG_BIGVARIO; |
246 | COSD_FLAGS ^= COSD_FLAG_BIGVARIO; |
| 247 | config_menu_drawings(chosen); |
247 | config_menu_drawings(chosen); |
| 248 | break; |
248 | break; |
| 249 | case 3: // statistics |
249 | case 3: // statistics |
| 250 | COSD_FLAGS ^= COSD_FLAG_STATS; |
250 | COSD_FLAGS ^= COSD_FLAG_STATS; |
| 251 | config_menu_drawings(chosen); |
251 | config_menu_drawings(chosen); |
| 252 | break; |
252 | break; |
| 253 | case 4: // warnings |
253 | case 4: // warnings |
| 254 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
254 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
| 255 | config_menu_drawings(chosen); |
255 | config_menu_drawings(chosen); |
| 256 | break; |
256 | break; |
| 257 | case 5: // reset uptime |
257 | case 5: // reset uptime |
| 258 | uptime = 0; |
258 | uptime = 0; |
| 259 | config_menu_doclick(chosen, menu); |
259 | config_menu_doclick(chosen, menu); |
| 260 | break; |
260 | break; |
| 261 | case 6: // re-request OSD data |
261 | case 6: // re-request OSD data |
| - | 262 | #if FCONLY |
|
| - | 263 | // request data ever 100ms from FC; |
|
| - | 264 | usart1_request_mk_data(0, 'd', 100); |
|
| - | 265 | #else |
|
| 262 | // request OSD Data from NC every 100ms |
266 | // request OSD Data from NC every 100ms |
| 263 | usart1_request_mk_data(1, 'o', 100); |
267 | usart1_request_mk_data(1, 'o', 100); |
| - | 268 | ||
| - | 269 | // and disable debug... |
|
| - | 270 | usart1_request_mk_data(0, 'd', 0); |
|
| - | 271 | #endif |
|
| 264 | config_menu_doclick(chosen, menu); |
272 | config_menu_doclick(chosen, menu); |
| 265 | break; |
273 | break; |
| 266 | case 7: // disable debug data |
274 | case 7: // disable debug data |
| 267 | // disable sending of debug data |
275 | // disable sending of debug data |
| 268 | // may result in smoother ddata display |
276 | // may result in smoother ddata display |
| 269 | usart1_request_mk_data(0, 'd', 0); |
277 | usart1_request_mk_data(0, 'd', 0); |
| 270 | config_menu_doclick(chosen, menu); |
278 | config_menu_doclick(chosen, menu); |
| 271 | break; |
279 | break; |
| 272 | case 8: // exit |
280 | case 8: // exit |
| 273 | inmenu = 0; |
281 | inmenu = 0; |
| 274 | break; |
282 | break; |
| 275 | } |
283 | } |
| 276 | _delay_ms(250); |
284 | _delay_ms(250); |
| 277 | } |
285 | } |
| 278 | } |
286 | } |
| 279 | 287 | ||
| 280 | // clear screen up again |
288 | // clear screen up again |
| 281 | clear(); |
289 | clear(); |
| 282 | 290 | ||
| 283 | // update flags to paint display again if needed |
291 | // update flags to paint display again if needed |
| 284 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
292 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
| 285 | 293 | ||
| 286 | // enable interrupts again |
294 | // enable interrupts again |
| 287 | sei(); |
295 | sei(); |
| 288 | } |
296 | } |
| 289 | 297 | ||
| 290 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
298 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 291 | /* ########################################################################## |
299 | /* ########################################################################## |
| 292 | * MAIN |
300 | * MAIN |
| 293 | * ##########################################################################*/ |
301 | * ##########################################################################*/ |
| 294 | int main(void) { |
302 | int main(void) { |
| 295 | // set up FLAGS, compiler should flatten this one |
303 | // set up FLAGS, compiler should flatten this one |
| 296 | COSD_FLAGS = (NTSC << 0); |
304 | COSD_FLAGS = (NTSC << 0); |
| 297 | COSD_FLAGS |= (HUD << 1); |
305 | COSD_FLAGS |= (HUD << 1); |
| 298 | COSD_FLAGS |= (ARTHORIZON << 2); |
306 | COSD_FLAGS |= (ARTHORIZON << 2); |
| 299 | COSD_FLAGS |= (BIGVARIO << 3); |
307 | COSD_FLAGS |= (BIGVARIO << 3); |
| 300 | COSD_FLAGS |= (STATS << 4); |
308 | COSD_FLAGS |= (STATS << 4); |
| 301 | COSD_FLAGS |= (WARNINGS << 5); |
309 | COSD_FLAGS |= (WARNINGS << 5); |
| 302 | 310 | ||
| 303 | // set up Atmega162 Ports |
311 | // set up Atmega162 Ports |
| 304 | DDRA |= (1 << PA1); // PA1 output (/CS) |
312 | DDRA |= (1 << PA1); // PA1 output (/CS) |
| 305 | MAX_CS_HIGH |
313 | MAX_CS_HIGH |
| 306 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
314 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
| 307 | MAX_SDIN_LOW |
315 | MAX_SDIN_LOW |
| 308 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
316 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
| 309 | MAX_SCLK_LOW |
317 | MAX_SCLK_LOW |
| 310 | DDRA |= (1 << PA5); // PA5 output (RESET) |
318 | DDRA |= (1 << PA5); // PA5 output (RESET) |
| 311 | MAX_RESET_HIGH |
319 | MAX_RESET_HIGH |
| 312 | 320 | ||
| 313 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
321 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
| 314 | LED1_OFF |
322 | LED1_OFF |
| 315 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
323 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
| 316 | LED2_OFF |
324 | LED2_OFF |
| 317 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
325 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
| 318 | LED3_OFF |
326 | LED3_OFF |
| 319 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
327 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
| 320 | LED4_OFF |
328 | LED4_OFF |
| 321 | 329 | ||
| 322 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
330 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
| 323 | PORTC |= (1 << PC4); // pullup |
331 | PORTC |= (1 << PC4); // pullup |
| 324 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
332 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
| 325 | PORTC |= (1 << PC5); // pullup |
333 | PORTC |= (1 << PC5); // pullup |
| 326 | 334 | ||
| 327 | // set up top and bottom lines |
335 | // set up top and bottom lines |
| 328 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
336 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
| 329 | bottom_line = 12; |
337 | bottom_line = 12; |
| 330 | } else { |
338 | } else { |
| 331 | bottom_line = 14; |
339 | bottom_line = 14; |
| 332 | } |
340 | } |
| 333 | 341 | ||
| 334 | // reset the MAX7456 to be sure any undefined states do no harm |
342 | // reset the MAX7456 to be sure any undefined states do no harm |
| 335 | MAX_RESET_LOW |
343 | MAX_RESET_LOW |
| 336 | MAX_RESET_HIGH |
344 | MAX_RESET_HIGH |
| 337 | 345 | ||
| 338 | // give the FC/NC and the maxim time to come up |
346 | // give the FC/NC and the maxim time to come up |
| 339 | LED4_ON |
347 | LED4_ON |
| 340 | _delay_ms(2000); |
348 | _delay_ms(2000); |
| 341 | 349 | ||
| 342 | LED4_OFF |
350 | LED4_OFF |
| 343 | 351 | ||
| 344 | 352 | ||
| 345 | //Pushing NEW chars to the MAX7456 |
353 | //Pushing NEW chars to the MAX7456 |
| 346 | #if (WRITECHARS != -1) |
354 | #if (WRITECHARS != -1) |
| 347 | // DISABLE display (VM0) |
355 | // DISABLE display (VM0) |
| 348 | spi_send_byte(0x00, 0b00000000); |
356 | spi_send_byte(0x00, 0b00000000); |
| 349 | #include "characters.c" |
357 | #include "characters.c" |
| 350 | 358 | ||
| 351 | #endif |
359 | #endif |
| 352 | 360 | ||
| 353 | // Setup Video Mode |
361 | // Setup Video Mode |
| 354 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
362 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
| 355 | // NTSC + enable display immediately (VM0) |
363 | // NTSC + enable display immediately (VM0) |
| 356 | spi_send_byte(0x00, 0b00001000); |
364 | spi_send_byte(0x00, 0b00001000); |
| 357 | } else { |
365 | } else { |
| 358 | // PAL + enable display immediately (VM0) |
366 | // PAL + enable display immediately (VM0) |
| 359 | spi_send_byte(0x00, 0b01001000); |
367 | spi_send_byte(0x00, 0b01001000); |
| 360 | } |
368 | } |
| 361 | 369 | ||
| 362 | /*// clear all display-mem (DMM) |
370 | /*// clear all display-mem (DMM) |
| 363 | spi_send_byte(0x04, 0b00000100); |
371 | spi_send_byte(0x04, 0b00000100); |
| 364 | 372 | ||
| 365 | // clearing takes 12uS according to maxim so lets wait longer |
373 | // clearing takes 12uS according to maxim so lets wait longer |
| 366 | _delay_us(120); |
374 | _delay_us(120); |
| 367 | 375 | ||
| 368 | // 8bit mode |
376 | // 8bit mode |
| 369 | spi_send_byte(0x04, 0b01000000);*/ |
377 | spi_send_byte(0x04, 0b01000000);*/ |
| 370 | 378 | ||
| 371 | // clear display memory and set to 8bit mode |
379 | // clear display memory and set to 8bit mode |
| 372 | clear(); |
380 | clear(); |
| 373 | 381 | ||
| 374 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
382 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 375 | // init usart |
383 | // init usart |
| 376 | usart1_init(); |
384 | usart1_init(); |
| 377 | 385 | ||
| 378 | // set up timer |
386 | // set up timer |
| 379 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
387 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
| 380 | OCR0 = 15; // preload |
388 | OCR0 = 15; // preload |
| 381 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
389 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
| 382 | 390 | ||
| 383 | // enable interrupts |
391 | // enable interrupts |
| 384 | sei(); |
392 | sei(); |
| 385 | #endif |
393 | #endif |
| 386 | 394 | ||
| 387 | //write_ascii_string(2, 7, " CaScAdE "); |
395 | //write_ascii_string(2, 7, " CaScAdE "); |
| 388 | //write_ascii_string(2, 8, "is TESTING his open source"); |
396 | //write_ascii_string(2, 8, "is TESTING his open source"); |
| 389 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
397 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
| 390 | 398 | ||
| 391 | // we are ready |
399 | // we are ready |
| 392 | LED3_ON |
400 | LED3_ON |
| 393 | 401 | ||
| 394 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
402 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
| 395 | clear(); |
403 | clear(); |
| 396 | write_all_chars(); |
404 | write_all_chars(); |
| 397 | #else |
405 | #else |
| 398 | // clear serial screen |
406 | // clear serial screen |
| 399 | //usart1_puts("\x1B[2J\x1B[H"); |
407 | //usart1_puts("\x1B[2J\x1B[H"); |
| 400 | //usart1_puts("hello world!\r\n"); |
408 | //usart1_puts("hello world!\r\n"); |
| 401 | 409 | ||
| 402 | 410 | #if FCONLY |
|
| 403 | // request data ever 100ms from FC; |
411 | // request data ever 100ms from FC; |
| 404 | //usart1_request_mk_data(0, 'd', 100); |
412 | usart1_request_mk_data(0, 'd', 100); |
| 405 | 413 | #else |
|
| 406 | // request OSD Data from NC every 100ms |
414 | // request OSD Data from NC every 100ms |
| 407 | usart1_request_mk_data(1, 'o', 100); |
415 | usart1_request_mk_data(1, 'o', 100); |
| 408 | 416 | ||
| 409 | // and disable debug... |
417 | // and disable debug... |
| 410 | usart1_request_mk_data(0, 'd', 0); |
418 | usart1_request_mk_data(0, 'd', 0); |
| - | 419 | #endif |
|
| 411 | 420 | ||
| 412 | // stats for after flight |
421 | // stats for after flight |
| 413 | int16_t max_Altimeter = 0; |
422 | int16_t max_Altimeter = 0; |
| 414 | uint16_t max_GroundSpeed = 0; |
423 | uint16_t max_GroundSpeed = 0; |
| 415 | int16_t max_Distance = 0; |
424 | int16_t max_Distance = 0; |
| 416 | uint8_t min_UBat = 255; |
425 | uint8_t min_UBat = 255; |
| 417 | uint16_t max_FlyingTime = 0; |
426 | uint16_t max_FlyingTime = 0; |
| 418 | 427 | ||
| 419 | // flags from last round to check for changes |
428 | // flags from last round to check for changes |
| 420 | uint8_t old_MKFlags = 0; |
429 | uint8_t old_MKFlags = 0; |
| 421 | 430 | ||
| 422 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
431 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
| 423 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
432 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
| 424 | 433 | ||
| 425 | while (1) { |
434 | while (1) { |
| 426 | // write icons at init or after menu/mode-switch |
435 | // write icons at init or after menu/mode-switch |
| 427 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) { |
436 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) { |
| - | 437 | #if FCONLY |
|
| - | 438 | // FC Mode ICONS |
|
| - | 439 | write_char_xy(10, top_line, 0xCA); // RC-transmitter |
|
| - | 440 | write_char_xy(27, top_line, 0xCC); // small meters m height |
|
| - | 441 | write_char_xy(7, bottom_line, 0x9E); // small v |
|
| - | 442 | #else |
|
| - | 443 | // NAVI Mode ICONS |
|
| 428 | write_char_xy(5, top_line, 0xCB); // km/h |
444 | write_char_xy(5, top_line, 0xCB); // km/h |
| 429 | write_char_xy(10, top_line, 0xCA); // RC-transmitter |
445 | write_char_xy(10, top_line, 0xCA); // RC-transmitter |
| 430 | write_char_xy(16, top_line, 0xD0); // degree symbol |
446 | write_char_xy(16, top_line, 0xD0); // degree symbol |
| 431 | write_char_xy(27, top_line, 0xCC); // small meters m height |
447 | write_char_xy(27, top_line, 0xCC); // small meters m height |
| 432 | write_char_xy(20, top_line+1, 0xB0); // left circle |
448 | write_char_xy(20, top_line+1, 0xB0); // left circle |
| 433 | write_char_xy(22, top_line+1, 0xB2); // right circle |
449 | write_char_xy(22, top_line+1, 0xB2); // right circle |
| 434 | write_char_xy(27, top_line+1, 0xCC); // small meters m home |
450 | write_char_xy(27, top_line+1, 0xCC); // small meters m home |
| 435 | write_char_xy(7, bottom_line, 0x9E); // small v |
451 | write_char_xy(7, bottom_line, 0x9E); // small v |
| 436 | write_char_xy(14, bottom_line, 0xD1); // on clock |
452 | write_char_xy(14, bottom_line, 0xD1); // on clock |
| 437 | write_char_xy(21, bottom_line, 0xD2); // fly clock |
453 | write_char_xy(21, bottom_line, 0xD2); // fly clock |
| 438 | write_char_xy(26, bottom_line, 0xC8); // sat1 |
454 | write_char_xy(26, bottom_line, 0xC8); // sat1 |
| 439 | write_char_xy(27, bottom_line, 0xC9); // sat2 |
455 | write_char_xy(27, bottom_line, 0xC9); // sat2 |
| 440 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
456 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
| - | 457 | #endif |
|
| 441 | } |
458 | } |
| 442 | if (rxd_buffer_locked) { |
459 | if (rxd_buffer_locked) { |
| 443 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
460 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
| - | 461 | #if FCONLY |
|
| 444 | if (rxd_buffer[2] == 'D') { // FC Data |
462 | if (rxd_buffer[2] == 'D') { // FC Data |
| 445 | /*Decode64(); |
463 | Decode64(); |
| 446 | debugData = *((DebugOut_t*) pRxData); |
464 | debugData = *((DebugOut_t*) pRxData); |
| - | 465 | write_ascii_string(2, 2, "FCONLY MODE"); |
|
| - | 466 | ||
| - | 467 | write_ndigit_number_u(7, top_line, debugData.Analog[10], 100, 0); |
|
| - | 468 | if (debugData.Analog[10] <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
|
| - | 469 | for (uint8_t x = 0; x < 4; x++) |
|
| - | 470 | write_char_att_xy(7 + x, top_line, BLINK); |
|
| - | 471 | } else if (debugData.Analog[10] > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
|
| - | 472 | for (uint8_t x = 0; x < 4; x++) |
|
| - | 473 | write_char_att_xy(7 + x, top_line, 0); |
|
| - | 474 | } |
|
| - | 475 | last_RC_Quality = debugData.Analog[10]; |
|
| - | 476 | ||
| - | 477 | ||
| - | 478 | if (debugData.Analog[5] > 300 || debugData.Analog[5] < -300) { |
|
| - | 479 | // above 10m only write full meters |
|
| - | 480 | write_ndigit_number_s(23, top_line, debugData.Analog[5] / 30, 1000, 0); |
|
| - | 481 | } else { |
|
| - | 482 | // up to 10m write meters.dm |
|
| - | 483 | write_ndigit_number_s_10th(23, top_line, debugData.Analog[5] / 3, 100, 0); |
|
| - | 484 | } |
|
| - | 485 | ||
| - | 486 | draw_battery(2, bottom_line, min_voltage, debugData.Analog[9], max_voltage); |
|
| - | 487 | write_ndigit_number_u_10th(3, bottom_line, debugData.Analog[9], 100, 0); |
|
| - | 488 | if (debugData.Analog[9] <= min_voltage && last_UBat > min_voltage) { |
|
| 447 | write_number_s(12, 2, RxDataLen); |
489 | for (uint8_t x = 2; x < 8; x++) |
| - | 490 | write_char_att_xy(x, bottom_line, BLINK); |
|
| - | 491 | } else if (debugData.Analog[9] > min_voltage && last_UBat < min_voltage) { |
|
| - | 492 | for (uint8_t x = 2; x < 8; x++) |
|
| 448 | write_number_s(20, 2, setsReceived++); |
493 | write_char_att_xy(x, bottom_line, 0); |
| - | 494 | } |
|
| - | 495 | // remember last values |
|
| - | 496 | last_UBat = debugData.Analog[9]; |
|
| - | 497 | ||
| - | 498 | /* |
|
| 449 | write_number_s(12, 3, debugData.Analog[0]); // AngleNick |
499 | debugData.Analog[0]); // AngleNick |
| 450 | write_number_s(12, 4, debugData.Analog[1]); // AngleRoll |
500 | debugData.Analog[1]); // AngleRoll |
| 451 | write_number_s(12, 5, debugData.Analog[5]); // Height |
501 | debugData.Analog[5]); // Height |
| 452 | write_number_s(12, 6, debugData.Analog[9]); // Voltage |
502 | debugData.Analog[9]); // Voltage |
| 453 | write_number_s(12, 7, debugData.Analog[10]);// RC Signal |
503 | debugData.Analog[10]);// RC Signal |
| 454 | write_number_s(12, 8, debugData.Analog[11]);// Gyro compass |
504 | debugData.Analog[11]);// Gyro compass |
| - | 505 | */ |
|
| 455 | seconds_since_last_data = 0;*/ |
506 | seconds_since_last_data = 0; |
| - | 507 | } |
|
| - | 508 | #else |
|
| 456 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
509 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
| 457 | Decode64(); |
510 | Decode64(); |
| 458 | naviData = *((NaviData_t*) pRxData); |
511 | naviData = *((NaviData_t*) pRxData); |
| 459 | 512 | ||
| 460 | // init on first data retrival, distinguished by last battery :) |
513 | // init on first data retrival, distinguished by last battery :) |
| 461 | // TODO: this is testing stuff, strings should go progmem and so on... |
514 | // TODO: this is testing stuff, strings should go progmem and so on... |
| 462 | if (last_UBat == 255) { |
515 | if (last_UBat == 255) { |
| 463 | clear(); |
516 | clear(); |
| 464 | // fix for min_bat glitch caused by data only gathered during motors up |
517 | // fix for min_bat glitch caused by data only gathered during motors up |
| 465 | min_UBat = naviData.UBat; |
518 | min_UBat = naviData.UBat; |
| 466 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
519 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
| 467 | uint8_t cellnum = 0; |
520 | uint8_t cellnum = 0; |
| 468 | if (CELL_NUM == -1) { |
521 | if (CELL_NUM == -1) { |
| 469 | write_ascii_string(2, 5, "Guessing Number of Cells"); |
522 | write_ascii_string(2, 5, "Guessing Number of Cells"); |
| 470 | do { |
523 | do { |
| 471 | cellnum++; |
524 | cellnum++; |
| 472 | } while (naviData.UBat > ((cellnum * CELL_VOLT_MAX) + 10)); |
525 | } while (naviData.UBat > ((cellnum * CELL_VOLT_MAX) + 10)); |
| 473 | } else { |
526 | } else { |
| 474 | cellnum = CELL_NUM; |
527 | cellnum = CELL_NUM; |
| 475 | } |
528 | } |
| 476 | min_voltage = cellnum * CELL_VOLT_MIN; |
529 | min_voltage = cellnum * CELL_VOLT_MIN; |
| 477 | max_voltage = cellnum * CELL_VOLT_MAX; |
530 | max_voltage = cellnum * CELL_VOLT_MAX; |
| 478 | write_ascii_string(2, 7, "Number of Cells:"); |
531 | write_ascii_string(2, 7, "Number of Cells:"); |
| 479 | write_ndigit_number_u(21, 7, cellnum, 1, 0); |
532 | write_ndigit_number_u(21, 7, cellnum, 1, 0); |
| 480 | write_ascii_string(2, 8, "Warn Voltage :"); |
533 | write_ascii_string(2, 8, "Warn Voltage :"); |
| 481 | write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0); |
534 | write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0); |
| 482 | write_ascii_string(2, 9, "Max Voltage :"); |
535 | write_ascii_string(2, 9, "Max Voltage :"); |
| 483 | write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0); |
536 | write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0); |
| 484 | _delay_ms(200); |
537 | _delay_ms(200); |
| 485 | clear(); |
538 | clear(); |
| 486 | // update flags to paint display again because of clear |
539 | // update flags to paint display again because of clear |
| 487 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
540 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
| 488 | } |
541 | } |
| 489 | 542 | ||
| 490 | // first line |
543 | // first line |
| 491 | write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0); |
544 | write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0); |
| 492 | 545 | ||
| 493 | write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0); |
546 | write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0); |
| 494 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
547 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
| 495 | for (uint8_t x = 0; x < 4; x++) |
548 | for (uint8_t x = 0; x < 4; x++) |
| 496 | write_char_att_xy(7 + x, top_line, BLINK); |
549 | write_char_att_xy(7 + x, top_line, BLINK); |
| 497 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
550 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
| 498 | for (uint8_t x = 0; x < 4; x++) |
551 | for (uint8_t x = 0; x < 4; x++) |
| 499 | write_char_att_xy(7 + x, top_line, 0); |
552 | write_char_att_xy(7 + x, top_line, 0); |
| 500 | } |
553 | } |
| 501 | last_RC_Quality = naviData.RC_Quality; |
554 | last_RC_Quality = naviData.RC_Quality; |
| 502 | 555 | ||
| 503 | if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) { |
556 | if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) { |
| 504 | write_char_xy(11, top_line, 0); // clear |
557 | write_char_xy(11, top_line, 0); // clear |
| 505 | } else { |
558 | } else { |
| 506 | write_char_xy(11, top_line, 0xC6); // PC icon |
559 | write_char_xy(11, top_line, 0xC6); // PC icon |
| 507 | } |
560 | } |
| 508 | 561 | ||
| 509 | write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0); |
562 | write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0); |
| 510 | 563 | ||
| 511 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
564 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
| 512 | 565 | ||
| 513 | draw_variometer(21, top_line, naviData.Variometer); |
566 | draw_variometer(21, top_line, naviData.Variometer); |
| 514 | 567 | ||
| 515 | //note:lephisto:according to several sources it's /30 |
568 | //note:lephisto:according to several sources it's /30 |
| 516 | if (naviData.Altimeter > 300 || naviData.Altimeter < -300) { |
569 | if (naviData.Altimeter > 300 || naviData.Altimeter < -300) { |
| 517 | // above 10m only write full meters |
570 | // above 10m only write full meters |
| 518 | write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0); |
571 | write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0); |
| 519 | } else { |
572 | } else { |
| 520 | // up to 10m write meters.dm |
573 | // up to 10m write meters.dm |
| 521 | //write_number_u_10th(21, top_line, naviData.Altimeter / 3); |
574 | //write_number_u_10th(21, top_line, naviData.Altimeter / 3); |
| 522 | write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0); |
575 | write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0); |
| 523 | } |
576 | } |
| 524 | 577 | ||
| 525 | // seccond line |
578 | // seccond line |
| 526 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
579 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
| 527 | 580 | ||
| 528 | // TODO: verify correctness |
581 | // TODO: verify correctness |
| 529 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
582 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
| 530 | //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]); |
583 | //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]); |
| 531 | // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16 |
584 | // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16 |
| 532 | write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home)); |
585 | write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home)); |
| 533 | 586 | ||
| 534 | write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0); |
587 | write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0); |
| 535 | 588 | ||
| 536 | // center |
589 | // center |
| 537 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
590 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
| 538 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
591 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
| 539 | clear(); |
592 | clear(); |
| 540 | // update flags to paint display again if needed |
593 | // update flags to paint display again if needed |
| 541 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
594 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
| 542 | } |
595 | } |
| 543 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
596 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
| 544 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
597 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
| 545 | } |
598 | } |
| 546 | // motors are on, assume we were/are flying |
599 | // motors are on, assume we were/are flying |
| 547 | COSD_FLAGS |= COSD_WASFLYING; |
600 | COSD_FLAGS |= COSD_WASFLYING; |
| 548 | } else { |
601 | } else { |
| 549 | // stats |
602 | // stats |
| 550 | if ((COSD_FLAGS & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) { |
603 | if ((COSD_FLAGS & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) { |
| 551 | write_ascii_string_pgm(2, 4, stats_item_pointers[0]); // max Altitude |
604 | write_ascii_string_pgm(2, 4, stats_item_pointers[0]); // max Altitude |
| 552 | write_ndigit_number_s(18, 4, max_Altimeter / 30, 1000, 0); |
605 | write_ndigit_number_s(18, 4, max_Altimeter / 30, 1000, 0); |
| 553 | write_char_xy(22, 4, 204); // small meters m |
606 | write_char_xy(22, 4, 204); // small meters m |
| 554 | write_ascii_string_pgm(2, 5, stats_item_pointers[1]); // max Speed |
607 | write_ascii_string_pgm(2, 5, stats_item_pointers[1]); // max Speed |
| 555 | write_ndigit_number_u(19, 5, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0); |
608 | write_ndigit_number_u(19, 5, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0); |
| 556 | write_char_xy(22, 5, 203); // km/h |
609 | write_char_xy(22, 5, 203); // km/h |
| 557 | write_ascii_string_pgm(2, 6, stats_item_pointers[2]); // max Distance |
610 | write_ascii_string_pgm(2, 6, stats_item_pointers[2]); // max Distance |
| 558 | write_ndigit_number_u(19, 6, max_Distance / 10, 100, 0); |
611 | write_ndigit_number_u(19, 6, max_Distance / 10, 100, 0); |
| 559 | write_char_xy(22, 6, 204); // small meters m |
612 | write_char_xy(22, 6, 204); // small meters m |
| 560 | write_ascii_string_pgm(2, 7, stats_item_pointers[3]); // min voltage |
613 | write_ascii_string_pgm(2, 7, stats_item_pointers[3]); // min voltage |
| 561 | write_ndigit_number_u_10th(18, 7, min_UBat, 100, 0); |
614 | write_ndigit_number_u_10th(18, 7, min_UBat, 100, 0); |
| 562 | write_char_xy(22, 7, 0x9E); // small v |
615 | write_char_xy(22, 7, 0x9E); // small v |
| 563 | write_ascii_string_pgm(2, 8, stats_item_pointers[4]); // max time |
616 | write_ascii_string_pgm(2, 8, stats_item_pointers[4]); // max time |
| 564 | write_time(16, 8, max_FlyingTime); |
617 | write_time(16, 8, max_FlyingTime); |
| 565 | write_char_xy(22, 8, 210); // fly clock |
618 | write_char_xy(22, 8, 210); // fly clock |
| 566 | write_ascii_string_pgm(2, 9, stats_item_pointers[5]); // longitude |
619 | write_ascii_string_pgm(2, 9, stats_item_pointers[5]); // longitude |
| 567 | write_gps_pos(15, 9, naviData.CurrentPosition.Longitude); |
620 | write_gps_pos(15, 9, naviData.CurrentPosition.Longitude); |
| 568 | write_ascii_string_pgm(2, 10, stats_item_pointers[6]); // latitude |
621 | write_ascii_string_pgm(2, 10, stats_item_pointers[6]); // latitude |
| 569 | write_gps_pos(15, 10, naviData.CurrentPosition.Latitude); |
622 | write_gps_pos(15, 10, naviData.CurrentPosition.Latitude); |
| 570 | } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
623 | } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
| 571 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
624 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
| 572 | } |
625 | } |
| 573 | } |
626 | } |
| 574 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
627 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
| 575 | draw_big_variometer(27, 8, naviData.Variometer); |
628 | draw_big_variometer(27, 8, naviData.Variometer); |
| 576 | } |
629 | } |
| 577 | 630 | ||
| 578 | // bottom line |
631 | // bottom line |
| 579 | draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage); |
632 | draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage); |
| 580 | write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0); |
633 | write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0); |
| 581 | if (naviData.UBat <= min_voltage && last_UBat > min_voltage) { |
634 | if (naviData.UBat <= min_voltage && last_UBat > min_voltage) { |
| 582 | for (uint8_t x = 2; x < 8; x++) |
635 | for (uint8_t x = 2; x < 8; x++) |
| 583 | write_char_att_xy(x, bottom_line, BLINK); |
636 | write_char_att_xy(x, bottom_line, BLINK); |
| 584 | } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) { |
637 | } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) { |
| 585 | for (uint8_t x = 2; x < 8; x++) |
638 | for (uint8_t x = 2; x < 8; x++) |
| 586 | write_char_att_xy(x, bottom_line, 0); |
639 | write_char_att_xy(x, bottom_line, 0); |
| 587 | } |
640 | } |
| 588 | // remember last values |
641 | // remember last values |
| 589 | last_UBat = naviData.UBat; |
642 | last_UBat = naviData.UBat; |
| 590 | 643 | ||
| 591 | write_time(8, bottom_line, uptime); |
644 | write_time(8, bottom_line, uptime); |
| 592 | write_time(15, bottom_line, naviData.FlyingTime); |
645 | write_time(15, bottom_line, naviData.FlyingTime); |
| 593 | 646 | ||
| 594 | write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0); |
647 | write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0); |
| 595 | 648 | ||
| 596 | if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) { |
649 | if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) { |
| 597 | write_char_xy(23, bottom_line, 0xB3); // rc transmitter |
650 | write_char_xy(23, bottom_line, 0xB3); // rc transmitter |
| 598 | } else { |
651 | } else { |
| 599 | write_char_xy(23, bottom_line, 0); // clear |
652 | write_char_xy(23, bottom_line, 0); // clear |
| 600 | } |
653 | } |
| 601 | 654 | ||
| 602 | if (naviData.NCFlags & NC_FLAG_CH) { |
655 | if (naviData.NCFlags & NC_FLAG_CH) { |
| 603 | write_char_xy(27, bottom_line, 231); // gps ch |
656 | write_char_xy(27, bottom_line, 231); // gps ch |
| 604 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
657 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
| 605 | write_char_xy(27, bottom_line, 230); // gps ph |
658 | write_char_xy(27, bottom_line, 230); // gps ph |
| 606 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
659 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
| 607 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
660 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
| 608 | } |
661 | } |
| 609 | 662 | ||
| 610 | //write_number_s(8, 5, RxDataLen); |
663 | //write_number_s(8, 5, RxDataLen); |
| 611 | //write_number_s(16, 5, setsReceived++); |
664 | //write_number_s(16, 5, setsReceived++); |
| 612 | 665 | ||
| 613 | // remember statistics (only when engines running) |
666 | // remember statistics (only when engines running) |
| 614 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { |
667 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { |
| 615 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
668 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
| 616 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
669 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
| 617 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
670 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
| 618 | max_Distance = naviData.HomePositionDeviation.Distance; |
671 | max_Distance = naviData.HomePositionDeviation.Distance; |
| 619 | } |
672 | } |
| 620 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
673 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
| 621 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
674 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
| 622 | } |
675 | } |
| 623 | 676 | ||
| 624 | old_MKFlags = naviData.MKFlags; |
677 | old_MKFlags = naviData.MKFlags; |
| 625 | seconds_since_last_data = 0; |
678 | seconds_since_last_data = 0; |
| 626 | } |
679 | } |
| - | 680 | #endif |
|
| 627 | } |
681 | } |
| 628 | rxd_buffer_locked = 0; |
682 | rxd_buffer_locked = 0; |
| 629 | } |
683 | } |
| 630 | // handle keypress |
684 | // handle keypress |
| 631 | if (s1_pressed()) { |
685 | if (s1_pressed()) { |
| 632 | config_menu(); |
686 | config_menu(); |
| 633 | } |
687 | } |
| 634 | if (seconds_since_last_data > 2) { |
688 | if (seconds_since_last_data > 2) { |
| - | 689 | #if FCONLY |
|
| - | 690 | // request data ever 100ms from FC; |
|
| - | 691 | usart1_request_mk_data(0, 'd', 100); |
|
| - | 692 | #else |
|
| 635 | // request OSD Data from NC every 100ms |
693 | // request OSD Data from NC every 100ms |
| 636 | usart1_request_mk_data(1, 'o', 100); |
694 | usart1_request_mk_data(1, 'o', 100); |
| - | 695 | ||
| - | 696 | // and disable debug... |
|
| 637 | seconds_since_last_data = 0; |
697 | usart1_request_mk_data(0, 'd', 0); |
| - | 698 | #endif |
|
| 638 | } |
699 | } |
| 639 | } |
700 | } |
| 640 | #endif |
701 | #endif |
| 641 | return 0; |
702 | return 0; |
| 642 | } |
703 | } |
| 643 | 704 | ||