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| Rev 458 | Rev 459 | ||
|---|---|---|---|
| Line 299... | Line 299... | ||
| 299 | 299 | ||
| 300 | /** |
300 | /** |
| 301 | * auto config some stuff on startup, currently only battery cells |
301 | * auto config some stuff on startup, currently only battery cells |
| 302 | * TODO: this is testing stuff, strings should go progmem and so on... |
302 | * TODO: this is testing stuff, strings should go progmem and so on... |
| 303 | */ |
303 | */ |
| 304 | void auto_config(uint8_t UBat, uint8_t* min_UBat) { |
304 | void auto_config(uint8_t UBat) { |
| 305 | clear(); |
- | |
| 306 | // fix for min_bat glitch caused by data only gathered during motors up |
- | |
| 307 | *min_UBat = UBat; |
305 | clear(); |
| 308 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
306 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
| 309 | #if FCONLY |
307 | #if FCONLY |
| 310 | write_ascii_string(2, 3, "FC only Mode"); |
308 | write_ascii_string(2, 3, "FC only Mode"); |
| 311 | #else |
309 | #else |
| 312 | write_ascii_string(2, 3, "NaviCtrl Mode"); |
310 | write_ascii_string(2, 3, "NaviCtrl Mode"); |
| - | 311 | #endif |
|
| 313 | #endif |
312 | write_ascii_string(2, 4, BUILDDATE); |
| 314 | uint8_t cellnum = 0; |
313 | uint8_t cellnum = 0; |
| 315 | if (CELL_NUM == -1) { |
314 | if (CELL_NUM == -1) { |
| 316 | write_ascii_string(2, 5, "Guessing Number of Cells"); |
315 | write_ascii_string(2, 6, "Guessing Number of Cells"); |
| 317 | do { |
316 | do { |
| 318 | cellnum++; |
317 | cellnum++; |
| 319 | } while (UBat > ((cellnum * CELL_VOLT_MAX) + 15)); |
318 | } while (UBat > ((cellnum * CELL_VOLT_MAX) + 15)); |
| 320 | } else { |
319 | } else { |
| Line 456... | Line 455... | ||
| 456 | usart1_request_mk_data(0, 'd', 0); |
455 | usart1_request_mk_data(0, 'd', 0); |
| 457 | #endif |
456 | #endif |
| Line 458... | Line 457... | ||
| 458 | 457 | ||
| 459 | // stats for after flight |
458 | // stats for after flight |
| 460 | int16_t max_Altimeter = 0; |
- | |
| 461 | uint16_t max_GroundSpeed = 0; |
- | |
| 462 | int16_t max_Distance = 0; |
459 | int16_t max_Altimeter = 0; |
| - | 460 | uint8_t min_UBat = 255; |
|
| - | 461 | #if !(FCONLY) |
|
| - | 462 | uint16_t max_GroundSpeed = 0; |
|
| 463 | uint8_t min_UBat = 255; |
463 | int16_t max_Distance = 0; |
| Line 464... | Line 464... | ||
| 464 | uint16_t max_FlyingTime = 0; |
464 | uint16_t max_FlyingTime = 0; |
| 465 | 465 | ||
| Line 466... | Line 466... | ||
| 466 | // flags from last round to check for changes |
466 | // flags from last round to check for changes |
| 467 | uint8_t old_MKFlags = 0; |
467 | uint8_t old_MKFlags = 0; |
| - | 468 | ||
| Line 468... | Line 469... | ||
| 468 | 469 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
|
| 469 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
- | |
| 470 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
- | |
| 471 | - | ||
| 472 | while (1) { |
- | |
| 473 | // write icons at init or after menu/mode-switch |
- | |
| 474 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) { |
- | |
| 475 | #if FCONLY |
- | |
| 476 | // FC Mode ICONS |
- | |
| 477 | write_char_xy(10, top_line, 0xCA); // RC-transmitter |
- | |
| 478 | write_char_xy(27, top_line, 0xCC); // small meters m height |
- | |
| 479 | write_char_xy(7, bottom_line, 0x9E); // small v |
- | |
| 480 | #else |
- | |
| 481 | // NAVI Mode ICONS |
- | |
| 482 | write_char_xy(5, top_line, 0xCB); // km/h |
- | |
| 483 | write_char_xy(10, top_line, 0xCA); // RC-transmitter |
- | |
| 484 | write_char_xy(16, top_line, 0xD0); // degree symbol |
- | |
| 485 | write_char_xy(27, top_line, 0xCC); // small meters m height |
- | |
| 486 | write_char_xy(20, top_line + 1, 0xB0); // left circle |
- | |
| 487 | write_char_xy(22, top_line + 1, 0xB2); // right circle |
- | |
| 488 | write_char_xy(27, top_line + 1, 0xCC); // small meters m home |
- | |
| 489 | write_char_xy(7, bottom_line, 0x9E); // small v |
- | |
| 490 | write_char_xy(14, bottom_line, 0xD1); // on clock |
- | |
| 491 | write_char_xy(21, bottom_line, 0xD2); // fly clock |
- | |
| 492 | write_char_xy(26, bottom_line, 0xC8); // sat1 |
- | |
| 493 | write_char_xy(27, bottom_line, 0xC9); // sat2 |
470 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
| 494 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
471 | #endif |
| 495 | #endif |
472 | |
| 496 | } |
473 | while (1) { |
| 497 | if (rxd_buffer_locked) { |
474 | if (rxd_buffer_locked) { |
| 498 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
475 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
| Line 499... | Line 476... | ||
| 499 | #if FCONLY |
476 | #if FCONLY |
| 500 | if (rxd_buffer[2] == 'D') { // FC Data |
477 | if (rxd_buffer[2] == 'D') { // FC Data |
| - | 478 | Decode64(); |
|
| - | 479 | debugData = *((DebugOut_t*) pRxData); |
|
| 501 | Decode64(); |
480 | |
| 502 | debugData = *((DebugOut_t*) pRxData); |
481 | // init on first data retrival, distinguished by last battery :) |
| 503 | - | ||
| 504 | // init on first data retrival, distinguished by last battery :) |
- | |
| 505 | if (last_UBat == 255) { |
- | |
| 506 | auto_config(debugData.Analog[9], &min_UBat); |
- | |
| 507 | } |
- | |
| 508 | - | ||
| 509 | write_ndigit_number_u(7, top_line, debugData.Analog[10], 100, 0); |
- | |
| 510 | if (debugData.Analog[10] <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
- | |
| 511 | for (uint8_t x = 0; x < 4; x++) |
- | |
| 512 | write_char_att_xy(7 + x, top_line, BLINK); |
- | |
| 513 | } else if (debugData.Analog[10] > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
- | |
| 514 | for (uint8_t x = 0; x < 4; x++) |
- | |
| 515 | write_char_att_xy(7 + x, top_line, 0); |
- | |
| 516 | } |
- | |
| 517 | last_RC_Quality = debugData.Analog[10]; |
- | |
| 518 | - | ||
| 519 | - | ||
| 520 | if (debugData.Analog[5] > 300 || debugData.Analog[5] < -300) { |
- | |
| 521 | // above 10m only write full meters |
- | |
| 522 | write_ndigit_number_s(23, top_line, debugData.Analog[5] / 30, 1000, 0); |
- | |
| 523 | } else { |
- | |
| 524 | // up to 10m write meters.dm |
- | |
| 525 | write_ndigit_number_s_10th(23, top_line, debugData.Analog[5] / 3, 100, 0); |
- | |
| 526 | } |
- | |
| 527 | - | ||
| 528 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
- | |
| 529 | draw_artificial_horizon(top_line + 2, bottom_line - 1, debugData.Analog[0], debugData.Analog[1]); |
- | |
| 530 | } |
- | |
| 531 | - | ||
| 532 | draw_battery(2, bottom_line, min_voltage, debugData.Analog[9], max_voltage); |
- | |
| 533 | write_ndigit_number_u_10th(3, bottom_line, debugData.Analog[9], 100, 0); |
- | |
| 534 | if (debugData.Analog[9] <= min_voltage && last_UBat > min_voltage) { |
- | |
| 535 | for (uint8_t x = 2; x < 8; x++) |
- | |
| 536 | write_char_att_xy(x, bottom_line, BLINK); |
- | |
| 537 | } else if (debugData.Analog[9] > min_voltage && last_UBat < min_voltage) { |
- | |
| 538 | for (uint8_t x = 2; x < 8; x++) |
- | |
| 539 | write_char_att_xy(x, bottom_line, 0); |
- | |
| 540 | } |
- | |
| 541 | // remember last values |
- | |
| 542 | last_UBat = debugData.Analog[9]; |
- | |
| 543 | - | ||
| 544 | /* |
- | |
| 545 | debugData.Analog[0]); // AngleNick |
- | |
| 546 | debugData.Analog[1]); // AngleRoll |
- | |
| 547 | debugData.Analog[5]); // Height |
482 | if (last_UBat == 255) { |
| 548 | debugData.Analog[9]); // Voltage |
483 | // fix for min_UBat |
| 549 | debugData.Analog[10]);// RC Signal |
484 | min_UBat = debugData.Analog[9]; |
| 550 | debugData.Analog[11]);// Gyro compass |
485 | auto_config(debugData.Analog[9]); |
| 551 | */ |
486 | } |
| 552 | seconds_since_last_data = 0; |
487 | #include "osd_fcmode_default.c" |
| 553 | } |
488 | } |
| 554 | #else |
489 | #else |
| 555 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
490 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
| 556 | Decode64(); |
- | |
| 557 | naviData = *((NaviData_t*) pRxData); |
- | |
| 558 | - | ||
| 559 | // init on first data retrival, distinguished by last battery :) |
- | |
| 560 | if (last_UBat == 255) { |
- | |
| 561 | auto_config(naviData.UBat, &min_UBat); |
- | |
| 562 | } |
- | |
| 563 | - | ||
| 564 | // first line |
- | |
| 565 | write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 100, 0); |
- | |
| 566 | - | ||
| 567 | write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0); |
- | |
| 568 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
- | |
| 569 | for (uint8_t x = 0; x < 4; x++) |
- | |
| 570 | write_char_att_xy(7 + x, top_line, BLINK); |
- | |
| 571 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
- | |
| 572 | for (uint8_t x = 0; x < 4; x++) |
- | |
| 573 | write_char_att_xy(7 + x, top_line, 0); |
- | |
| 574 | } |
- | |
| 575 | last_RC_Quality = naviData.RC_Quality; |
- | |
| 576 | - | ||
| 577 | if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) { |
- | |
| 578 | write_char_xy(11, top_line, 0); // clear |
- | |
| 579 | } else { |
- | |
| 580 | write_char_xy(11, top_line, 0xC6); // PC icon |
- | |
| 581 | } |
- | |
| 582 | - | ||
| 583 | write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0); |
- | |
| 584 | - | ||
| 585 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
- | |
| 586 | - | ||
| 587 | draw_variometer(21, top_line, naviData.Variometer); |
- | |
| 588 | - | ||
| 589 | //note:lephisto:according to several sources it's /30 |
- | |
| 590 | if (naviData.Altimeter > 300 || naviData.Altimeter < -300) { |
- | |
| 591 | // above 10m only write full meters |
- | |
| 592 | write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0); |
- | |
| 593 | } else { |
- | |
| 594 | // up to 10m write meters.dm |
- | |
| 595 | //write_number_u_10th(21, top_line, naviData.Altimeter / 3); |
- | |
| 596 | write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0); |
- | |
| 597 | } |
- | |
| 598 | - | ||
| 599 | // seccond line |
- | |
| 600 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
- | |
| 601 | - | ||
| 602 | // TODO: verify correctness |
- | |
| 603 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
- | |
| 604 | //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]); |
- | |
| 605 | // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16 |
- | |
| 606 | write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home)); |
- | |
| 607 | - | ||
| 608 | write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0); |
- | |
| 609 | - | ||
| 610 | // center |
- | |
| 611 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
- | |
| 612 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
- | |
| 613 | clear(); |
- | |
| 614 | // update flags to paint display again if needed |
- | |
| 615 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
- | |
| 616 | } |
- | |
| 617 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
- | |
| 618 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
- | |
| 619 | } |
- | |
| 620 | // motors are on, assume we were/are flying |
- | |
| 621 | COSD_FLAGS |= COSD_WASFLYING; |
- | |
| 622 | } else { |
- | |
| 623 | // stats |
- | |
| 624 | if ((COSD_FLAGS & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) { |
- | |
| 625 | write_ascii_string_pgm(2, 4, stats_item_pointers[0]); // max Altitude |
- | |
| 626 | write_ndigit_number_s(18, 4, max_Altimeter / 30, 1000, 0); |
- | |
| 627 | write_char_xy(22, 4, 204); // small meters m |
- | |
| 628 | write_ascii_string_pgm(2, 5, stats_item_pointers[1]); // max Speed |
- | |
| 629 | write_ndigit_number_u(19, 5, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 100, 0); |
- | |
| 630 | write_char_xy(22, 5, 203); // km/h |
- | |
| 631 | write_ascii_string_pgm(2, 6, stats_item_pointers[2]); // max Distance |
- | |
| 632 | write_ndigit_number_u(19, 6, max_Distance / 10, 100, 0); |
- | |
| 633 | write_char_xy(22, 6, 204); // small meters m |
- | |
| 634 | write_ascii_string_pgm(2, 7, stats_item_pointers[3]); // min voltage |
- | |
| 635 | write_ndigit_number_u_10th(18, 7, min_UBat, 100, 0); |
- | |
| 636 | write_char_xy(22, 7, 0x9E); // small v |
- | |
| 637 | write_ascii_string_pgm(2, 8, stats_item_pointers[4]); // max time |
- | |
| 638 | write_time(16, 8, max_FlyingTime); |
- | |
| 639 | write_char_xy(22, 8, 210); // fly clock |
- | |
| 640 | write_ascii_string_pgm(2, 9, stats_item_pointers[5]); // longitude |
- | |
| 641 | write_gps_pos(15, 9, naviData.CurrentPosition.Longitude); |
491 | Decode64(); |
| 642 | write_ascii_string_pgm(2, 10, stats_item_pointers[6]); // latitude |
- | |
| 643 | write_gps_pos(15, 10, naviData.CurrentPosition.Latitude); |
- | |
| 644 | } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon |
- | |
| 645 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
- | |
| 646 | } |
- | |
| 647 | } |
- | |
| 648 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
- | |
| 649 | draw_big_variometer(27, 8, naviData.Variometer); |
- | |
| 650 | } |
- | |
| 651 | - | ||
| 652 | // bottom line |
- | |
| 653 | draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage); |
- | |
| 654 | write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0); |
- | |
| 655 | if (naviData.UBat <= min_voltage && last_UBat > min_voltage) { |
- | |
| 656 | for (uint8_t x = 2; x < 8; x++) |
- | |
| 657 | write_char_att_xy(x, bottom_line, BLINK); |
- | |
| 658 | } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) { |
492 | naviData = *((NaviData_t*) pRxData); |
| 659 | for (uint8_t x = 2; x < 8; x++) |
- | |
| 660 | write_char_att_xy(x, bottom_line, 0); |
- | |
| 661 | } |
- | |
| 662 | // remember last values |
- | |
| 663 | last_UBat = naviData.UBat; |
- | |
| 664 | - | ||
| 665 | write_time(8, bottom_line, uptime); |
- | |
| 666 | write_time(15, bottom_line, naviData.FlyingTime); |
- | |
| 667 | - | ||
| 668 | write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0); |
- | |
| 669 | - | ||
| 670 | if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) { |
- | |
| 671 | write_char_xy(23, bottom_line, 0xB3); // rc transmitter |
493 | |
| 672 | } else { |
- | |
| 673 | write_char_xy(23, bottom_line, 0); // clear |
- | |
| 674 | } |
- | |
| 675 | - | ||
| 676 | if (naviData.NCFlags & NC_FLAG_CH) { |
- | |
| 677 | write_char_xy(27, bottom_line, 231); // gps ch |
- | |
| 678 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
494 | // init on first data retrival, distinguished by last battery :) |
| 679 | write_char_xy(27, bottom_line, 230); // gps ph |
495 | if (last_UBat == 255) { |
| 680 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
- | |
| 681 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
- | |
| 682 | } |
- | |
| 683 | - | ||
| 684 | //write_number_s(8, 5, RxDataLen); |
- | |
| 685 | //write_number_s(16, 5, setsReceived++); |
- | |
| 686 | - | ||
| 687 | // remember statistics (only when engines running) |
- | |
| 688 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { |
- | |
| 689 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
- | |
| 690 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
- | |
| 691 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
- | |
| 692 | max_Distance = naviData.HomePositionDeviation.Distance; |
496 | // fix for min_UBat |
| 693 | } |
- | |
| 694 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
- | |
| 695 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
- | |
| 696 | } |
497 | min_UBat = naviData.UBat; |
| 697 | 498 | auto_config(naviData.UBat); |
|
| 698 | old_MKFlags = naviData.MKFlags; |
499 | } |
| 699 | seconds_since_last_data = 0; |
500 | #include "osd_ncmode_default.c" |
| 700 | } |
501 | } |