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betaflight/src/main/io/osd.c

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Created by Marcin Baliniak
some functions based on MinimOSD
OSD-CMS separation by jflyper
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <ctype.h>
#include "platform.h"
#ifdef OSD
#include "build/version.h"
#include "common/utils.h"
#include "drivers/display.h"
#include "drivers/system.h"
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "cms/cms_menu_osd.h"
#include "io/displayport_max7456.h"
#include "io/flashfs.h"
#include "io/osd.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#include "drivers/max7456.h"
#include "drivers/max7456_symbols.h"
#include "common/printf.h"
#include "build/debug.h"
// Things in both OSD and CMS
#define IS_HI(X) (rcData[X] > 1750)
#define IS_LO(X) (rcData[X] < 1250)
#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
bool blinkState = true;
//extern uint8_t RSSI; // TODO: not used?
static uint16_t flyTime = 0;
static uint8_t statRssi;
typedef struct statistic_s {
int16_t max_speed;
int16_t min_voltage; // /10
int16_t max_current; // /10
int16_t min_rssi;
int16_t max_altitude;
} statistic_t;
static statistic_t stats;
uint16_t refreshTimeout = 0;
#define REFRESH_1S 12
static uint8_t armState;
static displayPort_t *osd7456DisplayPort;
// OSD forwards
void osdUpdate(uint32_t currentTime);
char osdGetAltitudeSymbol();
int32_t osdGetAltitude(int32_t alt);
void osdEditElement(void *ptr);
void osdDrawElements(void);
void osdDrawSingleElement(uint8_t item);
#define AH_MAX_PITCH 200 // Specify maximum AHI pitch value displayed. Default 200 = 20.0 degrees
#define AH_MAX_ROLL 400 // Specify maximum AHI roll value displayed. Default 400 = 40.0 degrees
#define AH_SIDEBAR_WIDTH_POS 7
#define AH_SIDEBAR_HEIGHT_POS 3
void osdDrawElements(void)
{
max7456ClearScreen();
#if 0
if (currentElement)
osdDrawElementPositioningHelp();
#else
if (false)
;
#endif
#ifdef CMS
else if (sensors(SENSOR_ACC) || displayIsGrabbed(osd7456DisplayPort))
#else
else if (sensors(SENSOR_ACC))
#endif
{
osdDrawSingleElement(OSD_ARTIFICIAL_HORIZON);
osdDrawSingleElement(OSD_CROSSHAIRS);
}
osdDrawSingleElement(OSD_MAIN_BATT_VOLTAGE);
osdDrawSingleElement(OSD_RSSI_VALUE);
osdDrawSingleElement(OSD_FLYTIME);
osdDrawSingleElement(OSD_ONTIME);
osdDrawSingleElement(OSD_FLYMODE);
osdDrawSingleElement(OSD_THROTTLE_POS);
osdDrawSingleElement(OSD_VTX_CHANNEL);
osdDrawSingleElement(OSD_CURRENT_DRAW);
osdDrawSingleElement(OSD_MAH_DRAWN);
osdDrawSingleElement(OSD_CRAFT_NAME);
osdDrawSingleElement(OSD_ALTITUDE);
#ifdef GPS
#ifdef CMS
if (sensors(SENSOR_GPS) || displayIsGrabbed(osd7456DisplayPort))
#else
if (sensors(SENSOR_GPS))
#endif
{
osdDrawSingleElement(OSD_GPS_SATS);
osdDrawSingleElement(OSD_GPS_SPEED);
}
#endif // GPS
}
void osdDrawSingleElement(uint8_t item)
{
if (!VISIBLE(masterConfig.osdProfile.item_pos[item]) || BLINK(masterConfig.osdProfile.item_pos[item]))
return;
uint8_t elemPosX = OSD_X(masterConfig.osdProfile.item_pos[item]);
uint8_t elemPosY = OSD_Y(masterConfig.osdProfile.item_pos[item]);
char buff[32];
switch(item) {
case OSD_RSSI_VALUE:
{
uint16_t osdRssi = rssi * 100 / 1024; // change range
if (osdRssi >= 100)
osdRssi = 99;
buff[0] = SYM_RSSI;
sprintf(buff + 1, "%d", osdRssi);
break;
}
case OSD_MAIN_BATT_VOLTAGE:
{
buff[0] = SYM_BATT_5;
sprintf(buff + 1, "%d.%1dV", vbat / 10, vbat % 10);
break;
}
case OSD_CURRENT_DRAW:
{
buff[0] = SYM_AMP;
sprintf(buff + 1, "%d.%02d", abs(amperage) / 100, abs(amperage) % 100);
break;
}
case OSD_MAH_DRAWN:
{
buff[0] = SYM_MAH;
sprintf(buff + 1, "%d", mAhDrawn);
break;
}
#ifdef GPS
case OSD_GPS_SATS:
{
buff[0] = 0x1f;
sprintf(buff + 1, "%d", GPS_numSat);
break;
}
case OSD_GPS_SPEED:
{
sprintf(buff, "%d", GPS_speed * 36 / 1000);
break;
}
#endif // GPS
case OSD_ALTITUDE:
{
int32_t alt = osdGetAltitude(BaroAlt);
sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
break;
}
case OSD_ONTIME:
{
uint32_t seconds = micros() / 1000000;
buff[0] = SYM_ON_M;
sprintf(buff + 1, "%02d:%02d", seconds / 60, seconds % 60);
break;
}
case OSD_FLYTIME:
{
buff[0] = SYM_FLY_M;
sprintf(buff + 1, "%02d:%02d", flyTime / 60, flyTime % 60);
break;
}
case OSD_FLYMODE:
{
char *p = "ACRO";
if (isAirmodeActive())
p = "AIR";
if (FLIGHT_MODE(FAILSAFE_MODE))
p = "!FS";
else if (FLIGHT_MODE(ANGLE_MODE))
p = "STAB";
else if (FLIGHT_MODE(HORIZON_MODE))
p = "HOR";
max7456Write(elemPosX, elemPosY, p);
return;
}
case OSD_CRAFT_NAME:
{
if (strlen(masterConfig.name) == 0)
strcpy(buff, "CRAFT_NAME");
else {
for (uint8_t i = 0; i < MAX_NAME_LENGTH; i++) {
buff[i] = toupper((unsigned char)masterConfig.name[i]);
if (masterConfig.name[i] == 0)
break;
}
}
break;
}
case OSD_THROTTLE_POS:
{
buff[0] = SYM_THR;
buff[1] = SYM_THR1;
sprintf(buff + 2, "%d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
break;
}
#ifdef VTX
case OSD_VTX_CHANNEL:
{
sprintf(buff, "CH:%d", current_vtx_channel % CHANNELS_PER_BAND + 1);
break;
}
#endif // VTX
case OSD_CROSSHAIRS:
elemPosX = 14 - 1; // Offset for 1 char to the left
elemPosY = 6;
if (maxScreenSize == VIDEO_BUFFER_CHARS_PAL)
++elemPosY;
buff[0] = SYM_AH_CENTER_LINE;
buff[1] = SYM_AH_CENTER;
buff[2] = SYM_AH_CENTER_LINE_RIGHT;
buff[3] = 0;
break;
case OSD_ARTIFICIAL_HORIZON:
{
elemPosX = 14;
elemPosY = 6 - 4; // Top center of the AH area
int rollAngle = attitude.values.roll;
int pitchAngle = attitude.values.pitch;
if (maxScreenSize == VIDEO_BUFFER_CHARS_PAL)
++elemPosY;
if (pitchAngle > AH_MAX_PITCH)
pitchAngle = AH_MAX_PITCH;
if (pitchAngle < -AH_MAX_PITCH)
pitchAngle = -AH_MAX_PITCH;
if (rollAngle > AH_MAX_ROLL)
rollAngle = AH_MAX_ROLL;
if (rollAngle < -AH_MAX_ROLL)
rollAngle = -AH_MAX_ROLL;
// Convert pitchAngle to y compensation value
pitchAngle = (pitchAngle / 8) - 41; // 41 = 4 * 9 + 5
for (int8_t x = -4; x <= 4; x++) {
int y = (rollAngle * x) / 64;
y -= pitchAngle;
// y += 41; // == 4 * 9 + 5
if (y >= 0 && y <= 81) {
max7456WriteChar(elemPosX + x, elemPosY + (y / 9), (SYM_AH_BAR9_0 + (y % 9)));
}
}
osdDrawSingleElement(OSD_HORIZON_SIDEBARS);
return;
}
case OSD_HORIZON_SIDEBARS:
{
elemPosX = 14;
elemPosY = 6;
if (maxScreenSize == VIDEO_BUFFER_CHARS_PAL)
++elemPosY;
// Draw AH sides
int8_t hudwidth = AH_SIDEBAR_WIDTH_POS;
int8_t hudheight = AH_SIDEBAR_HEIGHT_POS;
for (int8_t y = -hudheight; y <= hudheight; y++) {
max7456WriteChar(elemPosX - hudwidth, elemPosY + y, SYM_AH_DECORATION);
max7456WriteChar(elemPosX + hudwidth, elemPosY + y, SYM_AH_DECORATION);
}
// AH level indicators
max7456WriteChar(elemPosX - hudwidth + 1, elemPosY, SYM_AH_LEFT);
max7456WriteChar(elemPosX + hudwidth - 1, elemPosY, SYM_AH_RIGHT);
return;
}
default:
return;
}
max7456Write(elemPosX, elemPosY, buff);
}
void resetOsdConfig(osd_profile_t *osdProfile)
{
osdProfile->item_pos[OSD_RSSI_VALUE] = OSD_POS(22, 0) | VISIBLE_FLAG;
osdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 0) | VISIBLE_FLAG;
osdProfile->item_pos[OSD_ARTIFICIAL_HORIZON] = OSD_POS(8, 6) | VISIBLE_FLAG;
osdProfile->item_pos[OSD_HORIZON_SIDEBARS] = OSD_POS(8, 6) | VISIBLE_FLAG;
osdProfile->item_pos[OSD_ONTIME] = OSD_POS(22, 11) | VISIBLE_FLAG;
osdProfile->item_pos[OSD_FLYTIME] = OSD_POS(22, 12) | VISIBLE_FLAG;
osdProfile->item_pos[OSD_FLYMODE] = OSD_POS(12, 11) | VISIBLE_FLAG;
osdProfile->item_pos[OSD_CRAFT_NAME] = OSD_POS(12, 12);
osdProfile->item_pos[OSD_THROTTLE_POS] = OSD_POS(1, 4);
osdProfile->item_pos[OSD_VTX_CHANNEL] = OSD_POS(8, 6);
osdProfile->item_pos[OSD_CURRENT_DRAW] = OSD_POS(1, 3);
osdProfile->item_pos[OSD_MAH_DRAWN] = OSD_POS(15, 3);
osdProfile->item_pos[OSD_GPS_SPEED] = OSD_POS(2, 2);
osdProfile->item_pos[OSD_GPS_SATS] = OSD_POS(2, 12);
osdProfile->item_pos[OSD_ALTITUDE] = OSD_POS(1, 5);
osdProfile->rssi_alarm = 20;
osdProfile->cap_alarm = 2200;
osdProfile->time_alarm = 10; // in minutes
osdProfile->alt_alarm = 100; // meters or feet depend on configuration
osdProfile->video_system = 0;
}
void osdInit(void)
{
char x, string_buffer[30];
armState = ARMING_FLAG(ARMED);
max7456Init(masterConfig.osdProfile.video_system);
max7456ClearScreen();
// display logo and help
x = 160;
for (int i = 1; i < 5; i++) {
for (int j = 3; j < 27; j++) {
if (x != 255)
max7456WriteChar(j, i, x++);
}
}
sprintf(string_buffer, "BF VERSION: %s", FC_VERSION_STRING);
max7456Write(5, 6, string_buffer);
#ifdef CMS
max7456Write(7, 7, CMS_STARTUP_HELP_TEXT1);
max7456Write(11, 8, CMS_STARTUP_HELP_TEXT2);
max7456Write(11, 9, CMS_STARTUP_HELP_TEXT3);
#endif
max7456RefreshAll();
refreshTimeout = 4 * REFRESH_1S;
osd7456DisplayPort = max7456DisplayPortInit();
#ifdef CMS
cmsDisplayPortRegister(osd7456DisplayPort);
#endif
}
/**
* Gets the correct altitude symbol for the current unit system
*/
char osdGetAltitudeSymbol()
{
switch (masterConfig.osdProfile.units) {
case OSD_UNIT_IMPERIAL:
return 0xF;
default:
return 0xC;
}
}
/**
* Converts altitude based on the current unit system.
* @param alt Raw altitude (i.e. as taken from BaroAlt)
*/
int32_t osdGetAltitude(int32_t alt)
{
switch (masterConfig.osdProfile.units) {
case OSD_UNIT_IMPERIAL:
return (alt * 328) / 100; // Convert to feet / 100
default:
return alt; // Already in metre / 100
}
}
void osdUpdateAlarms(void)
{
osd_profile_t *pOsdProfile = &masterConfig.osdProfile;
// This is overdone?
// uint16_t *itemPos = masterConfig.osdProfile.item_pos;
int32_t alt = osdGetAltitude(BaroAlt) / 100;
statRssi = rssi * 100 / 1024;
if (statRssi < pOsdProfile->rssi_alarm)
pOsdProfile->item_pos[OSD_RSSI_VALUE] |= BLINK_FLAG;
else
pOsdProfile->item_pos[OSD_RSSI_VALUE] &= ~BLINK_FLAG;
if (vbat <= (batteryWarningVoltage - 1))
pOsdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] |= BLINK_FLAG;
else
pOsdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] &= ~BLINK_FLAG;
if (STATE(GPS_FIX) == 0)
pOsdProfile->item_pos[OSD_GPS_SATS] |= BLINK_FLAG;
else
pOsdProfile->item_pos[OSD_GPS_SATS] &= ~BLINK_FLAG;
if (flyTime / 60 >= pOsdProfile->time_alarm && ARMING_FLAG(ARMED))
pOsdProfile->item_pos[OSD_FLYTIME] |= BLINK_FLAG;
else
pOsdProfile->item_pos[OSD_FLYTIME] &= ~BLINK_FLAG;
if (mAhDrawn >= pOsdProfile->cap_alarm)
pOsdProfile->item_pos[OSD_MAH_DRAWN] |= BLINK_FLAG;
else
pOsdProfile->item_pos[OSD_MAH_DRAWN] &= ~BLINK_FLAG;
if (alt >= pOsdProfile->alt_alarm)
pOsdProfile->item_pos[OSD_ALTITUDE] |= BLINK_FLAG;
else
pOsdProfile->item_pos[OSD_ALTITUDE] &= ~BLINK_FLAG;
}
void osdResetAlarms(void)
{
osd_profile_t *pOsdProfile = &masterConfig.osdProfile;
pOsdProfile->item_pos[OSD_RSSI_VALUE] &= ~BLINK_FLAG;
pOsdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] &= ~BLINK_FLAG;
pOsdProfile->item_pos[OSD_GPS_SATS] &= ~BLINK_FLAG;
pOsdProfile->item_pos[OSD_FLYTIME] &= ~BLINK_FLAG;
pOsdProfile->item_pos[OSD_MAH_DRAWN] &= ~BLINK_FLAG;
}
void osdResetStats(void)
{
stats.max_current = 0;
stats.max_speed = 0;
stats.min_voltage = 500;
stats.max_current = 0;
stats.min_rssi = 99;
stats.max_altitude = 0;
}
void osdUpdateStats(void)
{
int16_t value;
value = GPS_speed * 36 / 1000;
if (stats.max_speed < value)
stats.max_speed = value;
if (stats.min_voltage > vbat)
stats.min_voltage = vbat;
value = amperage / 100;
if (stats.max_current < value)
stats.max_current = value;
if (stats.min_rssi > statRssi)
stats.min_rssi = statRssi;
if (stats.max_altitude < BaroAlt)
stats.max_altitude = BaroAlt;
}
void osdShowStats(void)
{
uint8_t top = 2;
char buff[10];
max7456ClearScreen();
max7456Write(2, top++, " --- STATS ---");
if (STATE(GPS_FIX)) {
max7456Write(2, top, "MAX SPEED :");
itoa(stats.max_speed, buff, 10);
max7456Write(22, top++, buff);
}
max7456Write(2, top, "MIN BATTERY :");
sprintf(buff, "%d.%1dV", stats.min_voltage / 10, stats.min_voltage % 10);
max7456Write(22, top++, buff);
max7456Write(2, top, "MIN RSSI :");
itoa(stats.min_rssi, buff, 10);
strcat(buff, "%");
max7456Write(22, top++, buff);
if (feature(FEATURE_CURRENT_METER)) {
max7456Write(2, top, "MAX CURRENT :");
itoa(stats.max_current, buff, 10);
strcat(buff, "A");
max7456Write(22, top++, buff);
max7456Write(2, top, "USED MAH :");
itoa(mAhDrawn, buff, 10);
strcat(buff, "\x07");
max7456Write(22, top++, buff);
}
max7456Write(2, top, "MAX ALTITUDE :");
int32_t alt = osdGetAltitude(stats.max_altitude);
sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
max7456Write(22, top++, buff);
refreshTimeout = 60 * REFRESH_1S;
}
// called when motors armed
void osdArmMotors(void)
{
max7456ClearScreen();
max7456Write(12, 7, "ARMED");
refreshTimeout = REFRESH_1S / 2;
osdResetStats();
}
void updateOsd(uint32_t currentTime)
{
static uint32_t counter = 0;
#ifdef MAX7456_DMA_CHANNEL_TX
// don't touch buffers if DMA transaction is in progress
if (max7456DmaInProgres())
return;
#endif // MAX7456_DMA_CHANNEL_TX
// redraw values in buffer
if (counter++ % 5 == 0)
osdUpdate(currentTime);
else // rest of time redraw screen 10 chars per idle to don't lock the main idle
max7456DrawScreen();
#ifdef CMS
// do not allow ARM if we are in menu
if (displayIsGrabbed(osd7456DisplayPort)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#endif
}
void osdUpdate(uint32_t currentTime)
{
static uint8_t lastSec = 0;
uint8_t sec;
// detect arm/disarm
if (armState != ARMING_FLAG(ARMED)) {
if (ARMING_FLAG(ARMED))
osdArmMotors(); // reset statistic etc
else
osdShowStats(); // show statistic
armState = ARMING_FLAG(ARMED);
}
osdUpdateStats();
sec = currentTime / 1000000;
if (ARMING_FLAG(ARMED) && sec != lastSec) {
flyTime++;
lastSec = sec;
}
if (refreshTimeout) {
if (IS_HI(THROTTLE) || IS_HI(PITCH)) // hide statistics
refreshTimeout = 1;
refreshTimeout--;
if (!refreshTimeout)
max7456ClearScreen();
return;
}
blinkState = (millis() / 200) % 2;
#ifdef CMS
if (!displayIsGrabbed(osd7456DisplayPort)) {
osdUpdateAlarms();
osdDrawElements();
#ifdef OSD_CALLS_CMS
} else {
cmsUpdate(currentTime);
#endif
}
#endif
}
#endif // OSD
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