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betaflight/src/main/io/osd.c
Martin Budden a3ad97b0a4 Added profile macros and index functions
2017-02-25 07:37:53 +00:00

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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 <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include "platform.h"
#ifdef OSD
#include "blackbox/blackbox.h"
#include "blackbox/blackbox_io.h"
#include "build/debug.h"
#include "build/version.h"
#include "common/printf.h"
#include "common/maths.h"
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config_master.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/max7456_symbols.h"
#include "drivers/display.h"
#include "drivers/system.h"
#ifdef USE_RTC6705
#include "drivers/vtx_soft_spi_rtc6705.h"
#endif
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "cms/cms_menu_osd.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/flashfs.h"
#include "io/gps.h"
#include "io/osd.h"
#include "io/vtx.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/imu.h"
#include "rx/rx.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#define VIDEO_BUFFER_CHARS_PAL 480
// Character coordinate
#define OSD_POS(x,y) (x | (y << 5))
#define OSD_X(x) (x & 0x001F)
#define OSD_Y(x) ((x >> 5) & 0x001F)
// Blink control
bool blinkState = true;
static uint32_t blinkBits[(OSD_ITEM_COUNT + 31)/32];
#define SET_BLINK(item) (blinkBits[(item) / 32] |= (1 << ((item) % 32)))
#define CLR_BLINK(item) (blinkBits[(item) / 32] &= ~(1 << ((item) % 32)))
#define IS_BLINK(item) (blinkBits[(item) / 32] & (1 << ((item) % 32)))
#define BLINK(item) (IS_BLINK(item) && blinkState)
// 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)
//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 *osdDisplayPort;
#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
/**
* Gets the correct altitude symbol for the current unit system
*/
static char osdGetAltitudeSymbol()
{
switch (osdConfig()->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)
*/
static int32_t osdGetAltitude(int32_t alt)
{
switch (osdConfig()->units) {
case OSD_UNIT_IMPERIAL:
return (alt * 328) / 100; // Convert to feet / 100
default:
return alt; // Already in metre / 100
}
}
static void osdDrawSingleElement(uint8_t item)
{
if (!VISIBLE(osdConfig()->item_pos[item]) || BLINK(item))
return;
uint8_t elemPosX = OSD_X(osdConfig()->item_pos[item]);
uint8_t elemPosY = OSD_Y(osdConfig()->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", getVbat() / 10, getVbat() % 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(baro.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";
displayWrite(osdDisplayPort, elemPosX, elemPosY, p);
return;
}
case OSD_CRAFT_NAME:
{
if (strlen(systemConfig()->name) == 0)
strcpy(buff, "CRAFT_NAME");
else {
for (uint8_t i = 0; i < MAX_NAME_LENGTH; i++) {
buff[i] = toupper((unsigned char)systemConfig()->name[i]);
if (systemConfig()->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 USE_RTC6705
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 (displayScreenSize(osdDisplayPort) == 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 (displayScreenSize(osdDisplayPort) == 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) {
displayWriteChar(osdDisplayPort, 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 (displayScreenSize(osdDisplayPort) == 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++) {
displayWriteChar(osdDisplayPort, elemPosX - hudwidth, elemPosY + y, SYM_AH_DECORATION);
displayWriteChar(osdDisplayPort, elemPosX + hudwidth, elemPosY + y, SYM_AH_DECORATION);
}
// AH level indicators
displayWriteChar(osdDisplayPort, elemPosX - hudwidth + 1, elemPosY, SYM_AH_LEFT);
displayWriteChar(osdDisplayPort, elemPosX + hudwidth - 1, elemPosY, SYM_AH_RIGHT);
return;
}
case OSD_ROLL_PIDS:
{
const pidProfile_t *pidProfile = &currentProfile->pidProfile;
sprintf(buff, "ROL %3d %3d %3d", pidProfile->P8[PIDROLL], pidProfile->I8[PIDROLL], pidProfile->D8[PIDROLL]);
break;
}
case OSD_PITCH_PIDS:
{
const pidProfile_t *pidProfile = &currentProfile->pidProfile;
sprintf(buff, "PIT %3d %3d %3d", pidProfile->P8[PIDPITCH], pidProfile->I8[PIDPITCH], pidProfile->D8[PIDPITCH]);
break;
}
case OSD_YAW_PIDS:
{
const pidProfile_t *pidProfile = &currentProfile->pidProfile;
sprintf(buff, "YAW %3d %3d %3d", pidProfile->P8[PIDYAW], pidProfile->I8[PIDYAW], pidProfile->D8[PIDYAW]);
break;
}
case OSD_POWER:
{
sprintf(buff, "%dW", amperage * getVbat() / 1000);
break;
}
case OSD_PIDRATE_PROFILE:
{
const uint8_t profileIndex = getCurrentProfileIndex();
const uint8_t rateProfileIndex = getCurrentControlRateProfileIndex();
sprintf(buff, "%d-%d", profileIndex + 1, rateProfileIndex + 1);
break;
}
case OSD_MAIN_BATT_WARNING:
{
if (getVbat() > (batteryWarningVoltage - 1))
return;
sprintf(buff, "LOW VOLTAGE");
break;
}
default:
return;
}
displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
}
void osdDrawElements(void)
{
displayClearScreen(osdDisplayPort);
/* Hide OSD when OSDSW mode is active */
if (IS_RC_MODE_ACTIVE(BOXOSD))
return;
#if 0
if (currentElement)
osdDrawElementPositioningHelp();
#else
if (false)
;
#endif
#ifdef CMS
else if (sensors(SENSOR_ACC) || displayIsGrabbed(osdDisplayPort))
#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);
osdDrawSingleElement(OSD_ROLL_PIDS);
osdDrawSingleElement(OSD_PITCH_PIDS);
osdDrawSingleElement(OSD_YAW_PIDS);
osdDrawSingleElement(OSD_POWER);
osdDrawSingleElement(OSD_PIDRATE_PROFILE);
osdDrawSingleElement(OSD_MAIN_BATT_WARNING);
#ifdef GPS
#ifdef CMS
if (sensors(SENSOR_GPS) || displayIsGrabbed(osdDisplayPort))
#else
if (sensors(SENSOR_GPS))
#endif
{
osdDrawSingleElement(OSD_GPS_SATS);
osdDrawSingleElement(OSD_GPS_SPEED);
}
#endif // GPS
}
void osdResetConfig(osd_profile_t *osdProfile)
{
osdProfile->item_pos[OSD_RSSI_VALUE] = OSD_POS(22, 0);
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->item_pos[OSD_ROLL_PIDS] = OSD_POS(2, 10);
osdProfile->item_pos[OSD_PITCH_PIDS] = OSD_POS(2, 11);
osdProfile->item_pos[OSD_YAW_PIDS] = OSD_POS(2, 12);
osdProfile->item_pos[OSD_POWER] = OSD_POS(15, 1);
osdProfile->item_pos[OSD_PIDRATE_PROFILE] = OSD_POS(2, 13);
osdProfile->item_pos[OSD_MAIN_BATT_WARNING] = OSD_POS(8, 6);
osdProfile->rssi_alarm = 20;
osdProfile->cap_alarm = 2200;
osdProfile->time_alarm = 10; // in minutes
osdProfile->alt_alarm = 100; // meters or feet depend on configuration
}
void osdInit(displayPort_t *osdDisplayPortToUse)
{
BUILD_BUG_ON(OSD_POS_MAX != OSD_POS(31,31));
osdDisplayPort = osdDisplayPortToUse;
#ifdef CMS
cmsDisplayPortRegister(osdDisplayPort);
#endif
armState = ARMING_FLAG(ARMED);
memset(blinkBits, 0, sizeof(blinkBits));
displayClearScreen(osdDisplayPort);
// display logo and help
char x = 160;
for (int i = 1; i < 5; i++) {
for (int j = 3; j < 27; j++) {
if (x != 255)
displayWriteChar(osdDisplayPort, j, i, x++);
}
}
char string_buffer[30];
sprintf(string_buffer, "BF VERSION: %s", FC_VERSION_STRING);
displayWrite(osdDisplayPort, 5, 6, string_buffer);
#ifdef CMS
displayWrite(osdDisplayPort, 7, 7, CMS_STARTUP_HELP_TEXT1);
displayWrite(osdDisplayPort, 11, 8, CMS_STARTUP_HELP_TEXT2);
displayWrite(osdDisplayPort, 11, 9, CMS_STARTUP_HELP_TEXT3);
#endif
displayResync(osdDisplayPort);
refreshTimeout = 4 * REFRESH_1S;
}
void osdUpdateAlarms(void)
{
// This is overdone?
// uint16_t *itemPos = osdConfig()->item_pos;
int32_t alt = osdGetAltitude(baro.BaroAlt) / 100;
statRssi = rssi * 100 / 1024;
if (statRssi < osdConfig()->rssi_alarm)
SET_BLINK(OSD_RSSI_VALUE);
else
CLR_BLINK(OSD_RSSI_VALUE);
if (getVbat() <= (batteryWarningVoltage - 1)) {
SET_BLINK(OSD_MAIN_BATT_VOLTAGE);
SET_BLINK(OSD_MAIN_BATT_WARNING);
} else {
CLR_BLINK(OSD_MAIN_BATT_VOLTAGE);
CLR_BLINK(OSD_MAIN_BATT_WARNING);
}
if (STATE(GPS_FIX) == 0)
SET_BLINK(OSD_GPS_SATS);
else
CLR_BLINK(OSD_GPS_SATS);
if (flyTime / 60 >= osdConfig()->time_alarm && ARMING_FLAG(ARMED))
SET_BLINK(OSD_FLYTIME);
else
CLR_BLINK(OSD_FLYTIME);
if (mAhDrawn >= osdConfig()->cap_alarm)
SET_BLINK(OSD_MAH_DRAWN);
else
CLR_BLINK(OSD_MAH_DRAWN);
if (alt >= osdConfig()->alt_alarm)
SET_BLINK(OSD_ALTITUDE);
else
CLR_BLINK(OSD_ALTITUDE);
}
void osdResetAlarms(void)
{
CLR_BLINK(OSD_RSSI_VALUE);
CLR_BLINK(OSD_MAIN_BATT_VOLTAGE);
CLR_BLINK(OSD_MAIN_BATT_WARNING);
CLR_BLINK(OSD_GPS_SATS);
CLR_BLINK(OSD_FLYTIME);
CLR_BLINK(OSD_MAH_DRAWN);
CLR_BLINK(OSD_ALTITUDE);
}
static 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;
}
static void osdUpdateStats(void)
{
int16_t value = 0;
#ifdef GPS
value = GPS_speed * 36 / 1000;
#endif
if (stats.max_speed < value)
stats.max_speed = value;
if (stats.min_voltage > getVbat())
stats.min_voltage = getVbat();
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 < baro.BaroAlt)
stats.max_altitude = baro.BaroAlt;
}
static void osdGetBlackboxStatusString(char * buff, uint8_t len)
{
bool storageDeviceIsWorking = false;
uint32_t storageUsed = 0;
uint32_t storageTotal = 0;
switch (blackboxConfig()->device)
{
#ifdef USE_SDCARD
case BLACKBOX_DEVICE_SDCARD:
storageDeviceIsWorking = sdcard_isInserted() && sdcard_isFunctional() && (afatfs_getFilesystemState() == AFATFS_FILESYSTEM_STATE_READY);
if (storageDeviceIsWorking) {
storageTotal = sdcard_getMetadata()->numBlocks / 2000;
storageUsed = storageTotal - (afatfs_getContiguousFreeSpace() / 1024000);
}
break;
#endif
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
storageDeviceIsWorking = flashfsIsReady();
if (storageDeviceIsWorking) {
const flashGeometry_t *geometry = flashfsGetGeometry();
storageTotal = geometry->totalSize / 1024;
storageUsed = flashfsGetOffset() / 1024;
}
break;
#endif
default:
storageDeviceIsWorking = true;
}
if (storageDeviceIsWorking) {
uint16_t storageUsedPercent = (storageUsed * 100) / storageTotal;
snprintf(buff, len, "%d%%", storageUsedPercent);
} else {
snprintf(buff, len, "FAULT");
}
}
static void osdShowStats(void)
{
uint8_t top = 2;
char buff[10];
displayClearScreen(osdDisplayPort);
displayWrite(osdDisplayPort, 2, top++, " --- STATS ---");
if (STATE(GPS_FIX)) {
displayWrite(osdDisplayPort, 2, top, "MAX SPEED :");
itoa(stats.max_speed, buff, 10);
displayWrite(osdDisplayPort, 22, top++, buff);
}
displayWrite(osdDisplayPort, 2, top, "MIN BATTERY :");
sprintf(buff, "%d.%1dV", stats.min_voltage / 10, stats.min_voltage % 10);
displayWrite(osdDisplayPort, 22, top++, buff);
displayWrite(osdDisplayPort, 2, top, "MIN RSSI :");
itoa(stats.min_rssi, buff, 10);
strcat(buff, "%");
displayWrite(osdDisplayPort, 22, top++, buff);
if (feature(FEATURE_CURRENT_METER)) {
displayWrite(osdDisplayPort, 2, top, "MAX CURRENT :");
itoa(stats.max_current, buff, 10);
strcat(buff, "A");
displayWrite(osdDisplayPort, 22, top++, buff);
displayWrite(osdDisplayPort, 2, top, "USED MAH :");
itoa(mAhDrawn, buff, 10);
strcat(buff, "\x07");
displayWrite(osdDisplayPort, 22, top++, buff);
}
displayWrite(osdDisplayPort, 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());
displayWrite(osdDisplayPort, 22, top++, buff);
if (feature(FEATURE_BLACKBOX) && blackboxConfig()->device != BLACKBOX_DEVICE_SERIAL) {
displayWrite(osdDisplayPort, 2, top, "BLACKBOX :");
osdGetBlackboxStatusString(buff, 10);
displayWrite(osdDisplayPort, 22, top++, buff);
}
refreshTimeout = 60 * REFRESH_1S;
}
// called when motors armed
static void osdArmMotors(void)
{
displayClearScreen(osdDisplayPort);
displayWrite(osdDisplayPort, 12, 7, "ARMED");
refreshTimeout = REFRESH_1S / 2;
osdResetStats();
}
static void osdRefresh(timeUs_t currentTimeUs)
{
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 = currentTimeUs / 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)
displayClearScreen(osdDisplayPort);
return;
}
blinkState = (currentTimeUs / 200000) % 2;
#ifdef CMS
if (!displayIsGrabbed(osdDisplayPort)) {
osdUpdateAlarms();
osdDrawElements();
displayHeartbeat(osdDisplayPort); // heartbeat to stop Minim OSD going back into native mode
#ifdef OSD_CALLS_CMS
} else {
cmsUpdate(currentTimeUs);
#endif
}
#endif
}
/*
* Called periodically by the scheduler
*/
void osdUpdate(timeUs_t currentTimeUs)
{
static uint32_t counter = 0;
#ifdef MAX7456_DMA_CHANNEL_TX
// don't touch buffers if DMA transaction is in progress
if (displayIsTransferInProgress(osdDisplayPort)) {
return;
}
#endif // MAX7456_DMA_CHANNEL_TX
// redraw values in buffer
#ifdef USE_MAX7456
#define DRAW_FREQ_DENOM 5
#else
#define DRAW_FREQ_DENOM 10 // MWOSD @ 115200 baud
#endif
if (counter++ % DRAW_FREQ_DENOM == 0) {
osdRefresh(currentTimeUs);
} else { // rest of time redraw screen 10 chars per idle so it doesn't lock the main idle
displayDrawScreen(osdDisplayPort);
}
#ifdef CMS
// do not allow ARM if we are in menu
if (displayIsGrabbed(osdDisplayPort)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
#endif
}
#endif // OSD
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