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Sambas 2012-02-12 22:29:42 +02:00
parent e2939dae2a
commit 8cc876d02a
48 changed files with 20769 additions and 76 deletions
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199
flight/Modules/Osd/osdgen/inc/osdgen.h Normal file
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/*
* osdgen.h
*
* Created on: 2.10.2011
* Author: Samba
*/
#ifndef OSDGEN_H_
#define OSDGEN_H_
#include "openpilot.h"
#include "xconvert.h"
#include "oem6x8.h"
int32_t osdgenInitialize(void);
// Size of an array (num items.)
#define SIZEOF_ARRAY(x) (sizeof(x) / sizeof((x)[0]))
#define DISP_HEIGHT GRAPHICS_HEIGHT_REAL
#define DISP_WIDTH GRAPHICS_WIDTH_REAL
#define HUD_VSCALE_FLAG_CLEAR 1
#define HUD_VSCALE_FLAG_NO_NEGATIVE 2
// Macros for computing addresses and bit positions.
// NOTE: /16 in y is because we are addressing by word not byte.
#define CALC_BUFF_ADDR(x, y) (((x) / 16) + ((y) * (DISP_WIDTH / 16)))
#define CALC_BIT_IN_WORD(x) ((x) & 15)
#define DEBUG_DELAY
// Macro for writing a word with a mode (NAND = clear, OR = set, XOR = toggle)
// at a given position
#define WRITE_WORD_MODE(buff, addr, mask, mode) \
switch(mode) { \
case 0: buff[addr] &= ~mask; break; \
case 1: buff[addr] |= mask; break; \
case 2: buff[addr] ^= mask; break; }
#define WRITE_WORD_NAND(buff, addr, mask) { buff[addr] &= ~mask; DEBUG_DELAY; }
#define WRITE_WORD_OR(buff, addr, mask) { buff[addr] |= mask; DEBUG_DELAY; }
#define WRITE_WORD_XOR(buff, addr, mask) { buff[addr] ^= mask; DEBUG_DELAY; }
// Horizontal line calculations.
// Edge cases.
#define COMPUTE_HLINE_EDGE_L_MASK(b) ((1 << (16 - (b))) - 1)
#define COMPUTE_HLINE_EDGE_R_MASK(b) (~((1 << (15 - (b))) - 1))
// This computes an island mask.
#define COMPUTE_HLINE_ISLAND_MASK(b0, b1) (COMPUTE_HLINE_EDGE_L_MASK(b0) ^ COMPUTE_HLINE_EDGE_L_MASK(b1));
// Macro for initializing stroke/fill modes. Add new modes here
// if necessary.
#define SETUP_STROKE_FILL(stroke, fill, mode) \
stroke = 0; fill = 0; \
if(mode == 0) { stroke = 0; fill = 1; } \
if(mode == 1) { stroke = 1; fill = 0; } \
// Line endcaps (for horizontal and vertical lines.)
#define ENDCAP_NONE 0
#define ENDCAP_ROUND 1
#define ENDCAP_FLAT 2
#define DRAW_ENDCAP_HLINE(e, x, y, s, f, l) \
if((e) == ENDCAP_ROUND) /* single pixel endcap */ \
{ write_pixel_lm(x, y, f, l); } \
else if((e) == ENDCAP_FLAT) /* flat endcap: FIXME, quicker to draw a vertical line(?) */ \
{ write_pixel_lm(x, y - 1, s, l); write_pixel_lm(x, y, s, l); write_pixel_lm(x, y + 1, s, l); }
#define DRAW_ENDCAP_VLINE(e, x, y, s, f, l) \
if((e) == ENDCAP_ROUND) /* single pixel endcap */ \
{ write_pixel_lm(x, y, f, l); } \
else if((e) == ENDCAP_FLAT) /* flat endcap: FIXME, quicker to draw a horizontal line(?) */ \
{ write_pixel_lm(x - 1, y, s, l); write_pixel_lm(x, y, s, l); write_pixel_lm(x + 1, y, s, l); }
// Macros for writing pixels in a midpoint circle algorithm.
#define CIRCLE_PLOT_8(buff, cx, cy, x, y, mode) \
CIRCLE_PLOT_4(buff, cx, cy, x, y, mode); \
if((x) != (y)) CIRCLE_PLOT_4(buff, cx, cy, y, x, mode);
#define CIRCLE_PLOT_4(buff, cx, cy, x, y, mode) \
write_pixel(buff, (cx) + (x), (cy) + (y), mode); \
write_pixel(buff, (cx) - (x), (cy) + (y), mode); \
write_pixel(buff, (cx) + (x), (cy) - (y), mode); \
write_pixel(buff, (cx) - (x), (cy) - (y), mode);
// Font flags.
#define FONT_BOLD 1 // bold text (no outline)
#define FONT_INVERT 2 // invert: border white, inside black
// Text alignments.
#define TEXT_VA_TOP 0
#define TEXT_VA_MIDDLE 1
#define TEXT_VA_BOTTOM 2
#define TEXT_HA_LEFT 0
#define TEXT_HA_CENTER 1
#define TEXT_HA_RIGHT 2
// Text dimension structures.
struct FontDimensions
{
int width, height;
};
// Max/Min macros.
#define MAX(a, b) ((a) > (b) ? (a) : (b))
#define MIN(a, b) ((a) < (b) ? (a) : (b))
#define MAX3(a, b, c) MAX(a, MAX(b, c))
#define MIN3(a, b, c) MIN(a, MIN(b, c))
// Check if coordinates are valid. If not, return.
#define CHECK_COORDS(x, y) if(x < 0 || x >= DISP_WIDTH || y < 0 || y >= DISP_HEIGHT) return;
#define CHECK_COORD_X(x) if(x < 0 || x >= DISP_WIDTH) return;
#define CHECK_COORD_Y(y) if(y < 0 || y >= DISP_HEIGHT) return;
// Clip coordinates out of range.
#define CLIP_COORD_X(x) { x = MAX(0, MIN(x, DISP_WIDTH)); }
#define CLIP_COORD_Y(y) { y = MAX(0, MIN(y, DISP_HEIGHT)); }
#define CLIP_COORDS(x, y) { CLIP_COORD_X(x); CLIP_COORD_Y(y); }
// Macro to swap two variables using XOR swap.
#define SWAP(a, b) { a ^= b; b ^= a; a ^= b; }
// Line triggering
#define LAST_LINE 312 //625/2 //PAL
#define UPDATE_LINE GRAPHICS_LINE+GRAPHICS_HEIGHT_REAL+1
//#define LAST_LINE 525/2 //NTSC
// Global vars
#define DELAY_1_NOP() asm("nop\r\n")
#define DELAY_2_NOP() asm("nop\r\nnop\r\n")
#define DELAY_3_NOP() asm("nop\r\nnop\r\nnop\r\n")
#define DELAY_4_NOP() asm("nop\r\nnop\r\nnop\r\nnop\r\n")
#define DELAY_5_NOP() asm("nop\r\nnop\r\nnop\r\nnop\r\nnop\r\n")
#define DELAY_6_NOP() asm("nop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\n")
#define DELAY_7_NOP() asm("nop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\n")
#define DELAY_8_NOP() asm("nop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\n")
#define DELAY_9_NOP() asm("nop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\n")
#define DELAY_10_NOP() asm("nop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\nnop\r\n")
uint8_t getCharData(uint16_t charPos);
void introText();
void clearGraphics();
uint8_t validPos(uint16_t x, uint16_t y);
void setPixel(uint16_t x, uint16_t y, uint8_t state);
void drawCircle(uint16_t x0, uint16_t y0, uint16_t radius);
void swap(uint16_t* a, uint16_t* b);
void drawLine(uint16_t x0, uint16_t y0, uint16_t x1, uint16_t y1);
void drawBox(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2);
void drawArrow(uint16_t x, uint16_t y, uint16_t angle, uint16_t size);
void drawAttitude(uint16_t x, uint16_t y, int16_t pitch, int16_t roll, uint16_t size);
void introGraphics();
void updateGraphics();
void drawGraphicsLine();
void write_char16(char ch, unsigned int x, unsigned int y);
void write_pixel(uint16_t *buff, unsigned int x, unsigned int y, int mode);
void write_pixel_lm(unsigned int x, unsigned int y, int mmode, int lmode);
void write_hline(uint16_t *buff, unsigned int x0, unsigned int x1, unsigned int y, int mode);
void write_hline_lm(unsigned int x0, unsigned int x1, unsigned int y, int lmode, int mmode);
void write_hline_outlined(unsigned int x0, unsigned int x1, unsigned int y, int endcap0, int endcap1, int mode, int mmode);
void write_vline(uint16_t *buff, unsigned int x, unsigned int y0, unsigned int y1, int mode);
void write_vline_lm(unsigned int x, unsigned int y0, unsigned int y1, int lmode, int mmode);
void write_vline_outlined(unsigned int x, unsigned int y0, unsigned int y1, int endcap0, int endcap1, int mode, int mmode);
void write_filled_rectangle(uint16_t *buff, unsigned int x, unsigned int y, unsigned int width, unsigned int height, int mode);
void write_filled_rectangle_lm(unsigned int x, unsigned int y, unsigned int width, unsigned int height, int lmode, int mmode);
void write_rectangle_outlined(unsigned int x, unsigned int y, int width, int height, int mode, int mmode);
void write_circle(uint16_t *buff, unsigned int cx, unsigned int cy, unsigned int r, unsigned int dashp, int mode);
void write_circle_outlined(unsigned int cx, unsigned int cy, unsigned int r, unsigned int dashp, int bmode, int mode, int mmode);
void write_circle_filled(uint16_t *buff, unsigned int cx, unsigned int cy, unsigned int r, int mode);
void write_line(uint16_t *buff, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, int mode);
void write_line_lm(unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, int mmode, int lmode);
void write_line_outlined(unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, int endcap0, int endcap1, int mode, int mmode);
void write_word_misaligned(uint16_t *buff, uint16_t word, unsigned int addr, unsigned int xoff, int mode);
void write_word_misaligned_NAND(uint16_t *buff, uint16_t word, unsigned int addr, unsigned int xoff);
void write_word_misaligned_OR(uint16_t *buff, uint16_t word, unsigned int addr, unsigned int xoff);
void write_word_misaligned_lm(uint16_t wordl, uint16_t wordm, unsigned int addr, unsigned int xoff, int lmode, int mmode);
//int fetch_font_info(char ch, int font, struct FontEntry *font_info, char *lookup);
void write_char(char ch, unsigned int x, unsigned int y, int flags, int font);
//void calc_text_dimensions(char *str, struct FontEntry font, int xs, int ys, struct FontDimensions *dim);
void write_string(char *str, unsigned int x, unsigned int y, unsigned int xs, unsigned int ys, int va, int ha, int flags, int font);
void write_string_formatted(char *str, unsigned int x, unsigned int y, unsigned int xs, unsigned int ys, int va, int ha, int flags);
void setAttitudeOsd(int16_t pitch, int16_t roll, int16_t yaw);
void setGpsOsd(uint8_t status, int32_t lat, int32_t lon, float alt, float spd);
void updateOnceEveryFrame();
#endif /* OSDGEN_H_ */

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flight/Modules/Osd/osdgen/osdgen.c Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup OSDGENModule osdgen Module
* @brief Process OSD information
* @{
*
* @file osdgen.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief OSD gen module, handles OSD draw
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
// ****************
#include "openpilot.h"
#include "osdgen.h"
#include "attitudeactual.h"
#include "gpsposition.h"
#include "homelocation.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include "fonts.h"
#include "font12x18.h"
static uint16_t angleA=0;
static int16_t angleB=90;
static int16_t angleC=0;
static int16_t sum=2;
static int16_t m_pitch=0;
static int16_t m_roll=0;
static int16_t m_yaw=0;
static int16_t m_batt=0;
static int16_t m_alt=0;
static uint8_t m_gpsStatus=0;
static int32_t m_gpsLat=0;
static int32_t m_gpsLon=0;
static float m_gpsAlt=0;
static float m_gpsSpd=0;
extern uint16_t *draw_buffer_level;
extern uint16_t *draw_buffer_mask;
extern uint16_t *disp_buffer_level;
extern uint16_t *disp_buffer_mask;
TTime time;
// ****************
// Private functions
static void osdgenTask(void *parameters);
// ****************
// Private constants
xSemaphoreHandle osdSemaphore;
#define STACK_SIZE_BYTES 1024
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
#define UPDATE_PERIOD 100
// ****************
// Private variables
static xTaskHandle osdgenTaskHandle;
// simple routines
/*
uint8_t getCharData(uint16_t charPos) {
if (charPos >= CHAR_ARRAY_OFFSET && charPos < CHAR_ARRAY_MAX) {
return (oem6x8[charPos - CHAR_ARRAY_OFFSET]);
}
else {
return 0x00;
}
}*/
// prints text into draw_buffer_level, 8x2
/*uint8_t printTextFB(uint16_t x, uint16_t y, const char* str) {
uint8_t length = strlen(str);
if (x + length >= TEXT_LINE_MAX_CHARS) {
length = TEXT_LINE_MAX_CHARS;
}
for(uint8_t i = 0; i < TEXT_CHAR_HEIGHT; i++)
{
uint8_t c=0;
uint16_t charPos;
for(int j=0; j<length; j+=2)
{
uint16_t word=0;
charPos = str[j] * TEXT_CHAR_HEIGHT + i;
word = getCharData(charPos)<<8;
charPos = str[j+1] * TEXT_CHAR_HEIGHT + i;
word |= getCharData(charPos);
draw_buffer_level[((y+i)*GRAPHICS_WIDTH)+(x + c)] = word;
c++;
}
}
return length;
}*/
uint8_t printText16(uint16_t x, uint16_t y, const char* str) {
uint8_t length = strlen(str);
for(int j=0; j<length; j++)
{
write_char16(str[j],12*j+x,y);
}
return length;
}
void printTime(uint16_t x, uint16_t y) {
char temp[9]={0};
sprintf(temp,"%02d:%02d:%02d",time.hour,time.min,time.sec);
//printTextFB(x,y,temp);
write_string(temp, x, y, 1, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 0);
}
uint8_t printCharFB(uint16_t ch, uint16_t x, uint16_t y) {
for(uint8_t i = 0; i < 18; i++)
{
uint8_t c=0;
draw_buffer_level[((y+i)*GRAPHICS_WIDTH)+(x+c)] = font_frame16x18[ch*18+i];
draw_buffer_mask[((y+i)*GRAPHICS_WIDTH)+(x+c)] = font_mask16x18[ch*18+i];
}
return 1;
}
void write_char16(char ch, unsigned int x, unsigned int y)
{
int yy, addr_temp, row, row_temp, xshift;
uint16_t and_mask, or_mask, level_bits;
char lookup = 0;
// Compute starting address (for x,y) of character.
int addr = CALC_BUFF_ADDR(x, y);
int wbit = CALC_BIT_IN_WORD(x);
// If font only supports lowercase or uppercase, make the letter
// lowercase or uppercase.
// How big is the character? We handle characters up to 8 pixels
// wide for now. Support for large characters may be added in future.
{
// Ensure we don't overflow.
if(x + wbit > DISP_WIDTH)
return;
// Load data pointer.
row = ch * 18;
row_temp = row;
addr_temp = addr;
xshift = 16 - 16;
// We can write mask words easily.
for(yy = y; yy < y + 18; yy++)
{
write_word_misaligned_OR(draw_buffer_mask, font_mask16x18[row] << xshift, addr, wbit);
addr += DISP_WIDTH / 16;
row++;
}
// Level bits are more complicated. We need to set or clear
// level bits, but only where the mask bit is set; otherwise,
// we need to leave them alone. To do this, for each word, we
// construct an AND mask and an OR mask, and apply each individually.
row = row_temp;
addr = addr_temp;
for(yy = y; yy < y + 18; yy++)
{
level_bits = font_frame16x18[row];
//if(!(flags & FONT_INVERT)) // data is normally inverted
level_bits = ~level_bits;
or_mask = font_mask16x18[row] << xshift;
and_mask = (font_mask16x18[row] & level_bits) << xshift;
write_word_misaligned_OR(draw_buffer_level, or_mask, addr, wbit);
// If we're not bold write the AND mask.
//if(!(flags & FONT_BOLD))
write_word_misaligned_NAND(draw_buffer_level, and_mask, addr, wbit);
addr += DISP_WIDTH / 16;
row++;
}
}
}
static unsigned short logo_bits[] = {
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0700,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x3fc0, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xfff0, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xfff0, 0x0001, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0xfff0, 0x0007, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xfff8, 0x000f, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0xfff8, 0x001f, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0xfff8, 0x007f, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0xfffc, 0x00ff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xfffc,
0x01ff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xfffc, 0x07ff,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xfffe, 0x07ff, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xfffe, 0x1fff, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0xfffe, 0x3fff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xfffe, 0xffff, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0xffff, 0xffff, 0x0001, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0xffff, 0xffff, 0x0003, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0xffff, 0xfff0, 0x000f, 0x0000, 0x0000, 0x0000, 0x0000, 0x8000, 0x7fff,
0xffc0, 0x001f, 0x0000, 0x0000, 0x0000, 0x0000, 0x8000, 0x3fff, 0xff80,
0x003f, 0x0000, 0x0000, 0x0000, 0x0000, 0x8000, 0x3fff, 0xfe00, 0x00ff,
0x0000, 0x0000, 0x0000, 0x0000, 0x8000, 0x3fff, 0xf800, 0x00ff, 0x0000,
0x0000, 0x0000, 0x0003, 0xc000, 0x3fff, 0xf000, 0x03ff, 0x0000, 0x0008,
0xc000, 0x001f, 0xc000, 0x1fff, 0xe000, 0x07ff, 0x0000, 0x00f8, 0xf800,
0x003f, 0xc000, 0x1fff, 0x8000, 0x0fff, 0x0000, 0x07e0, 0xfe00, 0x00ff,
0xe000, 0x1fff, 0x0000, 0x3fff, 0x0000, 0xbfc0, 0xffc0, 0x00ff, 0xe000,
0x1fff, 0x0000, 0x7ffc, 0x0000, 0xff00, 0xfff7, 0x007f, 0xe000, 0x0fff,
0x0000, 0xfff0, 0x0000, 0xfe00, 0xffff, 0x007f, 0xf000, 0x0fff, 0x0000,
0xffe0, 0x0001, 0xf800, 0xffff, 0xc07f, 0xf000, 0x0fff, 0x0000, 0xffc0,
0x0001, 0xf000, 0xffff, 0xc07f, 0xf003, 0x0fff, 0x0000, 0xff00, 0x0003,
0xc000, 0xffff, 0xe03f, 0xf00f, 0x0fff, 0x0000, 0xfe00, 0x0007, 0x8000,
0xffff, 0xe03f, 0xf83f, 0x07ff, 0x0000, 0xf800, 0x0007, 0x0000, 0xffff,
0xe03f, 0xf87f, 0x07ff, 0x0000, 0xf000, 0x000f, 0x0000, 0xfffc, 0xf03f,
0xe1ff, 0x03ff, 0x0000, 0xf000, 0x000f, 0x0000, 0xfffc, 0xf07f, 0x87ff,
0x03ff, 0x0000, 0xf000, 0x0007, 0x0000, 0xfffc, 0xf0ff, 0x1fff, 0x03ff,
0x0000, 0xe000, 0x000f, 0x0000, 0xfff8, 0xf0ff, 0x3fff, 0x03f8, 0x0000,
0xe000, 0x001f, 0x0000, 0xfff0, 0xf07f, 0xffff, 0x01e0, 0x0000, 0xe000,
0x000f, 0x0000, 0xfff0, 0xf87f, 0xffff, 0x03c7, 0x0000, 0xe000, 0x000f,
0x0000, 0xfff0, 0xf87f, 0xffff, 0x010f, 0x0000, 0xe000, 0x001f, 0x0000,
0xffe0, 0xf87f, 0xffff, 0x003f, 0x0000, 0xe000, 0x000f, 0x0000, 0xffe0,
0xfc7f, 0xffff, 0x00ff, 0x0000, 0xe000, 0x000f, 0x0000, 0xffc0, 0xfc0f,
0xffff, 0x01ff, 0x0000, 0xf000, 0x000f, 0x0000, 0xffc0, 0xfc07, 0xffff,
0x0fff, 0x0000, 0xf000, 0x001f, 0x0000, 0xffc0, 0xfc07, 0xffff, 0x3fff,
0x0000, 0xf000, 0x000f, 0x0000, 0xff80, 0xfe07, 0xffff, 0xffff, 0x0000,
0xf000, 0x000f, 0x0000, 0xff80, 0xfc03, 0xffff, 0xffff, 0x0001, 0xf000,
0x000f, 0x0000, 0xff00, 0xfe03, 0xffff, 0xffff, 0x0007, 0xf000, 0x001f,
0x0000, 0xff00, 0xfe03, 0xffff, 0xffff, 0x001f, 0xf000, 0x000f, 0x0000,
0xfc00, 0xfe01, 0xffff, 0xffff, 0x007f, 0xf000, 0x000f, 0x0000, 0xf000,
0xff03, 0xffff, 0xffff, 0x01ff, 0xf000, 0x000f, 0x0000, 0x8000, 0xff00,
0xffff, 0xffff, 0x03ff, 0xf000, 0x001f, 0x0000, 0x0000, 0xff00, 0xffff,
0xffff, 0x0fff, 0xf000, 0x000f, 0x0000, 0x0000, 0xff80, 0xffff, 0xffff,
0x3fff, 0xf000, 0x000f, 0x0000, 0x0000, 0xfc00, 0xffff, 0xffff, 0xffff,
0xf800, 0x000f, 0x0000, 0x0000, 0xf000, 0xffff, 0xffff, 0xffff, 0xf003,
0x001f, 0x0000, 0x0000, 0x8000, 0xffff, 0xffff, 0xffff, 0xf007, 0x000f,
0x0000, 0x0000, 0x0000, 0xfffc, 0xffff, 0xffff, 0xf83f, 0x000f, 0x0000,
0x0000, 0x0000, 0xfff0, 0xffff, 0xffff, 0xf87f, 0x000f, 0x0000, 0x0000,
0x0000, 0xff00, 0xffff, 0xffff, 0xffff, 0x001f, 0x0000, 0x0000, 0x0000,
0xf800, 0xffff, 0xffff, 0xffff, 0x000f, 0x0000, 0x0000, 0x0000, 0xe000,
0xffff, 0xffff, 0xffff, 0x000f, 0x0000, 0x0000, 0x0000, 0x8000, 0xfffe,
0xffff, 0xffff, 0x000f, 0x0000, 0x0000, 0x0000, 0x0000, 0xfff8, 0xffff,
0xffff, 0x001f, 0x0000, 0x0000, 0x0000, 0x002e, 0xffe0, 0xffff, 0xffff,
0x000f, 0x0000, 0x0000, 0x0000, 0x00fc, 0xff00, 0xffff, 0xffff, 0x000f,
0x0000, 0x0000, 0x0000, 0x07fe, 0xf800, 0xffff, 0xffff, 0x000f, 0x0000,
0x0000, 0x0000, 0x5ffe, 0xc000, 0xffff, 0xffff, 0x001f, 0x0000, 0x0000,
0x0000, 0xffff, 0x0001, 0xffff, 0xffff, 0x000f, 0x0000, 0x0000, 0x0000,
0xffff, 0x0001, 0xfff8, 0xffff, 0x000f, 0x0000, 0x0000, 0x0000, 0xffff,
0x0001, 0xffc0, 0xffff, 0x000f, 0x0000, 0x0000, 0x8000, 0xffff, 0x0001,
0xfe00, 0xffff, 0x000f, 0x0000, 0x0000, 0x8000, 0xffff, 0x0000, 0xf800,
0xffff, 0x0007, 0x0000, 0x0000, 0x8000, 0xffff, 0x0000, 0x8000, 0xffff,
0x0007, 0x0000, 0x0000, 0x8000, 0xffff, 0x0000, 0x0000, 0xfffe, 0x0003,
0x0000, 0x0000, 0xc000, 0x7fff, 0x0000, 0x0000, 0xfff0, 0x0003, 0x0000,
0x0000, 0xc000, 0x7fff, 0x0000, 0x0000, 0xff80, 0x0001, 0x0000, 0x0000,
0xc000, 0x7fff, 0x0000, 0x0000, 0xfe00, 0x0000, 0x0000, 0x0000, 0xe000,
0x7fff, 0x0000, 0x0000, 0x1000, 0x0000, 0x0000, 0x0000, 0xe000, 0x7fff,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xe000, 0x3fff, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0xf000, 0x3fff, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0xf000, 0x3fff, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xf000, 0x1fff, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0xc000, 0x1fff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x8000, 0x1fff, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0ffe, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0ff8, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0fe0,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0fc0, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0f00, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0400, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x8800, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x9c00, 0x0001, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0xc800, 0x0001, 0x0060, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x8000, 0x0001, 0x0060, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0xc000, 0x0001, 0x07f0, 0xf800, 0xf07f, 0xf07f, 0xf07f, 0xf07f,
0x8c7f, 0xffc1, 0x07f1, 0xf800, 0xf87f, 0xf87f, 0xf8ff, 0xf8ff, 0xccff,
0xffc1, 0x00e3, 0x1c00, 0x1ce0, 0x1ce0, 0x1ce0, 0x3ce0, 0x8ce0, 0x00e1,
0x0067, 0x0c00, 0x0cc0, 0x0cc0, 0x1cc0, 0x1dc0, 0xcdc0, 0x0061, 0x0066,
0x0c00, 0x0cc0, 0xfdc0, 0x0dff, 0x0dc0, 0x8dc0, 0x0071, 0x0066, 0x0c00,
0x0cc0, 0xfdc0, 0x0dff, 0x0dc0, 0xcdc0, 0x0071, 0x0066, 0x1c00, 0x1cc0,
0x1cc0, 0x0c00, 0x0dc0, 0x8dc0, 0x0061, 0x00e6, 0x1c00, 0x0ce8, 0x5ce8,
0x1c55, 0x1dc0, 0xcce8, 0x20e1, 0x00c7, 0xf800, 0xffff, 0xf8ff, 0x0c7f,
0xffc0, 0x8cff, 0xffe7, 0x07c3, 0xf000, 0xffff, 0xf07f, 0x0c7f, 0xffc0,
0x0c7f, 0xff87, 0x0781, 0x0000, 0x0c00, 0x0000, 0x0c00, 0xdf40, 0x000d,
0x0000, 0x0000, 0x0000, 0x0c00, 0x0000, 0x0000, 0x0c00, 0x0000, 0x0000,
0x0000, 0x0000, 0x1c00, 0x0000, 0x0000, 0x0c00, 0x0000, 0x0000, 0x0000,
0x0000, 0x0c00, 0x0000, 0x0000, 0x1c00, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000 };
uint16_t mirror(uint16_t source)
{
int result = ((source & 0x8000) >> 15) | ((source & 0x4000) >> 13) |
((source & 0x2000) >> 11) | ((source & 0x1000) >> 9) |
((source & 0x0800) >> 7) | ((source & 0x0400) >> 5) |
((source & 0x0200) >> 3) | ((source & 0x0100) >> 1) |
((source & 0x0080) << 1) | ((source & 0x0040) << 3) |
((source & 0x0020) << 5) | ((source & 0x0010) << 7) |
((source & 0x0008) << 9) | ((source & 0x0004) << 11) |
((source & 0x0002) << 13) | ((source & 0x0001) << 15);
return result;
}
void clearGraphics() {
for (uint16_t x = 0; x < GRAPHICS_WIDTH*GRAPHICS_HEIGHT; ++x) {
draw_buffer_level[x] = 0x0000;
draw_buffer_mask[x] = 0x0000;
}
}
void copyimage(uint16_t offsetx, uint16_t offsety) {
offsetx=offsetx/16;
int i=0;
for (uint16_t y = offsety; y < (128+offsety); y++) {
for (uint16_t x = offsetx; x < (8+offsetx); x++) {
draw_buffer_level[y*GRAPHICS_WIDTH+x] = draw_buffer_mask[y*GRAPHICS_WIDTH+x] = mirror(logo_bits[(y-offsety)*8+(x-offsetx)]);
i+=2;
}
}
}
uint8_t validPos(uint16_t x, uint16_t y) {
if (x >= GRAPHICS_WIDTH_REAL || y >= GRAPHICS_HEIGHT) {
return 0;
}
return 1;
}
void setPixel(uint16_t x, uint16_t y, uint8_t state) {
if (!validPos(x, y)) {
return;
}
uint8_t bitPos = 15-(x%16);
uint16_t tempf = draw_buffer_level[y*GRAPHICS_WIDTH+x/16];
uint16_t tempm = draw_buffer_mask[y*GRAPHICS_WIDTH+x/16];
if (state == 0) {
tempf &= ~(1<<bitPos);
tempm &= ~(1<<bitPos);
}
else if (state == 1) {
tempf |= (1<<bitPos);
tempm |= (1<<bitPos);
}
else {
tempf ^= (1<<bitPos);
tempm ^= (1<<bitPos);
}
draw_buffer_level[y*GRAPHICS_WIDTH+x/16] = tempf;
draw_buffer_mask[y*GRAPHICS_WIDTH+x/16] = tempm;
}
// Credit for this one goes to wikipedia! :-)
void drawCircle(uint16_t x0, uint16_t y0, uint16_t radius) {
int f = 1 - radius;
int ddF_x = 1;
int ddF_y = -2 * radius;
int x = 0;
int y = radius;
setPixel(x0, y0 + radius,1);
setPixel(x0, y0 - radius,1);
setPixel(x0 + radius, y0,1);
setPixel(x0 - radius, y0,1);
while(x < y)
{
// ddF_x == 2 * x + 1;
// ddF_y == -2 * y;
// f == x*x + y*y - radius*radius + 2*x - y + 1;
if(f >= 0)
{
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x;
setPixel(x0 + x, y0 + y,1);
setPixel(x0 - x, y0 + y,1);
setPixel(x0 + x, y0 - y,1);
setPixel(x0 - x, y0 - y,1);
setPixel(x0 + y, y0 + x,1);
setPixel(x0 - y, y0 + x,1);
setPixel(x0 + y, y0 - x,1);
setPixel(x0 - y, y0 - x,1);
}
}
void swap(uint16_t* a, uint16_t* b) {
uint16_t temp = *a;
*a = *b;
*b = temp;
}
void drawLine(uint16_t x0, uint16_t y0, uint16_t x1, uint16_t y1) {
uint8_t steep = abs(y1 - y0) > abs(x1 - x0);
if (steep) {
swap(&x0, &y0);
swap(&x1, &y1);
}
if (x0 > x1) {
swap(&x0, &x1);
swap(&y0, &y1);
}
int16_t deltax = x1 - x0;
int16_t deltay = abs(y1 - y0);
int16_t error = deltax / 2;
int16_t ystep;
int16_t y = y0;
if (y0 < y1) {
ystep = 1;
}
else {
ystep = -1;
}
for (uint16_t x = x0; x <= x1; ++x) {
if (steep) {
setPixel(y, x, 1);
}
else {
setPixel(x, y, 1);
}
error = error - deltay;
if (error < 0) {
y = y + ystep;
error = error + deltax;
}
}
}
const static int8_t sinData[91] = {
0, 2, 3, 5, 7, 9, 10, 12, 14, 16, 17, 19, 21, 22, 24, 26, 28, 29, 31, 33,
34, 36, 37, 39, 41, 42, 44, 45, 47, 48, 50, 52, 53, 54, 56, 57, 59, 60, 62,
63, 64, 66, 67, 68, 69, 71, 72, 73, 74, 75, 77, 78, 79, 80, 81, 82, 83, 84,
85, 86, 87, 87, 88, 89, 90, 91, 91, 92, 93, 93, 94, 95, 95, 96, 96, 97, 97,
97, 98, 98, 98, 99, 99, 99, 99, 100, 100, 100, 100, 100, 100};
static int8_t mySin(uint16_t angle) {
uint16_t pos = 0;
pos = angle % 360;
int8_t mult = 1;
// 180-359 is same as 0-179 but negative.
if (pos >= 180) {
pos = pos - 180;
mult = -1;
}
// 0-89 is equal to 90-179 except backwards.
if (pos >= 90) {
pos = 180 - pos;
}
return mult * (int8_t)(sinData[pos]);
}
static int8_t myCos(uint16_t angle) {
return mySin(angle + 90);
}
//fill the draw_buffer_level with junk, used for debugging
/*void fillFrameBuffer(void)
{
uint16_t i;
uint16_t j;
for(i = 0; i<(BUFFER_VERT_SIZE); i++)
{
for(j = 0; j<(BUFFER_LINE_LENGTH); j++)
{
if(j < LEFT_MARGIN)
{
draw_buffer_level[i*GRAPHICS_WIDTH+j] = 0;
} else if (j > 32){
draw_buffer_level[i*GRAPHICS_WIDTH+j] = 0;
} else {
draw_buffer_level[i*GRAPHICS_WIDTH+j] = i*j;
}
}
}
}*/
/// Draws four points relative to the given center point.
///
/// \li centerX + X, centerY + Y
/// \li centerX + X, centerY - Y
/// \li centerX - X, centerY + Y
/// \li centerX - X, centerY - Y
///
/// \param centerX the x coordinate of the center point
/// \param centerY the y coordinate of the center point
/// \param deltaX the difference between the centerX coordinate and each pixel drawn
/// \param deltaY the difference between the centerY coordinate and each pixel drawn
/// \param color the color to draw the pixels with.
void plotFourQuadrants(int32_t centerX, int32_t centerY, int32_t deltaX, int32_t deltaY)
{
setPixel(centerX + deltaX, centerY + deltaY,1); // Ist Quadrant
setPixel(centerX - deltaX, centerY + deltaY,1); // IInd Quadrant
setPixel(centerX - deltaX, centerY - deltaY,1); // IIIrd Quadrant
setPixel(centerX + deltaX, centerY - deltaY,1); // IVth Quadrant
}
/// Implements the midpoint ellipse drawing algorithm which is a bresenham
/// style DDF.
///
/// \param centerX the x coordinate of the center of the ellipse
/// \param centerY the y coordinate of the center of the ellipse
/// \param horizontalRadius the horizontal radius of the ellipse
/// \param verticalRadius the vertical radius of the ellipse
/// \param color the color of the ellipse border
void ellipse(int centerX, int centerY, int horizontalRadius, int verticalRadius)
{
int64_t doubleHorizontalRadius = horizontalRadius * horizontalRadius;
int64_t doubleVerticalRadius = verticalRadius * verticalRadius;
int64_t error = doubleVerticalRadius - doubleHorizontalRadius * verticalRadius + (doubleVerticalRadius >> 2);
int x = 0;
int y = verticalRadius;
int deltaX = 0;
int deltaY = (doubleHorizontalRadius << 1) * y;
plotFourQuadrants(centerX, centerY, x, y);
while(deltaY >= deltaX)
{
x++;
deltaX += (doubleVerticalRadius << 1);
error += deltaX + doubleVerticalRadius;
if(error >= 0)
{
y--;
deltaY -= (doubleHorizontalRadius << 1);
error -= deltaY;
}
plotFourQuadrants(centerX, centerY, x, y);
}
error = (int64_t)(doubleVerticalRadius * (x + 1 / 2.0) * (x + 1 / 2.0) + doubleHorizontalRadius * (y - 1) * (y - 1) - doubleHorizontalRadius * doubleVerticalRadius);
while (y>=0)
{
error += doubleHorizontalRadius;
y--;
deltaY -= (doubleHorizontalRadius<<1);
error -= deltaY;
if(error <= 0)
{
x++;
deltaX += (doubleVerticalRadius << 1);
error += deltaX;
}
plotFourQuadrants(centerX, centerY, x, y);
}
}
void drawArrow(uint16_t x, uint16_t y, uint16_t angle, uint16_t size)
{
int16_t a = myCos(angle);
int16_t b = mySin(angle);
a = (a * (size/2)) / 100;
b = (b * (size/2)) / 100;
drawLine((x)-1 - b, (y)-1 + a, (x)-1 + b, (y)-1 - a); //Direction line
//drawLine((GRAPHICS_SIZE/2)-1 + a/2, (GRAPHICS_SIZE/2)-1 + b/2, (GRAPHICS_SIZE/2)-1 - a/2, (GRAPHICS_SIZE/2)-1 - b/2); //Arrow bottom line
drawLine((x)-1 + b, (y)-1 - a, (x)-1 - a/2, (y)-1 - b/2); // Arrow "wings"
drawLine((x)-1 + b, (y)-1 - a, (x)-1 + a/2, (y)-1 + b/2);
}
void drawBox(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2)
{
drawLine(x1, y1, x2, y1); //top
drawLine(x1, y1, x1, y2); //left
drawLine(x2, y1, x2, y2); //right
drawLine(x1, y2, x2, y2); //bottom
}
// simple routines
// SUPEROSD routines, modified
/**
* write_pixel: Write a pixel at an x,y position to a given surface.
*
* @param buff pointer to buffer to write in
* @param x x coordinate
* @param y y coordinate
* @param mode 0 = clear bit, 1 = set bit, 2 = toggle bit
*/
void write_pixel(uint16_t *buff, unsigned int x, unsigned int y, int mode)
{
CHECK_COORDS(x, y);
// Determine the bit in the word to be set and the word
// index to set it in.
int bitnum = CALC_BIT_IN_WORD(x);
int wordnum = CALC_BUFF_ADDR(x, y);
// Apply a mask.
uint16_t mask = 1 << (15 - bitnum);
WRITE_WORD_MODE(buff, wordnum, mask, mode);
}
/**
* write_pixel_lm: write the pixel on both surfaces (level and mask.)
* Uses current draw buffer.
*
* @param x x coordinate
* @param y y coordinate
* @param mmode 0 = clear, 1 = set, 2 = toggle
* @param lmode 0 = black, 1 = white, 2 = toggle
*/
void write_pixel_lm(unsigned int x, unsigned int y, int mmode, int lmode)
{
CHECK_COORDS(x, y);
// Determine the bit in the word to be set and the word
// index to set it in.
int bitnum = CALC_BIT_IN_WORD(x);
int wordnum = CALC_BUFF_ADDR(x, y);
// Apply the masks.
uint16_t mask = 1 << (15 - bitnum);
WRITE_WORD_MODE(draw_buffer_mask, wordnum, mask, mmode);
WRITE_WORD_MODE(draw_buffer_level, wordnum, mask, lmode);
}
/**
* write_hline: optimised horizontal line writing algorithm
*
* @param buff pointer to buffer to write in
* @param x0 x0 coordinate
* @param x1 x1 coordinate
* @param y y coordinate
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_hline(uint16_t *buff, unsigned int x0, unsigned int x1, unsigned int y, int mode)
{
CLIP_COORDS(x0, y);
CLIP_COORDS(x1, y);
if(x0 > x1)
{
SWAP(x0, x1);
}
if(x0 == x1) return;
/* This is an optimised algorithm for writing horizontal lines.
* We begin by finding the addresses of the x0 and x1 points. */
int addr0 = CALC_BUFF_ADDR(x0, y);
int addr1 = CALC_BUFF_ADDR(x1, y);
int addr0_bit = CALC_BIT_IN_WORD(x0);
int addr1_bit = CALC_BIT_IN_WORD(x1);
int mask, mask_l, mask_r, i;
/* If the addresses are equal, we only need to write one word
* which is an island. */
if(addr0 == addr1)
{
mask = COMPUTE_HLINE_ISLAND_MASK(addr0_bit, addr1_bit);
WRITE_WORD_MODE(buff, addr0, mask, mode);
}
/* Otherwise we need to write the edges and then the middle. */
else
{
mask_l = COMPUTE_HLINE_EDGE_L_MASK(addr0_bit);
mask_r = COMPUTE_HLINE_EDGE_R_MASK(addr1_bit);
WRITE_WORD_MODE(buff, addr0, mask_l, mode);
WRITE_WORD_MODE(buff, addr1, mask_r, mode);
// Now write 0xffff words from start+1 to end-1.
for(i = addr0 + 1; i <= addr1 - 1; i++)
{
WRITE_WORD_MODE(buff, i, 0xffff, mode);
}
}
}
/**
* write_hline_lm: write both level and mask buffers.
*
* @param x0 x0 coordinate
* @param x1 x1 coordinate
* @param y y coordinate
* @param lmode 0 = clear, 1 = set, 2 = toggle
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_hline_lm(unsigned int x0, unsigned int x1, unsigned int y, int lmode, int mmode)
{
// TODO: an optimisation would compute the masks and apply to
// both buffers simultaneously.
write_hline(draw_buffer_level, x0, x1, y, lmode);
write_hline(draw_buffer_mask, x0, x1, y, mmode);
}
/**
* write_hline_outlined: outlined horizontal line with varying endcaps
* Always uses draw buffer.
*
* @param x0 x0 coordinate
* @param x1 x1 coordinate
* @param y y coordinate
* @param endcap0 0 = none, 1 = single pixel, 2 = full cap
* @param endcap1 0 = none, 1 = single pixel, 2 = full cap
* @param mode 0 = black outline, white body, 1 = white outline, black body
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_hline_outlined(unsigned int x0, unsigned int x1, unsigned int y, int endcap0, int endcap1, int mode, int mmode)
{
int stroke, fill;
SETUP_STROKE_FILL(stroke, fill, mode)
if(x0 > x1)
{
SWAP(x0, x1);
}
// Draw the main body of the line.
write_hline_lm(x0 + 1, x1 - 1, y - 1, stroke, mmode);
write_hline_lm(x0 + 1, x1 - 1, y + 1, stroke, mmode);
write_hline_lm(x0 + 1, x1 - 1, y, fill, mmode);
// Draw the endcaps, if any.
DRAW_ENDCAP_HLINE(endcap0, x0, y, stroke, fill, mmode);
DRAW_ENDCAP_HLINE(endcap1, x1, y, stroke, fill, mmode);
}
/**
* write_vline: optimised vertical line writing algorithm
*
* @param buff pointer to buffer to write in
* @param x x coordinate
* @param y0 y0 coordinate
* @param y1 y1 coordinate
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_vline(uint16_t *buff, unsigned int x, unsigned int y0, unsigned int y1, int mode)
{
unsigned int a;
CLIP_COORDS(x, y0);
CLIP_COORDS(x, y1);
if(y0 > y1)
{
SWAP(y0, y1);
}
if(y0 == y1) return;
/* This is an optimised algorithm for writing vertical lines.
* We begin by finding the addresses of the x,y0 and x,y1 points. */
int addr0 = CALC_BUFF_ADDR(x, y0);
int addr1 = CALC_BUFF_ADDR(x, y1);
/* Then we calculate the pixel data to be written. */
int bitnum = CALC_BIT_IN_WORD(x);
uint16_t mask = 1 << (15 - bitnum);
/* Run from addr0 to addr1 placing pixels. Increment by the number
* of words n each graphics line. */
for(a = addr0; a <= addr1; a += DISP_WIDTH / 16)
{
WRITE_WORD_MODE(buff, a, mask, mode);
}
}
/**
* write_vline_lm: write both level and mask buffers.
*
* @param x x coordinate
* @param y0 y0 coordinate
* @param y1 y1 coordinate
* @param lmode 0 = clear, 1 = set, 2 = toggle
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_vline_lm(unsigned int x, unsigned int y0, unsigned int y1, int lmode, int mmode)
{
// TODO: an optimisation would compute the masks and apply to
// both buffers simultaneously.
write_vline(draw_buffer_level, x, y0, y1, lmode);
write_vline(draw_buffer_mask, x, y0, y1, mmode);
}
/**
* write_vline_outlined: outlined vertical line with varying endcaps
* Always uses draw buffer.
*
* @param x x coordinate
* @param y0 y0 coordinate
* @param y1 y1 coordinate
* @param endcap0 0 = none, 1 = single pixel, 2 = full cap
* @param endcap1 0 = none, 1 = single pixel, 2 = full cap
* @param mode 0 = black outline, white body, 1 = white outline, black body
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_vline_outlined(unsigned int x, unsigned int y0, unsigned int y1, int endcap0, int endcap1, int mode, int mmode)
{
int stroke, fill;
if(y0 > y1)
{
SWAP(y0, y1);
}
SETUP_STROKE_FILL(stroke, fill, mode);
// Draw the main body of the line.
write_vline_lm(x - 1, y0 + 1, y1 - 1, stroke, mmode);
write_vline_lm(x + 1, y0 + 1, y1 - 1, stroke, mmode);
write_vline_lm(x, y0 + 1, y1 - 1, fill, mmode);
// Draw the endcaps, if any.
DRAW_ENDCAP_VLINE(endcap0, x, y0, stroke, fill, mmode);
DRAW_ENDCAP_VLINE(endcap1, x, y1, stroke, fill, mmode);
}
/**
* write_filled_rectangle: draw a filled rectangle.
*
* Uses an optimised algorithm which is similar to the horizontal
* line writing algorithm, but optimised for writing the lines
* multiple times without recalculating lots of stuff.
*
* @param buff pointer to buffer to write in
* @param x x coordinate (left)
* @param y y coordinate (top)
* @param width rectangle width
* @param height rectangle height
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_filled_rectangle(uint16_t *buff, unsigned int x, unsigned int y, unsigned int width, unsigned int height, int mode)
{
int yy, addr0_old, addr1_old;
CHECK_COORDS(x, y);
CHECK_COORD_X(x + width);
CHECK_COORD_Y(y + height);
if(width <= 0 || height <= 0) return;
// Calculate as if the rectangle was only a horizontal line. We then
// step these addresses through each row until we iterate `height` times.
int addr0 = CALC_BUFF_ADDR(x, y);
int addr1 = CALC_BUFF_ADDR(x + width, y);
int addr0_bit = CALC_BIT_IN_WORD(x);
int addr1_bit = CALC_BIT_IN_WORD(x + width);
int mask, mask_l, mask_r, i;
// If the addresses are equal, we need to write one word vertically.
if(addr0 == addr1)
{
mask = COMPUTE_HLINE_ISLAND_MASK(addr0_bit, addr1_bit);
while(height--)
{
WRITE_WORD_MODE(buff, addr0, mask, mode);
addr0 += DISP_WIDTH / 16;
}
}
// Otherwise we need to write the edges and then the middle repeatedly.
else
{
mask_l = COMPUTE_HLINE_EDGE_L_MASK(addr0_bit);
mask_r = COMPUTE_HLINE_EDGE_R_MASK(addr1_bit);
// Write edges first.
yy = 0;
addr0_old = addr0;
addr1_old = addr1;
while(yy < height)
{
WRITE_WORD_MODE(buff, addr0, mask_l, mode);
WRITE_WORD_MODE(buff, addr1, mask_r, mode);
addr0 += DISP_WIDTH / 16;
addr1 += DISP_WIDTH / 16;
yy++;
}
// Now write 0xffff words from start+1 to end-1 for each row.
yy = 0;
addr0 = addr0_old;
addr1 = addr1_old;
while(yy < height)
{
for(i = addr0 + 1; i <= addr1 - 1; i++)
{
WRITE_WORD_MODE(buff, i, 0xffff, mode);
}
addr0 += DISP_WIDTH / 16;
addr1 += DISP_WIDTH / 16;
yy++;
}
}
}
/**
* write_filled_rectangle_lm: draw a filled rectangle on both draw buffers.
*
* @param x x coordinate (left)
* @param y y coordinate (top)
* @param width rectangle width
* @param height rectangle height
* @param lmode 0 = clear, 1 = set, 2 = toggle
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_filled_rectangle_lm(unsigned int x, unsigned int y, unsigned int width, unsigned int height, int lmode, int mmode)
{
write_filled_rectangle(draw_buffer_mask, x, y, width, height, mmode);
write_filled_rectangle(draw_buffer_level, x, y, width, height, lmode);
}
/**
* write_rectangle_outlined: draw an outline of a rectangle. Essentially
* a convenience wrapper for draw_hline_outlined and draw_vline_outlined.
*
* @param x x coordinate (left)
* @param y y coordinate (top)
* @param width rectangle width
* @param height rectangle height
* @param mode 0 = black outline, white body, 1 = white outline, black body
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_rectangle_outlined(unsigned int x, unsigned int y, int width, int height, int mode, int mmode)
{
//CHECK_COORDS(x, y);
//CHECK_COORDS(x + width, y + height);
//if((x + width) > DISP_WIDTH) width = DISP_WIDTH - x;
//if((y + height) > DISP_HEIGHT) height = DISP_HEIGHT - y;
write_hline_outlined(x, x + width, y, ENDCAP_ROUND, ENDCAP_ROUND, mode, mmode);
write_hline_outlined(x, x + width, y + height, ENDCAP_ROUND, ENDCAP_ROUND, mode, mmode);
write_vline_outlined(x, y, y + height, ENDCAP_ROUND, ENDCAP_ROUND, mode, mmode);
write_vline_outlined(x + width, y, y + height, ENDCAP_ROUND, ENDCAP_ROUND, mode, mmode);
}
/**
* write_circle: draw the outline of a circle on a given buffer,
* with an optional dash pattern for the line instead of a normal line.
*
* @param buff pointer to buffer to write in
* @param cx origin x coordinate
* @param cy origin y coordinate
* @param r radius
* @param dashp dash period (pixels) - zero for no dash
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_circle(uint16_t *buff, unsigned int cx, unsigned int cy, unsigned int r, unsigned int dashp, int mode)
{
CHECK_COORDS(cx, cy);
int error = -r, x = r, y = 0;
while(x >= y)
{
if(dashp == 0 || (y % dashp) < (dashp / 2))
{
CIRCLE_PLOT_8(buff, cx, cy, x, y, mode);
}
error += (y * 2) + 1;
y++;
if(error >= 0)
{
--x;
error -= x * 2;
}
}
}
/**
* write_circle_outlined: draw an outlined circle on the draw buffer.
*
* @param cx origin x coordinate
* @param cy origin y coordinate
* @param r radius
* @param dashp dash period (pixels) - zero for no dash
* @param bmode 0 = 4-neighbour border, 1 = 8-neighbour border
* @param mode 0 = black outline, white body, 1 = white outline, black body
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_circle_outlined(unsigned int cx, unsigned int cy, unsigned int r, unsigned int dashp, int bmode, int mode, int mmode)
{
int stroke, fill;
CHECK_COORDS(cx, cy);
SETUP_STROKE_FILL(stroke, fill, mode);
// This is a two step procedure. First, we draw the outline of the
// circle, then we draw the inner part.
int error = -r, x = r, y = 0;
while(x >= y)
{
if(dashp == 0 || (y % dashp) < (dashp / 2))
{
CIRCLE_PLOT_8(draw_buffer_mask, cx, cy, x + 1, y, mmode);
CIRCLE_PLOT_8(draw_buffer_level, cx, cy, x + 1, y, stroke);
CIRCLE_PLOT_8(draw_buffer_mask, cx, cy, x, y + 1, mmode);
CIRCLE_PLOT_8(draw_buffer_level, cx, cy, x, y + 1, stroke);
CIRCLE_PLOT_8(draw_buffer_mask, cx, cy, x - 1, y, mmode);
CIRCLE_PLOT_8(draw_buffer_level, cx, cy, x - 1, y, stroke);
CIRCLE_PLOT_8(draw_buffer_mask, cx, cy, x, y - 1, mmode);
CIRCLE_PLOT_8(draw_buffer_level, cx, cy, x, y - 1, stroke);
if(bmode == 1)
{
CIRCLE_PLOT_8(draw_buffer_mask, cx, cy, x + 1, y + 1, mmode);
CIRCLE_PLOT_8(draw_buffer_level, cx, cy, x + 1, y + 1, stroke);
CIRCLE_PLOT_8(draw_buffer_mask, cx, cy, x - 1, y - 1, mmode);
CIRCLE_PLOT_8(draw_buffer_level, cx, cy, x - 1, y - 1, stroke);
}
}
error += (y * 2) + 1;
y++;
if(error >= 0)
{
--x;
error -= x * 2;
}
}
error = -r;
x = r;
y = 0;
while(x >= y)
{
if(dashp == 0 || (y % dashp) < (dashp / 2))
{
CIRCLE_PLOT_8(draw_buffer_mask, cx, cy, x, y, mmode);
CIRCLE_PLOT_8(draw_buffer_level, cx, cy, x, y, fill);
}
error += (y * 2) + 1;
y++;
if(error >= 0)
{
--x;
error -= x * 2;
}
}
}
/**
* write_circle_filled: fill a circle on a given buffer.
*
* @param buff pointer to buffer to write in
* @param cx origin x coordinate
* @param cy origin y coordinate
* @param r radius
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_circle_filled(uint16_t *buff, unsigned int cx, unsigned int cy, unsigned int r, int mode)
{
CHECK_COORDS(cx, cy);
int error = -r, x = r, y = 0, xch = 0;
// It turns out that filled circles can take advantage of the midpoint
// circle algorithm. We simply draw very fast horizontal lines across each
// pair of X,Y coordinates. In some cases, this can even be faster than
// drawing an outlined circle!
//
// Due to multiple writes to each set of pixels, we have a special exception
// for when using the toggling draw mode.
while(x >= y)
{
if(y != 0)
{
write_hline(buff, cx - x, cx + x, cy + y, mode);
write_hline(buff, cx - x, cx + x, cy - y, mode);
if(mode != 2 || (mode == 2 && xch && (cx - x) != (cx - y)))
{
write_hline(buff, cx - y, cx + y, cy + x, mode);
write_hline(buff, cx - y, cx + y, cy - x, mode);
xch = 0;
}
}
error += (y * 2) + 1;
y++;
if(error >= 0)
{
--x;
xch = 1;
error -= x * 2;
}
}
// Handle toggle mode.
if(mode == 2)
{
write_hline(buff, cx - r, cx + r, cy, mode);
}
}
/**
* write_line: Draw a line of arbitrary angle.
*
* @param buff pointer to buffer to write in
* @param x0 first x coordinate
* @param y0 first y coordinate
* @param x1 second x coordinate
* @param y1 second y coordinate
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_line(uint16_t *buff, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, int mode)
{
// Based on http://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm
int steep = abs(y1 - y0) > abs(x1 - x0);
if(steep)
{
SWAP(x0, y0);
SWAP(x1, y1);
}
if(x0 > x1)
{
SWAP(x0, x1);
SWAP(y0, y1);
}
int deltax = x1 - x0;
int deltay = abs(y1 - y0);
int error = deltax / 2;
int ystep;
int y = y0;
int x, lasty = y, stox = 0;
if(y0 < y1)
ystep = 1;
else
ystep = -1;
for(x = x0; x < x1; x++)
{
if(steep)
{
if(lasty != y)
{
if(x > lasty)
write_vline(buff, stox, y, lasty, mode);
else
write_vline(buff, stox, lasty, y, mode);
lasty = y;
stox = x;
}
}
else
{
//write_pixel(buff, x, y, mode);
/*
if(lasty != y)
{
if(y > lasty)
write_vline(buff, stox, y, lasty, mode);
else
write_vline(buff, stox, lasty, y, mode);
lasty = y;
stox = x;
}
*/
}
error -= deltay;
if(error < 0)
{
y += ystep;
error += deltax;
}
}
}
/**
* write_line_lm: Draw a line of arbitrary angle.
*
* @param x0 first x coordinate
* @param y0 first y coordinate
* @param x1 second x coordinate
* @param y1 second y coordinate
* @param mmode 0 = clear, 1 = set, 2 = toggle
* @param lmode 0 = clear, 1 = set, 2 = toggle
*/
void write_line_lm(unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, int mmode, int lmode)
{
write_line(draw_buffer_mask, x0, y0, x1, y1, mmode);
write_line(draw_buffer_level, x0, y0, x1, y1, lmode);
}
/**
* write_line_outlined: Draw a line of arbitrary angle, with an outline.
*
* @param buff pointer to buffer to write in
* @param x0 first x coordinate
* @param y0 first y coordinate
* @param x1 second x coordinate
* @param y1 second y coordinate
* @param endcap0 0 = none, 1 = single pixel, 2 = full cap
* @param endcap1 0 = none, 1 = single pixel, 2 = full cap
* @param mode 0 = black outline, white body, 1 = white outline, black body
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_line_outlined(unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, int endcap0, int endcap1, int mode, int mmode)
{
// Based on http://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm
// This could be improved for speed.
int omode, imode;
if(mode == 0)
{
omode = 0;
imode = 1;
}
else
{
omode = 1;
imode = 0;
}
int steep = abs(y1 - y0) > abs(x1 - x0);
if(steep)
{
SWAP(x0, y0);
SWAP(x1, y1);
}
if(x0 > x1)
{
SWAP(x0, x1);
SWAP(y0, y1);
}
int deltax = x1 - x0;
int deltay = abs(y1 - y0);
int error = deltax / 2;
int ystep;
int y = y0;
int x;
if(y0 < y1)
ystep = 1;
else
ystep = -1;
// Draw the outline.
for(x = x0; x < x1; x++)
{
if(steep)
{
write_pixel_lm(y - 1, x, mmode, omode);
write_pixel_lm(y + 1, x, mmode, omode);
write_pixel_lm(y, x - 1, mmode, omode);
write_pixel_lm(y, x + 1, mmode, omode);
}
else
{
write_pixel_lm(x - 1, y, mmode, omode);
write_pixel_lm(x + 1, y, mmode, omode);
write_pixel_lm(x, y - 1, mmode, omode);
write_pixel_lm(x, y + 1, mmode, omode);
}
error -= deltay;
if(error < 0)
{
y += ystep;
error += deltax;
}
}
// Now draw the innards.
error = deltax / 2;
y = y0;
for(x = x0; x < x1; x++)
{
if(steep)
{
write_pixel_lm(y, x, mmode, imode);
}
else
{
write_pixel_lm(x, y, mmode, imode);
}
error -= deltay;
if(error < 0)
{
y += ystep;
error += deltax;
}
}
}
/**
* write_word_misaligned: Write a misaligned word across two addresses
* with an x offset.
*
* This allows for many pixels to be set in one write.
*
* @param buff buffer to write in
* @param word word to write (16 bits)
* @param addr address of first word
* @param xoff x offset (0-15)
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_word_misaligned(uint16_t *buff, uint16_t word, unsigned int addr, unsigned int xoff, int mode)
{
uint16_t firstmask = word >> xoff;
uint16_t lastmask = word << (16 - xoff);
WRITE_WORD_MODE(buff, addr, firstmask, mode);
if(xoff > 0)
{
WRITE_WORD_MODE(buff, addr + 1, lastmask, mode);
}
}
/**
* write_word_misaligned_NAND: Write a misaligned word across two addresses
* with an x offset, using a NAND mask.
*
* This allows for many pixels to be set in one write.
*
* @param buff buffer to write in
* @param word word to write (16 bits)
* @param addr address of first word
* @param xoff x offset (0-15)
*
* This is identical to calling write_word_misaligned with a mode of 0 but
* it doesn't go through a lot of switch logic which slows down text writing
* a lot.
*/
void write_word_misaligned_NAND(uint16_t *buff, uint16_t word, unsigned int addr, unsigned int xoff)
{
uint16_t firstmask = word >> xoff;
uint16_t lastmask = word << (16 - xoff);
WRITE_WORD_NAND(buff, addr, firstmask);
if(xoff > 0)
{
WRITE_WORD_NAND(buff, addr + 1, lastmask);
}
}
/**
* write_word_misaligned_OR: Write a misaligned word across two addresses
* with an x offset, using an OR mask.
*
* This allows for many pixels to be set in one write.
*
* @param buff buffer to write in
* @param word word to write (16 bits)
* @param addr address of first word
* @param xoff x offset (0-15)
*
* This is identical to calling write_word_misaligned with a mode of 1 but
* it doesn't go through a lot of switch logic which slows down text writing
* a lot.
*/
void write_word_misaligned_OR(uint16_t *buff, uint16_t word, unsigned int addr, unsigned int xoff)
{
uint16_t firstmask = word >> xoff;
uint16_t lastmask = word << (16 - xoff);
WRITE_WORD_OR(buff, addr, firstmask);
if(xoff > 0)
{
WRITE_WORD_OR(buff, addr + 1, lastmask);
}
}
/**
* write_word_misaligned_lm: Write a misaligned word across two
* words, in both level and mask buffers. This is core to the text
* writing routines.
*
* @param buff buffer to write in
* @param word word to write (16 bits)
* @param addr address of first word
* @param xoff x offset (0-15)
* @param lmode 0 = clear, 1 = set, 2 = toggle
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_word_misaligned_lm(uint16_t wordl, uint16_t wordm, unsigned int addr, unsigned int xoff, int lmode, int mmode)
{
write_word_misaligned(draw_buffer_level, wordl, addr, xoff, lmode);
write_word_misaligned(draw_buffer_mask, wordm, addr, xoff, mmode);
}
/**
* fetch_font_info: Fetch font info structs.
*
* @param ch character
* @param font font id
*/
int fetch_font_info(char ch, int font, struct FontEntry *font_info, char *lookup)
{
// First locate the font struct.
if(font > SIZEOF_ARRAY(fonts))
return 0; // font does not exist, exit.*/
// Load the font info; IDs are always sequential.
*font_info = fonts[font];
// Locate character in font lookup table. (If required.)
if(lookup != NULL)
{
*lookup = font_info->lookup[ch];
if(*lookup == 0xff)
return 0; // character doesn't exist, don't bother writing it.
}
return 1;
}
/**
* write_char: Draw a character on the current draw buffer.
* Currently supports outlined characters and characters with
* a width of up to 8 pixels.
*
* @param ch character to write
* @param x x coordinate (left)
* @param y y coordinate (top)
* @param flags flags to write with (see gfx.h)
* @param font font to use
*/
void write_char(char ch, unsigned int x, unsigned int y, int flags, int font)
{
int yy, addr_temp, row, row_temp, xshift;
uint16_t and_mask, or_mask, level_bits;
struct FontEntry font_info;
char lookup = 0;
fetch_font_info(ch, font, &font_info, &lookup);
// Compute starting address (for x,y) of character.
int addr = CALC_BUFF_ADDR(x, y);
int wbit = CALC_BIT_IN_WORD(x);
// If font only supports lowercase or uppercase, make the letter
// lowercase or uppercase.
if(font_info.flags & FONT_LOWERCASE_ONLY)
ch = tolower(ch);
if(font_info.flags & FONT_UPPERCASE_ONLY)
ch = toupper(ch);
fetch_font_info(ch, font, &font_info, &lookup);
// How big is the character? We handle characters up to 8 pixels
// wide for now. Support for large characters may be added in future.
if(font_info.width <= 8)
{
// Ensure we don't overflow.
if(x + wbit > DISP_WIDTH)
return;
// Load data pointer.
row = lookup * font_info.height * 2;
row_temp = row;
addr_temp = addr;
xshift = 16 - font_info.width;
// We can write mask words easily.
for(yy = y; yy < y + font_info.height; yy++)
{
write_word_misaligned_OR(draw_buffer_mask, font_info.data[row] << xshift, addr, wbit);
addr += DISP_WIDTH / 16;
row++;
}
// Level bits are more complicated. We need to set or clear
// level bits, but only where the mask bit is set; otherwise,
// we need to leave them alone. To do this, for each word, we
// construct an AND mask and an OR mask, and apply each individually.
row = row_temp;
addr = addr_temp;
for(yy = y; yy < y + font_info.height; yy++)
{
level_bits = font_info.data[row + font_info.height];
if(!(flags & FONT_INVERT)) // data is normally inverted
level_bits = ~level_bits;
or_mask = font_info.data[row] << xshift;
and_mask = (font_info.data[row] & level_bits) << xshift;
write_word_misaligned_OR(draw_buffer_level, or_mask, addr, wbit);
// If we're not bold write the AND mask.
//if(!(flags & FONT_BOLD))
write_word_misaligned_NAND(draw_buffer_level, and_mask, addr, wbit);
addr += DISP_WIDTH / 16;
row++;
}
}
}
/**
* calc_text_dimensions: Calculate the dimensions of a
* string in a given font. Supports new lines and
* carriage returns in text.
*
* @param str string to calculate dimensions of
* @param font_info font info structure
* @param xs horizontal spacing
* @param ys vertical spacing
* @param dim return result: struct FontDimensions
*/
void calc_text_dimensions(char *str, struct FontEntry font, int xs, int ys, struct FontDimensions *dim)
{
int max_length = 0, line_length = 0, lines = 1;
while(*str != 0)
{
line_length++;
if(*str == '\n' || *str == '\r')
{
if(line_length > max_length)
max_length = line_length;
line_length = 0;
lines++;
}
str++;
}
if(line_length > max_length)
max_length = line_length;
dim->width = max_length * (font.width + xs);
dim->height = lines * (font.height + ys);
}
/**
* write_string: Draw a string on the screen with certain
* alignment parameters.
*
* @param str string to write
* @param x x coordinate
* @param y y coordinate
* @param xs horizontal spacing
* @param ys horizontal spacing
* @param va vertical align
* @param ha horizontal align
* @param flags flags (passed to write_char)
* @param font font
*/
void write_string(char *str, unsigned int x, unsigned int y, unsigned int xs, unsigned int ys, int va, int ha, int flags, int font)
{
int xx = 0, yy = 0, xx_original = 0;
struct FontEntry font_info;
struct FontDimensions dim;
// Determine font info and dimensions/position of the string.
fetch_font_info(0, font, &font_info, NULL);
calc_text_dimensions(str, font_info, xs, ys, &dim);
switch(va)
{
case TEXT_VA_TOP: yy = y; break;
case TEXT_VA_MIDDLE: yy = y - (dim.height / 2); break;
case TEXT_VA_BOTTOM: yy = y - dim.height; break;
}
switch(ha)
{
case TEXT_HA_LEFT: xx = x; break;
case TEXT_HA_CENTER: xx = x - (dim.width / 2); break;
case TEXT_HA_RIGHT: xx = x - dim.width; break;
}
// Then write each character.
xx_original = xx;
while(*str != 0)
{
if(*str == '\n' || *str == '\r')
{
yy += ys + font_info.height;
xx = xx_original;
}
else
{
if(xx >= 0 && xx < DISP_WIDTH)
write_char(*str, xx, yy, flags, font);
xx += font_info.width + xs;
}
str++;
}
}
/**
* write_string_formatted: Draw a string with format escape
* sequences in it. Allows for complex text effects.
*
* @param str string to write (with format data)
* @param x x coordinate
* @param y y coordinate
* @param xs default horizontal spacing
* @param ys default horizontal spacing
* @param va vertical align
* @param ha horizontal align
* @param flags flags (passed to write_char)
*/
void write_string_formatted(char *str, unsigned int x, unsigned int y, unsigned int xs, unsigned int ys, int va, int ha, int flags)
{
int fcode = 0, fptr = 0, font = 0, fwidth = 0, fheight = 0, xx = x, yy = y, max_xx = 0, max_height = 0;
struct FontEntry font_info;
// Retrieve sizes of the fonts: bigfont and smallfont.
fetch_font_info(0, 0, &font_info, NULL);
int smallfontwidth = font_info.width, smallfontheight = font_info.height;
fetch_font_info(0, 1, &font_info, NULL);
int bigfontwidth = font_info.width, bigfontheight = font_info.height;
// 11 byte stack with last byte as NUL.
char fstack[11];
fstack[10] = '\0';
// First, we need to parse the string for format characters and
// work out a bounding box. We'll parse again for the final output.
// This is a simple state machine parser.
char *ostr = str;
while(*str)
{
if(*str == '<' && fcode == 1) // escape code: skip
fcode = 0;
if(*str == '<' && fcode == 0) // begin format code?
{
fcode = 1;
fptr = 0;
}
if(*str == '>' && fcode == 1)
{
fcode = 0;
if(strcmp(fstack, "B")) // switch to "big" font (font #1)
{
fwidth = bigfontwidth;
fheight = bigfontheight;
}
else if(strcmp(fstack, "S")) // switch to "small" font (font #0)
{
fwidth = smallfontwidth;
fheight = smallfontheight;
}
if(fheight > max_height)
max_height = fheight;
// Skip over this byte. Go to next byte.
str++;
continue;
}
if(*str != '<' && *str != '>' && fcode == 1)
{
// Add to the format stack (up to 10 bytes.)
if(fptr > 10) // stop adding bytes
{
str++; // go to next byte
continue;
}
fstack[fptr++] = *str;
fstack[fptr] = '\0'; // clear next byte (ready for next char or to terminate string.)
}
if(fcode == 0)
{
// Not a format code, raw text.
xx += fwidth + xs;
if(*str == '\n')
{
if(xx > max_xx)
max_xx = xx;
xx = x;
yy += fheight + ys;
}
}
str++;
}
// Reset string pointer.
str = ostr;
// Now we've parsed it and got a bbox, we need to work out the dimensions of it
// and how to align it.
int width = max_xx - x;
int height = yy - y;
int ay, ax;
switch(va)
{
case TEXT_VA_TOP: ay = yy; break;
case TEXT_VA_MIDDLE: ay = yy - (height / 2); break;
case TEXT_VA_BOTTOM: ay = yy - height; break;
}
switch(ha)
{
case TEXT_HA_LEFT: ax = x; break;
case TEXT_HA_CENTER: ax = x - (width / 2); break;
case TEXT_HA_RIGHT: ax = x - width; break;
}
// So ax,ay is our new text origin. Parse the text format again and paint
// the text on the display.
fcode = 0;
fptr = 0;
font = 0;
xx = 0;
yy = 0;
while(*str)
{
if(*str == '<' && fcode == 1) // escape code: skip
fcode = 0;
if(*str == '<' && fcode == 0) // begin format code?
{
fcode = 1;
fptr = 0;
}
if(*str == '>' && fcode == 1)
{
fcode = 0;
if(strcmp(fstack, "B")) // switch to "big" font (font #1)
{
fwidth = bigfontwidth;
fheight = bigfontheight;
font = 1;
}
else if(strcmp(fstack, "S")) // switch to "small" font (font #0)
{
fwidth = smallfontwidth;
fheight = smallfontheight;
font = 0;
}
// Skip over this byte. Go to next byte.
str++;
continue;
}
if(*str != '<' && *str != '>' && fcode == 1)
{
// Add to the format stack (up to 10 bytes.)
if(fptr > 10) // stop adding bytes
{
str++; // go to next byte
continue;
}
fstack[fptr++] = *str;
fstack[fptr] = '\0'; // clear next byte (ready for next char or to terminate string.)
}
if(fcode == 0)
{
// Not a format code, raw text. So we draw it.
// TODO - different font sizes.
write_char(*str, xx, yy + (max_height - fheight), flags, font);
xx += fwidth + xs;
if(*str == '\n')
{
if(xx > max_xx)
max_xx = xx;
xx = x;
yy += fheight + ys;
}
}
str++;
}
}
//SUPEROSD-
// graphics
void drawAttitude(uint16_t x, uint16_t y, int16_t pitch, int16_t roll, uint16_t size)
{
int16_t a = mySin(roll+360);
int16_t b = myCos(roll+360);
int16_t c = mySin(roll+90+360)*5/100;
int16_t d = myCos(roll+90+360)*5/100;
int16_t k;
int16_t l;
int16_t indi30x1=myCos(30)*(size/2+1) / 100;
int16_t indi30y1=mySin(30)*(size/2+1) / 100;
int16_t indi30x2=myCos(30)*(size/2+4) / 100;
int16_t indi30y2=mySin(30)*(size/2+4) / 100;
int16_t indi60x1=myCos(60)*(size/2+1) / 100;
int16_t indi60y1=mySin(60)*(size/2+1) / 100;
int16_t indi60x2=myCos(60)*(size/2+4) / 100;
int16_t indi60y2=mySin(60)*(size/2+4) / 100;
pitch=pitch%90;
if(pitch>90)
{
pitch=pitch-90;
}
if(pitch<-90)
{
pitch=pitch+90;
}
a = (a * (size/2)) / 100;
b = (b * (size/2)) / 100;
if(roll<-90 || roll>90)
pitch=pitch*-1;
k = a*pitch/90;
l = b*pitch/90;
// scale
//0
//drawLine((x)-1-(size/2+4), (y)-1, (x)-1 - (size/2+1), (y)-1);
//drawLine((x)-1+(size/2+4), (y)-1, (x)-1 + (size/2+1), (y)-1);
write_line_outlined((x)-1-(size/2+4), (y)-1, (x)-1 - (size/2+1), (y)-1,0,0,0,1);
write_line_outlined((x)-1+(size/2+4), (y)-1, (x)-1 + (size/2+1), (y)-1,0,0,0,1);
//30
//drawLine((x)-1+indi30x1, (y)-1-indi30y1, (x)-1 + indi30x2, (y)-1 - indi30y2);
//drawLine((x)-1-indi30x1, (y)-1-indi30y1, (x)-1 - indi30x2, (y)-1 - indi30y2);
write_line_outlined((x)-1+indi30x1, (y)-1-indi30y1, (x)-1 + indi30x2, (y)-1 - indi30y2,0,0,0,1);
write_line_outlined((x)-1-indi30x1, (y)-1-indi30y1, (x)-1 - indi30x2, (y)-1 - indi30y2,0,0,0,1);
//60
//drawLine((x)-1+indi60x1, (y)-1-indi60y1, (x)-1 + indi60x2, (y)-1 - indi60y2);
//drawLine((x)-1-indi60x1, (y)-1-indi60y1, (x)-1 - indi60x2, (y)-1 - indi60y2);
write_line_outlined((x)-1+indi60x1, (y)-1-indi60y1, (x)-1 + indi60x2, (y)-1 - indi60y2,0,0,0,1);
write_line_outlined((x)-1-indi60x1, (y)-1-indi60y1, (x)-1 - indi60x2, (y)-1 - indi60y2,0,0,0,1);
//90
//drawLine((x)-1, (y)-1-(size/2+4), (x)-1, (y)-1 - (size/2+1));
write_line_outlined((x)-1, (y)-1-(size/2+4), (x)-1, (y)-1 - (size/2+1),0,0,0,1);
//roll
//drawLine((x)-1 - b, (y)-1 + a, (x)-1 + b, (y)-1 - a); //Direction line
write_line_outlined((x)-1 - b, (y)-1 + a, (x)-1 + b, (y)-1 - a,0,0,0,1); //Direction line
//"wingtips"
//drawLine((x)-1 - b, (y)-1 + a, (x)-1 - b + d, (y)-1 + a - c);
//drawLine((x)-1 + b + d, (y)-1 - a - c, (x)-1 + b, (y)-1 - a);
write_line_outlined((x)-1 - b, (y)-1 + a, (x)-1 - b + d, (y)-1 + a - c,0,0,0,1);
write_line_outlined((x)-1 + b + d, (y)-1 - a - c, (x)-1 + b, (y)-1 - a,0,0,0,1);
//pitch
//drawLine((x)-1, (y)-1, (x)-1 - k, (y)-1 - l);
write_line_outlined((x)-1, (y)-1, (x)-1 - k, (y)-1 - l,0,0,0,1);
//drawCircle(x-1, y-1, 5);
//write_circle_outlined(x-1, y-1, 5,0,0,0,1);
//drawCircle(x-1, y-1, size/2+4);
//write_circle_outlined(x-1, y-1, size/2+4,0,0,0,1);
}
void drawBattery(uint16_t x, uint16_t y, uint8_t battery, uint16_t size)
{
int i=0;
int batteryLines;
//top
/*drawLine((x)-1+(size/2-size/4), (y)-1, (x)-1 + (size/2+size/4), (y)-1);
drawLine((x)-1+(size/2-size/4), (y)-1+1, (x)-1 + (size/2+size/4), (y)-1+1);
drawLine((x)-1, (y)-1+2, (x)-1 + size, (y)-1+2);
//bottom
drawLine((x)-1, (y)-1+size*3, (x)-1 + size, (y)-1+size*3);
//left
drawLine((x)-1, (y)-1+2, (x)-1, (y)-1+size*3);
//right
drawLine((x)-1+size, (y)-1+2, (x)-1+size, (y)-1+size*3);*/
write_hline_lm((x)-1+(size/2-size/4),(x)-1 + (size/2+size/4),(y)-1,1,1);
write_hline_lm((x)-1+(size/2-size/4),(x)-1 + (size/2+size/4),(y)-1+1,1,1);
write_rectangle_outlined((x)-1, (y)-1+2,size,size*3,0,1);
batteryLines = battery*(size*3-2)/100;
for(i=0;i<batteryLines;i++)
{
drawLine((x)-1, (y)-1+size*3-i, (x)-1 + size, (y)-1+size*3-i);
}
}
void setAttitudeOsd(int16_t pitch, int16_t roll, int16_t yaw)
{
m_pitch=pitch;
m_roll=roll;
m_yaw=yaw;
}
void setGpsOsd(uint8_t status, int32_t lat, int32_t lon, float alt, float spd)
{
m_gpsStatus=status;
m_gpsLat=lat;
m_gpsLon=lon;
m_gpsAlt=alt;
m_gpsSpd=spd;
}
void introText(){
//printTextFB((GRAPHICS_WIDTH_REAL/2 - 40)/16,GRAPHICS_HEIGHT_REAL-10,"ver 0.1");
write_string("ver 0.2", (GRAPHICS_WIDTH_REAL/2),GRAPHICS_HEIGHT_REAL-18, 1, 0, TEXT_VA_TOP, TEXT_HA_CENTER, 0, 0);
}
void introGraphics() {
/* logo */
copyimage(GRAPHICS_WIDTH_REAL/2-128/2, GRAPHICS_HEIGHT_REAL/2-128/2);
/* frame */
drawBox(0,0,GRAPHICS_WIDTH_REAL-2,GRAPHICS_HEIGHT_REAL-1);
}
/*
void drawAltitude(uint16_t x, uint16_t y, int16_t alt, uint8_t dir) {
char temp[9]={0};
char updown=' ';
uint16_t charx=x/16;
if(dir==0)
updown=24;
if(dir==1)
updown=25;
sprintf(temp,"%c%6dm",updown,alt);
printTextFB(charx,y+2,temp);
/* frame *
drawBox(charx*16-3,y,charx*16+strlen(temp)*8+3,y+11);
}*/
/**
* hud_draw_vertical_scale: Draw a vertical scale.
*
* @param v value to display as an integer
* @param range range about value to display (+/- range/2 each direction)
* @param halign horizontal alignment: -1 = left, +1 = right.
* @param height height of scale
* @param x x displacement (typ. 0)
* @param y y displacement (typ. half display height)
* @param mintick_step how often a minor tick is shown
* @param majtick_step how often a major tick is shown
* @param mintick_len minor tick length
* @param majtick_len major tick length
* @param max_val maximum expected value (used to compute size of arrow ticker)
* @param flags special flags (see hud.h.)
*/
void hud_draw_vertical_scale(int v, int range, int halign, int x, int y, int height, int mintick_step, int majtick_step, int mintick_len, int majtick_len, int boundtick_len, int max_val, int flags)
{
char temp[15];//, temp2[15];
struct FontEntry font_info;
struct FontDimensions dim;
// Halign should be in a small span.
//MY_ASSERT(halign >= -1 && halign <= 1);
// Compute the position of the elements.
int majtick_start = 0, majtick_end = 0, mintick_start = 0, mintick_end = 0, boundtick_start = 0, boundtick_end = 0;
if(halign == -1)
{
majtick_start = x;
majtick_end = x + majtick_len;
mintick_start = x;
mintick_end = x + mintick_len;
boundtick_start = x;
boundtick_end = x + boundtick_len;
}
else if(halign == +1)
{
majtick_start = DISP_WIDTH - x - 1;
majtick_end = DISP_WIDTH - x - majtick_len - 1;
mintick_start = DISP_WIDTH - x - 1;
mintick_end = DISP_WIDTH - x - mintick_len - 1;
boundtick_start = DISP_WIDTH - x - 1;
boundtick_end = DISP_WIDTH - x - boundtick_len - 1;
}
// Retrieve width of large font (font #0); from this calculate the x spacing.
fetch_font_info(0, 0, &font_info, NULL);
int arrow_len = (font_info.height / 2) + 1; // FIXME, font info being loaded correctly??
int text_x_spacing = arrow_len;
int max_text_y = 0, text_length = 0;
int small_font_char_width = font_info.width + 1; // +1 for horizontal spacing = 1
// For -(range / 2) to +(range / 2), draw the scale.
int range_2 = range / 2, height_2 = height / 2;
int calc_ys = 0, r = 0, rr = 0, rv = 0, ys = 0, style = 0;
// Iterate through each step.
for(r = -range_2; r <= +range_2; r++)
{
style = 0;
rr = r + range_2 - v; // normalise range for modulo, subtract value to move ticker tape
rv = -rr + range_2; // for number display
if(flags & HUD_VSCALE_FLAG_NO_NEGATIVE)
rr += majtick_step / 2;
if(rr % majtick_step == 0)
style = 1; // major tick
else if(rr % mintick_step == 0)
style = 2; // minor tick
else
style = 0;
if(flags & HUD_VSCALE_FLAG_NO_NEGATIVE && rv < 0)
continue;
if(style)
{
// Calculate y position.
ys = ((long int)(r * height) / (long int)range) + y;
//sprintf(temp, "ys=%d", ys);
//con_puts(temp, 0);
// Depending on style, draw a minor or a major tick.
if(style == 1)
{
write_hline_outlined(majtick_start, majtick_end, ys, 2, 2, 0, 1);
memset(temp, ' ', 10);
//my_itoa(rv, temp);
sprintf(temp,"%d",rv);
text_length = (strlen(temp) + 1) * small_font_char_width; // add 1 for margin
if(text_length > max_text_y)
max_text_y = text_length;
if(halign == -1)
write_string(temp, majtick_end + text_x_spacing, ys, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_LEFT, 0, 1);
else
write_string(temp, majtick_end - text_x_spacing + 1, ys, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_RIGHT, 0, 1);
}
else if(style == 2)
write_hline_outlined(mintick_start, mintick_end, ys, 2, 2, 0, 1);
}
}
// Generate the string for the value, as well as calculating its dimensions.
memset(temp, ' ', 10);
//my_itoa(v, temp);
sprintf(temp,"%d",v);
// TODO: add auto-sizing.
calc_text_dimensions(temp, font_info, 1, 0, &dim);
int xx = 0, i = 0;
if(halign == -1)
xx = majtick_end + text_x_spacing;
else
xx = majtick_end - text_x_spacing;
// Draw an arrow from the number to the point.
for(i = 0; i < arrow_len; i++)
{
if(halign == -1)
{
write_pixel_lm(xx - arrow_len + i, y - i - 1, 1, 1);
write_pixel_lm(xx - arrow_len + i, y + i - 1, 1, 1);
write_hline_lm(xx + dim.width - 1, xx - arrow_len + i + 1, y - i - 1, 0, 1);
write_hline_lm(xx + dim.width - 1, xx - arrow_len + i + 1, y + i - 1, 0, 1);
}
else
{
write_pixel_lm(xx + arrow_len - i, y - i - 1, 1, 1);
write_pixel_lm(xx + arrow_len - i, y + i - 1, 1, 1);
write_hline_lm(xx - dim.width - 1, xx + arrow_len - i - 1, y - i - 1, 0, 1);
write_hline_lm(xx - dim.width - 1, xx + arrow_len - i - 1, y + i - 1, 0, 1);
}
// FIXME
// write_hline_lm(xx - dim.width - 1, xx + (arrow_len - i), y - i - 1, 1, 1);
// write_hline_lm(xx - dim.width - 1, xx + (arrow_len - i), y + i - 1, 1, 1);
}
if(halign == -1)
{
write_hline_lm(xx, xx + dim.width - 1, y - arrow_len, 1, 1);
write_hline_lm(xx, xx + dim.width - 1, y + arrow_len - 2, 1, 1);
write_vline_lm(xx + dim.width - 1, y - arrow_len, y + arrow_len - 2, 1, 1);
}
else
{
write_hline_lm(xx, xx - dim.width - 1, y - arrow_len, 1, 1);
write_hline_lm(xx, xx - dim.width - 1, y + arrow_len - 2, 1, 1);
write_vline_lm(xx - dim.width - 1, y - arrow_len, y + arrow_len - 2, 1, 1);
}
// Draw the text.
if(halign == -1)
write_string(temp, xx, y, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_LEFT, 0, 0);
else
write_string(temp, xx, y, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_RIGHT, 0, 0);
// Then, add a slow cut off on the edges, so the text doesn't sharply
// disappear. We simply clear the areas above and below the ticker, and we
// use little markers on the edges.
if(halign == -1)
{
write_filled_rectangle_lm(majtick_end + text_x_spacing, y + (height / 2) - (font_info.height / 2), max_text_y - boundtick_start, font_info.height, 0, 0);
write_filled_rectangle_lm(majtick_end + text_x_spacing, y - (height / 2) - (font_info.height / 2), max_text_y - boundtick_start, font_info.height, 0, 0);
}
else
{
write_filled_rectangle_lm(majtick_end - text_x_spacing - max_text_y, y + (height / 2) - (font_info.height / 2), max_text_y, font_info.height, 0, 0);
write_filled_rectangle_lm(majtick_end - text_x_spacing - max_text_y, y - (height / 2) - (font_info.height / 2), max_text_y, font_info.height, 0, 0);
}
write_hline_outlined(boundtick_start, boundtick_end, y + (height / 2), 2, 2, 0, 1);
write_hline_outlined(boundtick_start, boundtick_end, y - (height / 2), 2, 2, 0, 1);
}
/**
* hud_draw_compass: Draw a compass.
*
* @param v value for the compass
* @param range range about value to display (+/- range/2 each direction)
* @param width length in pixels
* @param x x displacement (typ. half display width)
* @param y y displacement (typ. bottom of display)
* @param mintick_step how often a minor tick is shown
* @param majtick_step how often a major tick (heading "xx") is shown
* @param mintick_len minor tick length
* @param majtick_len major tick length
* @param flags special flags (see hud.h.)
*/
void hud_draw_linear_compass(int v, int range, int width, int x, int y, int mintick_step, int majtick_step, int mintick_len, int majtick_len, int flags)
{
v %= 360; // wrap, just in case.
struct FontEntry font_info;
int majtick_start = 0, majtick_end = 0, mintick_start = 0, mintick_end = 0, textoffset = 0;
char headingstr[4];
majtick_start = y;
majtick_end = y - majtick_len;
mintick_start = y;
mintick_end = y - mintick_len;
textoffset = 8;
int r, style, rr, rv, xs;
int range_2 = range / 2;
for(r = -range_2; r <= +range_2; r++)
{
style = 0;
rr = (v + r + 360) % 360; // normalise range for modulo, add to move compass track
rv = -rr + range_2; // for number display
if(rr % majtick_step == 0)
style = 1; // major tick
else if(rr % mintick_step == 0)
style = 2; // minor tick
if(style)
{
// Calculate x position.
xs = ((long int)(r * width) / (long int)range) + x;
// Draw it.
if(style == 1)
{
write_vline_outlined(xs, majtick_start, majtick_end, 2, 2, 0, 1);
// Draw heading above this tick.
// If it's not one of north, south, east, west, draw the heading.
// Otherwise, draw one of the identifiers.
if(rr % 90 != 0)
{
// We abbreviate heading to two digits. This has the side effect of being easy to compute.
headingstr[0] = '0' + (rr / 100);
headingstr[1] = '0' + ((rr / 10) % 10);
headingstr[2] = 0;
headingstr[3] = 0; // nul to terminate
}
else
{
switch(rr)
{
case 0: headingstr[0] = 'N'; break;
case 90: headingstr[0] = 'E'; break;
case 180: headingstr[0] = 'S'; break;
case 270: headingstr[0] = 'W'; break;
}
headingstr[1] = 0;
headingstr[2] = 0;
headingstr[3] = 0;
}
// +1 fudge...!
write_string(headingstr, xs + 1, majtick_start + textoffset, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_CENTER, 0, 1);
}
else if(style == 2)
write_vline_outlined(xs, mintick_start, mintick_end, 2, 2, 0, 1);
}
}
// Then, draw a rectangle with the present heading in it.
// We want to cover up any other markers on the bottom.
// First compute font size.
fetch_font_info(0, 0, &font_info, NULL);
int text_width = (font_info.width + 1) * 3;
int rect_width = text_width + 2;
write_filled_rectangle_lm(x - (rect_width / 2), majtick_start + 2, rect_width, font_info.height + 2, 0, 1);
write_rectangle_outlined(x - (rect_width / 2), majtick_start + 2, rect_width, font_info.height + 2, 0, 1);
headingstr[0] = '0' + (v / 100);
headingstr[1] = '0' + ((v / 10) % 10);
headingstr[2] = '0' + (v % 10);
headingstr[3] = 0;
write_string(headingstr, x + 1, majtick_start + textoffset+2, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_CENTER, 1, 0);
}
static int count=0;
static int mark=0;
//main draw function
void updateGraphics() {
/*drawBox(2,2,GRAPHICS_WIDTH_REAL-4,GRAPHICS_HEIGHT_REAL-4);
write_filled_rectangle(draw_buffer_mask,0,0,GRAPHICS_WIDTH_REAL-2,GRAPHICS_HEIGHT_REAL-2,0);
write_filled_rectangle(draw_buffer_mask,2,2,GRAPHICS_WIDTH_REAL-4-2,GRAPHICS_HEIGHT_REAL-4-2,2);
write_filled_rectangle(draw_buffer_mask,3,3,GRAPHICS_WIDTH_REAL-4-1,GRAPHICS_HEIGHT_REAL-4-1,0);*/
//write_filled_rectangle(draw_buffer_mask,5,5,GRAPHICS_WIDTH_REAL-4-5,GRAPHICS_HEIGHT_REAL-4-5,0);
//write_rectangle_outlined(10,10,GRAPHICS_WIDTH_REAL-20,GRAPHICS_HEIGHT_REAL-20,0,0);
//drawLine(GRAPHICS_WIDTH_REAL-1, GRAPHICS_HEIGHT_REAL-1,(GRAPHICS_WIDTH_REAL/2)-1, GRAPHICS_HEIGHT_REAL-1 );
//drawCircle((GRAPHICS_WIDTH_REAL/2)-1, (GRAPHICS_HEIGHT_REAL/2)-1, (GRAPHICS_HEIGHT_REAL/2)-1);
//drawCircle((GRAPHICS_SIZE/2)-1, (GRAPHICS_SIZE/2)-1, (GRAPHICS_SIZE/2)-2);
//drawLine(0, (GRAPHICS_SIZE/2)-1, GRAPHICS_SIZE-1, (GRAPHICS_SIZE/2)-1);
//drawLine((GRAPHICS_SIZE/2)-1, 0, (GRAPHICS_SIZE/2)-1, GRAPHICS_SIZE-1);
angleA++;
if(angleB<=-90)
{
sum=2;
}
if(angleB>=90)
{
sum=-2;
}
angleB+=sum;
angleC+=2;
//drawArrow(32,GRAPHICS_HEIGHT_REAL-40,angleA,32);
//drawAttitude(96,GRAPHICS_HEIGHT_REAL/2,90,0,48);
drawAttitude(GRAPHICS_WIDTH_REAL/2,GRAPHICS_HEIGHT_REAL/2,m_pitch,m_roll,96);
//printTextFB(2,12,"Hello OP-OSD");
//printTextFB(1,21,"Hello OP-OSD");
//printTextFB(0,2,"Hello OP-OSD");
/*write_hline_outlined(GRAPHICS_WIDTH_REAL/2-30, GRAPHICS_WIDTH_REAL/2+30, GRAPHICS_HEIGHT_REAL/2, 2, 2, 0, 1);
write_vline_outlined(GRAPHICS_WIDTH_REAL/2, GRAPHICS_HEIGHT_REAL/2-30, GRAPHICS_HEIGHT_REAL/2+30, 2, 2, 0, 1);
write_circle_outlined(GRAPHICS_WIDTH_REAL/2,GRAPHICS_HEIGHT_REAL/2,30,0,0,0,1);*/
//write_string("Hello OP-OSD", 60, 12, 1, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 0);
//printText16( 60, 12,"Hello OP-OSD");
char temp[20]={0};
sprintf(temp,"S%d, Lat:%02d, Lon:%02d",(int)m_gpsStatus,(int)m_gpsLat,(int)m_gpsLon);
write_string(temp, 10, 10, 1, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 0);
/*count++;
for(int x=1;x<20;x++)
{
//printCharFB((mark+x-1)%255,x,40);
write_char16((mark+x-1)%255,x*12+40,60);
}
if(count==12)
{
mark++;
count=0;
}*/
printTime((GRAPHICS_WIDTH_REAL - 80)/16,GRAPHICS_HEIGHT_REAL-20);
char tempx[20]={0};
sprintf(tempx,"Lines:%4d",PIOS_Video_GetOSDLines());
write_string(tempx, (GRAPHICS_WIDTH_REAL - 2),10, 1, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 0);
sprintf(tempx,"Rssi:%4dV",(int)(PIOS_ADC_PinGet(4)*3000/4096));
write_string(tempx, (GRAPHICS_WIDTH_REAL - 2),24, 1, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 0);
sprintf(tempx,"Temp:%4dC",(int)(PIOS_ADC_PinGet(5)*0.29296875f-279));
write_string(tempx, (GRAPHICS_WIDTH_REAL - 2),38, 1, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 0);
m_batt++;
uint8_t dir=3;
if(m_batt==101)
m_batt=0;
if(m_pitch>0)
{
dir=0;
m_alt+=m_pitch/2;
}
else if(m_pitch<0)
{
dir=1;
m_alt+=m_pitch/2;
}
drawBattery(GRAPHICS_WIDTH_REAL-20,GRAPHICS_HEIGHT_REAL-(20*3),m_batt,16);
//drawAltitude(200,50,m_alt,dir);
//drawArrow(96,GRAPHICS_HEIGHT_REAL/2,angleB,32);
//ellipse(50,50,50,30);
// Draw airspeed (left side.)
hud_draw_vertical_scale((int)m_gpsSpd, 100, -1, 2, (DISP_HEIGHT / 2) + 10, 100, 10, 20, 7, 12, 15, 1000, HUD_VSCALE_FLAG_NO_NEGATIVE);
// Draw altimeter (right side.)
hud_draw_vertical_scale((int)m_gpsAlt, 200, +1, 2, (DISP_HEIGHT / 2) + 10, 100, 20, 100, 7, 12, 15, 500, 0);
// Draw compass.
if(m_yaw<0)
hud_draw_linear_compass(360+m_yaw, 150, 120, DISP_WIDTH / 2, DISP_HEIGHT - 20, 15, 30, 7, 12, 0);
else
hud_draw_linear_compass(m_yaw, 150, 120, DISP_WIDTH / 2, DISP_HEIGHT - 20, 15, 30, 7, 12, 0);
//write_filled_rectangle(draw_buffer_level,20,20,30,30,1);
//write_filled_rectangle(draw_buffer_mask,30,30,30,30,1);
write_vline( draw_buffer_level,GRAPHICS_WIDTH_REAL-1,0,GRAPHICS_HEIGHT_REAL-1,0);
write_vline( draw_buffer_mask,GRAPHICS_WIDTH_REAL-1,0,GRAPHICS_HEIGHT_REAL-1,0);
}
void updateOnceEveryFrame() {
clearGraphics();
updateGraphics();
}
// ****************
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t osdgenStart(void)
{
// Start gps task
vSemaphoreCreateBinary( osdSemaphore);
xTaskCreate(osdgenTask, (signed char *)"OSDGEN", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &osdgenTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, osdgenTaskHandle);
return 0;
}
/**
* Initialise the osd module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t osdgenInitialize(void)
{
AttitudeActualInitialize();
#ifdef PIOS_INCLUDE_GPS
GPSPositionInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
GPSSatellitesInitialize();
#endif
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
#endif
return 0;
}
MODULE_INITCALL(osdgenInitialize, osdgenStart)
// ****************
/**
* Main osd task. It does not return.
*/
static void osdgenTask(void *parameters)
{
portTickType lastSysTime;
AttitudeActualData attitude;
GPSPositionData gpsData;
// Loop forever
lastSysTime = xTaskGetTickCount();
// intro
for(int i=0; i<125; i++)
{
clearGraphics();
introGraphics();
xSemaphoreTake(osdSemaphore, portMAX_DELAY);
}
for(int i=0; i<125; i++)
{
clearGraphics();
introGraphics();
introText();
xSemaphoreTake(osdSemaphore, portMAX_DELAY);
}
while (1)
{
GPSPositionGet(&gpsData);
AttitudeActualGet(&attitude);
setAttitudeOsd((int16_t)attitude.Pitch,(int16_t)attitude.Roll,(int16_t)attitude.Yaw);
setGpsOsd(gpsData.Status,gpsData.Latitude,gpsData.Longitude,gpsData.Altitude,gpsData.Groundspeed);
updateOnceEveryFrame();
xSemaphoreTake(osdSemaphore, portMAX_DELAY);
//vTaskDelayUntil(&lastSysTime, 10 / portTICK_RATE_MS);
}
}
// ****************
/**
* @}
* @}
*/

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flight/Modules/Osd/osdinput/inc/osdinput.h Normal file
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/*
* OpOsd.h
*
* Created on: 2.10.2011
* Author: Samba
*/
#ifndef OPOSD_H_
#define OPOSD_H_
#include "openpilot.h"
int32_t OpOsdInitialize(void);
#endif /* OPOSD_H_ */

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup osdinputModule osdinput Module
* @brief Process osdinput information
* @{
*
* @file osdinput.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief osdinput module, handles osdinput stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
// ****************
#include "openpilot.h"
#include "osdinput.h"
#include "attitudeactual.h"
#include "fifo_buffer.h"
// ****************
// Private functions
static void OpOsdTask(void *parameters);
// ****************
// Private constants
#define GPS_TIMEOUT_MS 500
#define NMEA_MAX_PACKET_LENGTH 33 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
// same as in COM buffer
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#define STACK_SIZE_BYTES 800
#else
#define STACK_SIZE_BYTES 1024
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
// ****************
// Private variables
//static uint32_t oposdPort;
static xTaskHandle OpOsdTaskHandle;
static char* oposd_rx_buffer;
t_fifo_buffer rx;
static uint32_t timeOfLastCommandMs;
static uint32_t timeOfLastUpdateMs;
static uint32_t numUpdates;
static uint32_t numChecksumErrors;
static uint32_t numParsingErrors;
// ****************
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OpOsdStart(void)
{
// Start gps task
xTaskCreate(OpOsdTask, (signed char *)"OSD", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &OpOsdTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
return 0;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OpOsdInitialize(void)
{
AttitudeActualInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
attitude.Roll = 0;
attitude.Pitch = 0;
attitude.Yaw = 0;
AttitudeActualSet(&attitude);
// TODO: Get gps settings object
/* oposdPort = PIOS_COM_OSD;*/
oposd_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(oposd_rx_buffer);
return 0;
}
MODULE_INITCALL(OpOsdInitialize, OpOsdStart)
// ****************
/**
* Main gps task. It does not return.
*/
static void OpOsdTask(void *parameters)
{
portTickType lastSysTime;
// Loop forever
lastSysTime = xTaskGetTickCount(); //portTickType xDelay = 100 / portTICK_RATE_MS;
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
//GPSPositionData GpsData;
//uint8_t rx_count = 0;
//bool start_flag = false;
//bool found_cr = false;
//int32_t gpsRxOverflow = 0;
numUpdates = 0;
numChecksumErrors = 0;
numParsingErrors = 0;
timeOfLastUpdateMs = timeNowMs;
timeOfLastCommandMs = timeNowMs;
uint8_t rx_count = 0;
bool start_flag = false;
//bool found_cr = false;
int32_t gpsRxOverflow = 0;
uint8_t c=0xAA;
// Loop forever
while (1)
{
//DMA_Cmd(DMA1_Stream2, DISABLE); //prohibit channel3 for a little time
uint16_t cnt = DMA_GetCurrDataCounter(DMA1_Stream2);
rx.wr = rx.buf_size-cnt;
if(rx.wr)
{
//PIOS_LED_Toggle(LED2);
while ( fifoBuf_getData(&rx, &c, 1) > 0)
{
// detect start while acquiring stream
if (!start_flag && ((c == 0xCB) || (c == 0x34)))
{
start_flag = true;
rx_count = 0;
}
else
if (!start_flag)
continue;
if (rx_count >= 11)
{
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
start_flag = false;
rx_count = 0;
}
else
{
oposd_rx_buffer[rx_count] = c;
rx_count++;
}
if (start_flag && rx_count == 11)
{
//PIOS_LED_Toggle(LED3);
if(oposd_rx_buffer[1]==3)
{
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
attitude.Roll = (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8);
attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8);
attitude.Yaw = (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8);
AttitudeActualSet(&attitude);
/*setAttitudeOsd((int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8), //pitch
(int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8), //roll
(int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8)); //yaw*/
}
//frame completed
start_flag = false;
rx_count = 0;
}
}
}
//DMA_Cmd(DMA1_Stream2, ENABLE);
/*uint8_t c=0xAA;
//PIOS_COM_SendBufferNonBlocking(oposdPort, &c, 1);
// This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBuffer(oposdPort, &c, 1, xDelay) > 0)
{
// detect start while acquiring stream
if (!start_flag && ((c == 0xCB) || (c == 0x34)))
{
start_flag = true;
rx_count = 0;
}
else
if (!start_flag)
continue;
if (rx_count >= 11)
{
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
start_flag = false;
rx_count = 0;
}
else
{
oposd_rx_buffer[rx_count] = c;
rx_count++;
}
if (rx_count == 11)
{
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
attitude.Roll = (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8);
attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8);
attitude.Yaw = 0;
AttitudeActualSet(&attitude);
}
}*/
vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
// Check for GPS timeout
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS)
{ // we have not received any valid GPS sentences for a while.
// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
}
else
{ // we appear to be receiving GPS sentences OK, we've had an update
}
}
}
// ****************
/**
* @}
* @}
*/

502
flight/OSD/Makefile Normal file
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#####
# Project: OpenPilot AHRS
#
#
# Makefile for OpenPilot AHRS project
#
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
#
#
# This program 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.
#
# This program 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 this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#####
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
ifeq ($(CODE_SOURCERY), YES)
REMOVE_CMD = cs-rm
else
REMOVE_CMD = rm
endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = GPS Osd/osdgen Osd/osdinput Telemetry #FirmwareIAP
# Paths
OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc
OPUAVTALK = ../UAVTalk
OPUAVTALKINC = $(OPUAVTALK)/inc
OPTESTS = ./Tests
OPMODULEDIR = ../Modules
PIOS = ../PiOS
PIOSINC = $(PIOS)/inc
FLIGHTLIB = ../Libraries
FLIGHTLIBINC = ../Libraries/inc
PIOSSTM32F4XX = $(PIOS)/STM32F4xx
PIOSCOMMON = $(PIOS)/Common
PIOSBOARDS = $(PIOS)/Boards
PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
PIOS_DEVLIB = $(PIOS)/STM32F4xx
APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
STMLIBDIR = $(APPLIBDIR)
STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
STMSPDSRCDIR = $(STMSPDDIR)/src
STMSPDINCDIR = $(STMSPDDIR)/inc
CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
RTOSDIR = $(PIOSCOMMONLIB)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
OPDIR = ../OpenPilot
OPUAVOBJ = ../UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
OPSYSINC = $(OPDIR)/System/inc
BOOT = ../Bootloaders/AHRS
BOOTINC = $(BOOT)/inc
OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
## AHRS:
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/osd.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
#SRC += linedriver.c
#SRC += textdriver.c
#SRC += graphicdriver.c
#SRC += watchdog.c
SRC += $(OPSYSTEM)/fonts.c
SRC += $(OPSYSTEM)/font_outlined8x14.c
SRC += $(OPSYSTEM)/font_outlined8x8.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(OPSYSTEM)/taskmonitor.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
#SRC += $(OPSYSTEM)/pios_usb_hid_desc.c
## UAVOBJECTS
#SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
SRC += $(OPUAVSYNTHDIR)/flightstatus.c
SRC += $(OPUAVSYNTHDIR)/systemstats.c
SRC += $(OPUAVSYNTHDIR)/systemalarms.c
SRC += $(OPUAVSYNTHDIR)/systemsettings.c
#SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
#SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
#SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
#SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
#SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
#SRC += $(OPUAVSYNTHDIR)/attituderaw.c
SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
#SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
#SRC += $(OPUAVSYNTHDIR)/i2cstats.c
#S#RC += $(OPUAVSYNTHDIR)/watchdogstatus.c
#SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
#SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
#SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
#SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
#SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
#SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
#SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
#SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
#SRC += $(OPUAVSYNTHDIR)/ratedesired.c
SRC += $(OPUAVSYNTHDIR)/gpsposition.c
SRC += $(OPUAVSYNTHDIR)/gpssatellites.c
SRC += $(OPUAVSYNTHDIR)/gpstime.c
## PIOS Hardware (STM32F10x)
#SRC += $(PIOSSTM32F4XX)/pios_adc.c
#SRC += $(PIOSSTM32F4XX)/pios_sys.c
#SRC += $(PIOSSTM32F4XX)/pios_led.c
#SRC += $(PIOSSTM32F4XX)/pios_delay.c
#SRC += $(PIOSSTM32F4XX)/pios_usart.c
#SRC += $(PIOSSTM32F4XX)/pios_irq.c
#SRC += $(PIOSSTM32F4XX)/pios_i2c.c
#SRC += $(PIOSSTM32F4XX)/pios_gpio.c
#SRC += $(PIOSSTM32F4XX)/pios_spi.c
#SRC += $(PIOSSTM32F4XX)/pios_exti.c
#SRC += $(PIOSSTM32F4XX)/pios_rtc.c
#SRC += $(PIOSSTM32F4XX)/pios_wdg.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_hmc5843.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_crc.c
#SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_video.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
# optional component libraries
include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
#include $(PIOSCOMMONLIB)/dosfs/library.mk
include $(PIOSCOMMONLIB)/msheap/library.mk
## PIOS Hardware (STM32F4xx)
include $(PIOS)/STM32F4xx/library.mk
# List C source files here which must be compiled in ARM-Mode (no -mthumb).
# use file-extension c for "c-only"-files
## just for testing, timer.c could be compiled in thumb-mode too
SRCARM =
# List C++ source files here.
# use file-extension .cpp for C++-files (not .C)
CPPSRC =
# List C++ source files here which must be compiled in ARM-Mode.
# use file-extension .cpp for C++-files (not .C)
#CPPSRCARM = $(TARGET).cpp
CPPSRCARM =
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
#ASRC = $(PIOSSTM32F4XX)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
EXTRAINCDIRS += $(OPSYSTEM)
EXTRAINCDIRS += $(AHRSINC)
EXTRAINCDIRS += $(OPSYSTEMINC)
EXTRAINCDIRS += $(OPUAVTALK)
EXTRAINCDIRS += $(OPUAVTALKINC)
EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(PIOSSTM32F4XX)
EXTRAINCDIRS += $(PIOSCOMMON)
EXTRAINCDIRS += $(PIOSBOARDS)
EXTRAINCDIRS += $(STMSPDINCDIR)
EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(RTOSINCDIR)
EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSINC)
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
EXTRAINCDIRS += $(BOOTINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here.
# Also add directories where the linker should search for
# includes from linker-script to the list
# Each directory must be seperated by a space.
EXTRA_LIBDIRS =
# Extra Libraries
# Each library-name must be seperated by a space.
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
# EXTRA_LIBS = xyz abc efsl
# for newlib-lpc (file: libnewlibc-lpc.a):
# EXTRA_LIBS = newlib-lpc
EXTRA_LIBS =
# Path to Linker-Scripts
LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
# Optimization level, can be [0, 1, 2, 3, s].
# 0 = turn off optimization. s = optimize for size.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
ifeq ($(DEBUG),YES)
CFLAGS += -O0
CFLAGS += -DGENERAL_COV
CFLAGS += -finstrument-functions -ffixed-r10
else
CFLAGS += -Os
endif
# common architecture-specific flags from the device-specific library makefile
CFLAGS += $(ARCHFLAGS)
#CFLAGS += -DDIAGNOSTICS
# This is not the best place for these. Really should abstract out
# to the board file or something
CFLAGS += -DSTM32F4XX
CFLAGS += -DMEM_SIZE=1024000000
# Output format. (can be ihex or binary or both)
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
# ihex to create a load-image in Intel hex format
#LOADFORMAT = ihex
#LOADFORMAT = binary
LOADFORMAT = both
# Debugging format.
DEBUGF = dwarf-2
# Place project-specific -D (define) and/or
# -U options for C here.
CDEFS += -DSTM32F10X_$(MODEL)
CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
ADEFS = -D__ASSEMBLY__
# Compiler flag to set the C Standard level.
# c89 - "ANSI" C
# gnu89 - c89 plus GCC extensions
# c99 - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
CSTANDARD = -std=gnu99
#-----
# Compiler flags.
# -g*: generate debugging information
# -O*: optimization level
# -f...: tuning, see GCC manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -adhlns...: create assembler listing
#
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
CFLAGS += -g$(DEBUGF)
CFLAGS += -ffast-math
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
#CFLAGS += -Werror
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
# Compiler flags to generate dependency files:
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
# flags only for C
#CONLYFLAGS += -Wnested-externs
CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing
ASFLAGS = $(ARCHFLAGS) -mthumb -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
MATH_LIB = -lm
# Linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
#Linker scripts
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
# List of all source files without directory and file-extension.
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
# Define all object files.
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
# Define all listing files (used for make clean).
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
# Define all depedency-files (used for make clean).
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
# Default target.
all: gccversion build
ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
else
ifeq ($(LOADFORMAT),binary)
build: elf bin lss sym
else
ifeq ($(LOADFORMAT),both)
build: elf hex bin lss sym
else
$(error "$(MSG_FORMATERROR) $(FORMAT)")
endif
endif
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
# Assemble: create object files from assembler source files.
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
# Assemble: create object files from assembler source files. ARM-only
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
# Compile: create object files from C source files.
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
# Compile: create object files from C source files. ARM-only
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
# Compile: create object files from C++ source files.
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
# Compile: create object files from C++ source files. ARM-only
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
# Compile: create assembler files from C source files. ARM/Thumb
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
clean_list :
@echo $(MSG_CLEANING)
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
$(V1) $(REMOVE) $(ALLOBJ)
$(V1) $(REMOVE) $(LSTFILES)
$(V1) $(REMOVE) $(DEPFILES)
$(V1) $(REMOVE) $(SRC:.c=.s)
$(V1) $(REMOVE) $(SRCARM:.c=.s)
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
# Create output files directory
# all known MS Windows OS define the ComSpec environment variable
ifdef ComSpec
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
else
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
endif
# Include the dependency files.
ifdef ComSpec
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
else
-include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
endif
# Listing of phony targets.
.PHONY : all build clean clean_list install

210
flight/OSD/System/alarms.c Normal file
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@ -0,0 +1,210 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @brief OpenPilot System libraries are available to all OP modules.
* @{
* @file alarms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Library for setting and clearing system alarms
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "alarms.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
return 0;
}
/**
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if ( alarms.Alarm[alarm] != severity )
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
}
// Release lock
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* Get an alarm
* @param alarm The system alarm to be read
* @return Alarm severity
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
{
return 0;
}
// Read alarm
SystemAlarmsGet(&alarms);
return alarms.Alarm[alarm];
}
/**
* Set an alarm to it's default value
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
}
/**
* Default all alarms
*/
void AlarmsDefaultAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsDefault(n);
}
}
/**
* Clear an alarm
* @param alarm The system alarm to be modified
* @return 0 if success, -1 if an error
*/
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
{
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
}
/**
* Clear all alarms
*/
void AlarmsClearAll()
{
uint32_t n;
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
AlarmsClear(n);
}
}
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
}
/**
* Check if there are any alarms with error or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasErrors()
{
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
};
/**
* Check if there are any alarms with critical or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasCritical()
{
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
};
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
uint32_t n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
{
if ( alarms.Alarm[n] >= severity)
{
xSemaphoreGiveRecursive(lock);
return 1;
}
}
// If this point is reached then no alarms found
xSemaphoreGiveRecursive(lock);
return 0;
}
/**
* @}
* @}
*/

268
flight/OSD/System/font_outlined8x14.c Normal file
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@ -0,0 +1,268 @@
/**
* Super OSD, software revision 3
* Copyright (C) 2010 Thomas Oldbury
*
* Please note the font data here is covered under Creative
* Commons licenses (version 3.0 BY-SA) and *not* the GPL.
*/
// This data is generated by a Python script from
// the original font .pngs.
// 0xff = indicates character not present
// any other byte contains the index of the character.
const char font_lookup_outlined8x14[256] = {
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x00, 0x01, 0x02, 0x03, 0xff, 0x04, 0x05, 0x06,
0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d, 0x0e,
0x0f, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16,
0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d, 0x1e,
0x1f, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26,
0x27, 0x28, 0x29, 0x2a, 0x2b, 0x2c, 0x2d, 0x2e,
0x2f, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36,
0x37, 0x38, 0x39, 0x3a, 0x3b, 0x3c, 0x3d, 0x3e,
0x3f, 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46,
0x47, 0x48, 0x49, 0x4a, 0x4b, 0x4c, 0x4d, 0x4e,
0x4f, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56,
0x57, 0x58, 0x59, 0x5a, 0x5b, 0x5c, 0x5d, 0xff,
0x5e, 0x5f, 0x60, 0x61, 0x62, 0x63, 0x64, 0x65,
0x66, 0x67, 0x68, 0x69, 0x6a, 0x6b, 0x6c, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
};
const char font_data_outlined8x14[] = {
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x20
0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x00,
0x00, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x00, 0x00, 0x00, 0x18, 0x18, 0x00, 0x00, // 0x21
0x66, 0x66, 0x66, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x24, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x22
0x7e, 0xff, 0xff, 0xff, 0x7e, 0xff, 0xff, 0xff, 0x7e, 0xff, 0xff, 0xff, 0x7e, 0x00,
0x00, 0x24, 0x7e, 0x24, 0x24, 0x24, 0x7e, 0x24, 0x24, 0x24, 0x7e, 0x24, 0x00, 0x00, // 0x23
0x00, 0x70, 0x70, 0x72, 0x07, 0x0e, 0x1c, 0x38, 0x70, 0xe0, 0x4e, 0x0e, 0x0e, 0x00,
0x00, 0x00, 0x20, 0x00, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x00, 0x04, 0x00, 0x00, // 0x25
0x38, 0x3c, 0x7c, 0x7c, 0x7c, 0xfc, 0xee, 0xef, 0xef, 0xff, 0xff, 0x7e, 0x00, 0x00,
0x00, 0x18, 0x28, 0x10, 0x28, 0x28, 0x44, 0x44, 0x46, 0x44, 0x3a, 0x00, 0x00, 0x00, // 0x26
0x38, 0x38, 0x38, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x10, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x27
0x1e, 0x3e, 0x7e, 0x70, 0x70, 0x70, 0x70, 0x70, 0x70, 0x70, 0x7e, 0x3e, 0x1e, 0x00,
0x00, 0x1c, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x1c, 0x00, 0x00, // 0x28
0x78, 0x7c, 0x7e, 0x0e, 0x0e, 0x0e, 0x0e, 0x0e, 0x0e, 0x0e, 0x7e, 0x7c, 0x78, 0x00,
0x00, 0x38, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x38, 0x00, 0x00, // 0x29
0x38, 0x7c, 0xfe, 0xfe, 0xfe, 0xee, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x10, 0x7c, 0x28, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x2a
0x00, 0x00, 0x00, 0x38, 0x38, 0xfe, 0xfe, 0xfe, 0x38, 0x38, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x7c, 0x10, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x2b
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x38, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x18, 0x10, 0x00, 0x00, // 0x2c
0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x2d
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x18, 0x00, 0x00, // 0x2e
0x00, 0x07, 0x07, 0x0f, 0x0e, 0x1c, 0x1c, 0x38, 0x38, 0x70, 0xf0, 0xe0, 0xe0, 0x00,
0x00, 0x00, 0x02, 0x04, 0x04, 0x08, 0x08, 0x10, 0x10, 0x20, 0x20, 0x40, 0x00, 0x00, // 0x2f
0x7e, 0xff, 0xff, 0xe7, 0xef, 0xff, 0xff, 0xf7, 0xe7, 0xe7, 0xff, 0xff, 0x7e, 0x00,
0x00, 0x3c, 0x42, 0x42, 0x46, 0x4a, 0x52, 0x62, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x30
0x3c, 0x7c, 0xfc, 0xfc, 0x5c, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0xff, 0xff, 0xff, 0x00,
0x00, 0x38, 0x68, 0x48, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x7e, 0x00, 0x00, // 0x31
0x3e, 0x7f, 0xff, 0xe7, 0x47, 0x07, 0x0e, 0x1c, 0x38, 0x70, 0xff, 0xff, 0xff, 0x00,
0x00, 0x3c, 0x62, 0x42, 0x02, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x7e, 0x00, 0x00, // 0x32
0xfe, 0xff, 0xff, 0x07, 0x07, 0x7f, 0x7e, 0x7f, 0x07, 0x07, 0xff, 0xff, 0xfe, 0x00,
0x00, 0x7c, 0x02, 0x02, 0x02, 0x04, 0x38, 0x04, 0x02, 0x02, 0x02, 0x7c, 0x00, 0x00, // 0x33
0x04, 0x0e, 0x1e, 0x3e, 0x7e, 0xff, 0xff, 0xff, 0x0e, 0x0e, 0x0e, 0x0e, 0x0e, 0x00,
0x00, 0x04, 0x0c, 0x14, 0x24, 0x44, 0x7e, 0x04, 0x04, 0x04, 0x04, 0x04, 0x00, 0x00, // 0x34
0xff, 0xff, 0xff, 0xe0, 0xfc, 0xfe, 0xff, 0x0f, 0x07, 0x0f, 0xff, 0xfe, 0xfc, 0x00,
0x00, 0x7e, 0x40, 0x40, 0x40, 0x78, 0x04, 0x02, 0x02, 0x02, 0x04, 0x78, 0x00, 0x00, // 0x35
0xfe, 0xfe, 0xfe, 0xe0, 0xe0, 0xfe, 0xff, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0x7e, 0x00,
0x00, 0x3c, 0x40, 0x40, 0x40, 0x40, 0x7c, 0x42, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x36
0xff, 0xff, 0xff, 0x07, 0x07, 0x0e, 0x0e, 0x1c, 0x1c, 0x38, 0x38, 0x70, 0x70, 0x00,
0x00, 0x7e, 0x02, 0x02, 0x02, 0x04, 0x04, 0x08, 0x08, 0x10, 0x10, 0x20, 0x00, 0x00, // 0x37
0x3c, 0x7e, 0xff, 0xe7, 0xe7, 0xff, 0x7e, 0xff, 0xe7, 0xe7, 0xff, 0x7e, 0x3c, 0x00,
0x00, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x38
0x7e, 0xff, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0x7f, 0x07, 0x07, 0x7f, 0x7f, 0x7f, 0x00,
0x00, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x3e, 0x02, 0x02, 0x02, 0x02, 0x3c, 0x00, 0x00, // 0x39
0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00,
0x00, 0x00, 0x00, 0x18, 0x18, 0x00, 0x00, 0x00, 0x00, 0x18, 0x18, 0x00, 0x00, 0x00, // 0x3a
0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x38, 0x00,
0x00, 0x00, 0x00, 0x18, 0x18, 0x00, 0x00, 0x00, 0x00, 0x18, 0x18, 0x10, 0x00, 0x00, // 0x3b
0x00, 0x00, 0x04, 0x0e, 0x1c, 0x38, 0x70, 0xe0, 0x70, 0x38, 0x1c, 0x0e, 0x04, 0x00,
0x00, 0x00, 0x00, 0x04, 0x08, 0x10, 0x20, 0x40, 0x20, 0x10, 0x08, 0x04, 0x00, 0x00, // 0x3c
0x00, 0x00, 0x00, 0x7e, 0x7e, 0x7e, 0x00, 0x7e, 0x7e, 0x7e, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x3d
0x00, 0x00, 0x20, 0x70, 0x38, 0x1c, 0x0e, 0x07, 0x0e, 0x1c, 0x38, 0x70, 0x20, 0x00,
0x00, 0x00, 0x00, 0x20, 0x10, 0x08, 0x04, 0x02, 0x04, 0x08, 0x10, 0x20, 0x00, 0x00, // 0x3e
0x3c, 0xfe, 0xff, 0xe7, 0xe7, 0x0e, 0x1c, 0x38, 0x38, 0x00, 0x38, 0x38, 0x38, 0x00,
0x00, 0x3c, 0x42, 0x42, 0x02, 0x04, 0x08, 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, // 0x3f
0x18, 0x3c, 0x7e, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfe, 0x7c, 0x3e, 0x1e, 0x00,
0x00, 0x18, 0x24, 0x42, 0x42, 0x42, 0x4a, 0x52, 0x52, 0x4c, 0x20, 0x1e, 0x00, 0x00, // 0x40
0x7e, 0xff, 0xff, 0xff, 0xe7, 0xff, 0xff, 0xff, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x3c, 0x66, 0x42, 0x42, 0x42, 0x7e, 0x42, 0x42, 0x42, 0x42, 0x42, 0x00, 0x00, // 0x41
0xfe, 0xff, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0xfe, 0x00,
0x00, 0x7c, 0x46, 0x42, 0x42, 0x42, 0x7c, 0x42, 0x42, 0x42, 0x46, 0x7c, 0x00, 0x00, // 0x42
0x7f, 0xff, 0xff, 0xf7, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xf7, 0xff, 0xff, 0x7f, 0x00,
0x00, 0x3e, 0x62, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x62, 0x3e, 0x00, 0x00, // 0x43
0xfe, 0xff, 0xff, 0xef, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xef, 0xff, 0xff, 0xfe, 0x00,
0x00, 0x7c, 0x46, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x46, 0x7c, 0x00, 0x00, // 0x44
0xff, 0xff, 0xff, 0xe0, 0xe0, 0xfe, 0xfe, 0xfe, 0xe0, 0xe0, 0xff, 0xff, 0xff, 0x00,
0x00, 0x7e, 0x40, 0x40, 0x40, 0x40, 0x7c, 0x40, 0x40, 0x40, 0x40, 0x7e, 0x00, 0x00, // 0x45
0xff, 0xff, 0xff, 0xe0, 0xe0, 0xfe, 0xfe, 0xfe, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0x00,
0x00, 0x7e, 0x40, 0x40, 0x40, 0x40, 0x7c, 0x40, 0x40, 0x40, 0x40, 0x40, 0x00, 0x00, // 0x46
0x7f, 0xff, 0xff, 0xf0, 0xe0, 0xef, 0xef, 0xef, 0xe7, 0xf7, 0xff, 0xff, 0x7f, 0x00,
0x00, 0x3e, 0x60, 0x40, 0x40, 0x40, 0x46, 0x42, 0x42, 0x42, 0x62, 0x3e, 0x00, 0x00, // 0x47
0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0xff, 0xff, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x42, 0x42, 0x42, 0x42, 0x42, 0x7e, 0x42, 0x42, 0x42, 0x42, 0x42, 0x00, 0x00, // 0x48
0xfe, 0xfe, 0xfe, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x7c, 0x00, 0x00, // 0x49
0xff, 0xff, 0xff, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0x3c, 0xfc, 0xfc, 0xf8, 0x00,
0x00, 0x7e, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x18, 0x70, 0x00, 0x00, // 0x4a
0xe7, 0xef, 0xff, 0xfe, 0xfc, 0xf8, 0xf0, 0xf8, 0xfc, 0xfe, 0xff, 0xef, 0xe7, 0x00,
0x00, 0x42, 0x44, 0x48, 0x50, 0x60, 0x40, 0x60, 0x50, 0x48, 0x44, 0x42, 0x00, 0x00, // 0x4b
0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xff, 0xff, 0xff, 0x00,
0x00, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x7e, 0x00, 0x00, // 0x4c
0xe7, 0xff, 0xff, 0xff, 0xff, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x42, 0x66, 0x5a, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x00, 0x00, // 0x4d
0xe7, 0xf7, 0xff, 0xff, 0xff, 0xff, 0xef, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x42, 0x62, 0x52, 0x4a, 0x46, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x00, 0x00, // 0x4e
0x7e, 0xff, 0xff, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0xff, 0x7e, 0x00,
0x00, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x4f
0xfe, 0xff, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0xfe, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0x00,
0x00, 0x7e, 0x42, 0x42, 0x42, 0x42, 0x7e, 0x40, 0x40, 0x40, 0x40, 0x40, 0x00, 0x00, // 0x50
0x7e, 0xff, 0xff, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0xff, 0x7f, 0x07, 0x07, 0x00,
0x00, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x3c, 0x02, 0x02, 0x00, 0x00, // 0x51
0xfe, 0xff, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0xfe, 0xf8, 0xfc, 0xee, 0xe7, 0xe3, 0x00,
0x00, 0x7e, 0x42, 0x42, 0x42, 0x42, 0x7e, 0x60, 0x50, 0x48, 0x44, 0x42, 0x00, 0x00, // 0x52
0xff, 0xff, 0xff, 0xe0, 0xf0, 0xfe, 0xff, 0x7f, 0x0f, 0x07, 0xff, 0xff, 0xff, 0x00,
0x00, 0x7e, 0x40, 0x40, 0x40, 0x60, 0x3c, 0x06, 0x02, 0x02, 0x02, 0x7e, 0x00, 0x00, // 0x53
0xfe, 0xfe, 0xfe, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x00,
0x00, 0x7c, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x00, 0x00, // 0x54
0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0x7e, 0x3c, 0x00,
0x00, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x55
0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xfe, 0x7e, 0x7e, 0x7e, 0x3c, 0x3c, 0x00,
0x00, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x24, 0x24, 0x24, 0x18, 0x18, 0x00, 0x00, // 0x56
0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0xff, 0xff, 0xff, 0xe7, 0x00,
0x00, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x5a, 0x66, 0x42, 0x00, 0x00, // 0x57
0xe7, 0xe7, 0xe7, 0xff, 0xff, 0xff, 0x7f, 0xff, 0xff, 0xff, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x42, 0x42, 0x42, 0x66, 0x3c, 0x18, 0x3c, 0x66, 0x42, 0x42, 0x42, 0x00, 0x00, // 0x58
0xee, 0xee, 0xfe, 0xfe, 0x7c, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x00,
0x00, 0x44, 0x44, 0x28, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x00, 0x00, // 0x59
0xff, 0xff, 0xff, 0x07, 0x07, 0x0e, 0x1c, 0x38, 0x70, 0xe0, 0xff, 0xff, 0xff, 0x00,
0x00, 0x7e, 0x02, 0x02, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x40, 0x7e, 0x00, 0x00, // 0x5a
0x7e, 0x7e, 0x7e, 0x70, 0x70, 0x70, 0x70, 0x70, 0x70, 0x70, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x3c, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x3c, 0x00, 0x00, // 0x5b
0x00, 0xe0, 0xe0, 0xf0, 0x70, 0x38, 0x38, 0x1c, 0x1c, 0x0e, 0x0f, 0x07, 0x07, 0x00,
0x00, 0x00, 0x40, 0x20, 0x20, 0x10, 0x10, 0x08, 0x08, 0x04, 0x04, 0x02, 0x00, 0x00, // 0x5c
0x7e, 0x7e, 0x7e, 0x0e, 0x0e, 0x0e, 0x0e, 0x0e, 0x0e, 0x0e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x3c, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04, 0x3c, 0x00, 0x00, // 0x5d
0x3c, 0x7e, 0x7e, 0x7e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x18, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x5e
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00, // 0x5f
0x30, 0x38, 0x1c, 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x10, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x60
0x00, 0x00, 0x00, 0x00, 0x7c, 0xfc, 0xfe, 0xee, 0xfe, 0xfe, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x38, 0x44, 0x04, 0x04, 0x3c, 0x44, 0x7a, 0x00, 0x00, // 0x61
0x00, 0xe0, 0xe0, 0xe0, 0xe0, 0xfe, 0xff, 0xff, 0xf7, 0xe7, 0xff, 0xff, 0x7e, 0x00,
0x00, 0x00, 0x40, 0x40, 0x40, 0x40, 0x5c, 0x62, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x62
0x00, 0x00, 0x00, 0x00, 0x3f, 0x7f, 0xff, 0xf0, 0xe0, 0xf0, 0xff, 0x7f, 0x3f, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x20, 0x40, 0x40, 0x40, 0x20, 0x1e, 0x00, 0x00, // 0x63
0x00, 0x07, 0x07, 0x07, 0x07, 0x7f, 0xff, 0xff, 0xef, 0xe7, 0xff, 0xff, 0x7e, 0x00,
0x00, 0x00, 0x02, 0x02, 0x02, 0x02, 0x3a, 0x46, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x64
0x00, 0x00, 0x00, 0x00, 0x7e, 0xff, 0xff, 0xe7, 0xff, 0xff, 0xff, 0xff, 0x7f, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x42, 0x42, 0x42, 0x5c, 0x40, 0x3e, 0x00, 0x00, // 0x65
0x3f, 0x7f, 0xff, 0xf0, 0xe0, 0xfe, 0xfe, 0xfe, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0x00,
0x00, 0x1e, 0x20, 0x40, 0x40, 0x40, 0x7c, 0x40, 0x40, 0x40, 0x40, 0x40, 0x00, 0x00, // 0x66
0x7c, 0xfe, 0xff, 0xef, 0xe7, 0xff, 0xff, 0x7f, 0x07, 0x0f, 0xff, 0xfe, 0xfc, 0x00,
0x00, 0x38, 0x44, 0x42, 0x42, 0x42, 0x3e, 0x02, 0x02, 0x02, 0x04, 0x78, 0x00, 0x00, // 0x67
0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0xfc, 0xfe, 0xff, 0xef, 0xe7, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x40, 0x40, 0x40, 0x40, 0x40, 0x78, 0x44, 0x42, 0x42, 0x42, 0x42, 0x00, 0x00, // 0x68
0x1c, 0x1c, 0x1c, 0x00, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0x00,
0x00, 0x08, 0x00, 0x00, 0x00, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x00, 0x00, // 0x69
0x1c, 0x1c, 0x1c, 0x00, 0x1c, 0x1c, 0x1c, 0x1c, 0x1c, 0x3c, 0xfc, 0xfc, 0xf0, 0x00,
0x00, 0x08, 0x00, 0x00, 0x00, 0x08, 0x08, 0x08, 0x08, 0x08, 0x10, 0x60, 0x00, 0x00, // 0x6a
0x00, 0xe2, 0xe7, 0xee, 0xfc, 0xf8, 0xf0, 0xf0, 0xf8, 0xfc, 0xee, 0xe7, 0xe2, 0x00,
0x00, 0x00, 0x42, 0x44, 0x48, 0x50, 0x60, 0x60, 0x50, 0x48, 0x44, 0x42, 0x00, 0x00, // 0x6b
0xf0, 0xf0, 0xf0, 0x70, 0x70, 0x70, 0x70, 0x70, 0x70, 0x78, 0x7f, 0x3f, 0x1f, 0x00,
0x00, 0x60, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x10, 0x0e, 0x00, 0x00, // 0x6c
0x00, 0x00, 0x00, 0x00, 0xe7, 0xff, 0xff, 0xff, 0xff, 0xe7, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x42, 0x66, 0x5a, 0x42, 0x42, 0x42, 0x42, 0x00, 0x00, // 0x6d
0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0xff, 0xff, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x42, 0x00, 0x00, // 0x6e
0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0xff, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x6f
0x3c, 0x7e, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0xfe, 0xe0, 0xe0, 0xe0, 0xe0, 0xe0, 0x00,
0x00, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x7c, 0x40, 0x40, 0x40, 0x40, 0x40, 0x00, 0x00, // 0x70
0x3c, 0x7e, 0xff, 0xe7, 0xe7, 0xff, 0xff, 0x7f, 0x07, 0x07, 0x07, 0x07, 0x07, 0x00,
0x00, 0x3c, 0x42, 0x42, 0x42, 0x42, 0x3e, 0x02, 0x02, 0x02, 0x03, 0x02, 0x00, 0x00, // 0x71
0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0x7f, 0xff, 0xf0, 0xe0, 0xe0, 0xe0, 0xe0, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x20, 0x40, 0x40, 0x40, 0x40, 0x00, 0x00, // 0x72
0x00, 0x00, 0x00, 0x00, 0x7f, 0xff, 0xff, 0xfe, 0xff, 0x7f, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x40, 0x40, 0x3c, 0x02, 0x02, 0x7e, 0x00, 0x00, // 0x73
0x00, 0xe0, 0xe0, 0xe0, 0xe0, 0xfc, 0xfc, 0xfc, 0xe0, 0xf0, 0xfe, 0xfe, 0x7e, 0x00,
0x00, 0x00, 0x40, 0x40, 0x40, 0x40, 0x78, 0x40, 0x40, 0x40, 0x60, 0x3c, 0x00, 0x00, // 0x74
0x00, 0x00, 0x00, 0x00, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0xff, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x3c, 0x00, 0x00, // 0x75
0x00, 0x00, 0x00, 0x00, 0xe7, 0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0xff, 0x7e, 0x3c, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x42, 0x42, 0x42, 0x42, 0x42, 0x24, 0x18, 0x00, 0x00, // 0x76
0x00, 0x00, 0x00, 0x00, 0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0xff, 0xff, 0xff, 0xe7, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x42, 0x42, 0x42, 0x42, 0x5a, 0x66, 0x42, 0x00, 0x00, // 0x77
0x00, 0x00, 0x00, 0x00, 0xe7, 0xe7, 0xff, 0xff, 0x7e, 0xff, 0xe7, 0xe7, 0xe7, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x42, 0x42, 0x24, 0x18, 0x24, 0x42, 0x42, 0x00, 0x00, // 0x78
0xe7, 0xe7, 0xe7, 0xe7, 0xff, 0xff, 0xff, 0x07, 0x07, 0x0f, 0xff, 0xfe, 0xfc, 0x00,
0x00, 0x42, 0x42, 0x42, 0x42, 0x7c, 0x02, 0x02, 0x02, 0x02, 0x04, 0x78, 0x00, 0x00, // 0x79
0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x0e, 0x1c, 0x38, 0x70, 0xff, 0xff, 0xff, 0x00,
0x00, 0x00, 0x00, 0x00, 0x7e, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x7e, 0x00, 0x00, // 0x7a
0x00, 0x3f, 0x7f, 0x7f, 0x70, 0xf0, 0xf0, 0xf0, 0xf0, 0x70, 0x7f, 0x7f, 0x3f, 0x00,
0x00, 0x00, 0x1e, 0x20, 0x20, 0x20, 0x40, 0x40, 0x20, 0x20, 0x20, 0x1e, 0x00, 0x00, // 0x7b
0x00, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x00,
0x00, 0x00, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x00, 0x00, // 0x7c
0x00, 0xfc, 0xfe, 0xfe, 0x0e, 0x0f, 0x0f, 0x0f, 0x0f, 0x0e, 0xfe, 0xfe, 0xfc, 0x00,
0x00, 0x00, 0x78, 0x04, 0x04, 0x04, 0x02, 0x02, 0x04, 0x04, 0x04, 0x78, 0x00, 0x00, // 0x7d
0x00, 0x10, 0x3a, 0x7f, 0x2e, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x10, 0x2a, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x7e
0x00, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x80
0x00, 0x00, 0x00, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x81
0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x82
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x83
0x00, 0x18, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x84
0x00, 0x00, 0x00, 0x18, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x85
0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x86
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x87
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0x00, 0x00, // 0x88
0x00, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x7e, 0x7e, 0x3c, 0x00,
0x00, 0x00, 0x18, 0x08, 0x18, 0x08, 0x18, 0x08, 0x18, 0x08, 0x3c, 0x3c, 0x00, 0x00, // 0x89
0x00, 0xff, 0xff, 0xff, 0xff, 0x1f, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x6e, 0x68, 0x08, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x8a
0x00, 0xff, 0xff, 0xff, 0xff, 0x1f, 0x1f, 0x1f, 0x1f, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x69, 0x6a, 0x0c, 0x0c, 0x0a, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x8b
0x00, 0xff, 0xff, 0xff, 0xff, 0x1f, 0x1f, 0x1c, 0x1c, 0x1c, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x6e, 0x68, 0x08, 0x0e, 0x08, 0x08, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x8c
0x00, 0x00, 0x00, 0x00, 0x00, 0x78, 0x7c, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x38, 0x3c, 0x3c, 0x3c, 0x3c, 0x3c, 0x00, 0x00, // 0x8d
0x00, 0x00, 0x00, 0x3e, 0x7f, 0x7f, 0x7f, 0x7f, 0x7f, 0x3e, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x36, 0x36, 0x32, 0x3e, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x00 // 0x8e
};

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flight/OSD/System/font_outlined8x14.h Normal file
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/**
* Super OSD, software revision 3
* Copyright (C) 2010 Thomas Oldbury
*
* Please note the font data here is covered under Creative
* Commons licenses (version 3.0 BY-SA) and *not* the GPL.
*/
// Lookup table.
extern const char font_lookup_outlined8x14[256];
// Data.
extern const char font_data_outlined8x14[];

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flight/OSD/System/font_outlined8x8.c Normal file
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/**
* Super OSD, software revision 3
* Copyright (C) 2010 Thomas Oldbury
*
* Please note the font data here is covered under Creative
* Commons licenses (version 3.0 BY-SA) and *not* the GPL.
*/
// This data is generated by a Python script from
// the original font .pngs.
// 0xff = indicates character not present
// any other byte contains the index of the character.
const char font_lookup_outlined8x8[256] = {
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x00, 0x01, 0x02, 0x03, 0xff, 0xff, 0xff, 0x04,
0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c,
0x0d, 0x0e, 0x0f, 0x10, 0x11, 0x12, 0x13, 0x14,
0x15, 0x16, 0x17, 0xff, 0x18, 0x19, 0x1a, 0x1b,
0xff, 0x1c, 0x1d, 0x1e, 0x1f, 0x20, 0x21, 0x22,
0x23, 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2a,
0x2b, 0x2c, 0x2d, 0x2e, 0x2f, 0x30, 0x31, 0x32,
0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0xff, 0x39,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0x3a, 0x3b, 0x3c, 0x3d, 0x3e, 0x3f, 0x40, 0x41,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
};
const char font_data_outlined8x8[] = {
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x20
0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x38, 0x00,
0x00, 0x10, 0x10, 0x10, 0x00, 0x10, 0x00, 0x00, // 0x21
0x44, 0xee, 0xee, 0x44, 0x00, 0x00, 0x00, 0x00,
0x00, 0x44, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x22
0x28, 0x7c, 0xfe, 0x7c, 0xfe, 0x7c, 0x28, 0x00,
0x00, 0x28, 0x7c, 0x28, 0x7c, 0x28, 0x00, 0x00, // 0x23
0x10, 0x38, 0x38, 0x10, 0x00, 0x00, 0x00, 0x00,
0x00, 0x10, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, // 0x27
0x10, 0x38, 0x70, 0x70, 0x70, 0x38, 0x10, 0x00,
0x00, 0x10, 0x20, 0x20, 0x20, 0x10, 0x00, 0x00, // 0x28
0x20, 0x70, 0x38, 0x38, 0x38, 0x70, 0x20, 0x00,
0x00, 0x20, 0x10, 0x10, 0x10, 0x20, 0x00, 0x00, // 0x29
0x28, 0x7c, 0x38, 0x7c, 0x28, 0x00, 0x00, 0x00,
0x00, 0x28, 0x10, 0x28, 0x00, 0x00, 0x00, 0x00, // 0x2a
0x38, 0x38, 0xfe, 0xfe, 0xfe, 0x38, 0x38, 0x00,
0x00, 0x10, 0x10, 0x7c, 0x10, 0x10, 0x00, 0x00, // 0x2b
0x00, 0x00, 0x78, 0x78, 0x78, 0x78, 0x38, 0x00,
0x00, 0x00, 0x00, 0x30, 0x30, 0x10, 0x00, 0x00, // 0x2c
0x00, 0x00, 0xfe, 0xfe, 0xfe, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, 0x00, 0x00, // 0x2d
0x00, 0x00, 0x00, 0x78, 0x78, 0x78, 0x78, 0x00,
0x00, 0x00, 0x00, 0x00, 0x30, 0x30, 0x00, 0x00, // 0x2e
0x04, 0x0e, 0x1c, 0x38, 0x70, 0xe0, 0x40, 0x00,
0x00, 0x04, 0x08, 0x10, 0x20, 0x40, 0x00, 0x00, // 0x2f
0x7c, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0x7c, 0x00,
0x00, 0x38, 0x44, 0x54, 0x44, 0x38, 0x00, 0x00, // 0x30
0x3c, 0x7c, 0xfc, 0xfc, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x18, 0x28, 0x48, 0x08, 0x7c, 0x00, 0x00, // 0x31
0xfc, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x78, 0x04, 0x78, 0x40, 0x7c, 0x00, 0x00, // 0x32
0xfe, 0xfe, 0xfe, 0x7e, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x04, 0x3c, 0x04, 0x7c, 0x00, 0x00, // 0x33
0xee, 0xee, 0xfe, 0xfe, 0x7e, 0x0e, 0x0e, 0x00,
0x00, 0x44, 0x44, 0x3c, 0x04, 0x04, 0x00, 0x00, // 0x34
0xfc, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfc, 0x00,
0x00, 0x7c, 0x40, 0x78, 0x04, 0x78, 0x00, 0x00, // 0x35
0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x40, 0x7c, 0x44, 0x7c, 0x00, 0x00, // 0x36
0xfe, 0xfe, 0xfe, 0x38, 0x70, 0xe0, 0xc0, 0x00,
0x00, 0x7c, 0x08, 0x10, 0x20, 0x40, 0x00, 0x00, // 0x37
0x7c, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0x7c, 0x00,
0x00, 0x38, 0x44, 0x7c, 0x44, 0x38, 0x00, 0x00, // 0x38
0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0x7e, 0x7e, 0x00,
0x00, 0x7c, 0x44, 0x7c, 0x04, 0x3c, 0x00, 0x00, // 0x39
0x78, 0x78, 0x78, 0x78, 0x78, 0x78, 0x78, 0x00,
0x00, 0x30, 0x30, 0x00, 0x30, 0x30, 0x00, 0x00, // 0x3a
0x08, 0x1c, 0x38, 0x70, 0x38, 0x1c, 0x08, 0x00,
0x00, 0x08, 0x10, 0x20, 0x10, 0x08, 0x00, 0x00, // 0x3c
0xfe, 0xfe, 0xfe, 0x00, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, // 0x3d
0x20, 0x70, 0x38, 0x1c, 0x38, 0x70, 0x20, 0x00,
0x00, 0x20, 0x10, 0x08, 0x10, 0x20, 0x00, 0x00, // 0x3e
0x7c, 0xfe, 0xfe, 0xfe, 0x3c, 0x38, 0x38, 0x00,
0x00, 0x38, 0x44, 0x18, 0x00, 0x10, 0x00, 0x00, // 0x3f
0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xee, 0xee, 0x00,
0x00, 0x7c, 0x44, 0x7c, 0x44, 0x44, 0x00, 0x00, // 0x41
0xfc, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfc, 0x00,
0x00, 0x78, 0x44, 0x7c, 0x44, 0x78, 0x00, 0x00, // 0x42
0xfe, 0xfe, 0xfe, 0xe0, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x40, 0x40, 0x40, 0x7c, 0x00, 0x00, // 0x43
0xfc, 0xfe, 0xfe, 0xee, 0xfe, 0xfe, 0xfc, 0x00,
0x00, 0x78, 0x44, 0x44, 0x44, 0x78, 0x00, 0x00, // 0x44
0xfe, 0xfe, 0xfe, 0xfc, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x40, 0x78, 0x40, 0x7c, 0x00, 0x00, // 0x45
0xfe, 0xfe, 0xfe, 0xfc, 0xfc, 0xe0, 0xe0, 0x00,
0x00, 0x7c, 0x40, 0x78, 0x40, 0x40, 0x00, 0x00, // 0x46
0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x40, 0x5c, 0x44, 0x7c, 0x00, 0x00, // 0x47
0xee, 0xee, 0xfe, 0xfe, 0xfe, 0xee, 0xee, 0x00,
0x00, 0x44, 0x44, 0x7c, 0x44, 0x44, 0x00, 0x00, // 0x48
0xfe, 0xfe, 0xfe, 0x38, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x10, 0x10, 0x10, 0x7c, 0x00, 0x00, // 0x49
0xfe, 0xfe, 0xfe, 0x1c, 0xfc, 0xfc, 0xfc, 0x00,
0x00, 0x7c, 0x08, 0x08, 0x08, 0x78, 0x00, 0x00, // 0x4a
0xe6, 0xee, 0xfc, 0xf8, 0xfc, 0xee, 0xe6, 0x00,
0x00, 0x44, 0x48, 0x70, 0x48, 0x44, 0x00, 0x00, // 0x4b
0xe0, 0xe0, 0xe0, 0xe0, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x40, 0x40, 0x40, 0x40, 0x7c, 0x00, 0x00, // 0x4c
0x6c, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xee, 0x00,
0x00, 0x28, 0x54, 0x54, 0x54, 0x44, 0x00, 0x00, // 0x4d
0xee, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xee, 0x00,
0x00, 0x44, 0x64, 0x54, 0x4c, 0x44, 0x00, 0x00, // 0x4e
0xfe, 0xfe, 0xfe, 0xee, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x44, 0x44, 0x44, 0x7c, 0x00, 0x00, // 0x4f
0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xe0, 0xe0, 0x00,
0x00, 0x7c, 0x44, 0x7c, 0x40, 0x40, 0x00, 0x00, // 0x50
0xfe, 0xfe, 0xfe, 0xee, 0xfc, 0xfe, 0xf6, 0x00,
0x00, 0x7c, 0x44, 0x44, 0x48, 0x74, 0x00, 0x00, // 0x51
0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfc, 0xe8, 0x00,
0x00, 0x7c, 0x44, 0x7c, 0x50, 0x48, 0x00, 0x00, // 0x52
0x7e, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfc, 0x00,
0x00, 0x3c, 0x40, 0x7c, 0x04, 0x78, 0x00, 0x00, // 0x53
0xfe, 0xfe, 0xfe, 0x38, 0x38, 0x38, 0x38, 0x00,
0x00, 0x7c, 0x10, 0x10, 0x10, 0x10, 0x00, 0x00, // 0x54
0xee, 0xee, 0xee, 0xee, 0xfe, 0xfe, 0x7c, 0x00,
0x00, 0x44, 0x44, 0x44, 0x44, 0x38, 0x00, 0x00, // 0x55
0xee, 0xee, 0xee, 0xfe, 0xfe, 0x7c, 0x38, 0x00,
0x00, 0x44, 0x44, 0x44, 0x28, 0x10, 0x00, 0x00, // 0x56
0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0xfe, 0x6c, 0x00,
0x00, 0x54, 0x54, 0x54, 0x54, 0x28, 0x00, 0x00, // 0x57
0xee, 0xfe, 0xfe, 0x7c, 0xfe, 0xfe, 0xee, 0x00,
0x00, 0x44, 0x28, 0x10, 0x28, 0x44, 0x00, 0x00, // 0x58
0xee, 0xfe, 0xfe, 0x7c, 0x38, 0x38, 0x38, 0x00,
0x00, 0x44, 0x28, 0x10, 0x10, 0x10, 0x00, 0x00, // 0x59
0xfe, 0xfe, 0xfe, 0x78, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x7c, 0x08, 0x10, 0x20, 0x7c, 0x00, 0x00, // 0x5a
0x38, 0x7c, 0x78, 0x70, 0x78, 0x7c, 0x38, 0x00,
0x00, 0x38, 0x20, 0x20, 0x20, 0x38, 0x00, 0x00, // 0x5b
0x40, 0xe0, 0x70, 0x38, 0x1c, 0x0e, 0x04, 0x00,
0x00, 0x40, 0x20, 0x10, 0x08, 0x04, 0x00, 0x00, // 0x5c
0x38, 0x7c, 0x3c, 0x1c, 0x3c, 0x7c, 0x38, 0x00,
0x00, 0x38, 0x08, 0x08, 0x08, 0x38, 0x00, 0x00, // 0x5d
0x00, 0x00, 0x00, 0x00, 0xfe, 0xfe, 0xfe, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, // 0x5f
0x10, 0x38, 0x7c, 0xfe, 0xfe, 0x38, 0x38, 0x00,
0x00, 0x10, 0x38, 0x54, 0x10, 0x10, 0x00, 0x00, // 0x80
0x3e, 0x3e, 0x1e, 0x3e, 0x76, 0xe0, 0x40, 0x00,
0x00, 0x1c, 0x0c, 0x14, 0x20, 0x40, 0x00, 0x00, // 0x81
0x10, 0x38, 0xfc, 0xfe, 0xfc, 0x38, 0x10, 0x00,
0x00, 0x10, 0x08, 0x7c, 0x08, 0x10, 0x00, 0x00, // 0x82
0x40, 0xe0, 0x76, 0x3e, 0x1e, 0x3e, 0x3e, 0x00,
0x00, 0x40, 0x20, 0x14, 0x0c, 0x1c, 0x00, 0x00, // 0x83
0x38, 0x38, 0xfe, 0xfe, 0x7c, 0x38, 0x10, 0x00,
0x00, 0x10, 0x10, 0x54, 0x38, 0x10, 0x00, 0x00, // 0x84
0x04, 0x0e, 0xdc, 0xf8, 0xf0, 0xf8, 0xf8, 0x00,
0x00, 0x04, 0x08, 0x50, 0x60, 0x70, 0x00, 0x00, // 0x85
0x10, 0x38, 0x7e, 0xfe, 0x7e, 0x38, 0x10, 0x00,
0x00, 0x10, 0x20, 0x7c, 0x20, 0x10, 0x00, 0x00, // 0x86
0xf8, 0xf8, 0xf0, 0xf8, 0xdc, 0x0e, 0x04, 0x00,
0x00, 0x70, 0x60, 0x50, 0x08, 0x04, 0x00, 0x00 // 0x87
};

12
flight/OSD/System/font_outlined8x8.h Normal file
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/**
* Super OSD, software revision 3
* Copyright (C) 2010 Thomas Oldbury
*
* Please note the font data here is covered under Creative
* Commons licenses (version 3.0 BY-SA) and *not* the GPL.
*/
// Lookup table.
extern const char font_lookup_outlined8x8[256];
// Data.
extern const char font_data_outlined8x8[];

34
flight/OSD/System/fonts.c Normal file
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/**
* Super OSD, software revision 3
* Copyright (C) 2010 Thomas Oldbury
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#include "fonts.h"
// Font table. Add new fonts here. The table must end with a -1 for the id.
struct FontEntry fonts[NUM_FONTS + 1] = {
{ 0, 8, 14, "Outlined8x14",
&font_lookup_outlined8x14,
&font_data_outlined8x14,
0 },
{ 1, 8, 8, "Outlined8x8",
&font_lookup_outlined8x8,
&font_data_outlined8x8,
FONT_UPPERCASE_ONLY },
{ 2, 8, 8, "Tiny5x5", 0, 0, 0 }, // not yet implemented
{ -1 } // ends font table
};

48
flight/OSD/System/fonts.h Normal file
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/**
* Super OSD, software revision 3
* Copyright (C) 2010 Thomas Oldbury
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#ifndef FONTS_H
#define FONTS_H
// New fonts need a .c file (with the data) and a .h file with
// the definitions. Add the .h files here only.
#include "font_outlined8x14.h"
#include "font_outlined8x8.h"
// This number must also be incremented for each new font.
#define NUM_FONTS 3
// Flags for fonts.
#define FONT_LOWERCASE_ONLY 1
#define FONT_UPPERCASE_ONLY 2
// Font table. (Actual list of fonts in fonts.c.)
struct FontEntry
{
int id;
unsigned char width, height;
const char *name;
const char *lookup;
const char *data;
int flags;
};
extern struct FontEntry fonts[NUM_FONTS + 1];
#endif // FONTS_H

99
flight/OSD/System/inc/FreeRTOSConfig.h Normal file
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#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
/**
* @addtogroup PIOS PIOS
* @{
* @addtogroup FreeRTOS FreeRTOS
* @{
*/
/* Notes: We use 5 task priorities */
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCPU_CLOCK_HZ ( ( unsigned long ) 56000000 )
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 48 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 22 * 256) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configQUEUE_REGISTRY_SIZE 10
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 0 << 4 /* equivalent to NVIC priority 3 */
/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15. This must correspond to the
configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif
/* Enable run time stats collection */
#if defined(DIAGNOSTICS)
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
do {\
(*(unsigned long *)0xe000edfc) |= (1<<24);/* DEMCR |= DEMCR_TRCENA */\
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
} while(0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
#else
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif
/**
* @}
*/
#endif /* FREERTOS_CONFIG_H */

50
flight/OSD/System/inc/alarms.h Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file alarms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the alarm library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ALARMS_H
#define ALARMS_H
#include "systemalarms.h"
#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
int32_t AlarmsInitialize(void);
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
void AlarmsDefaultAll();
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
void AlarmsClearAll();
int32_t AlarmsHasWarnings();
int32_t AlarmsHasErrors();
int32_t AlarmsHasCritical();
#endif // ALARMS_H
/**
* @}
* @}
*/

9744
flight/OSD/System/inc/font12x18.h Normal file
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/*
* font12x18.h
*
* Created on: 3.1.2012
* Author: Samba
*/
#ifndef FONT12X18_H_
#define FONT12X18_H_
static const uint16_t font_frame16x18[] = {
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x3C00,
0x6600,
0x4600,
0x0C00,
0x1800,
0x3000,
0x7E00,
0x0000,
0x0780,
0x06C0,
0x0660,
0x0660,
0x0660,
0x0660,
0x06C0,
0x0780,
0x0000,
0x0000,
0x7C00,
0x0600,
0x0600,
0x3C00,
0x0600,
0x0600,
0x7C00,
0x0000,
0x0780,
0x06C0,
0x0660,
0x0660,
0x0660,
0x0660,
0x06C0,
0x0780,
0x0000,
0x0000,
0x0010,
0x0010,
0x0010,
0x0010,
0x0010,
0x0010,
0x0010,
0x0030,
0x0070,
0x01F0,
0x0380,
0x0600,
0x0C00,
0x0C00,
0x1800,
0x1800,
0x1810,
0x0000,
0x8000,
0x8000,
0x8000,
0x8000,
0x8000,
0x8000,
0x8000,
0xC000,
0xE000,
0xF800,
0x1C00,
0x0600,
0x0300,
0x0300,
0x0180,
0x0180,
0x8180,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x7FE0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x7000,
0x8C60,
0x8260,
0x8180,
0xC180,
0xC240,
0x6420,
0x3820,
0x3810,
0x3C10,
0x0F10,
0x0BE0,
0x0800,
0x0800,
0x1C00,
0x3E00,
0x7F00,
0x0000,
0x0000,
0x1F80,
0x30C0,
0x6060,
0x4020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0000,
0x7FE0,
0x6060,
0x6FE0,
0x6C60,
0x6F60,
0x6060,
0x7FE0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x1F80,
0x30C0,
0x6060,
0x4020,
0x4020,
0x0000,
0x7FE0,
0x6060,
0x6FE0,
0x6C60,
0x6F60,
0x6060,
0x7FE0,
0x0000,
0x0000,
0x0000,
0x0000,
0x2080,
0x30C0,
0x3900,
0x3E00,
0x3E00,
0x1F00,
0x0F80,
0x07C0,
0x0800,
0x1800,
0x2800,
0x4800,
0x0000,
0x7F80,
0x0000,
0x1810,
0x1800,
0x1800,
0x0C00,
0x0C00,
0x0600,
0x0380,
0x01F0,
0x0070,
0x0030,
0x0010,
0x0010,
0x0010,
0x0010,
0x0010,
0x0010,
0x0010,
0x0000,
0x8180,
0x0180,
0x0180,
0x0300,
0x0300,
0x0600,
0x1C00,
0xF800,
0xE000,
0xC000,
0x8000,
0x8000,
0x8000,
0x8000,
0x8000,
0x8000,
0x8000,
0x0000,
0x7FE0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0F00,
0x1080,
0x1080,
0x0080,
0x0080,
0x0080,
0x0000,
0x1F80,
0x30C0,
0x37C0,
0x30C0,
0x37C0,
0x37C0,
0x1F80,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0F00,
0x1080,
0x1080,
0x1080,
0x0000,
0x1F80,
0x30C0,
0x37C0,
0x30C0,
0x37C0,
0x37C0,
0x1F80,
0x0000,
0x0000,
0x0000,
0x0000,
0x0FF0,
0x1FF0,
0x3870,
0x3870,
0x3870,
0x3FF0,
0x3FF0,
0x3FF0,
0x3FF0,
0x3FF0,
0x3FF0,
0x1FF0,
0x0FF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFF80,
0xFFC0,
0xFF20,
0xC320,
0x81E0,
0x00E0,
0x00E0,
0x00E0,
0x00E0,
0x81E0,
0xC3E0,
0xFFC0,
0xFF80,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFF80,
0xFFC0,
0xFF20,
0xC320,
0x81E0,
0x00E0,
0x3CE0,
0x7EE0,
0x7EE0,
0x7EE0,
0x7EE0,
0xBDC0,
0xC380,
0x0000,
0x0000,
0x0000,
0x3F80,
0x0300,
0x0600,
0x1C00,
0x3F80,
0x0000,
0x3F80,
0x3180,
0x3F80,
0x0000,
0x3F80,
0x3180,
0x3F80,
0x0000,
0x3B80,
0x3580,
0x3180,
0x3180,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0010,
0x0030,
0x0070,
0x00F0,
0x01F0,
0x03F0,
0x03F0,
0x03F0,
0x03F0,
0x0300,
0x0300,
0x0300,
0x0300,
0x0300,
0x0300,
0x0000,
0x0000,
0x0000,
0x8000,
0xC000,
0xE000,
0xF000,
0xF800,
0x0C00,
0x0C00,
0x0C00,
0xFC00,
0x0C00,
0x0C00,
0x0C00,
0x0C00,
0x0C00,
0x0C00,
0x0000,
0x0000,
0x0000,
0x0000,
0x0600,
0x0F00,
0x1F80,
0x3FC0,
0x0000,
0x7FE0,
0x7E20,
0x7E20,
0x4220,
0x43E0,
0x43E0,
0x43E0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
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0x3FC0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x3FC0,
0x70E0,
0x6060,
0x4F20,
0x4F20,
0x4F20,
0x4F20,
0x6060,
0x70E0,
0x3FC0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0030,
0x0020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0020,
0x0030,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0xFC00,
0xFC00,
0xFC00,
0xFC00,
0xFC00,
0xFC00,
0xFC00,
0xFC00,
0xFC00,
0xFC00,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0xC000,
0x4000,
0x4000,
0x4000,
0x4000,
0x4000,
0x4000,
0x4000,
0x4000,
0x4000,
0x4000,
0x4000,
0x4000,
0xC000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFE0,
0x4020,
0x50A0,
0x58A0,
0x5CA0,
0x5EA0,
0x5FA0,
0x5FA0,
0x5EA0,
0x5CA0,
0x58A0,
0x50A0,
0x4020,
0xFFE0,
0x0000,
0x0000,
0x0000,
0x0010,
0x0010,
0x0300,
0x0330,
0x0070,
0x00C0,
0x0180,
0x0D80,
0x0D80,
0x0180,
0x00C0,
0x0070,
0x0330,
0x0300,
0x0010,
0x0010,
0x0000,
0x0000,
0x8000,
0x8000,
0x0C00,
0xCC00,
0xE000,
0x3000,
0x1800,
0x1B00,
0x1B00,
0x1800,
0x3000,
0xE000,
0xCC00,
0x0C00,
0x8000,
0x8000,
0x0000,
0x0000,
0x0000,
0x0030,
0x00F0,
0x01C0,
0x0300,
0x0300,
0x0600,
0x0600,
0x0600,
0x0600,
0x0300,
0x0300,
0x01C0,
0x00F0,
0x0030,
0x0000,
0x0000,
0x0000,
0x0000,
0xC000,
0xF000,
0xF800,
0xFC00,
0xFC00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFC00,
0xFC00,
0xF800,
0xF000,
0xC000,
0x0000,
0x0000,
0x0000,
0x0060,
0x00E0,
0x01A0,
0x0320,
0x7E20,
0x4C20,
0x4C20,
0x4C20,
0x4C20,
0x4C20,
0x7E20,
0x0320,
0x01A0,
0x00E0,
0x0060,
0x0000,
0x0000,
0x0000,
0x0600,
0x0300,
0x0100,
0x1900,
0x0980,
0x4C80,
0x6480,
0x2480,
0x6480,
0x4C80,
0x0980,
0x1900,
0x0100,
0x0300,
0x0600,
0x0000,
0x0000,
0x0000,
0x7FE0,
0x3FC0,
0x30C0,
0x30C0,
0x30C0,
0x1980,
0x0F00,
0x0600,
0x0600,
0x0F00,
0x1980,
0x30C0,
0x30C0,
0x30C0,
0x3FC0,
0x7FE0,
0x0000,
0x0000,
0x0000,
0x1000,
0x1800,
0x1C00,
0x1E00,
0x1F00,
0x1F80,
0x1FC0,
0x1FE0,
0x1F00,
0x1F00,
0x1380,
0x0380,
0x01C0,
0x01C0,
0x0080,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x3220,
0x4B60,
0x4AA0,
0x4AA0,
0x7A20,
0x4A20,
0x4A20,
0x4A20,
0x4A20,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x7220,
0x4B60,
0x4AA0,
0x4AA0,
0x7220,
0x4220,
0x4220,
0x4220,
0x4220,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
};
static const uint16_t font_mask16x18[] = {
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFFF0,
0xFFF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFF80,
0xFFF0,
0xFFF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x1FF0,
0x0010,
0x0030,
0x0030,
0x0030,
0x0030,
0x0030,
0x0030,
0x0030,
0x0070,
0x01F0,
0x03F0,
0x07F0,
0x0F80,
0x1E00,
0x1E00,
0x3C00,
0x3C10,
0x3C30,
0x8000,
0xC000,
0xC000,
0xC000,
0xC000,
0xC000,
0xC000,
0xC000,
0xE000,
0xF800,
0xFC00,
0xFE00,
0x1F00,
0x0780,
0x0780,
0x03C0,
0x83C0,
0xC3C0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFC60,
0xFEF0,
0xFFF0,
0xFFE0,
0xFFC0,
0xFFE0,
0xFFF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x3FF0,
0x1FF0,
0x1FE0,
0x1C00,
0x3E00,
0x7F00,
0xFFC0,
0xFFE0,
0x1F80,
0x3FC0,
0x7FE0,
0xF0F0,
0xE070,
0x4070,
0x0070,
0x0070,
0x0070,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x1F80,
0x3FC0,
0x7FE0,
0xF0F0,
0xE070,
0xE070,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x2080,
0x71C0,
0x79E0,
0x7FC0,
0x7F00,
0x7F00,
0x3F80,
0x1FC0,
0x0FE0,
0x1FC0,
0x3C00,
0x7C00,
0xFC00,
0xFF80,
0xFFC0,
0xFFC0,
0x3C30,
0x3C10,
0x3C00,
0x1E00,
0x1E00,
0x0F80,
0x07F0,
0x03F0,
0x01F0,
0x0070,
0x0030,
0x0030,
0x0030,
0x0030,
0x0030,
0x0030,
0x0030,
0x0010,
0xC3C0,
0x83C0,
0x03C0,
0x0780,
0x0780,
0x1F00,
0xFE00,
0xFC00,
0xF800,
0xE000,
0xC000,
0xC000,
0xC000,
0xC000,
0xC000,
0xC000,
0xC000,
0x8000,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0F00,
0x3FC0,
0x3FC0,
0x39C0,
0x11C0,
0x01C0,
0x01C0,
0x1FC0,
0x3FC0,
0x7FE0,
0x7FE0,
0x7FE0,
0x7FE0,
0x7FE0,
0x7FE0,
0x3FC0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0F00,
0x3FC0,
0x3FC0,
0x39C0,
0x39C0,
0x3FC0,
0x3FC0,
0x7FE0,
0x7FE0,
0x7FE0,
0x7FE0,
0x7FE0,
0x7FE0,
0x3FC0,
0x0000,
0x0000,
0x1FF0,
0x3FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x7FF0,
0x3FF0,
0x1FF0,
0x0000,
0x0000,
0x0000,
0xFFC0,
0xFFE0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFE0,
0xFFC0,
0x0000,
0x0000,
0x0000,
0xFFC0,
0xFFE0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFE0,
0xFFC0,
0x0000,
0x0000,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0xFFE0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0010,
0x0030,
0x0070,
0x00F0,
0x01F0,
0x03F0,
0x07F0,
0x0FF0,
0x1FF0,
0x37F0,
0x27F0,
0x07F0,
0x07F0,
0x07F0,
0x07F0,
0x07F0,
0x07F0,
0x07F0,
0x8000,
0xC000,
0xE000,
0xF000,
0xF800,
0xFC00,
0xFE00,
0xFF00,
0xFF80,
0xFEC0,
0xFE40,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0x0000,
0x0000,
0x0600,
0x1F80,
0x3FC0,
0x7FE0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0600,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0600,
0x0600,
0x0F00,
0x0F00,
0x0600,
0x0000,
0x0000,
0x1080,
0x39C0,
0x7FE0,
0x3DE0,
0x1CE0,
0x1CE0,
0x39C0,
0x1080,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x1980,
0x3FC0,
0x3FC0,
0x7FE0,
0xFFF0,
0xFFF0,
0x7FE0,
0x7FE0,
0xFFF0,
0xFFF0,
0x7FE0,
0x3FC0,
0x3FC0,
0x1980,
0x0000,
0x0000,
0x0000,
0x0600,
0x0F00,
0x1F80,
0x3FC0,
0x7FE0,
0x7FE0,
0x7FC0,
0x7F80,
0x3FC0,
0x3FE0,
0x7FE0,
0x7FE0,
0x3FC0,
0x1F80,
0x0F00,
0x0600,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x30C0,
0x79E0,
0x7BE0,
0x37C0,
0x0F80,
0x1F00,
0x3EC0,
0x7DE0,
0x79E0,
0x30C0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0E00,
0x1F00,
0x3F80,
0x3B80,
0x3B80,
0x3F00,
0x1E00,
0x1E00,
0x3FC0,
0x73E0,
0x71C0,
0x7FE0,
0x3F70,
0x1E20,
0x0000,
0x0000,
0x0200,
0x0700,
0x0F80,
0x0780,
0x0380,
0x0380,
0x0700,
0x0200,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x00C0,
0x01E0,
0x03C0,
0x0780,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0F00,
0x0780,
0x03C0,
0x01E0,
0x00C0,
0x0000,
0x0000,
0x0000,
0x1800,
0x3C00,
0x1E00,
0x0F00,
0x0780,
0x0780,
0x0780,
0x0780,
0x0780,
0x0780,
0x0780,
0x0F00,
0x1E00,
0x3C00,
0x1800,
0x0000,
0x0000,
0x4020,
0xE070,
0xF0F0,
0x79E0,
0x3FC0,
0x7FE0,
0xFFF0,
0x7FE0,
0x3FC0,
0x79E0,
0xF0F0,
0xE070,
0x4020,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0600,
0x0F00,
0x1F80,
0x3FC0,
0x3FC0,
0x1F80,
0x0F00,
0x0600,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0600,
0x0F00,
0x0F00,
0x1E00,
0x3C00,
0x1800,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x1F80,
0x3FC0,
0x3FC0,
0x1F80,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0600,
0x0F00,
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0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFC0,
0xFFC0,
0xFFC0,
0xFFC0,
0xFFC0,
0xFFC0,
0xFFC0,
0xFFC0,
0xFFC0,
0xFFC0,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFE00,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0xF000,
0xF000,
0xF000,
0xF000,
0xF000,
0xF000,
0xF000,
0xF000,
0xF000,
0xF000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0xFFF0,
0xFFF0,
0xFFF0,
0x0000,
0x0000,
0xC000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xE000,
0xC000,
0x0000,
0x0000,
0xFFE0,
0xFFF0,
0xFFF0,
0xF9F0,
0xFDF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFDF0,
0xF9F0,
0xFFF0,
0xFFF0,
0xFFE0,
0x0000,
0x0010,
0x0030,
0x0330,
0x07B0,
0x07F0,
0x03F0,
0x01F0,
0x0FC0,
0x1FC0,
0x1FC0,
0x0FC0,
0x01F0,
0x03F0,
0x07F0,
0x07B0,
0x0330,
0x0030,
0x0030,
0x8000,
0xC000,
0xCC00,
0xDE00,
0xFE00,
0xFC00,
0xF800,
0x3F00,
0x3F80,
0x3F80,
0x3F00,
0xF800,
0xFC00,
0xFE00,
0xDE00,
0xCC00,
0xC000,
0x8000,
0x0000,
0x0030,
0x00F0,
0x01F0,
0x03F0,
0x07D0,
0x0790,
0x0F10,
0x0F10,
0x0F10,
0x0F10,
0x0790,
0x07D0,
0x03F0,
0x01F0,
0x00F0,
0x0030,
0x0000,
0x0000,
0xC000,
0xF000,
0xF800,
0xFC00,
0xFE00,
0xFE00,
0xFF00,
0xFF00,
0xFF00,
0xFF00,
0xFE00,
0xFE00,
0xFC00,
0xF800,
0xF000,
0xC000,
0x0000,
0x0060,
0x00F0,
0x01F0,
0x03F0,
0x7FF0,
0xFF70,
0xFE70,
0xFE70,
0xFE70,
0xFE70,
0xFE70,
0xFF70,
0x7FF0,
0x03F0,
0x01F0,
0x00F0,
0x0060,
0x0000,
0x0200,
0x0700,
0x0380,
0x1B80,
0x3F80,
0x5FC0,
0xFFC0,
0xFFC0,
0x7FC0,
0xFFC0,
0xFFC0,
0x5FC0,
0x3F80,
0x1B80,
0x0380,
0x0700,
0x0200,
0x0000,
0x7FE0,
0xFFF0,
0x7FE0,
0x7FE0,
0x79E0,
0x79E0,
0x3FC0,
0x1F80,
0x0F00,
0x0F00,
0x1F80,
0x3FC0,
0x79E0,
0x79E0,
0x7FE0,
0x7FE0,
0xFFF0,
0x7FE0,
0x0000,
0x3000,
0x3800,
0x3C00,
0x3E00,
0x3F00,
0x3F80,
0x3FC0,
0x3FE0,
0x3FF0,
0x3FF0,
0x3FC0,
0x3FC0,
0x3FE0,
0x03E0,
0x03E0,
0x03E0,
0x0080,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x3220,
0x7F70,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFF70,
0xFF70,
0xFF70,
0xFF70,
0x4A20,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x0000,
0x7220,
0xFF70,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xF770,
0xE770,
0xE770,
0xE770,
0x4220,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
0xFFF0,
};
#endif /* FONT12X18_H_ */

1041
flight/OSD/System/inc/font_outlined6x8.h Normal file
View File

@ -0,0 +1,1041 @@
#ifndef OEM6X8_H_
#define OEM6X8_H_
// Credit for this goes to MegaPirateOSD and Syberian!
// Some minor changes made to fit my code better.
#define CHAR_ARRAY_OFFSET 0
#define CHAR_ARRAY_LENGTH 1024
#define CHAR_ARRAY_MAX (CHAR_ARRAY_OFFSET + CHAR_ARRAY_LENGTH)
#define CHAR_OFFSET CHAR_ARRAY_OFFSET/8
#define CHAR_MAX CHAR_ARRAY_MAX/8
static const uint8_t oem6x8[CHAR_ARRAY_LENGTH] = { // 6x8 DOS character set
________,
________,
________,
________,
________,
________,
________,
________,
__XXX___,
_X___X__,
_XX_XX__,
_X___X__,
_X_X_X__,
_X___X__,
__XXX___,
________,
__XXX___,
_XXXXX__,
_X_X_X__,
_XXXXX__,
_X___X__,
_XXXXX__,
__XXX___,
________,
________,
__X_X___,
_XXXXX__,
_XXXXX__,
_XXXXX__,
__XXX___,
___X____,
________,
________,
___X____,
__XXX___,
_XXXXX__,
_XXXXX__,
__XXX___,
___X____,
________,
___X____,
__XXX___,
__XXX___,
___X____,
_XXXXX__,
_XXXXX__,
___X____,
________,
________,
___X____,
__XXX___,
_XXXXX__,
_XXXXX__,
___X____,
__XXX___,
________,
________,
________,
________,
__XX____,
__XX____,
________,
________,
________,
XXXXXX__,
XXXXXX__,
XXXXXX__,
XX__XX__,
XX__XX__,
XXXXXX__,
XXXXXX__,
XXXXXX__,
________,
________,
_XXXX___,
_X__X___,
_X__X___,
_XXXX___,
________,
________,
XXXXXX__,
XXXXXX__,
X____X__,
X_XX_X__,
X_XX_X__,
X____X__,
XXXXXX__,
XXXXXX__,
________,
___XXX__,
____XX__,
__XX_X__,
_X__X___,
_X__X___,
__XX____,
________,
__XXX___,
_X___X__,
_X___X__,
__XXX___,
___X____,
__XXX___,
___X____,
________,
___X____,
___XX___,
___X_X__,
___X____,
__XX____,
_XXX____,
_XX_____,
________,
____XX__,
__XX_X__,
__X_XX__,
__XX_X__,
__X_XX__,
_XX_XX__,
_XX_____,
________,
________,
_X_X_X__,
__XXX___,
_XX_XX__,
__XXX___,
_X_X_X__,
________,
________,
__X_____,
__XX____,
__XXX___,
__XXXX__,
__XXX___,
__XX____,
__X_____,
________,
____X___,
___XX___,
__XXX___,
_XXXX___,
__XXX___,
___XX___,
____X___,
________,
___X____,
__XXX___,
_XXXXX__,
___X____,
_XXXXX__,
__XXX___,
___X____,
________,
__X_X___,
__X_X___,
__X_X___,
__X_X___,
__X_X___,
________,
__X_X___,
________,
__XXXX__,
_X_X_X__,
_X_X_X__,
__XX_X__,
___X_X__,
___X_X__,
___X_X__,
________,
__XXX___,
_X___X__,
__XX____,
__X_X___,
___XX___,
_X___X__,
__XXX___,
________,
________,
________,
________,
________,
________,
_XXXX___,
_XXXX___,
________,
___X____,
__XXX___,
_XXXXX__,
___X____,
_XXXXX__,
__XXX___,
___X____,
__XXX___,
___X____,
__XXX___,
_XXXXX__,
___X____,
___X____,
___X____,
___X____,
________,
___X____,
___X____,
___X____,
___X____,
_XXXXX__,
__XXX___,
___X____,
________,
________,
___X____,
___XX___,
_XXXXX__,
___XX___,
___X____,
________,
________,
________,
___X____,
__XX____,
_XXXXX__,
__XX____,
___X____,
________,
________,
________,
________,
________,
_X______,
_X______,
_X______,
_XXXXX__,
________,
________,
__X_X___,
__X_X___,
_XXXXX__,
__X_X___,
__X_X___,
________,
________,
___X____,
___X____,
__XXX___,
__XXX___,
_XXXXX__,
_XXXXX__,
________,
________,
_XXXXX__,
_XXXXX__,
__XXX___,
__XXX___,
___X____,
___X____,
________,
________,
________,
________,
________,
________,
________,
________,
________,
________,
___X____,
__XXX___,
__XXX___,
___X____,
___X____,
________,
___X____,
________,
_XX_XX__,
_XX_XX__,
_X__X___,
________,
________,
________,
________,
________,
________,
__X_X___,
_XXXXX__,
__X_X___,
__X_X___,
_XXXXX__,
__X_X___,
________,
__X_____,
__XXX___,
_X______,
__XX____,
____X___,
_XXX____,
___X____,
________,
_XX__X__,
_XX__X__,
____X___,
___X____,
__X_____,
_X__XX__,
_X__XX__,
________,
__X_____,
_X_X____,
_X_X____,
__X_____,
_X_X_X__,
_X__X___,
__XX_X__,
________,
__XX____,
__XX____,
__X_____,
________,
________,
________,
________,
________,
___X____,
__X_____,
__X_____,
__X_____,
__X_____,
__X_____,
___X____,
________,
__X_____,
___X____,
___X____,
___X____,
___X____,
___X____,
__X_____,
________,
________,
__X_X___,
__XXX___,
_XXXXX__,
__XXX___,
__X_X___,
________,
________,
________,
___X____,
___X____,
_XXXXX__,
___X____,
___X____,
________,
________,
________,
________,
________,
________,
________,
__XX____,
__XX____,
__X_____,
________,
________,
________,
_XXXXX__,
________,
________,
________,
________,
________,
________,
________,
________,
________,
__XX____,
__XX____,
________,
________,
_____X__,
____X___,
___X____,
__X_____,
_X______,
________,
________,
__XXX___,
_X___X__,
_X__XX__,
_X_X_X__,
_XX__X__,
_X___X__,
__XXX___,
________,
___X____,
__XX____,
___X____,
___X____,
___X____,
___X____,
__XXX___,
________,
__XXX___,
_X___X__,
_____X__,
___XX___,
__X_____,
_X______,
_XXXXX__,
________,
__XXX___,
_X___X__,
_____X__,
__XXX___,
_____X__,
_X___X__,
__XXX___,
________,
____X___,
___XX___,
__X_X___,
_X__X___,
_XXXXX__,
____X___,
____X___,
________,
_XXXXX__,
_X______,
_X______,
_XXXX___,
_____X__,
_X___X__,
__XXX___,
________,
___XX___,
__X_____,
_X______,
_XXXX___,
_X___X__,
_X___X__,
__XXX___,
________,
_XXXXX__,
_____X__,
____X___,
___X____,
__X_____,
__X_____,
__X_____,
________,
__XXX___,
_X___X__,
_X___X__,
__XXX___,
_X___X__,
_X___X__,
__XXX___,
________,
__XXX___,
_X___X__,
_X___X__,
__XXXX__,
_____X__,
____X___,
__XX____,
________,
________,
________,
__XX____,
__XX____,
________,
__XX____,
__XX____,
________,
________,
________,
__XX____,
__XX____,
________,
__XX____,
__XX____,
__X_____,
____X___,
___X____,
__X_____,
_X______,
__X_____,
___X____,
____X___,
________,
________,
________,
_XXXXX__,
________,
________,
_XXXXX__,
________,
________,
__X_____,
___X____,
____X___,
_____X__,
____X___,
___X____,
__X_____,
________,
__XXX___,
_X___X__,
_____X__,
___XX___,
___X____,
________,
___X____,
________,
__XXX___,
_X___X__,
_X_XXX__,
_X_X_X__,
_X_XXX__,
_X______,
__XXX___,
________,
__XXX___,
_X___X__,
_X___X__,
_X___X__,
_XXXXX__,
_X___X__,
_X___X__,
________,
_XXXX___,
_X___X__,
_X___X__,
_XXXX___,
_X___X__,
_X___X__,
_XXXX___,
________,
__XXX___,
_X___X__,
_X______,
_X______,
_X______,
_X___X__,
__XXX___,
________,
_XXXX___,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_XXXX___,
________,
_XXXXX__,
_X______,
_X______,
_XXXX___,
_X______,
_X______,
_XXXXX__,
________,
_XXXXX__,
_X______,
_X______,
_XXXX___,
_X______,
_X______,
_X______,
________,
__XXX___,
_X___X__,
_X______,
_X_XXX__,
_X___X__,
_X___X__,
__XXXX__,
________,
_X___X__,
_X___X__,
_X___X__,
_XXXXX__,
_X___X__,
_X___X__,
_X___X__,
________,
__XXX___,
___X____,
___X____,
___X____,
___X____,
___X____,
__XXX___,
________,
_____X__,
_____X__,
_____X__,
_____X__,
_X___X__,
_X___X__,
__XXX___,
________,
_X___X__,
_X__X___,
_X_X____,
_XX_____,
_X_X____,
_X__X___,
_X___X__,
________,
_X______,
_X______,
_X______,
_X______,
_X______,
_X______,
_XXXXX__,
________,
_X___X__,
_XX_XX__,
_X_X_X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
________,
_X___X__,
_XX__X__,
_X_X_X__,
_X__XX__,
_X___X__,
_X___X__,
_X___X__,
________,
__XXX___,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
__XXX___,
________,
_XXXX___,
_X___X__,
_X___X__,
_XXXX___,
_X______,
_X______,
_X______,
________,
__XXX___,
_X___X__,
_X___X__,
_X___X__,
_X_X_X__,
_X__X___,
__XX_X__,
________,
_XXXX___,
_X___X__,
_X___X__,
_XXXX___,
_X__X___,
_X___X__,
_X___X__,
________,
__XXX___,
_X___X__,
_X______,
__XXX___,
_____X__,
_X___X__,
__XXX___,
________,
_XXXXX__,
___X____,
___X____,
___X____,
___X____,
___X____,
___X____,
________,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
__XXX___,
________,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
__X_X___,
___X____,
________,
_X___X__,
_X___X__,
_X_X_X__,
_X_X_X__,
_X_X_X__,
_X_X_X__,
__X_X___,
________,
_X___X__,
_X___X__,
__X_X___,
___X____,
__X_X___,
_X___X__,
_X___X__,
________,
_X___X__,
_X___X__,
_X___X__,
__X_X___,
___X____,
___X____,
___X____,
________,
_XXXX___,
____X___,
___X____,
__X_____,
_X______,
_X______,
_XXXX___,
________,
__XXX___,
__X_____,
__X_____,
__X_____,
__X_____,
__X_____,
__XXX___,
________,
________,
_X______,
__X_____,
___X____,
____X___,
_____X__,
________,
________,
__XXX___,
____X___,
____X___,
____X___,
____X___,
____X___,
__XXX___,
________,
___X____,
__X_X___,
_X___X__,
________,
________,
________,
________,
________,
________,
________,
________,
________,
________,
________,
________,
XXXXXX__,
__XX____,
__XX____,
___X____,
________,
________,
________,
________,
________,
________,
________,
__XXX___,
_____X__,
__XXXX__,
_X___X__,
__XXXX__,
________,
_X______,
_X______,
_XXXX___,
_X___X__,
_X___X__,
_X___X__,
_XXXX___,
________,
________,
________,
__XXX___,
_X___X__,
_X______,
_X___X__,
__XXX___,
________,
_____X__,
_____X__,
__XXXX__,
_X___X__,
_X___X__,
_X___X__,
__XXXX__,
________,
________,
________,
__XXX___,
_X___X__,
_XXXX___,
_X______,
__XXX___,
________,
___XX___,
__X_____,
__X_____,
_XXXX___,
__X_____,
__X_____,
__X_____,
________,
________,
________,
__XXXX__,
_X___X__,
_X___X__,
__XXXX__,
_____X__,
__XXX___,
_X______,
_X______,
_XXX____,
_X__X___,
_X__X___,
_X__X___,
_X__X___,
________,
___X____,
________,
___X____,
___X____,
___X____,
___X____,
___XX___,
________,
____X___,
________,
___XX___,
____X___,
____X___,
____X___,
_X__X___,
__XX____,
_X______,
_X______,
_X__X___,
_X_X____,
_XX_____,
_X_X____,
_X__X___,
________,
___X____,
___X____,
___X____,
___X____,
___X____,
___X____,
___XX___,
________,
________,
________,
_XX_X___,
_X_X_X__,
_X_X_X__,
_X___X__,
_X___X__,
________,
________,
________,
_XXX____,
_X__X___,
_X__X___,
_X__X___,
_X__X___,
________,
________,
________,
__XXX___,
_X___X__,
_X___X__,
_X___X__,
__XXX___,
________,
________,
________,
_XXXX___,
_X___X__,
_X___X__,
_X___X__,
_XXXX___,
_X______,
________,
________,
__XXXX__,
_X___X__,
_X___X__,
_X___X__,
__XXXX__,
_____X__,
________,
________,
_X_XX___,
__X__X__,
__X_____,
__X_____,
_XXX____,
________,
________,
________,
__XXX___,
_X______,
__XXX___,
_____X__,
__XXX___,
________,
________,
__X_____,
_XXXX___,
__X_____,
__X_____,
__X_X___,
___X____,
________,
________,
________,
_X__X___,
_X__X___,
_X__X___,
_X_XX___,
__X_X___,
________,
________,
________,
_X___X__,
_X___X__,
_X___X__,
__X_X___,
___X____,
________,
________,
________,
_X___X__,
_X___X__,
_X_X_X__,
_XXXXX__,
__X_X___,
________,
________,
________,
_X__X___,
_X__X___,
__XX____,
_X__X___,
_X__X___,
________,
________,
________,
_X__X___,
_X__X___,
_X__X___,
__XXX___,
___X____,
_XX_____,
________,
________,
_XXXX___,
____X___,
__XX____,
_X______,
_XXXX___,
________,
___XX___,
__X_____,
__X_____,
_XX_____,
__X_____,
__X_____,
___XX___,
________,
___X____,
___X____,
___X____,
________,
___X____,
___X____,
___X____,
________,
__XX____,
____X___,
____X___,
____XX__,
____X___,
____X___,
__XX____,
________,
__X_X___,
_X_X____,
________,
________,
________,
________,
________,
________,
___X____,
__XXX___,
_XX_XX__,
_X___X__,
_X___X__,
_XXXXX__,
________,
________
};
#endif //OEM6X8_H_

1041
flight/OSD/System/inc/oem6x8.h Normal file
View File

@ -0,0 +1,1041 @@
#ifndef OEM6X8_H_
#define OEM6X8_H_
// Credit for this goes to MegaPirateOSD and Syberian!
// Some minor changes made to fit my code better.
#define CHAR_ARRAY_OFFSET 0
#define CHAR_ARRAY_LENGTH 1024
#define CHAR_ARRAY_MAX (CHAR_ARRAY_OFFSET + CHAR_ARRAY_LENGTH)
#define CHAR_OFFSET CHAR_ARRAY_OFFSET/8
#define CHAR_MAX CHAR_ARRAY_MAX/8
static const uint8_t oem6x8[CHAR_ARRAY_LENGTH] = { // 6x8 DOS character set
________,
________,
________,
________,
________,
________,
________,
________,
__XXX___,
_X___X__,
_XX_XX__,
_X___X__,
_X_X_X__,
_X___X__,
__XXX___,
________,
__XXX___,
_XXXXX__,
_X_X_X__,
_XXXXX__,
_X___X__,
_XXXXX__,
__XXX___,
________,
________,
__X_X___,
_XXXXX__,
_XXXXX__,
_XXXXX__,
__XXX___,
___X____,
________,
________,
___X____,
__XXX___,
_XXXXX__,
_XXXXX__,
__XXX___,
___X____,
________,
___X____,
__XXX___,
__XXX___,
___X____,
_XXXXX__,
_XXXXX__,
___X____,
________,
________,
___X____,
__XXX___,
_XXXXX__,
_XXXXX__,
___X____,
__XXX___,
________,
________,
________,
________,
__XX____,
__XX____,
________,
________,
________,
XXXXXX__,
XXXXXX__,
XXXXXX__,
XX__XX__,
XX__XX__,
XXXXXX__,
XXXXXX__,
XXXXXX__,
________,
________,
_XXXX___,
_X__X___,
_X__X___,
_XXXX___,
________,
________,
XXXXXX__,
XXXXXX__,
X____X__,
X_XX_X__,
X_XX_X__,
X____X__,
XXXXXX__,
XXXXXX__,
________,
___XXX__,
____XX__,
__XX_X__,
_X__X___,
_X__X___,
__XX____,
________,
__XXX___,
_X___X__,
_X___X__,
__XXX___,
___X____,
__XXX___,
___X____,
________,
___X____,
___XX___,
___X_X__,
___X____,
__XX____,
_XXX____,
_XX_____,
________,
____XX__,
__XX_X__,
__X_XX__,
__XX_X__,
__X_XX__,
_XX_XX__,
_XX_____,
________,
________,
_X_X_X__,
__XXX___,
_XX_XX__,
__XXX___,
_X_X_X__,
________,
________,
__X_____,
__XX____,
__XXX___,
__XXXX__,
__XXX___,
__XX____,
__X_____,
________,
____X___,
___XX___,
__XXX___,
_XXXX___,
__XXX___,
___XX___,
____X___,
________,
___X____,
__XXX___,
_XXXXX__,
___X____,
_XXXXX__,
__XXX___,
___X____,
________,
__X_X___,
__X_X___,
__X_X___,
__X_X___,
__X_X___,
________,
__X_X___,
________,
__XXXX__,
_X_X_X__,
_X_X_X__,
__XX_X__,
___X_X__,
___X_X__,
___X_X__,
________,
__XXX___,
_X___X__,
__XX____,
__X_X___,
___XX___,
_X___X__,
__XXX___,
________,
________,
________,
________,
________,
________,
_XXXX___,
_XXXX___,
________,
___X____,
__XXX___,
_XXXXX__,
___X____,
_XXXXX__,
__XXX___,
___X____,
__XXX___,
___X____,
__XXX___,
_XXXXX__,
___X____,
___X____,
___X____,
___X____,
________,
___X____,
___X____,
___X____,
___X____,
_XXXXX__,
__XXX___,
___X____,
________,
________,
___X____,
___XX___,
_XXXXX__,
___XX___,
___X____,
________,
________,
________,
___X____,
__XX____,
_XXXXX__,
__XX____,
___X____,
________,
________,
________,
________,
________,
_X______,
_X______,
_X______,
_XXXXX__,
________,
________,
__X_X___,
__X_X___,
_XXXXX__,
__X_X___,
__X_X___,
________,
________,
___X____,
___X____,
__XXX___,
__XXX___,
_XXXXX__,
_XXXXX__,
________,
________,
_XXXXX__,
_XXXXX__,
__XXX___,
__XXX___,
___X____,
___X____,
________,
________,
________,
________,
________,
________,
________,
________,
________,
________,
___X____,
__XXX___,
__XXX___,
___X____,
___X____,
________,
___X____,
________,
_XX_XX__,
_XX_XX__,
_X__X___,
________,
________,
________,
________,
________,
________,
__X_X___,
_XXXXX__,
__X_X___,
__X_X___,
_XXXXX__,
__X_X___,
________,
__X_____,
__XXX___,
_X______,
__XX____,
____X___,
_XXX____,
___X____,
________,
_XX__X__,
_XX__X__,
____X___,
___X____,
__X_____,
_X__XX__,
_X__XX__,
________,
__X_____,
_X_X____,
_X_X____,
__X_____,
_X_X_X__,
_X__X___,
__XX_X__,
________,
__XX____,
__XX____,
__X_____,
________,
________,
________,
________,
________,
___X____,
__X_____,
__X_____,
__X_____,
__X_____,
__X_____,
___X____,
________,
__X_____,
___X____,
___X____,
___X____,
___X____,
___X____,
__X_____,
________,
________,
__X_X___,
__XXX___,
_XXXXX__,
__XXX___,
__X_X___,
________,
________,
________,
___X____,
___X____,
_XXXXX__,
___X____,
___X____,
________,
________,
________,
________,
________,
________,
________,
__XX____,
__XX____,
__X_____,
________,
________,
________,
_XXXXX__,
________,
________,
________,
________,
________,
________,
________,
________,
________,
__XX____,
__XX____,
________,
________,
_____X__,
____X___,
___X____,
__X_____,
_X______,
________,
________,
__XXX___,
_X___X__,
_X__XX__,
_X_X_X__,
_XX__X__,
_X___X__,
__XXX___,
________,
___X____,
__XX____,
___X____,
___X____,
___X____,
___X____,
__XXX___,
________,
__XXX___,
_X___X__,
_____X__,
___XX___,
__X_____,
_X______,
_XXXXX__,
________,
__XXX___,
_X___X__,
_____X__,
__XXX___,
_____X__,
_X___X__,
__XXX___,
________,
____X___,
___XX___,
__X_X___,
_X__X___,
_XXXXX__,
____X___,
____X___,
________,
_XXXXX__,
_X______,
_X______,
_XXXX___,
_____X__,
_X___X__,
__XXX___,
________,
___XX___,
__X_____,
_X______,
_XXXX___,
_X___X__,
_X___X__,
__XXX___,
________,
_XXXXX__,
_____X__,
____X___,
___X____,
__X_____,
__X_____,
__X_____,
________,
__XXX___,
_X___X__,
_X___X__,
__XXX___,
_X___X__,
_X___X__,
__XXX___,
________,
__XXX___,
_X___X__,
_X___X__,
__XXXX__,
_____X__,
____X___,
__XX____,
________,
________,
________,
__XX____,
__XX____,
________,
__XX____,
__XX____,
________,
________,
________,
__XX____,
__XX____,
________,
__XX____,
__XX____,
__X_____,
____X___,
___X____,
__X_____,
_X______,
__X_____,
___X____,
____X___,
________,
________,
________,
_XXXXX__,
________,
________,
_XXXXX__,
________,
________,
__X_____,
___X____,
____X___,
_____X__,
____X___,
___X____,
__X_____,
________,
__XXX___,
_X___X__,
_____X__,
___XX___,
___X____,
________,
___X____,
________,
__XXX___,
_X___X__,
_X_XXX__,
_X_X_X__,
_X_XXX__,
_X______,
__XXX___,
________,
__XXX___,
_X___X__,
_X___X__,
_X___X__,
_XXXXX__,
_X___X__,
_X___X__,
________,
_XXXX___,
_X___X__,
_X___X__,
_XXXX___,
_X___X__,
_X___X__,
_XXXX___,
________,
__XXX___,
_X___X__,
_X______,
_X______,
_X______,
_X___X__,
__XXX___,
________,
_XXXX___,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_XXXX___,
________,
_XXXXX__,
_X______,
_X______,
_XXXX___,
_X______,
_X______,
_XXXXX__,
________,
_XXXXX__,
_X______,
_X______,
_XXXX___,
_X______,
_X______,
_X______,
________,
__XXX___,
_X___X__,
_X______,
_X_XXX__,
_X___X__,
_X___X__,
__XXXX__,
________,
_X___X__,
_X___X__,
_X___X__,
_XXXXX__,
_X___X__,
_X___X__,
_X___X__,
________,
__XXX___,
___X____,
___X____,
___X____,
___X____,
___X____,
__XXX___,
________,
_____X__,
_____X__,
_____X__,
_____X__,
_X___X__,
_X___X__,
__XXX___,
________,
_X___X__,
_X__X___,
_X_X____,
_XX_____,
_X_X____,
_X__X___,
_X___X__,
________,
_X______,
_X______,
_X______,
_X______,
_X______,
_X______,
_XXXXX__,
________,
_X___X__,
_XX_XX__,
_X_X_X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
________,
_X___X__,
_XX__X__,
_X_X_X__,
_X__XX__,
_X___X__,
_X___X__,
_X___X__,
________,
__XXX___,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
__XXX___,
________,
_XXXX___,
_X___X__,
_X___X__,
_XXXX___,
_X______,
_X______,
_X______,
________,
__XXX___,
_X___X__,
_X___X__,
_X___X__,
_X_X_X__,
_X__X___,
__XX_X__,
________,
_XXXX___,
_X___X__,
_X___X__,
_XXXX___,
_X__X___,
_X___X__,
_X___X__,
________,
__XXX___,
_X___X__,
_X______,
__XXX___,
_____X__,
_X___X__,
__XXX___,
________,
_XXXXX__,
___X____,
___X____,
___X____,
___X____,
___X____,
___X____,
________,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
__XXX___,
________,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
_X___X__,
__X_X___,
___X____,
________,
_X___X__,
_X___X__,
_X_X_X__,
_X_X_X__,
_X_X_X__,
_X_X_X__,
__X_X___,
________,
_X___X__,
_X___X__,
__X_X___,
___X____,
__X_X___,
_X___X__,
_X___X__,
________,
_X___X__,
_X___X__,
_X___X__,
__X_X___,
___X____,
___X____,
___X____,
________,
_XXXX___,
____X___,
___X____,
__X_____,
_X______,
_X______,
_XXXX___,
________,
__XXX___,
__X_____,
__X_____,
__X_____,
__X_____,
__X_____,
__XXX___,
________,
________,
_X______,
__X_____,
___X____,
____X___,
_____X__,
________,
________,
__XXX___,
____X___,
____X___,
____X___,
____X___,
____X___,
__XXX___,
________,
___X____,
__X_X___,
_X___X__,
________,
________,
________,
________,
________,
________,
________,
________,
________,
________,
________,
________,
XXXXXX__,
__XX____,
__XX____,
___X____,
________,
________,
________,
________,
________,
________,
________,
__XXX___,
_____X__,
__XXXX__,
_X___X__,
__XXXX__,
________,
_X______,
_X______,
_XXXX___,
_X___X__,
_X___X__,
_X___X__,
_XXXX___,
________,
________,
________,
__XXX___,
_X___X__,
_X______,
_X___X__,
__XXX___,
________,
_____X__,
_____X__,
__XXXX__,
_X___X__,
_X___X__,
_X___X__,
__XXXX__,
________,
________,
________,
__XXX___,
_X___X__,
_XXXX___,
_X______,
__XXX___,
________,
___XX___,
__X_____,
__X_____,
_XXXX___,
__X_____,
__X_____,
__X_____,
________,
________,
________,
__XXXX__,
_X___X__,
_X___X__,
__XXXX__,
_____X__,
__XXX___,
_X______,
_X______,
_XXX____,
_X__X___,
_X__X___,
_X__X___,
_X__X___,
________,
___X____,
________,
___X____,
___X____,
___X____,
___X____,
___XX___,
________,
____X___,
________,
___XX___,
____X___,
____X___,
____X___,
_X__X___,
__XX____,
_X______,
_X______,
_X__X___,
_X_X____,
_XX_____,
_X_X____,
_X__X___,
________,
___X____,
___X____,
___X____,
___X____,
___X____,
___X____,
___XX___,
________,
________,
________,
_XX_X___,
_X_X_X__,
_X_X_X__,
_X___X__,
_X___X__,
________,
________,
________,
_XXX____,
_X__X___,
_X__X___,
_X__X___,
_X__X___,
________,
________,
________,
__XXX___,
_X___X__,
_X___X__,
_X___X__,
__XXX___,
________,
________,
________,
_XXXX___,
_X___X__,
_X___X__,
_X___X__,
_XXXX___,
_X______,
________,
________,
__XXXX__,
_X___X__,
_X___X__,
_X___X__,
__XXXX__,
_____X__,
________,
________,
_X_XX___,
__X__X__,
__X_____,
__X_____,
_XXX____,
________,
________,
________,
__XXX___,
_X______,
__XXX___,
_____X__,
__XXX___,
________,
________,
__X_____,
_XXXX___,
__X_____,
__X_____,
__X_X___,
___X____,
________,
________,
________,
_X__X___,
_X__X___,
_X__X___,
_X_XX___,
__X_X___,
________,
________,
________,
_X___X__,
_X___X__,
_X___X__,
__X_X___,
___X____,
________,
________,
________,
_X___X__,
_X___X__,
_X_X_X__,
_XXXXX__,
__X_X___,
________,
________,
________,
_X__X___,
_X__X___,
__XX____,
_X__X___,
_X__X___,
________,
________,
________,
_X__X___,
_X__X___,
_X__X___,
__XXX___,
___X____,
_XX_____,
________,
________,
_XXXX___,
____X___,
__XX____,
_X______,
_XXXX___,
________,
___XX___,
__X_____,
__X_____,
_XX_____,
__X_____,
__X_____,
___XX___,
________,
___X____,
___X____,
___X____,
________,
___X____,
___X____,
___X____,
________,
__XX____,
____X___,
____X___,
____XX__,
____X___,
____X___,
__XX____,
________,
__X_X___,
_X_X____,
________,
________,
________,
________,
________,
________,
___X____,
__XXX___,
_XX_XX__,
_X___X__,
_X___X__,
_XXXXX__,
________,
________
};
#endif //OEM6X8_H_

39
flight/OSD/System/inc/op_config.h Normal file
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@ -0,0 +1,39 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
* @file op_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief OpenPilot configuration header.
* Compile time config for OpenPilot Application
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OP_CONFIG_H
#define OP_CONFIG_H
#endif /* OP_CONFIG_H */
/**
* @}
* @}
*/

53
flight/OSD/System/inc/openpilot.h Normal file
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@ -0,0 +1,53 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @file openpilot.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main OpenPilot header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPENPILOT_H
#define OPENPILOT_H
/* PIOS Includes */
#include <pios.h>
/* OpenPilot Libraries */
#include "op_config.h"
#include "utlist.h"
#include "uavobjectmanager.h"
#include "eventdispatcher.h"
#include "alarms.h"
#include "taskmonitor.h"
#include "uavtalk.h"
/* Global Functions */
void OpenPilotInit(void);
#endif /* OPENPILOT_H */
/**
* @}
* @}
*/

74
flight/OSD/System/inc/oposd.h Normal file
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@ -0,0 +1,74 @@
/**
******************************************************************************
*
* @file main.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main modem header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef __MAIN_H__
#define __MAIN_H__
#include <pios.h>
// *****************************************************************************
// firmware version
#define VERSION_MAJOR 0 // 0 to 255
#define VERSION_MINOR 9 // 0 to 255
// macro's for reading internal flash memory
#define mem8(addr) (*((volatile uint8_t *)(addr)))
#define mem16(addr) (*((volatile uint16_t *)(addr)))
#define mem32(addr) (*((volatile uint32_t *)(addr)))
enum {
FREQBAND_UNKNOWN = 0,
FREQBAND_434MHz,
FREQBAND_868MHz,
FREQBAND_915MHz
};
enum {
MODE_NORMAL = 0, // normal 2-way packet mode
MODE_STREAM_TX, // 1-way continuous tx packet mode
MODE_STREAM_RX, // 1-way continuous rx packet mode
MODE_PPM_TX, // PPM tx mode
MODE_PPM_RX, // PPM rx mode
MODE_SCAN_SPECTRUM, // scan the receiver over the whole band
MODE_TX_BLANK_CARRIER_TEST, // blank carrier Tx mode (for calibrating the carrier frequency say)
MODE_TX_SPECTRUM_TEST // pseudo random Tx data mode (for checking the Tx carrier spectrum)
};
// *****************************************************************************
extern volatile uint32_t random32;
extern bool booting;
extern uint32_t flash_size;
extern char serial_number_str[25];
extern uint32_t serial_number_crc32;
// *****************************************************************************
#endif

84
flight/OSD/System/inc/pios_board_posix.h Normal file
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@ -0,0 +1,84 @@
/**
******************************************************************************
*
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_BOARD_H
#define PIOS_BOARD_H
//------------------------
// PIOS_LED
//------------------------
//#define PIOS_LED_LED1_GPIO_PORT GPIOC
//#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
//#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
//#define PIOS_LED_LED2_GPIO_PORT GPIOC
//#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
//#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_LED_NUM 2
//#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
//#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
//#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
//-------------------------
// COM
//
// See also pios_board_posix.c
//-------------------------
//#define PIOS_USART_TX_BUFFER_SIZE 256
#define PIOS_COM_BUFFER_SIZE 1024
#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
#define PIOS_COM_TELEM_RF 0
#define PIOS_COM_GPS 1
#define PIOS_COM_TELEM_USB 2
#ifdef PIOS_ENABLE_AUX_UART
#define PIOS_COM_AUX 3
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
/**
* glue macros for file IO
* STM32 uses DOSFS for file IO
*/
#define PIOS_FOPEN_READ(filename,file) (file=fopen((char*)filename,"r"))==NULL
#define PIOS_FOPEN_WRITE(filename,file) (file=fopen((char*)filename,"w"))==NULL
#define PIOS_FREAD(file,bufferadr,length,resultadr) (*resultadr=fread((uint8_t*)bufferadr,1,length,*file)) != length
#define PIOS_FWRITE(file,bufferadr,length,resultadr) *resultadr=fwrite((uint8_t*)bufferadr,1,length,*file)
#define PIOS_FCLOSE(file) fclose(file)
#define PIOS_FUNLINK(file) unlink((char*)filename)
#endif /* PIOS_BOARD_H */

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/**
******************************************************************************
*
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
* - Central compile time config for the project.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
//#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_RTC
#define PIOS_INCLUDE_VIDEO
//#define PIOS_INCLUDE_WDG
/* Com systems to include */
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_TELEM
#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_INITCALL /* Include init call structures */
#define PIOS_TELEM_PRIORITY_QUEUE /* Enable a priority queue in telemetry */
#define PIOS_QUATERNION_STABILIZATION /* Stabilization options */
//#define PIOS_GPS_SETS_HOMELOCATION /* GPS options */
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define IRQSTACK_LIMIT_WARNING 150
#define IRQSTACK_LIMIT_CRITICAL 80
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
// This actually needs calibrating
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD (8379692)
#endif /* PIOS_CONFIG_H */

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/**
******************************************************************************
*
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
* Central compile time config for the project.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_CONFIG_POSIX_H
#define PIOS_CONFIG_POSIX_H
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_UDP
#define PIOS_INCLUDE_SERVO
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
#endif /* PIOS_CONFIG_POSIX_H */

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
* @brief Board specific USB definitions
* @{
*
* @file pios_usb_board_data.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Board specific USB definitions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 4
#include "pios_usb_defs.h" /* USB_* macros */
#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OSD
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OSD, USB_OP_BOARD_MODE_FW)
#endif /* PIOS_USB_BOARD_DATA_H */

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/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
* File Name : usb_desc.h
* Author : MCD Application Team
* Version : V3.2.1
* Date : 07/05/2010
* Description : Descriptor Header for Custom HID Demo
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USB_DESC_H
#define __USB_DESC_H
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported define -----------------------------------------------------------*/
#define USB_DEVICE_DESCRIPTOR_TYPE 0x01
#define USB_CONFIGURATION_DESCRIPTOR_TYPE 0x02
#define USB_STRING_DESCRIPTOR_TYPE 0x03
#define USB_INTERFACE_DESCRIPTOR_TYPE 0x04
#define USB_ENDPOINT_DESCRIPTOR_TYPE 0x05
#define HID_DESCRIPTOR_TYPE 0x21
#define PIOS_HID_SIZ_HID_DESC 0x09
#define PIOS_HID_OFF_HID_DESC 0x12
#define PIOS_HID_SIZ_DEVICE_DESC 18
#define PIOS_HID_SIZ_CONFIG_DESC 41
#define PIOS_HID_SIZ_REPORT_DESC 36
#define PIOS_HID_SIZ_STRING_LANGID 4
#define PIOS_HID_SIZ_STRING_VENDOR 28
#define PIOS_HID_SIZ_STRING_PRODUCT 20
#define PIOS_HID_SIZ_STRING_SERIAL 52 /* 96 bits, 12 bytes, 24 characters, 48 in unicode */
#define STANDARD_ENDPOINT_DESC_SIZE 0x09
/* Exported functions ------------------------------------------------------- */
extern const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC];
extern const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC];
extern const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC];
extern const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID];
extern const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR];
extern const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT];
extern uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL];
#endif /* __USB_DESC_H */
/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB USB Functions
* @brief PIOS USB interface code
* @{
*
* @file pios_usb.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USB functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_USB_H
#define PIOS_USB_H
/* Local defines */
/* Following settings allow to customise the USB device descriptor */
#ifndef PIOS_USB_VENDOR_ID
#define PIOS_USB_VENDOR_ID 0x20A0
#endif
#ifndef PIOS_USB_PRODUCT_ID
#define PIOS_USB_PRODUCT_ID 0x415C // PipXtreme PID
#endif
#ifndef PIOS_USB_VERSION_ID
#define PIOS_USB_VERSION_ID 0x0302 // PipXtreme, board revision 1, Running state (02)
#endif
/* Internal defines which are used by PIOS USB HID (don't touch) */
#define PIOS_USB_EP_NUM 2
/* Buffer table base address */
#define PIOS_USB_BTABLE_ADDRESS 0x000
/* EP0 rx/tx buffer base address */
#define PIOS_USB_ENDP0_RXADDR 0x040
#define PIOS_USB_ENDP0_TXADDR 0x080
/* EP1 Rx/Tx buffer base address for HID driver */
#define PIOS_USB_ENDP1_TXADDR 0x0C0
#define PIOS_USB_ENDP1_RXADDR 0x100
/* Global Variables */
extern void (*pEpInt_IN[7])(void);
extern void (*pEpInt_OUT[7])(void);
/* Public Functions */
extern int32_t PIOS_USB_Init(uint32_t mode);
extern int32_t PIOS_USB_IsInitialized(void);
extern int32_t PIOS_USB_CableConnected(void);
#endif /* PIOS_USB_H */
/**
* @}
* @}
*/

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file taskmonitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the task monitoring library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef TASKMONITOR_H
#define TASKMONITOR_H
#include "taskinfo.h"
int32_t TaskMonitorInitialize(void);
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
int32_t TaskMonitorRemove(TaskInfoRunningElem task);
void TaskMonitorUpdateAll(void);
#endif // TASKMONITOR_H
/**
* @}
* @}
*/

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/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
* File Name : usb_conf.h
* Author : MCD Application Team
* Version : V3.2.1
* Date : 07/05/2010
* Description : Custom HID demo configuration file
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USB_CONF_H
#define __USB_CONF_H
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
/* External variables --------------------------------------------------------*/
/*-------------------------------------------------------------*/
/* EP_NUM */
/* defines how many endpoints are used by the device */
/*-------------------------------------------------------------*/
#define EP_NUM (2)
#ifndef STM32F10X_CL
/*-------------------------------------------------------------*/
/* -------------- Buffer Description Table -----------------*/
/*-------------------------------------------------------------*/
/* buffer table base address */
/* buffer table base address */
#define BTABLE_ADDRESS (0x00)
/* EP0 */
/* rx/tx buffer base address */
#define ENDP0_RXADDR (0x18)
#define ENDP0_TXADDR (0x58)
/* EP1 */
/* tx buffer base address */
#define ENDP1_TXADDR (0x100)
#define ENDP1_RXADDR (0x124)
/*-------------------------------------------------------------*/
/* ------------------- ISTR events -------------------------*/
/*-------------------------------------------------------------*/
/* IMR_MSK */
/* mask defining which events has to be handled */
/* by the device application software */
#define IMR_MSK (CNTR_CTRM | CNTR_WKUPM | CNTR_SUSPM | CNTR_ERRM | CNTR_SOFM \
| CNTR_ESOFM | CNTR_RESETM )
#endif /* STM32F10X_CL */
#ifdef STM32F10X_CL
/*******************************************************************************
* FIFO Size Configuration
*
* (i) Dedicated data FIFO SPRAM of 1.25 Kbytes = 1280 bytes = 320 32-bits words
* available for the endpoints IN and OUT.
* Device mode features:
* -1 bidirectional CTRL EP 0
* -3 IN EPs to support any kind of Bulk, Interrupt or Isochronous transfer
* -3 OUT EPs to support any kind of Bulk, Interrupt or Isochronous transfer
*
* ii) Receive data FIFO size = RAM for setup packets +
* OUT endpoint control information +
* data OUT packets + miscellaneous
* Space = ONE 32-bits words
* --> RAM for setup packets = 4 * n + 6 space
* (n is the nbr of CTRL EPs the device core supports)
* --> OUT EP CTRL info = 1 space
* (one space for status information written to the FIFO along with each
* received packet)
* --> data OUT packets = (Largest Packet Size / 4) + 1 spaces
* (MINIMUM to receive packets)
* --> OR data OUT packets = at least 2*(Largest Packet Size / 4) + 1 spaces
* (if high-bandwidth EP is enabled or multiple isochronous EPs)
* --> miscellaneous = 1 space per OUT EP
* (one space for transfer complete status information also pushed to the
* FIFO with each endpoint's last packet)
*
* (iii)MINIMUM RAM space required for each IN EP Tx FIFO = MAX packet size for
* that particular IN EP. More space allocated in the IN EP Tx FIFO results
* in a better performance on the USB and can hide latencies on the AHB.
*
* (iv) TXn min size = 16 words. (n : Transmit FIFO index)
* (v) When a TxFIFO is not used, the Configuration should be as follows:
* case 1 : n > m and Txn is not used (n,m : Transmit FIFO indexes)
* --> Txm can use the space allocated for Txn.
* case2 : n < m and Txn is not used (n,m : Transmit FIFO indexes)
* --> Txn should be configured with the minimum space of 16 words
* (vi) The FIFO is used optimally when used TxFIFOs are allocated in the top
* of the FIFO.Ex: use EP1 and EP2 as IN instead of EP1 and EP3 as IN ones.
*******************************************************************************/
#define RX_FIFO_SIZE 128
#define TX0_FIFO_SIZE 64
#define TX1_FIFO_SIZE 64
#define TX2_FIFO_SIZE 16
#define TX3_FIFO_SIZE 16
/* OTGD-FS-DEVICE IP interrupts Enable definitions */
/* Uncomment the define to enable the selected interrupt */
//#define INTR_MODEMISMATCH
#define INTR_SOFINTR
#define INTR_RXSTSQLVL /* Mandatory */
//#define INTR_NPTXFEMPTY
//#define INTR_GINNAKEFF
//#define INTR_GOUTNAKEFF
//#define INTR_ERLYSUSPEND
#define INTR_USBSUSPEND /* Mandatory */
#define INTR_USBRESET /* Mandatory */
#define INTR_ENUMDONE /* Mandatory */
//#define INTR_ISOOUTDROP
//#define INTR_EOPFRAME
//#define INTR_EPMISMATCH
#define INTR_INEPINTR /* Mandatory */
#define INTR_OUTEPINTR /* Mandatory */
//#define INTR_INCOMPLISOIN
//#define INTR_INCOMPLISOOUT
#define INTR_WKUPINTR /* Mandatory */
/* OTGD-FS-DEVICE IP interrupts subroutines */
/* Comment the define to enable the selected interrupt subroutine and replace it
by user code */
#define INTR_MODEMISMATCH_Callback NOP_Process
#define INTR_SOFINTR_Callback NOP_Process
#define INTR_RXSTSQLVL_Callback NOP_Process
#define INTR_NPTXFEMPTY_Callback NOP_Process
#define INTR_NPTXFEMPTY_Callback NOP_Process
#define INTR_GINNAKEFF_Callback NOP_Process
#define INTR_GOUTNAKEFF_Callback NOP_Process
#define INTR_ERLYSUSPEND_Callback NOP_Process
#define INTR_USBSUSPEND_Callback NOP_Process
#define INTR_USBRESET_Callback NOP_Process
#define INTR_ENUMDONE_Callback NOP_Process
#define INTR_ISOOUTDROP_Callback NOP_Process
#define INTR_EOPFRAME_Callback NOP_Process
#define INTR_EPMISMATCH_Callback NOP_Process
#define INTR_INEPINTR_Callback NOP_Process
#define INTR_OUTEPINTR_Callback NOP_Process
#define INTR_INCOMPLISOIN_Callback NOP_Process
#define INTR_INCOMPLISOOUT_Callback NOP_Process
#define INTR_WKUPINTR_Callback NOP_Process
/* Isochronous data update */
#define INTR_RXSTSQLVL_ISODU_Callback NOP_Process
/* Isochronous transfer parameters */
/* Size of a single Isochronous buffer (size of a single transfer) */
#define ISOC_BUFFER_SZE 1
/* Number of sub-buffers (number of single buffers/transfers), should be even */
#define NUM_SUB_BUFFERS 2
#endif /* STM32F10X_CL */
/* CTR service routines */
/* associated to defined endpoints */
#define EP1_IN_Callback NOP_Process
#define EP2_IN_Callback NOP_Process
#define EP3_IN_Callback NOP_Process
#define EP4_IN_Callback NOP_Process
#define EP5_IN_Callback NOP_Process
#define EP6_IN_Callback NOP_Process
#define EP7_IN_Callback NOP_Process
//#define EP1_OUT_Callback NOP_Process
#define EP2_OUT_Callback NOP_Process
#define EP3_OUT_Callback NOP_Process
#define EP4_OUT_Callback NOP_Process
#define EP5_OUT_Callback NOP_Process
#define EP6_OUT_Callback NOP_Process
#define EP7_OUT_Callback NOP_Process
#endif /*__USB_CONF_H*/
/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
*
* @file watchdog.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RF Module hardware layer
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef _WATCHDOG_H_
#define _WATCHDOG_H_
uint16_t watchdog_Init(uint16_t delayMs);
void watchdog_Clear(void);
#endif

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#ifndef XCONVERT_H_
#define XCONVERT_H_
// Credit for this goes to MegaPirateOSD and Syberian!
// Some minor changes made to fit my code better.
#define ________ 0
#define _______X 1
#define ______X_ 2
#define ______XX 3
#define _____X__ 4
#define _____X_X 5
#define _____XX_ 6
#define _____XXX 7
#define ____X___ 8
#define ____X__X 9
#define ____X_X_ 10
#define ____X_XX 11
#define ____XX__ 12
#define ____XX_X 13
#define ____XXX_ 14
#define ____XXXX 15
#define ___X____ 16
#define ___X___X 17
#define ___X__X_ 18
#define ___X__XX 19
#define ___X_X__ 20
#define ___X_X_X 21
#define ___X_XX_ 22
#define ___X_XXX 23
#define ___XX___ 24
#define ___XX__X 25
#define ___XX_X_ 26
#define ___XX_XX 27
#define ___XXX__ 28
#define ___XXX_X 29
#define ___XXXX_ 30
#define ___XXXXX 31
#define __X_____ 32
#define __X____X 33
#define __X___X_ 34
#define __X___XX 35
#define __X__X__ 36
#define __X__X_X 37
#define __X__XX_ 38
#define __X__XXX 39
#define __X_X___ 40
#define __X_X__X 41
#define __X_X_X_ 42
#define __X_X_XX 43
#define __X_XX__ 44
#define __X_XX_X 45
#define __X_XXX_ 46
#define __X_XXXX 47
#define __XX____ 48
#define __XX___X 49
#define __XX__X_ 50
#define __XX__XX 51
#define __XX_X__ 52
#define __XX_X_X 53
#define __XX_XX_ 54
#define __XX_XXX 55
#define __XXX___ 56
#define __XXX__X 57
#define __XXX_X_ 58
#define __XXX_XX 59
#define __XXXX__ 60
#define __XXXX_X 61
#define __XXXXX_ 62
#define __XXXXXX 63
#define _X______ 64
#define _X_____X 65
#define _X____X_ 66
#define _X____XX 67
#define _X___X__ 68
#define _X___X_X 69
#define _X___XX_ 70
#define _X___XXX 71
#define _X__X___ 72
#define _X__X__X 73
#define _X__X_X_ 74
#define _X__X_XX 75
#define _X__XX__ 76
#define _X__XX_X 77
#define _X__XXX_ 78
#define _X__XXXX 79
#define _X_X____ 80
#define _X_X___X 81
#define _X_X__X_ 82
#define _X_X__XX 83
#define _X_X_X__ 84
#define _X_X_X_X 85
#define _X_X_XX_ 86
#define _X_X_XXX 87
#define _X_XX___ 88
#define _X_XX__X 89
#define _X_XX_X_ 90
#define _X_XX_XX 91
#define _X_XXX__ 92
#define _X_XXX_X 93
#define _X_XXXX_ 94
#define _X_XXXXX 95
#define _XX_____ 96
#define _XX____X 97
#define _XX___X_ 98
#define _XX___XX 99
#define _XX__X__ 100
#define _XX__X_X 101
#define _XX__XX_ 102
#define _XX__XXX 103
#define _XX_X___ 104
#define _XX_X__X 105
#define _XX_X_X_ 106
#define _XX_X_XX 107
#define _XX_XX__ 108
#define _XX_XX_X 109
#define _XX_XXX_ 110
#define _XX_XXXX 111
#define _XXX____ 112
#define _XXX___X 113
#define _XXX__X_ 114
#define _XXX__XX 115
#define _XXX_X__ 116
#define _XXX_X_X 117
#define _XXX_XX_ 118
#define _XXX_XXX 119
#define _XXXX___ 120
#define _XXXX__X 121
#define _XXXX_X_ 122
#define _XXXX_XX 123
#define _XXXXX__ 124
#define _XXXXX_X 125
#define _XXXXXX_ 126
#define _XXXXXXX 127
#define X_______ 128
#define X______X 129
#define X_____X_ 130
#define X_____XX 131
#define X____X__ 132
#define X____X_X 133
#define X____XX_ 134
#define X____XXX 135
#define X___X___ 136
#define X___X__X 137
#define X___X_X_ 138
#define X___X_XX 139
#define X___XX__ 140
#define X___XX_X 141
#define X___XXX_ 142
#define X___XXXX 143
#define X__X____ 144
#define X__X___X 145
#define X__X__X_ 146
#define X__X__XX 147
#define X__X_X__ 148
#define X__X_X_X 149
#define X__X_XX_ 150
#define X__X_XXX 151
#define X__XX___ 152
#define X__XX__X 153
#define X__XX_X_ 154
#define X__XX_XX 155
#define X__XXX__ 156
#define X__XXX_X 157
#define X__XXXX_ 158
#define X__XXXXX 159
#define X_X_____ 160
#define X_X____X 161
#define X_X___X_ 162
#define X_X___XX 163
#define X_X__X__ 164
#define X_X__X_X 165
#define X_X__XX_ 166
#define X_X__XXX 167
#define X_X_X___ 168
#define X_X_X__X 169
#define X_X_X_X_ 170
#define X_X_X_XX 171
#define X_X_XX__ 172
#define X_X_XX_X 173
#define X_X_XXX_ 174
#define X_X_XXXX 175
#define X_XX____ 176
#define X_XX___X 177
#define X_XX__X_ 178
#define X_XX__XX 179
#define X_XX_X__ 180
#define X_XX_X_X 181
#define X_XX_XX_ 182
#define X_XX_XXX 183
#define X_XXX___ 184
#define X_XXX__X 185
#define X_XXX_X_ 186
#define X_XXX_XX 187
#define X_XXXX__ 188
#define X_XXXX_X 189
#define X_XXXXX_ 190
#define X_XXXXXX 191
#define XX______ 192
#define XX_____X 193
#define XX____X_ 194
#define XX____XX 195
#define XX___X__ 196
#define XX___X_X 197
#define XX___XX_ 198
#define XX___XXX 199
#define XX__X___ 200
#define XX__X__X 201
#define XX__X_X_ 202
#define XX__X_XX 203
#define XX__XX__ 204
#define XX__XX_X 205
#define XX__XXX_ 206
#define XX__XXXX 207
#define XX_X____ 208
#define XX_X___X 209
#define XX_X__X_ 210
#define XX_X__XX 211
#define XX_X_X__ 212
#define XX_X_X_X 213
#define XX_X_XX_ 214
#define XX_X_XXX 215
#define XX_XX___ 216
#define XX_XX__X 217
#define XX_XX_X_ 218
#define XX_XX_XX 219
#define XX_XXX__ 220
#define XX_XXX_X 221
#define XX_XXXX_ 222
#define XX_XXXXX 223
#define XXX_____ 224
#define XXX____X 225
#define XXX___X_ 226
#define XXX___XX 227
#define XXX__X__ 228
#define XXX__X_X 229
#define XXX__XX_ 230
#define XXX__XXX 231
#define XXX_X___ 232
#define XXX_X__X 233
#define XXX_X_X_ 234
#define XXX_X_XX 235
#define XXX_XX__ 236
#define XXX_XX_X 237
#define XXX_XXX_ 238
#define XXX_XXXX 239
#define XXXX____ 240
#define XXXX___X 241
#define XXXX__X_ 242
#define XXXX__XX 243
#define XXXX_X__ 244
#define XXXX_X_X 245
#define XXXX_XX_ 246
#define XXXX_XXX 247
#define XXXXX___ 248
#define XXXXX__X 249
#define XXXXX_X_ 250
#define XXXXX_XX 251
#define XXXXXX__ 252
#define XXXXXX_X 253
#define XXXXXXX_ 254
#define XXXXXXXX 255
#endif //XCONVERT_H_

320
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/**
******************************************************************************
*
* @file main.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main modem functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
// *****************************************************************************
//#define USE_WATCHDOG // comment this out if you don't want to use the watchdog
// *****************************************************************************
// OpenPilot Includes
#include <string.h>
#include "oposd.h"
#include "watchdog.h"
#include "systemmod.h"
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
/* Global Variables */
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
/* Function Prototypes */
static void initTask(void *parameters);
/* Local Variables */
#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
static xTaskHandle initTaskHandle;
// *****************************************************************************
// Global Variables
// *****************************************************************************
// Local Variables
#if defined(USE_WATCHDOG)
volatile uint16_t watchdog_timer;
uint16_t watchdog_delay;
#endif
// *****************************************************************************
#if defined(USE_WATCHDOG)
void processWatchdog(void)
{
// random32 = UpdateCRC32(random32, IWDG->SR);
if (watchdog_timer < watchdog_delay)
return;
// the watchdog needs resetting
watchdog_timer = 0;
watchdog_Clear();
}
void enableWatchdog(void)
{ // enable a watchdog
watchdog_timer = 0;
watchdog_delay = watchdog_Init(1000); // 1 second watchdog timeout
}
#endif
// *****************************************************************************
void sequenceLEDs(void)
{
for (int i = 0; i < 2; i++)
{
//USB_LED_ON;
PIOS_DELAY_WaitmS(100);
//USB_LED_OFF;
PIOS_DELAY_WaitmS(100);
#if defined(USE_WATCHDOG)
processWatchdog(); // process the watchdog
#endif
}
}
// *****************************************************************************
// find out what caused our reset and act on it
void processReset(void)
{
if (RCC_GetFlagStatus(RCC_FLAG_IWDGRST) != RESET)
{ // Independant Watchdog Reset
#if defined(PIOS_COM_DEBUG)
DEBUG_PRINTF("\r\nINDEPENDANT WATCHDOG CAUSED A RESET\r\n");
#endif
// all led's ON
//USB_LED_ON;
PIOS_DELAY_WaitmS(500); // delay a bit
// all led's OFF
//USB_LED_OFF;
}
/*
if (RCC_GetFlagStatus(RCC_FLAG_WWDGRST) != RESET)
{ // Window Watchdog Reset
DEBUG_PRINTF("\r\nWINDOW WATCHDOG CAUSED A REBOOT\r\n");
// all led's ON
USB_LED_ON;
LINK_LED_ON;
RX_LED_ON;
TX_LED_ON;
PIOS_DELAY_WaitmS(500); // delay a bit
// all led's OFF
USB_LED_OFF;
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
}
*/
if (RCC_GetFlagStatus(RCC_FLAG_PORRST) != RESET)
{ // Power-On Reset
#if defined(PIOS_COM_DEBUG)
DEBUG_PRINTF("\r\nPOWER-ON-RESET\r\n");
#endif
}
if (RCC_GetFlagStatus(RCC_FLAG_SFTRST) != RESET)
{ // Software Reset
#if defined(PIOS_COM_DEBUG)
DEBUG_PRINTF("\r\nSOFTWARE RESET\r\n");
#endif
}
if (RCC_GetFlagStatus(RCC_FLAG_LPWRRST) != RESET)
{ // Low-Power Reset
#if defined(PIOS_COM_DEBUG)
DEBUG_PRINTF("\r\nLOW POWER RESET\r\n");
#endif
}
if (RCC_GetFlagStatus(RCC_FLAG_PINRST) != RESET)
{ // Pin Reset
#if defined(PIOS_COM_DEBUG)
DEBUG_PRINTF("\r\nPIN RESET\r\n");
#endif
}
// Clear reset flags
RCC_ClearFlag();
}
/*static void updateOnceEveryFrame() {
#ifdef TEXT_ENABLED
clearText();
for (uint8_t i = 0; i < TEXT_LINES; ++i) {
updateText(i);
}
#endif //TEXT_ENABLED
#ifdef GRAPICSENABLED
clearGraphics();
updateGrapics();
#endif //GRAPICSENABLED
}
*/
int main()
{
int result;
// *************
// init various variables
// *************
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
vPortInitialiseBlocks();
// Bring up System using CMSIS functions, enables the LEDs.
PIOS_SYS_Init();
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
/* always rely on FreeRTOS primitive */
result = xTaskCreate(initTask, (const signed char *)"init",
INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
&initTaskHandle);
PIOS_Assert(result == pdPASS);
// turn all the leds off
//USB_LED_OFF;
#if defined(PIOS_COM_DEBUG)
DEBUG_PRINTF("\r\n");
#endif
// *************
// Main executive loop
clearGraphics();
introGraphics();
PIOS_DELAY_WaitmS(1000);
//clearText();
introText();
PIOS_DELAY_WaitmS(1000);
/*for(int i=0;i<10000;i++){
updateTextPixmap(activeTextId);
PIOS_DELAY_WaituS(10);
}*/
/* swap the stack to use the IRQ stack */
//Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
for(;;) { \
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
/*
for (;;)
{
#ifdef TEXT_ENABLED
if (update == 2) {
update = 0;
#ifdef TEXT_INVERTED_ENABLED
clearTextInverted();
#endif //TEXT_INVERTED_ENABLED
updateTextPixmap(activeTextId);
}
else if (update == 1) {
#else
if (update == 1) {
#endif //TEXTENABLED
update = 0;
updateOnceEveryFrame();
}
#if defined(USE_WATCHDOG)
processWatchdog(); // process the watchdog
#endif
}
// *************
// we should never arrive here
// disable all interrupts
PIOS_IRQ_Disable();
// turn off all leds
USB_LED_OFF;
PIOS_SYS_Reset();
while (1);
*/
return 0;
}
/**
* Initialisation task.
*
* Runs board and module initialisation, then terminates.
*/
void
initTask(void *parameters)
{
/* board driver init */
PIOS_Board_Init();
/* Initialize modules */
MODULE_INITIALISE_ALL;
/* terminate this task */
vTaskDelete(NULL);
}
// *****************************************************************************

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/**
******************************************************************************
*
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board specific static initializers for hardware for the OPOSD board.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios.h>
#include <fifo_buffer.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#define TxBufferSize3 33
/* Private macro -------------------------------------------------------------*/
#define countof(a) (sizeof(a) / sizeof(*(a)))
/* Private variables ---------------------------------------------------------*/
//uint8_t TxBuffer2[TxBufferSize2];
uint8_t TxBuffer3[TxBufferSize3];
//uint8_t RxBuffer2[TxBufferSize2];
uint8_t RxBuffer3[TxBufferSize3];
//uint8_t UART1_REVDATA[380];
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
#if defined(PIOS_INCLUDE_RTC)
/*
* Realtime Clock (RTC)
*/
#include <pios_rtc_priv.h>
void PIOS_RTC_IRQ_Handler (void);
void RTC_WKUP_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div8, // Divide 8 Mhz crystal down to 1
// For some reason it's acting like crystal is 16 Mhz. This clock is then divided
// by another 16 to give a nominal 62.5 khz clock
.prescaler = 100, // Every 100 cycles gives 625 Hz
.irq = {
.init = {
.NVIC_IRQChannel = RTC_WKUP_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_RTC_IRQ_Handler (void)
{
PIOS_RTC_irq_handler ();
}
#endif
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
},
[PIOS_LED_ALARM] = {
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_GPS)
#include <pios_usart_priv.h>
/*
* GPS USART
*/
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART1,
.remap = GPIO_AF_USART1,
.init = {
.USART_BaudRate = 38400,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl =
USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_GPS */
#ifdef PIOS_INCLUDE_COM_AUX
/*
* AUX USART
*/
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART1,
.remap = GPIO_AF_USART1,
.init = {
.USART_BaudRate = 230400,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl =
USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_COM_AUX */
#ifdef PIOS_INCLUDE_COM_TELEM
/*
* Telemetry on main USART
*/
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
.regs = USART6,
.remap = GPIO_AF_USART6,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl =
USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART6_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_COM_TELEM */
#if defined(PIOS_INCLUDE_VIDEO)
#include <pios_video.h>
static const struct pios_exti_cfg pios_exti_hsync_cfg __exti_config = {
.vector = PIOS_Hsync_ISR,
.line = EXTI_Line0,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line0, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
static const struct pios_exti_cfg pios_exti_vsync_cfg __exti_config = {
.vector = PIOS_Vsync_ISR,
.line = EXTI_Line11,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI15_10_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line11, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
static const struct pios_video_cfg pios_video_cfg = {
.mask = {
.regs = SPI3,
.remap = GPIO_AF_SPI3,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_1Line_Tx,
.SPI_DataSize = SPI_DataSize_16b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_Low,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case RX)
.flags = (DMA_IT_TCIF7),
.init = {
.NVIC_IRQChannel = DMA1_Stream7_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
//not used
.channel = DMA1_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord,
.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream7,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_BufferSize = BUFFER_LINE_LENGTH,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord,
.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_High,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
},
.level = {
.regs = SPI1,
.remap = GPIO_AF_SPI1,
.init = {
.SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_1Line_Tx,
.SPI_DataSize = SPI_DataSize_16b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_Low,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
},
.use_crc = false,
.dma = {
.irq = {
.flags = (DMA_IT_TCIF5),
.init = {
.NVIC_IRQChannel = DMA2_Stream5_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
//not used
.channel = DMA2_Stream0,
.init = {
.DMA_Channel = DMA_Channel_3,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
/* .DMA_FIFOThreshold */
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA2_Stream5,
.init = {
.DMA_Channel = DMA_Channel_3,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_BufferSize = BUFFER_LINE_LENGTH,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord,
.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_High,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.slave_count = 1,
},
/////////////////
.hsync = &pios_exti_hsync_cfg,
.vsync = &pios_exti_vsync_cfg,
};
void PIOS_VIDEO_DMA_Handler(void);
void DMA1_Stream7_IRQHandler(void) __attribute__ ((alias("PIOS_VIDEO_DMA_Handler")));
void DMA2_Stream5_IRQHandler(void) __attribute__ ((alias("PIOS_VIDEO_DMA_Handler")));
/**
* @brief Interrupt for half and full buffer transfer
*
* This interrupt handler swaps between the two halfs of the double buffer to make
* sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but
* really this is a pretense of a sanity check since the DMA engine is consantly
* running in the background. Keep an eye on the ekf_too_slow variable to make sure
* it's keeping up.
*/
void PIOS_VIDEO_DMA_Handler(void)
{
if (DMA_GetFlagStatus(DMA1_Stream7,DMA_FLAG_TCIF7)) { // whole double buffer filled
DMA_ClearFlag(DMA1_Stream5,DMA_FLAG_TCIF7);
//PIOS_LED_Toggle(LED2);
}
else if (DMA_GetFlagStatus(DMA1_Stream7,DMA_FLAG_HTIF7)) {
DMA_ClearFlag(DMA1_Stream5,DMA_FLAG_HTIF7);
}
else {
}
if (DMA_GetFlagStatus(DMA2_Stream5,DMA_FLAG_TCIF5)) { // whole double buffer filled
DMA_ClearFlag(DMA2_Stream5,DMA_FLAG_TCIF5);
//PIOS_LED_Toggle(LED3);
}
else if (DMA_GetFlagStatus(DMA2_Stream5,DMA_FLAG_HTIF5)) {
DMA_ClearFlag(DMA2_Stream5,DMA_FLAG_HTIF5);
}
else {
}
}
#endif
/*
* ADC system
*/
#include <pios_adc_priv.h>
void PIOS_ADC_handler(void)
{
PIOS_ADC_DMA_Handler();
}
void DMA2_Stream4_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.irq = {
.flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
.init = {
.NVIC_IRQChannel = DMA2_Stream4_IRQn
},
},
/* XXX there is secret knowledge here regarding the use of ADC1 by the pios_adc code */
.rx = {
.channel = DMA2_Stream4, // stream0 may be used by SPI1
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR
},
}
},
.half_flag = DMA_IT_HTIF4,
.full_flag = DMA_IT_TCIF4,
};
struct pios_adc_dev pios_adc_devs[] = {
{
.cfg = &pios_adc_cfg,
.callback_function = NULL,
.data_queue = NULL
},
};
uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
/* Private define ------------------------------------------------------------*/
#define DAC_DHR12R2_ADDRESS 0x40007414
#define DAC_DHR8R1_ADDRESS 0x40007410
/* Private variables ---------------------------------------------------------*/
DAC_InitTypeDef DAC_InitStructure;
const uint16_t Sine12bit[32] = {
2047, 2447, 2831, 3185, 3498, 3750, 3939, 4056, 4095, 4056,
3939, 3750, 3495, 3185, 2831, 2447, 2047, 1647, 1263, 909,
599, 344, 155, 38, 0, 38, 155, 344, 599, 909, 1263, 1647};
const uint8_t Escalator8bit[6] = {0x0, 0x33, 0x66, 0x99, 0xCC, 0xFF};
/**
* @brief TIM6 Configuration
* @note TIM6 configuration is based on CPU @168MHz and APB1 @42MHz
* @note TIM6 Update event occurs each 37.5MHz/256 = 16.406 KHz
* @param None
* @retval None
*/
void TIM6_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* TIM6 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 27;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
/* TIM6 TRGO selection */
TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update);
/* TIM6 enable counter */
TIM_Cmd(TIM6, ENABLE);
}
/**
* @brief DAC Channel2 SineWave Configuration
* @param None
* @retval None
*/
void DAC_Ch2_SineWaveConfig(void)
{
DMA_InitTypeDef DMA_InitStructure;
/* DAC channel2 Configuration */
DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO;
DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
DAC_Init(DAC_Channel_2, &DAC_InitStructure);
/* DMA1_Stream5 channel7 configuration **************************************/
DMA_DeInit(DMA1_Stream6);
DMA_InitStructure.DMA_Channel = DMA_Channel_7;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(uint32_t)&DAC->DHR12R2;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&Sine12bit;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_BufferSize = 32;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream6, &DMA_InitStructure);
/* Enable DMA1_Stream5 */
DMA_Cmd(DMA1_Stream6, ENABLE);
/* Enable DAC Channel2 */
DAC_Cmd(DAC_Channel_2, ENABLE);
/* Enable DMA for DAC Channel2 */
DAC_DMACmd(DAC_Channel_2, ENABLE);
}
void DAC_Ch1_SineWaveConfig(void)
{
DMA_InitTypeDef DMA_InitStructure;
/* DAC channel2 Configuration */
DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO;
DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
DAC_Init(DAC_Channel_1, &DAC_InitStructure);
/* DMA1_Stream5 channel7 configuration **************************************/
DMA_DeInit(DMA1_Stream5);
DMA_InitStructure.DMA_Channel = DMA_Channel_7;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(uint32_t)&DAC->DHR12R1;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&Sine12bit;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_BufferSize = 32;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream5, &DMA_InitStructure);
/* Enable DMA1_Stream5 */
DMA_Cmd(DMA1_Stream5, ENABLE);
/* Enable DAC Channel2 */
DAC_Cmd(DAC_Channel_1, ENABLE);
/* Enable DMA for DAC Channel2 */
DAC_DMACmd(DAC_Channel_1, ENABLE);
}
static void Clock(uint32_t spektrum_id);
void initUSARTs(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
/* Configure USART Tx as alternate function push-pull */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_UART4);
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure USART Rx as input floating */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_UART4);
GPIO_Init(GPIOA, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = 57600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(UART4, &USART_InitStructure);
USART_DMACmd(UART4, USART_DMAReq_Rx, ENABLE);
DMA_Cmd(DMA1_Stream2, ENABLE);
USART_Cmd(UART4, ENABLE);
}
#define DMA_Channel_USART4_RX DMA1_Stream2
#define DMA_Channel_USART4_TX DMA1_Stream4
#define DMA_FLAG_USART3_TC_RX DMA1_FLAG_TC3
#define DMA_FLAG_USART3_TC_TX DMA1_FLAG_TC2
#define USART3_DR_Base 0x40004804
void init_USART_dma()
{
DMA_InitTypeDef DMA_InitStructure;
/*RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(USART3->DR);
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_BufferSize = size;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)buff[0];
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_DeInit(DMA_Channel_USART3_RX);
DMA_Init(DMA_Channel_USART3_RX, &DMA_InitStructure);
//DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
DMA_Cmd(DMA_Channel_USART3_RX, ENABLE);
USART_DMACmd(USART3, USART_DMAReq_Rx, ENABLE);*/
/*DMA Channel2 USART3 TX*/
DMA_DeInit(DMA1_Stream4);
DMA_InitStructure.DMA_Channel = DMA_Channel_4;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART4->DR;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)TxBuffer3;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; /*read from ram*/
DMA_InitStructure.DMA_BufferSize = TxBufferSize3; /*if content is 0,stop TX*/
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
//DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
//DMA_Init(DMA1_Channel2, &DMA_InitStructure);
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
/*DMA Channel3 USART3 RX*/
DMA_DeInit(DMA1_Stream2);
DMA_InitStructure.DMA_Channel = DMA_Channel_4;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART4->DR;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)RxBuffer3;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = sizeof(RxBuffer3);
DMA_Init(DMA1_Stream2, &DMA_InitStructure);
}
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"
static const struct pios_usb_cfg pios_usb_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = OTG_FS_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 3,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.vsense = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
},
}
};
#include "pios_usb_board_data_priv.h"
#include "pios_usb_desc_hid_cdc_priv.h"
#include "pios_usb_desc_hid_only_priv.h"
#include "pios_usbhook.h"
#endif /* PIOS_INCLUDE_USB */
#if defined(PIOS_INCLUDE_COM_MSG)
#include <pios_com_msg_priv.h>
#endif /* PIOS_INCLUDE_COM_MSG */
#if defined(PIOS_INCLUDE_USB_HID)
#include <pios_usb_hid_priv.h>
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_if = 0,
.data_rx_ep = 1,
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_cdc_priv.h>
const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
.ctrl_if = 1,
.ctrl_tx_ep = 2,
.data_if = 2,
.data_rx_ep = 3,
.data_tx_ep = 3,
};
#endif /* PIOS_INCLUDE_USB_CDC */
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
#define PIOS_COM_GPS_RX_BUF_LEN 32
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
uint32_t pios_com_aux_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_telem_rf_id;
void PIOS_Board_Init(void) {
// Delay system
PIOS_DELAY_Init();
PIOS_LED_Init(&pios_led_cfg);
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
if (!PIOS_RTC_RegisterTickCallback(Clock, 0)) {
PIOS_DEBUG_Assert(0);
}
#endif
#if 0
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
uint8_t hwsettings_usb_devicetype;
HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
switch (hwsettings_usb_devicetype) {
case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
break;
case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
break;
case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
break;
default:
PIOS_Assert(0);
}
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hwsettings_usb_vcpport;
/* Configure the USB VCP port */
HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
}
switch (hwsettings_usb_vcpport) {
case HWSETTINGS_USB_VCPPORT_DISABLED:
break;
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hwsettings_usb_hidport;
HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
}
switch (hwsettings_usb_hidport) {
case HWSETTINGS_USB_HIDPORT_DISABLED:
break;
case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
#endif
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_GPS)
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_GPS */
#if defined(PIOS_INCLUDE_COM_AUX)
{
uint32_t pios_usart_aux_id;
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
PIOS_DEBUG_Assert(0);
}
const uint32_t BUF_SIZE = 512;
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
rx_buffer, BUF_SIZE,
tx_buffer, BUF_SIZE)) {
PIOS_DEBUG_Assert(0);
}
}
#else
pios_com_aux_id = 0;
#endif /* PIOS_INCLUDE_COM_AUX */
#if defined(PIOS_INCLUDE_COM_TELEM)
{ /* Eventually add switch for this port function */
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#else
pios_com_telem_rf_id = 0;
#endif /* PIOS_INCLUDE_COM_TELEM */
#endif /* PIOS_INCLUDE_COM */
/*
uint32_t pios_usart_hkosd_id;
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
rx_buffer, PIOS_COM_HKOSD_RX_BUF_LEN,
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
PIOS_Assert(0);
}*/
/*
uint32_t pios_usart_serial_id;
if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
PIOS_DEBUG_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}*/
#if 1
/* Preconfiguration before using DAC----------------------------------------*/
GPIO_InitTypeDef GPIO_InitStructure;
/* DAC Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
/* DAC channel 1 & 2 (DAC_OUT1 = PA.4)(DAC_OUT2 = PA.5) configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* TIM6 Configuration ------------------------------------------------------*/
TIM6_Config();
DAC_DeInit();
DAC_Ch1_SineWaveConfig();
//DAC_Ch2_SineWaveConfig();
#endif
// ADC system
PIOS_ADC_Init();
// SPI link to master
/*if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
PIOS_DEBUG_Assert(0);
}*/
init_USART_dma();
initUSARTs();
extern t_fifo_buffer rx;
fifoBuf_init(&rx,RxBuffer3,sizeof(RxBuffer3));
PIOS_Video_Init(&pios_video_cfg);
//uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_RX_BUF_LEN);
//uint8_t test[16];
}
uint16_t supv_timer=0;
static void Clock(uint32_t spektrum_id) {
/* 125hz */
++supv_timer;
if(supv_timer >= 625) {
supv_timer = 0;
time.sec++;
}
if (time.sec >= 60) {
time.sec = 0;
time.min++;
}
if (time.min >= 60) {
time.min = 0;
time.hour++;
}
if (time.hour >= 99) {
time.hour = 0;
}
}

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
* @brief Board specific USB definitions
* @{
*
* @file pios_usb_board_data.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Board specific USB definitions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */
#include "pios_usbhook.h" /* PIOS_USBHOOK_* */
static const uint8_t usb_product_id[22] = {
sizeof(usb_product_id),
USB_DESC_TYPE_STRING,
'R', 0,
'e', 0,
'v', 0,
'o', 0,
'l', 0,
'u', 0,
't', 0,
'i', 0,
'o', 0,
'n', 0,
};
static uint8_t usb_serial_number[52] = {
sizeof(usb_serial_number),
USB_DESC_TYPE_STRING,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0
};
static const struct usb_string_langid usb_lang_id = {
.bLength = sizeof(usb_lang_id),
.bDescriptorType = USB_DESC_TYPE_STRING,
.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
};
static const uint8_t usb_vendor_id[28] = {
sizeof(usb_vendor_id),
USB_DESC_TYPE_STRING,
'o', 0,
'p', 0,
'e', 0,
'n', 0,
'p', 0,
'i', 0,
'l', 0,
'o', 0,
't', 0,
'.', 0,
'o', 0,
'r', 0,
'g', 0
};
int32_t PIOS_USB_BOARD_DATA_Init(void)
{
/* Load device serial number into serial number string */
uint8_t sn[25];
PIOS_SYS_SerialNumberGet((char *)sn);
for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
usb_serial_number[2 + 2 * i] = sn[i];
}
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
return 0;
}

220
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/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
* File Name : usb_desc.c
* Author : MCD Application Team
* Version : V3.2.1
* Date : 07/05/2010
* Description : Descriptors for Custom HID Demo
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
#include "usb_lib.h"
#include "pios_usb.h"
#include "pios_usb_hid.h"
#include "pios_usb_hid_desc.h"
// *************************************************
// USB Standard Device Descriptor
const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] =
{
0x12, // bLength
USB_DEVICE_DESCRIPTOR_TYPE, // bDescriptorType
0x00, // bcdUSB
0x02,
0x00, // bDeviceClass
0x00, // bDeviceSubClass
0x00, // bDeviceProtocol
0x40, // bMaxPacketSize40
(uint8_t)((PIOS_USB_VENDOR_ID) & 0xff), // idVendor
(uint8_t)((PIOS_USB_VENDOR_ID) >> 8),
(uint8_t)((PIOS_USB_PRODUCT_ID) & 0xff), // idProduct
(uint8_t)((PIOS_USB_PRODUCT_ID) >> 8),
(uint8_t)((PIOS_USB_VERSION_ID) & 0xff), // bcdDevice
(uint8_t)((PIOS_USB_VERSION_ID) >> 8),
0x01, // Index of string descriptor describing manufacturer
0x02, // Index of string descriptor describing product
0x03, // Index of string descriptor describing the device serial number
0x01 // bNumConfigurations
};
// *************************************************
// USB Configuration Descriptor
// All Descriptors (Configuration, Interface, Endpoint, Class, Vendor
const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] =
{
0x09, // bLength: Configuation Descriptor size
USB_CONFIGURATION_DESCRIPTOR_TYPE, // bDescriptorType: Configuration
PIOS_HID_SIZ_CONFIG_DESC,
// wTotalLength: Bytes returned
0x00,
0x01, // bNumInterfaces: 1 interface
0x01, // bConfigurationValue: Configuration value
0x00, // iConfiguration: Index of string descriptor describing the configuration
0xC0, // bmAttributes: Bus powered
0x7D, // MaxPower 250 mA - needed to power the RF transmitter
// ************** Descriptor of Custom HID interface ****************
// 09
0x09, // bLength: Interface Descriptor size
USB_INTERFACE_DESCRIPTOR_TYPE, // bDescriptorType: Interface descriptor type
0x00, // bInterfaceNumber: Number of Interface
0x00, // bAlternateSetting: Alternate setting
0x02, // bNumEndpoints
0x03, // bInterfaceClass: HID
0x00, // bInterfaceSubClass : 1=BOOT, 0=no boot
0x00, // nInterfaceProtocol : 0=none, 1=keyboard, 2=mouse
0, // iInterface: Index of string descriptor
// ******************** Descriptor of Custom HID HID ********************
// 18
0x09, // bLength: HID Descriptor size
HID_DESCRIPTOR_TYPE, // bDescriptorType: HID
0x10, // bcdHID: HID Class Spec release number
0x01,
0x00, // bCountryCode: Hardware target country
0x01, // bNumDescriptors: Number of HID class descriptors to follow
0x22, // bDescriptorType
PIOS_HID_SIZ_REPORT_DESC, // wItemLength: Total length of Report descriptor
0x00,
// ******************** Descriptor of Custom HID endpoints ******************
// 27
0x07, // bLength: Endpoint Descriptor size
USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType:
0x81, // bEndpointAddress: Endpoint Address (IN)
0x03, // bmAttributes: Interrupt endpoint
0x40, // wMaxPacketSize: 2 Bytes max
0x00,
0x04, // bInterval: Polling Interval in ms
// 34
0x07, // bLength: Endpoint Descriptor size
USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType:
// Endpoint descriptor type
0x01, // bEndpointAddress:
// Endpoint Address (OUT)
0x03, // bmAttributes: Interrupt endpoint
0x40, // wMaxPacketSize: 2 Bytes max
0x00,
0x04, // bInterval: Polling Interval in ms
// 41
};
// *************************************************
const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] =
{
0x06, 0x9c, 0xff, // USAGE_PAGE (Vendor Page: 0xFF00)
0x09, 0x01, // USAGE (Demo Kit)
0xa1, 0x01, // COLLECTION (Application)
// 6
// Data 1
0x85, 0x01, // REPORT_ID (1)
0x09, 0x02, // USAGE (LED 1)
0x15, 0x00, // LOGICAL_MINIMUM (0)
0x25, 0xff, // LOGICAL_MAXIMUM (255)
0x75, 0x08, // REPORT_SIZE (8)
0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1)
0x81, 0x83, // INPUT (Const,Var,Array)
// 20
// Data 1
0x85, 0x02, // REPORT_ID (2)
0x09, 0x03, // USAGE (LED 1)
0x15, 0x00, // LOGICAL_MINIMUM (0)
0x25, 0xff, // LOGICAL_MAXIMUM (255)
0x75, 0x08, // REPORT_SIZE (8)
0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1)
0x91, 0x82, // OUTPUT (Data,Var,Abs,Vol)
// 34
0xc0 // END_COLLECTION
};
// *************************************************
// USB String Descriptors (optional)
const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID] =
{
PIOS_HID_SIZ_STRING_LANGID,
USB_STRING_DESCRIPTOR_TYPE,
0x09, 0x08 // LangID = 0x0809: UK. English
// 0x09, 0x04 // LangID = 0x0409: U.S. English
};
const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR] =
{
PIOS_HID_SIZ_STRING_VENDOR, // Size of Vendor string
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
// Manufacturer: "STMicroelectronics"
'o', 0,
'p', 0,
'e', 0,
'n', 0,
'p', 0,
'i', 0,
'l', 0,
'o', 0,
't', 0,
'.', 0,
'o', 0,
'r', 0,
'g', 0
};
const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT] =
{
PIOS_HID_SIZ_STRING_PRODUCT, // bLength
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
'P', 0,
'i', 0,
'p', 0,
'X', 0,
't', 0,
'r', 0,
'e', 0,
'm', 0,
'e', 0
};
uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL] =
{
PIOS_HID_SIZ_STRING_SERIAL, // bLength
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0
};
// *************************************************

150
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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file taskmonitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Task monitoring library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
//#include "taskmonitor.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
static uint32_t lastMonitorTime;
// Private functions
/**
* Initialize library
*/
int32_t TaskMonitorInitialize(void)
{
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = 0;
#if defined(DIAGNOSTICS)
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
return 0;
}
/**
* Register a task handle with the library
*/
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
{
if (task < TASKINFO_RUNNING_NUMELEM)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
handles[task] = handle;
xSemaphoreGiveRecursive(lock);
return 0;
}
else
{
return -1;
}
}
/**
* Remove a task handle from the library
*/
int32_t TaskMonitorRemove(TaskInfoRunningElem task)
{
if (task < TASKINFO_RUNNING_NUMELEM)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
handles[task] = 0;
xSemaphoreGiveRecursive(lock);
return 0;
}
else
{
return -1;
}
}
/**
* Update the status of all tasks
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAGNOSTICS)
TaskInfoData data;
int n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t currentTime;
uint32_t deltaTime;
/*
* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages.
*/
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
lastMonitorTime = currentTime;
#endif
// Update all task information
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
{
if (handles[n] != 0)
{
data.Running[n] = TASKINFO_RUNNING_TRUE;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
data.StackRemaining[n] = 10000;
#else
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
#endif
}
else
{
data.Running[n] = TASKINFO_RUNNING_FALSE;
data.StackRemaining[n] = 0;
data.RunningTime[n] = 0;
}
}
// Update object
TaskInfoSet(&data);
// Done
xSemaphoreGiveRecursive(lock);
#endif
}

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/**
******************************************************************************
*
* @file watchdog.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Modem packet handling routines
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#include "stm32f10x_iwdg.h"
#include "stm32f10x_dbgmcu.h"
/**
* @brief Initialize the watchdog timer for a specified timeout
*
* It is important to note that this function returns the achieved timeout
* for this hardware. For hardware indendence this should be checked when
* scheduling updates. Other hardware dependent details may need to be
* considered such as a window time which sets a minimum update time,
* and this function should return a recommended delay for clearing.
*
* For the STM32 nominal clock rate is 32 khz, but for the maximum clock rate of
* 60 khz and a prescalar of 4 yields a clock rate of 15 khz. The delay that is
* set in the watchdog assumes the nominal clock rate, but the delay for FreeRTOS
* to use is 75% of the minimal delay.
*
* @param[in] delayMs The delay period in ms
* @returns Maximum recommended delay between updates
*/
uint16_t watchdog_Init(uint16_t delayMs)
{
uint16_t delay = ((uint32_t)delayMs * 60) / 16;
if (delay > 0x0fff)
delay = 0x0fff;
DBGMCU_Config(DBGMCU_IWDG_STOP, ENABLE); // make the watchdog stop counting in debug mode
IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);
IWDG_SetPrescaler(IWDG_Prescaler_16);
IWDG_SetReload(delay);
IWDG_ReloadCounter();
IWDG_Enable();
return ((((uint32_t)delay * 16) / 60) * .75f);
}
/**
* @brief Clear the watchdog timer
*
* This function must be called at the appropriate delay to prevent a reset event occuring
*/
void watchdog_Clear(void)
{
IWDG_ReloadCounter();
}

467
flight/PiOS/Boards/STM32F4xx_OSD.h Normal file
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@ -0,0 +1,467 @@
/**
******************************************************************************
*
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_BOARD_H
#define PIOS_BOARD_H
// *****************************************************************
// Timers and Channels Used
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+------------+------------+------------+------------
TIM1 | DELAY |
TIM2 | | PPM Output | PPM Input |
TIM3 | TIMER INTERRUPT |
TIM4 | STOPWATCH |
------+------------+------------+------------+------------
*/
//------------------------
// DMA Channels Used
//------------------------
/* Channel 1 - */
/* Channel 2 - */
/* Channel 3 - */
/* Channel 4 - */
/* Channel 5 - */
/* Channel 6 - */
/* Channel 7 - */
/* Channel 8 - */
/* Channel 9 - */
/* Channel 10 - */
/* Channel 11 - */
/* Channel 12 - */
//-------------------------
// System Settings
//
// See also System_stm32f4xx.c
//-------------------------
//These macros are deprecated
//please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
//#define PIOS_MASTER_CLOCK
//#define PIOS_PERIPHERAL_CLOCK
//#define PIOS_PERIPHERAL_CLOCK
#define PIOS_SYSCLK 108000000
// Peripherals that belongs to APB1 are:
// DAC |PWR |CAN1,2
// I2C1,2,3 |UART4,5 |USART3,2
// I2S3Ext |SPI3/I2S3 |SPI2/I2S2
// I2S2Ext |IWDG |WWDG
// RTC/BKP reg
// TIM2,3,4,5,6,7,12,13,14
// Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
// Default APB1 Prescaler = 4
#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
// Peripherals belonging to APB2
// SDIO |EXTI |SYSCFG |SPI1
// ADC1,2,3
// USART1,6
// TIM1,8,9,10,11
//
// Default APB2 Prescaler = 2
//
#define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK
//------------------------
// BOOTLOADER_SETTINGS
//------------------------
#define BOARD_READABLE TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
//------------------------
// TELEMETRY
//------------------------
#define TELEM_QUEUE_SIZE 20
#define PIOS_TELEM_STACK_SIZE 624
// *****************************************************************
// System Settings
#define PIOS_MASTER_CLOCK 108000000ul
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
// *****************************************************************
// Interrupt Priorities
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
//------------------------
// WATCHDOG_SETTINGS
//------------------------
#define PIOS_WATCHDOG_TIMEOUT 250
#define PIOS_WDG_REGISTER RTC_BKP_DR4
#define PIOS_WDG_ACTUATOR 0x0001
#define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_ATTITUDE 0x0004
#define PIOS_WDG_MANUAL 0x0008
// *****************************************************************
// PIOS_LED
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1
#define PIOS_LED_LED1_GPIO_PORT GPIOD
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_13 //LD3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_LED_LED2_GPIO_PORT GPIOD
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_12 //LD4
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_LED_LED3_GPIO_PORT GPIOD
#define PIOS_LED_LED3_GPIO_PIN GPIO_Pin_14 //LD5
#define PIOS_LED_LED3_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_LED_LED4_GPIO_PORT GPIOD
#define PIOS_LED_LED4_GPIO_PIN GPIO_Pin_15 //LD6
#define PIOS_LED_LED4_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_LED_NUM 4
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT, PIOS_LED_LED3_GPIO_PORT, PIOS_LED_LED4_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN, PIOS_LED_LED3_GPIO_PIN, PIOS_LED_LED4_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK, PIOS_LED_LED3_GPIO_CLK, PIOS_LED_LED4_GPIO_CLK }
/*#define USB_LED_ON PIOS_LED_On(LED1)
#define USB_LED_OFF PIOS_LED_Off(LED1)
#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1)
*/
// *****************************************************************
// Delay Timer
//#define PIOS_DELAY_TIMER TIM2
//#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
#define PIOS_DELAY_TIMER TIM1
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE)
// *****************************************************************
// Timer interrupt
/*#define TIMER_INT_TIMER TIM3
#define TIMER_INT_FUNC TIM3_IRQHandler
#define TIMER_INT_PRIORITY 2
// *****************************************************************
// Stop watch timer
#define STOPWATCH_TIMER TIM4*/
//------------------------
// PIOS_SPI
// See also pios_board.c
//------------------------
#define PIOS_SPI_MAX_DEVS 1
extern uint32_t pios_spi_port_id;
#define PIOS_SPI_PORT (pios_spi_port_id)
//-------------------------
// PIOS_USART
//
// See also pios_board.c
//-------------------------
#define PIOS_USART_MAX_DEVS 5
//-------------------------
// PIOS_COM
//
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 4
extern uint32_t pios_com_telem_rf_id;
extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_aux_id;
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_OSD (pios_com_hkosd_id)
//extern uint32_t pios_com_serial_id;
//#define PIOS_COM_SERIAL (pios_com_serial_id)
//#define PIOS_COM_DEBUG PIOS_COM_SERIAL // uncomment this to send debug info out the serial port
//extern uint32_t pios_com_gps_id;
//#define PIOS_COM_GPS (pios_com_gps_id)
#if defined(PIOS_INCLUDE_USB_HID)
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#endif
#if defined(PIOS_COM_DEBUG)
// #define DEBUG_PRINTF(...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, __VA_ARGS__)
#define DEBUG_PRINTF(...) PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__)
#else
#define DEBUG_PRINTF(...)
#endif
// *****************************************************************
// ADC
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = External voltage
// PIOS_ADC_PinGet(1) = AUX1 (PX2IO external pressure port)
// PIOS_ADC_PinGet(2) = AUX2 (Current sensor, if available)
// PIOS_ADC_PinGet(3) = AUX3
// PIOS_ADC_PinGet(4) = VREF
// PIOS_ADC_PinGet(5) = Temperature sensor
//-------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
{GPIOC, GPIO_Pin_0, ADC_Channel_10}, \
{GPIOC, GPIO_Pin_1, ADC_Channel_11}, \
{GPIOC, GPIO_Pin_2, ADC_Channel_12}, \
{GPIOC, GPIO_Pin_3, ADC_Channel_13}, \
{NULL, 0, ADC_Channel_Vrefint}, /* Voltage reference */\
{NULL, 0, ADC_Channel_TempSensor} /* Temperature sensor */\
}
/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
/* which is annoying because this then determines the rate at which we generate buffer turnover events */
/* the objective here is to get enough buffer space to support 100Hz averaging rate */
#define PIOS_ADC_NUM_CHANNELS 6
#define PIOS_ADC_MAX_OVERSAMPLING 10
#define PIOS_ADC_USE_ADC2 0
// *****************************************************************
// GPIO output pins
// GPIO_Mode_Out_OD Open Drain Output
// GPIO_Mode_Out_PP Push-Pull Output
// GPIO_Mode_AF_OD Open Drain Output Alternate-Function
// GPIO_Mode_AF_PP Push-Pull Output Alternate-Function
// Serial port RTS line
#define PIOS_GPIO_OUT_0_PORT GPIOB
#define PIOS_GPIO_OUT_0_PIN GPIO_Pin_15
#define PIOS_GPIO_OUT_0_GPIO_CLK RCC_APB2Periph_GPIOB
// RF module chip-select line
#define PIOS_GPIO_OUT_1_PORT GPIOA
#define PIOS_GPIO_OUT_1_PIN GPIO_Pin_4
#define PIOS_GPIO_OUT_1_GPIO_CLK RCC_APB2Periph_GPIOA
// PPM OUT line
#define PIOS_GPIO_OUT_2_PORT GPIOB
#define PIOS_GPIO_OUT_2_PIN GPIO_Pin_10
#define PIOS_GPIO_OUT_2_GPIO_CLK RCC_APB2Periph_GPIOB
// spare pin
#define PIOS_GPIO_OUT_3_PORT GPIOA
#define PIOS_GPIO_OUT_3_PIN GPIO_Pin_0
#define PIOS_GPIO_OUT_3_GPIO_CLK RCC_APB2Periph_GPIOA
// spare pin
#define PIOS_GPIO_OUT_4_PORT GPIOA
#define PIOS_GPIO_OUT_4_PIN GPIO_Pin_1
#define PIOS_GPIO_OUT_4_GPIO_CLK RCC_APB2Periph_GPIOA
// spare pin
#define PIOS_GPIO_OUT_5_PORT GPIOC
#define PIOS_GPIO_OUT_5_PIN GPIO_Pin_13
#define PIOS_GPIO_OUT_5_GPIO_CLK RCC_APB2Periph_GPIOC
// spare pin
#define PIOS_GPIO_OUT_6_PORT GPIOC
#define PIOS_GPIO_OUT_6_PIN GPIO_Pin_14
#define PIOS_GPIO_OUT_6_GPIO_CLK RCC_APB2Periph_GPIOC
// spare pin
#define PIOS_GPIO_OUT_7_PORT GPIOC
#define PIOS_GPIO_OUT_7_PIN GPIO_Pin_15
#define PIOS_GPIO_OUT_7_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_NUM 8
#define PIOS_GPIO_PORTS {PIOS_GPIO_OUT_0_PORT, PIOS_GPIO_OUT_1_PORT, PIOS_GPIO_OUT_2_PORT, PIOS_GPIO_OUT_3_PORT, PIOS_GPIO_OUT_4_PORT, PIOS_GPIO_OUT_5_PORT, PIOS_GPIO_OUT_6_PORT, PIOS_GPIO_OUT_7_PORT}
#define PIOS_GPIO_PINS {PIOS_GPIO_OUT_0_PIN, PIOS_GPIO_OUT_1_PIN, PIOS_GPIO_OUT_2_PIN, PIOS_GPIO_OUT_3_PIN, PIOS_GPIO_OUT_4_PIN, PIOS_GPIO_OUT_5_PIN, PIOS_GPIO_OUT_6_PIN, PIOS_GPIO_OUT_7_PIN}
#define PIOS_GPIO_CLKS {PIOS_GPIO_OUT_0_GPIO_CLK, PIOS_GPIO_OUT_1_GPIO_CLK, PIOS_GPIO_OUT_2_GPIO_CLK, PIOS_GPIO_OUT_3_GPIO_CLK, PIOS_GPIO_OUT_4_GPIO_CLK, PIOS_GPIO_OUT_5_GPIO_CLK, PIOS_GPIO_OUT_6_GPIO_CLK, PIOS_GPIO_OUT_7_GPIO_CLK}
#define SERIAL_RTS_ENABLE PIOS_GPIO_Enable(0)
#define SERIAL_RTS_SET PIOS_GPIO_Off(0)
#define SERIAL_RTS_CLEAR PIOS_GPIO_On(0)
#define RF_CS_ENABLE PIOS_GPIO_Enable(1)
#define RF_CS_HIGH PIOS_GPIO_Off(1)
#define RF_CS_LOW PIOS_GPIO_On(1)
#define PPM_OUT_PIN PIOS_GPIO_OUT_2_PIN
#define PPM_OUT_PORT PIOS_GPIO_OUT_2_PORT
#define PPM_OUT_ENABLE PIOS_GPIO_Enable(2)
#define PPM_OUT_HIGH PIOS_GPIO_Off(2)
#define PPM_OUT_LOW PIOS_GPIO_On(2)
#define SPARE1_ENABLE PIOS_GPIO_Enable(3)
#define SPARE1_HIGH PIOS_GPIO_Off(3)
#define SPARE1_LOW PIOS_GPIO_On(3)
#define SPARE2_ENABLE PIOS_GPIO_Enable(4)
#define SPARE2_HIGH PIOS_GPIO_Off(4)
#define SPARE2_LOW PIOS_GPIO_On(4)
#define SPARE3_ENABLE PIOS_GPIO_Enable(5)
#define SPARE3_HIGH PIOS_GPIO_Off(5)
#define SPARE3_LOW PIOS_GPIO_On(5)
#define SPARE4_ENABLE PIOS_GPIO_Enable(6)
#define SPARE4_HIGH PIOS_GPIO_Off(6)
#define SPARE4_LOW PIOS_GPIO_On(6)
#define SPARE5_ENABLE PIOS_GPIO_Enable(7)
#define SPARE5_HIGH PIOS_GPIO_Off(7)
#define SPARE5_LOW PIOS_GPIO_On(7)
// *****************************************************************
// GPIO input pins
// GPIO_Mode_AIN Analog Input
// GPIO_Mode_IN_FLOATING Input Floating
// GPIO_Mode_IPD Input Pull-Down
// GPIO_Mode_IPU Input Pull-up
// API mode line
#define GPIO_IN_0_PORT GPIOB
#define GPIO_IN_0_PIN GPIO_Pin_13
#define GPIO_IN_0_MODE GPIO_Mode_IPU
// Serial port CTS line
#define GPIO_IN_1_PORT GPIOB
#define GPIO_IN_1_PIN GPIO_Pin_14
#define GPIO_IN_1_MODE GPIO_Mode_IPU
// VBUS sense line
#define GPIO_IN_2_PORT GPIOA
#define GPIO_IN_2_PIN GPIO_Pin_8
#define GPIO_IN_2_MODE GPIO_Mode_IN_FLOATING
// 868MHz jumper option
#define GPIO_IN_3_PORT GPIOB
#define GPIO_IN_3_PIN GPIO_Pin_8
#define GPIO_IN_3_MODE GPIO_Mode_IPU
// 915MHz jumper option
#define GPIO_IN_4_PORT GPIOB
#define GPIO_IN_4_PIN GPIO_Pin_9
#define GPIO_IN_4_MODE GPIO_Mode_IPU
// RF INT line
#define GPIO_IN_5_PORT GPIOA
#define GPIO_IN_5_PIN GPIO_Pin_2
#define GPIO_IN_5_MODE GPIO_Mode_IN_FLOATING
// RF misc line
#define GPIO_IN_6_PORT GPIOB
#define GPIO_IN_6_PIN GPIO_Pin_0
#define GPIO_IN_6_MODE GPIO_Mode_IN_FLOATING
// PPM IN line
#define PPM_IN_PORT GPIOB
#define PPM_IN_PIN GPIO_Pin_11
#define PPM_IN_MODE GPIO_Mode_IPD
#define GPIO_IN_NUM 8
#define GPIO_IN_PORTS { GPIO_IN_0_PORT, GPIO_IN_1_PORT, GPIO_IN_2_PORT, GPIO_IN_3_PORT, GPIO_IN_4_PORT, GPIO_IN_5_PORT, GPIO_IN_6_PORT, PPM_IN_PORT }
#define GPIO_IN_PINS { GPIO_IN_0_PIN, GPIO_IN_1_PIN, GPIO_IN_2_PIN, GPIO_IN_3_PIN, GPIO_IN_4_PIN, GPIO_IN_5_PIN, GPIO_IN_6_PIN, PPM_IN_PIN }
#define GPIO_IN_MODES { GPIO_IN_0_MODE, GPIO_IN_1_MODE, GPIO_IN_2_MODE, GPIO_IN_3_MODE, GPIO_IN_4_MODE, GPIO_IN_5_MODE, GPIO_IN_6_MODE, PPM_IN_MODE }
#define API_MODE_PIN 0
#define SERIAL_CTS_PIN 1
#define VBUS_SENSE_PIN 2
#define _868MHz_PIN 3
#define _915MHz_PIN 4
#define RF_INT_PIN 5
#define RF_MISC_PIN 6
// *****************************************************************
// USB
#if defined(PIOS_INCLUDE_USB_HID)
#define PIOS_USB_ENABLED 1
#define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT
#define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
#define PIOS_IRQ_USB_PRIORITY 8
#define PIOS_USB_RX_BUFFER_SIZE 512
#define PIOS_USB_TX_BUFFER_SIZE 512
#endif
// *****************************************************************
// VIDEO
#define PIOS_VIDEO_HSYNC_GPIO_PORT GPIOD
#define PIOS_VIDEO_HSYNC_GPIO_PIN GPIO_Pin_0
#define PIOS_VIDEO_HSYNC_PORT_SOURCE GPIO_PortSourceGPIOD
#define PIOS_VIDEO_HSYNC_PIN_SOURCE GPIO_PinSource0
#define PIOS_VIDEO_HSYNC_CLK RCC_AHB1Periph_GPIOD
#define PIOS_VIDEO_HSYNC_EXTI_LINE EXTI_Line0
#define PIOS_VIDEO_HSYNC_EXTI_PORT_SOURCE EXTI_PortSourceGPIOD
#define PIOS_VIDEO_HSYNC_EXTI_PIN_SOURCE EXTI_PinSource0
#define PIOS_VIDEO_HSYNC_IRQn EXTI0_IRQn
#define PIOS_VIDEO_HSYNC_PRIO PIOS_IRQ_PRIO_HIGHEST
//#define PIOS_VIDEO_SYNC_PRIO 1
#define PIOS_VIDEO_VSYNC_GPIO_PORT GPIOC
#define PIOS_VIDEO_VSYNC_GPIO_PIN GPIO_Pin_11
#define PIOS_VIDEO_VSYNC_PORT_SOURCE GPIO_PortSourceGPIOC
#define PIOS_VIDEO_VSYNC_PIN_SOURCE GPIO_PinSource11
#define PIOS_VIDEO_VSYNC_CLK RCC_AHB1Periph_GPIOC
#define PIOS_VIDEO_VSYNC_EXTI_LINE EXTI_Line11
#define PIOS_VIDEO_VSYNC_EXTI_PORT_SOURCE EXTI_PortSourceGPIOC
#define PIOS_VIDEO_VSYNC_EXTI_PIN_SOURCE EXTI_PinSource11
#define PIOS_VIDEO_VSYNC_IRQn EXTI15_10_IRQn
#define PIOS_VIDEO_VSYNC_PRIO PIOS_IRQ_PRIO_HIGHEST
// *****************************************************************
//--------------------------
// Timer controller settings
//--------------------------
#define PIOS_TIM_MAX_DEVS 6
//-------------------------
// USB
//-------------------------
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_ENABLED 1 /* Should remove all references to this */
#define PIOS_USB_HID_MAX_DEVS 1
#endif /* PIOS_BOARD_H */

2
flight/PiOS/Boards/pios_board.h
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@ -13,6 +13,8 @@
#include "STM32F2xx_INS.h"
#elif USE_STM32F4xx_OP
#include "STM32F4xx_Revolution.h"
#elif USE_STM32F4xx_OSD
#include "STM32F4xx_OSD.h"
#else
#error Board definition has not been provided.
#endif

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flight/PiOS/Common/pios_video.c Normal file
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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_VIDEO Code for OSD video generator
* @brief OSD generator, Parts from CL-OSD and SUPEROSD project
* @{
*
* @file pios_video.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief OSD generator, Parts from CL-OSD and SUPEROSD projects
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#if defined(PIOS_INCLUDE_VIDEO)
extern xSemaphoreHandle osdSemaphore;
static const struct pios_video_cfg * dev_cfg;
// Define the buffers.
// For 256x192 pixel mode:
// buffer0_level/buffer0_mask becomes buffer_level; and
// buffer1_level/buffer1_mask becomes buffer_mask;
// For 192x128 pixel mode, allocations are as the names are written.
// divide by 8 because two bytes to a word.
// Must be allocated in one block, so it is in a struct.
struct _buffers
{
uint16_t buffer0_level[GRAPHICS_HEIGHT*GRAPHICS_WIDTH];
uint16_t buffer0_mask[GRAPHICS_HEIGHT*GRAPHICS_WIDTH];
uint16_t buffer1_level[GRAPHICS_HEIGHT*GRAPHICS_WIDTH];
uint16_t buffer1_mask[GRAPHICS_HEIGHT*GRAPHICS_WIDTH];
} buffers;
// Remove the struct definition (makes it easier to write for.)
#define buffer0_level (buffers.buffer0_level)
#define buffer0_mask (buffers.buffer0_mask)
#define buffer1_level (buffers.buffer1_level)
#define buffer1_mask (buffers.buffer1_mask)
// We define pointers to each of these buffers.
uint16_t *draw_buffer_level;
uint16_t *draw_buffer_mask;
uint16_t *disp_buffer_level;
uint16_t *disp_buffer_mask;
volatile uint8_t gLineType = LINE_TYPE_UNKNOWN;
volatile uint16_t gActiveLine = 0;
volatile uint16_t gActivePixmapLine = 0;
volatile uint16_t line=0;
volatile uint16_t Vsync_update=0;
static int16_t m_osdLines=0;
/**
* swap_buffers: Swaps the two buffers. Contents in the display
* buffer is seen on the output and the display buffer becomes
* the new draw buffer.
*/
void swap_buffers()
{
// While we could use XOR swap this is more reliable and
// dependable and it's only called a few times per second.
// Many compliers should optimise these to EXCH instructions.
uint16_t *tmp;
SWAP_BUFFS(tmp, disp_buffer_mask, draw_buffer_mask);
SWAP_BUFFS(tmp, disp_buffer_level, draw_buffer_level);
}
void PIOS_Hsync_ISR() {
//PIOS_LED_Toggle(LED2);
//uint16_t currLine = gActivePixmapLine;
//PIOS_LED_Off(LED3);
/*for(int g=0;g<130;g++)
{
asm("nop");
}*/
//PIOS_DELAY_WaituS(5); // wait 5us to see if H or V sync
//if(dev_cfg->hsync_io.gpio->IDR & dev_cfg->hsync_io.init.GPIO_Pin) {
if(PIOS_VIDEO_HSYNC_GPIO_PORT->IDR & PIOS_VIDEO_HSYNC_GPIO_PIN) {
//rising
//if (gActiveLine != 0) {
//PIOS_LED_On(LED2);
if(gLineType == LINE_TYPE_GRAPHICS)
{
for(int g=0;g<130;g++)
{
asm("nop");
}
// Activate new line
DMA_Cmd(dev_cfg->level.dma.tx.channel, ENABLE);
DMA_Cmd(dev_cfg->mask.dma.tx.channel, ENABLE);
}
//}
} else {
//falling
gLineType = LINE_TYPE_UNKNOWN; // Default case
gActiveLine++;
/*if (gActiveLine == UPDATE_LINE) {
gUpdateScreenData = 1; // trigger frame update
}
else */
if ((gActiveLine >= GRAPHICS_LINE) && (gActiveLine < (GRAPHICS_LINE + GRAPHICS_HEIGHT))) {
gLineType = LINE_TYPE_GRAPHICS;
gActivePixmapLine = (gActiveLine - GRAPHICS_LINE);
line = gActivePixmapLine*GRAPHICS_WIDTH;
}
//if (gActiveLine != 0) {
//if(DMA_GetFlagStatus(DMA1_Stream5,DMA_FLAG_TCIF5))
{
//PIOS_LED_Off(LED2);
if(gLineType == LINE_TYPE_GRAPHICS)
{
// Load new line
DMA_Cmd(dev_cfg->mask.dma.tx.channel, DISABLE);
DMA_Cmd(dev_cfg->level.dma.tx.channel, DISABLE);
DMA_MemoryTargetConfig(dev_cfg->level.dma.tx.channel,(uint32_t)&disp_buffer_level[line],DMA_Memory_0);
DMA_MemoryTargetConfig(dev_cfg->mask.dma.tx.channel,(uint32_t)&disp_buffer_mask[line],DMA_Memory_0);
//DMA_ClearFlag(dev_cfg->mask.dma.tx.channel,DMA_FLAG_TCIF5); // <-- TODO: HARDCODED
//DMA_ClearFlag(dev_cfg->level.dma.tx.channel,DMA_FLAG_TCIF5); // <-- TODO: HARDCODED
DMA_SetCurrDataCounter(dev_cfg->level.dma.tx.channel,BUFFER_LINE_LENGTH);
DMA_SetCurrDataCounter(dev_cfg->mask.dma.tx.channel,BUFFER_LINE_LENGTH);
}
}
//}
}
}
void PIOS_Vsync_ISR() {
static portBASE_TYPE xHigherPriorityTaskWoken;
//PIOS_LED_Toggle(LED3);
//if(gActiveLine > 200)
m_osdLines = gActiveLine;
{
gActiveLine = 0;
Vsync_update++;
if(Vsync_update>=1)
{
swap_buffers();
Vsync_update=0;
xSemaphoreGiveFromISR(osdSemaphore, &xHigherPriorityTaskWoken);
}
}
}
uint16_t PIOS_Video_GetOSDLines(void) {
return m_osdLines;
}
void PIOS_Video_Init(const struct pios_video_cfg * cfg){
dev_cfg = cfg; // store config before enabling interrupt
if (cfg->mask.remap) {
GPIO_PinAFConfig(cfg->mask.sclk.gpio,
__builtin_ctz(cfg->mask.sclk.init.GPIO_Pin),
cfg->mask.remap);
GPIO_PinAFConfig(cfg->mask.mosi.gpio,
__builtin_ctz(cfg->mask.mosi.init.GPIO_Pin),
cfg->mask.remap);
}
if (cfg->level.remap)
{
GPIO_PinAFConfig(cfg->level.sclk.gpio,
GPIO_PinSource3,
//__builtin_ctz(cfg->mask.sclk.init.GPIO_Pin),
cfg->level.remap);
GPIO_PinAFConfig(cfg->level.miso.gpio,
GPIO_PinSource4,
//__builtin_ctz(cfg->level.miso.init.GPIO_Pin),
cfg->level.remap);
}
/* SPI3 MASTER MASKBUFFER */
GPIO_Init(cfg->mask.sclk.gpio, (GPIO_InitTypeDef*)&(cfg->mask.sclk.init));
GPIO_Init(cfg->mask.mosi.gpio, (GPIO_InitTypeDef*)&(cfg->mask.mosi.init));
/* SPI1 SLAVE FRAMEBUFFER */
GPIO_Init(cfg->level.sclk.gpio, (GPIO_InitTypeDef*)&(cfg->level.sclk.init));
GPIO_Init(cfg->level.miso.gpio, (GPIO_InitTypeDef*)&(cfg->level.miso.init));
/* Initialize the SPI block */
SPI_Init(cfg->level.regs, (SPI_InitTypeDef*)&(cfg->level.init));
SPI_Init(cfg->mask.regs, (SPI_InitTypeDef*)&(cfg->mask.init));
/* Enable SPI */
SPI_Cmd(cfg->level.regs, ENABLE);
SPI_Cmd(cfg->mask.regs, ENABLE);
/* Configure DMA for SPI Tx MASTER */
DMA_Cmd(cfg->mask.dma.tx.channel, DISABLE);
DMA_Init(cfg->mask.dma.tx.channel, (DMA_InitTypeDef*)&(cfg->mask.dma.tx.init));
/* Configure DMA for SPI Tx SLAVE */
DMA_Cmd(cfg->level.dma.tx.channel, DISABLE);
DMA_Init(cfg->level.dma.tx.channel, (DMA_InitTypeDef*)&(cfg->level.dma.tx.init));
/* Trigger interrupt when for half conversions too to indicate double buffer */
DMA_ITConfig(cfg->mask.dma.tx.channel, DMA_IT_TC, ENABLE);
/*DMA_ClearFlag(cfg->mask.dma.tx.channel,DMA_FLAG_TCIF5);
DMA_ClearITPendingBit(cfg->mask.dma.tx.channel, DMA_IT_TCIF5);
DMA_ClearFlag(cfg->level.dma.tx.channel,DMA_FLAG_TCIF5);
DMA_ClearITPendingBit(cfg->level.dma.tx.channel, DMA_IT_TCIF5);
*/
/* Configure DMA interrupt */
NVIC_Init(&cfg->level.dma.irq.init);
NVIC_Init(&cfg->mask.dma.irq.init);
/* Enable SPI interrupts to DMA */
SPI_I2S_DMACmd(cfg->level.regs, SPI_I2S_DMAReq_Tx, ENABLE);
SPI_I2S_DMACmd(cfg->mask.regs, SPI_I2S_DMAReq_Tx, ENABLE);
/* Initialize the GPIO pins */
//SYSCFG_EXTILineConfig(cfg->vsync.port_source, cfg->vsync.pin_source);
//SYSCFG_EXTILineConfig(cfg->hsync.port_source, cfg->hsync.pin_source);
/* Configure Video Sync pin input floating */
//GPIO_Init(cfg->vsync_io.gpio, (GPIO_InitTypeDef*)&(cfg->vsync_io.init));
//GPIO_Init(cfg->hsync_io.gpio, (GPIO_InitTypeDef*)&(cfg->hsync_io.init));
/* Configure the Video Line interrupt */
PIOS_EXTI_Init(cfg->hsync);
PIOS_EXTI_Init(cfg->vsync);
//EXTI_Init(&cfg->vsync.init);
//EXTI_Init(&cfg->hsync.init);
/* Enable and set EXTI Interrupt to the lowest priority */
//NVIC_Init(&cfg->vsync_irq.init);
//NVIC_Init(&cfg->hsync_irq.init);
draw_buffer_level = buffer0_level;
draw_buffer_mask = buffer0_mask;
disp_buffer_level = buffer1_level;
disp_buffer_mask = buffer1_mask;
}
#endif

552
flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c Normal file
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@ -0,0 +1,552 @@
/**
******************************************************************************
* @file system_stm32f4xx.c
* @author MCD Application Team
* @version V1.0.1
* @date 24-January-2012
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
* This file contains the system clock configuration for STM32F4xx devices,
* and is generated by the clock configuration tool
* stm32f4xx_Clock_Configuration_V1.0.1.xls
*
* 1. This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
* and Divider factors, AHB/APBx prescalers and Flash settings),
* depending on the configuration made in the clock xls tool.
* This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* 2. After each device reset the HSI (16 MHz) is used as system clock source.
* Then SystemInit() function is called, in "startup_stm32f4xx.s" file, to
* configure the system clock before to branch to main program.
*
* 3. If the system clock source selected by user fails to startup, the SystemInit()
* function will do nothing and HSI still used as system clock source. User can
* add some code to deal with this issue inside the SetSysClock() function.
*
* 4. The default value of HSE crystal is set to 25MHz, refer to "HSE_VALUE" define
* in "stm32f4xx.h" file. When HSE is used as system clock source, directly or
* through PLL, and you are using different crystal you have to adapt the HSE
* value to your own configuration.
*
* 5. This file configures the system clock as follows:
*=============================================================================
*=============================================================================
* Supported STM32F4xx device revision | Rev A
*-----------------------------------------------------------------------------
* System Clock source | PLL (HSE)
*-----------------------------------------------------------------------------
* SYSCLK(Hz) | 108000000
*-----------------------------------------------------------------------------
* HCLK(Hz) | 108000000
*-----------------------------------------------------------------------------
* AHB Prescaler | 1
*-----------------------------------------------------------------------------
* APB1 Prescaler | 4
*-----------------------------------------------------------------------------
* APB2 Prescaler | 2
*-----------------------------------------------------------------------------
* HSE Frequency(Hz) | 8000000
*-----------------------------------------------------------------------------
* PLL_M | 4
*-----------------------------------------------------------------------------
* PLL_N | 216
*-----------------------------------------------------------------------------
* PLL_P | 4
*-----------------------------------------------------------------------------
* PLL_Q | 9
*-----------------------------------------------------------------------------
* PLLI2S_N | NA
*-----------------------------------------------------------------------------
* PLLI2S_R | NA
*-----------------------------------------------------------------------------
* I2S input clock | NA
*-----------------------------------------------------------------------------
* VDD(V) | 3.3
*-----------------------------------------------------------------------------
* Main regulator output voltage | Scale2 mode
*-----------------------------------------------------------------------------
* Flash Latency(WS) | 3
*-----------------------------------------------------------------------------
* Prefetch Buffer | OFF
*-----------------------------------------------------------------------------
* Instruction cache | ON
*-----------------------------------------------------------------------------
* Data cache | ON
*-----------------------------------------------------------------------------
* Require 48MHz for USB OTG FS, | Disabled
* SDIO and RNG clock |
*-----------------------------------------------------------------------------
*=============================================================================
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/** @addtogroup STM32F4xx_System_Private_Includes
* @{
*/
#include "stm32f4xx.h"
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Defines
* @{
*/
/************************* Miscellaneous Configuration ************************/
/*!< Uncomment the following line if you need to use external SRAM mounted
on STM324xG_EVAL board as data memory */
/* #define DATA_IN_ExtSRAM */
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
/******************************************************************************/
/************************* PLL Parameters *************************************/
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
#define PLL_M 4
#define PLL_N 216
/* SYSCLK = PLL_VCO / PLL_P */
#define PLL_P 4
/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */
#define PLL_Q 9
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Variables
* @{
*/
uint32_t SystemCoreClock = 108000000;
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
* @{
*/
static void SetSysClock(void);
#ifdef DATA_IN_ExtSRAM
static void SystemInit_ExtMemCtl(void);
#endif /* DATA_IN_ExtSRAM */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, the PLL and update the
* SystemFrequency variable.
* @param None
* @retval None
*/
void SystemInit(void)
{
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
#endif
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x24003010;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Disable all interrupts */
RCC->CIR = 0x00000000;
#ifdef DATA_IN_ExtSRAM
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM */
/* Configure the System clock source, PLL Multiplier and Divider factors,
AHB/APBx prescalers and Flash settings ----------------------------------*/
SetSysClock();
/* Configure the Vector Table location add offset address ------------------*/
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
#endif
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value
* 25 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x04: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x08: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
SYSCLK = PLL_VCO / PLL_P
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
if (pllsource != 0)
{
/* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
else
{
/* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
SystemCoreClock = pllvco/pllp;
break;
default:
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK frequency --------------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK frequency */
SystemCoreClock >>= tmp;
}
/**
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
* AHB/APBx prescalers and Flash settings
* @Note This function should be called only once the RCC clock configuration
* is reset to the default reset state (done in SystemInit() function).
* @param None
* @retval None
*/
static void SetSysClock(void)
{
/******************************************************************************/
/* PLL (clocked by HSE) used as System clock source */
/******************************************************************************/
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
/* Enable HSE */
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
/* Wait till HSE is ready and if Time out is reached exit */
do
{
HSEStatus = RCC->CR & RCC_CR_HSERDY;
StartUpCounter++;
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
{
HSEStatus = (uint32_t)0x01;
}
else
{
HSEStatus = (uint32_t)0x00;
}
if (HSEStatus == (uint32_t)0x01)
{
/* Select regulator voltage output Scale 2 mode, System frequency up to 144 MHz */
RCC->APB1ENR |= RCC_APB1ENR_PWREN;
PWR->CR &= (uint32_t)~(PWR_CR_VOS);
/* HCLK = SYSCLK / 1*/
RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
/* PCLK2 = HCLK / 2*/
RCC->CFGR |= RCC_CFGR_PPRE2_DIV2;
/* PCLK1 = HCLK / 4*/
RCC->CFGR |= RCC_CFGR_PPRE1_DIV4;
/* Configure the main PLL */
RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
(RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
/* Enable the main PLL */
RCC->CR |= RCC_CR_PLLON;
/* Wait till the main PLL is ready */
while((RCC->CR & RCC_CR_PLLRDY) == 0)
{
}
/* Configure Flash prefetch, Instruction cache, Data cache and wait state */
FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_3WS;
/* Select the main PLL as system clock source */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
RCC->CFGR |= RCC_CFGR_SW_PLL;
/* Wait till the main PLL is used as system clock source */
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
{
}
}
else
{ /* If HSE fails to start-up, the application will have wrong clock
configuration. User can add here some code to deal with this error */
}
}
/**
* @brief Setup the external memory controller. Called in startup_stm32f4xx.s
* before jump to __main
* @param None
* @retval None
*/
#ifdef DATA_IN_ExtSRAM
/**
* @brief Setup the external memory controller.
* Called in startup_stm32f4xx.s before jump to main.
* This function configures the external SRAM mounted on STM324xG_EVAL board
* This SRAM will be used as program data memory (including heap and stack).
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
/*-- GPIOs Configuration -----------------------------------------------------*/
/*
+-------------------+--------------------+------------------+------------------+
+ SRAM pins assignment +
+-------------------+--------------------+------------------+------------------+
| PD0 <-> FSMC_D2 | PE0 <-> FSMC_NBL0 | PF0 <-> FSMC_A0 | PG0 <-> FSMC_A10 |
| PD1 <-> FSMC_D3 | PE1 <-> FSMC_NBL1 | PF1 <-> FSMC_A1 | PG1 <-> FSMC_A11 |
| PD4 <-> FSMC_NOE | PE3 <-> FSMC_A19 | PF2 <-> FSMC_A2 | PG2 <-> FSMC_A12 |
| PD5 <-> FSMC_NWE | PE4 <-> FSMC_A20 | PF3 <-> FSMC_A3 | PG3 <-> FSMC_A13 |
| PD8 <-> FSMC_D13 | PE7 <-> FSMC_D4 | PF4 <-> FSMC_A4 | PG4 <-> FSMC_A14 |
| PD9 <-> FSMC_D14 | PE8 <-> FSMC_D5 | PF5 <-> FSMC_A5 | PG5 <-> FSMC_A15 |
| PD10 <-> FSMC_D15 | PE9 <-> FSMC_D6 | PF12 <-> FSMC_A6 | PG9 <-> FSMC_NE2 |
| PD11 <-> FSMC_A16 | PE10 <-> FSMC_D7 | PF13 <-> FSMC_A7 |------------------+
| PD12 <-> FSMC_A17 | PE11 <-> FSMC_D8 | PF14 <-> FSMC_A8 |
| PD13 <-> FSMC_A18 | PE12 <-> FSMC_D9 | PF15 <-> FSMC_A9 |
| PD14 <-> FSMC_D0 | PE13 <-> FSMC_D10 |------------------+
| PD15 <-> FSMC_D1 | PE14 <-> FSMC_D11 |
| | PE15 <-> FSMC_D12 |
+-------------------+--------------------+
*/
/* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
RCC->AHB1ENR = 0x00000078;
/* Connect PDx pins to FSMC Alternate function */
GPIOD->AFR[0] = 0x00cc00cc;
GPIOD->AFR[1] = 0xcc0ccccc;
/* Configure PDx pins in Alternate function mode */
GPIOD->MODER = 0xaaaa0a0a;
/* Configure PDx pins speed to 100 MHz */
GPIOD->OSPEEDR = 0xffff0f0f;
/* Configure PDx pins Output type to push-pull */
GPIOD->OTYPER = 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOD->PUPDR = 0x00000000;
/* Connect PEx pins to FSMC Alternate function */
GPIOE->AFR[0] = 0xc00cc0cc;
GPIOE->AFR[1] = 0xcccccccc;
/* Configure PEx pins in Alternate function mode */
GPIOE->MODER = 0xaaaa828a;
/* Configure PEx pins speed to 100 MHz */
GPIOE->OSPEEDR = 0xffffc3cf;
/* Configure PEx pins Output type to push-pull */
GPIOE->OTYPER = 0x00000000;
/* No pull-up, pull-down for PEx pins */
GPIOE->PUPDR = 0x00000000;
/* Connect PFx pins to FSMC Alternate function */
GPIOF->AFR[0] = 0x00cccccc;
GPIOF->AFR[1] = 0xcccc0000;
/* Configure PFx pins in Alternate function mode */
GPIOF->MODER = 0xaa000aaa;
/* Configure PFx pins speed to 100 MHz */
GPIOF->OSPEEDR = 0xff000fff;
/* Configure PFx pins Output type to push-pull */
GPIOF->OTYPER = 0x00000000;
/* No pull-up, pull-down for PFx pins */
GPIOF->PUPDR = 0x00000000;
/* Connect PGx pins to FSMC Alternate function */
GPIOG->AFR[0] = 0x00cccccc;
GPIOG->AFR[1] = 0x000000c0;
/* Configure PGx pins in Alternate function mode */
GPIOG->MODER = 0x00080aaa;
/* Configure PGx pins speed to 100 MHz */
GPIOG->OSPEEDR = 0x000c0fff;
/* Configure PGx pins Output type to push-pull */
GPIOG->OTYPER = 0x00000000;
/* No pull-up, pull-down for PGx pins */
GPIOG->PUPDR = 0x00000000;
/*-- FSMC Configuration ------------------------------------------------------*/
/* Enable the FSMC interface clock */
RCC->AHB3ENR = 0x00000001;
/* Configure and enable Bank1_SRAM2 */
FSMC_Bank1->BTCR[2] = 0x00001015;
FSMC_Bank1->BTCR[3] = 0x00010603;
FSMC_Bank1E->BWTR[2] = 0x0fffffff;
/*
Bank1_SRAM2 is configured as follow:
p.FSMC_AddressSetupTime = 3;
p.FSMC_AddressHoldTime = 0;
p.FSMC_DataSetupTime = 6;
p.FSMC_BusTurnAroundDuration = 1;
p.FSMC_CLKDivision = 0;
p.FSMC_DataLatency = 0;
p.FSMC_AccessMode = FSMC_AccessMode_A;
FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM2;
FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable;
FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_PSRAM;
FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b;
FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low;
FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState;
FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable;
FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable;
FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &p;
FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &p;
*/
}
#endif /* DATA_IN_ExtSRAM */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

0
flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/system_stm32f4xx.c → flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c
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148
flight/PiOS/STM32F4xx/library.mk
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@ -1,74 +1,74 @@
#
# Rules to (help) build the F4xx device support.
#
#
# Directory containing this makefile
#
PIOS_DEVLIB := $(dir $(lastword $(MAKEFILE_LIST)))
#
# Hardcoded linker script names for now
#
LINKER_SCRIPTS_APP = $(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \
$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
LINKER_SCRIPTS_BL = $(PIOS_DEVLIB)/link_STM32F4xx_BL_memory.ld \
$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
#
# Compiler options implied by the F4xx
#
CDEFS += -DSTM32F4XX
CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
CDEFS += -DUSE_STDPERIPH_DRIVER
ARCHFLAGS += -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
#
# PIOS device library source and includes
#
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
EXTRAINCDIRS += $(PIOS_DEVLIB)/inc
#
# CMSIS for the F4
#
include $(PIOSCOMMONLIB)/CMSIS2/library.mk
CMSIS2_DEVICEDIR := $(PIOS_DEVLIB)/Libraries/CMSIS2/Device/ST/STM32F4xx
SRC += $(wildcard $(CMSIS2_DEVICEDIR)/Source/*.c)
EXTRAINCDIRS += $(CMSIS2_DEVICEDIR)/Include
#
# ST Peripheral library
#
PERIPHLIB = $(PIOS_DEVLIB)/Libraries/STM32F4xx_StdPeriph_Driver
SRC += $(wildcard $(PERIPHLIB)/src/*.c)
EXTRAINCDIRS += $(PERIPHLIB)/inc
#
# ST USB OTG library
#
USBOTGLIB = $(PIOS_DEVLIB)/Libraries/STM32_USB_OTG_Driver
USBOTGLIB_SRC = usb_core.c usb_dcd.c usb_dcd_int.c
SRC += $(addprefix $(USBOTGLIB)/src/,$(USBOTGLIB_SRC))
EXTRAINCDIRS += $(USBOTGLIB)/inc
#
# ST USB Device library
#
USBDEVLIB = $(PIOS_DEVLIB)/Libraries/STM32_USB_Device_Library
SRC += $(wildcard $(USBDEVLIB)/Core/src/*.c)
EXTRAINCDIRS += $(USBDEVLIB)/Core/inc
#
# FreeRTOS
#
# If the application has included the generic FreeRTOS support, then add in
# the device-specific pieces of the code.
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4/*.c)
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4
endif
#
# Rules to (help) build the F4xx device support.
#
#
# Directory containing this makefile
#
PIOS_DEVLIB := $(dir $(lastword $(MAKEFILE_LIST)))
#
# Hardcoded linker script names for now
#
LINKER_SCRIPTS_APP = $(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \
$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
LINKER_SCRIPTS_BL = $(PIOS_DEVLIB)/link_STM32F4xx_BL_memory.ld \
$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
#
# Compiler options implied by the F4xx
#
CDEFS += -DSTM32F4XX
CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
CDEFS += -DUSE_STDPERIPH_DRIVER
ARCHFLAGS += -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=softfp
#ARCHFLAGS += -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
#
# PIOS device library source and includes
#
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
EXTRAINCDIRS += $(PIOS_DEVLIB)/inc
#
# CMSIS for the F4
#
include $(PIOSCOMMONLIB)/CMSIS2/library.mk
CMSIS2_DEVICEDIR := $(PIOS_DEVLIB)/Libraries/CMSIS2/Device/ST/STM32F4xx
SRC += $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c)
EXTRAINCDIRS += $(CMSIS2_DEVICEDIR)/Include
#
# ST Peripheral library
#
PERIPHLIB = $(PIOS_DEVLIB)/Libraries/STM32F4xx_StdPeriph_Driver
SRC += $(wildcard $(PERIPHLIB)/src/*.c)
EXTRAINCDIRS += $(PERIPHLIB)/inc
#
# ST USB OTG library
#
USBOTGLIB = $(PIOS_DEVLIB)/Libraries/STM32_USB_OTG_Driver
USBOTGLIB_SRC = usb_core.c usb_dcd.c usb_dcd_int.c
SRC += $(addprefix $(USBOTGLIB)/src/,$(USBOTGLIB_SRC))
EXTRAINCDIRS += $(USBOTGLIB)/inc
#
# ST USB Device library
#
USBDEVLIB = $(PIOS_DEVLIB)/Libraries/STM32_USB_Device_Library
SRC += $(wildcard $(USBDEVLIB)/Core/src/*.c)
EXTRAINCDIRS += $(USBDEVLIB)/Core/inc
#
# FreeRTOS
#
# If the application has included the generic FreeRTOS support, then add in
# the device-specific pieces of the code.
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4/*.c)
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4
endif

2
flight/PiOS/STM32F4xx/link_STM32F4xx_OP_memory.ld
View File

@ -1,7 +1,7 @@
MEMORY
{
BD_INFO (r) : ORIGIN = 0x08008000 - 0x80, LENGTH = 0x000080
FLASH (rx) : ORIGIN = 0x08008000, LENGTH = 0x100000 - 0x008000
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x100000 - 0x008000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x020000
CCSRAM (rw) : ORIGIN = 0x10000000, LENGTH = 0x010000
}

2
flight/PiOS/STM32F4xx/pios_sys.c
View File

@ -299,7 +299,7 @@ void assert_failed(uint8_t * file, uint32_t line)
#if defined(PIOS_LED_ALARM)
PIOS_LED_On(PIOS_LED_ALARM);
#endif
#if defiend(PIOS_LED_HEARTBEAT)
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif

1
flight/PiOS/inc/pios_usb_defs.h
View File

@ -364,6 +364,7 @@ enum usb_op_board_ids {
USB_OP_BOARD_ID_PIPXTREME = 3,
USB_OP_BOARD_ID_COPTERCONTROL = 4,
USB_OP_BOARD_ID_REVOLUTION = 5,
USB_OP_BOARD_ID_OSD = 6,
} __attribute__((packed));
enum usb_op_board_modes {

93
flight/PiOS/inc/pios_video.h Normal file
View File

@ -0,0 +1,93 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_VIDEO Code for OSD video generator
* @brief OSD generator, Parts from CL-OSD and SUPEROSD project
* @{
*
* @file pios_video.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief OSD generator, Parts from CL-OSD and SUPEROSD projects
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_VIDEO_H
#define PIOS_VIDEO_H
#include <pios.h>
// *****************************************************************************
#if defined(PIOS_INCLUDE_VIDEO)
#include <pios_stm32.h>
#include <pios_spi_priv.h>
struct pios_video_cfg {
const struct pios_spi_cfg mask;
const struct pios_spi_cfg level;
const struct pios_exti_cfg * hsync;
const struct pios_exti_cfg * vsync;
/*struct stm32_exti hsync;
struct stm32_exti vsync;
struct stm32_gpio hsync_io;
struct stm32_gpio vsync_io;
struct stm32_irq hsync_irq;
struct stm32_irq vsync_irq;*/
};
// Time vars
typedef struct {
uint8_t sec;
uint8_t min;
uint8_t hour;
} TTime;
extern TTime time;
extern void PIOS_Video_Init(const struct pios_video_cfg * cfg);
uint16_t PIOS_Video_GetOSDLines(void);
extern void PIOS_Hsync_ISR();
extern void PIOS_Vsync_ISR();
// First OSD line
#define GRAPHICS_LINE 32
// Real OSD size
#define GRAPHICS_WIDTH_REAL 336
#define GRAPHICS_HEIGHT_REAL 270
#define GRAPHICS_WIDTH (GRAPHICS_WIDTH_REAL/16)
#define GRAPHICS_HEIGHT GRAPHICS_HEIGHT_REAL
// dma lenght
#define BUFFER_LINE_LENGTH GRAPHICS_WIDTH //Yes, in 16 bit halfwords.
// line types
#define LINE_TYPE_UNKNOWN 0
#define LINE_TYPE_GRAPHICS 2
// Macro to swap buffers given a temporary pointer.
#define SWAP_BUFFS(tmp, a, b) { tmp = a; a = b; b = tmp; }
#endif
#endif /* PIOS_VIDEO_H */

3
flight/PiOS/pios.h
View File

@ -138,6 +138,9 @@
#if defined(PIOS_INCLUDE_BMA180)
#include <pios_bma180.h>
#endif
#if defined(PIOS_INCLUDE_VIDEO)
#include <pios_video.h>
#endif
#if defined(PIOS_INCLUDE_FLASH)
#include <pios_flash_jedec.h>

23
make/boards/osd/board-info.mk Normal file
View File

@ -0,0 +1,23 @@
BOARD_TYPE := 0x05
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x01
HW_TYPE := 0x00
MCU := cortex-m4
CHIP := STM32F407VGT6
BOARD := STM32F4xx_OSD
MODEL := HD
MODEL_SUFFIX :=
OPENOCD_CONFIG := stm32f4xx.cfg
# Note: These must match the values in link_$(BOARD)_memory.ld
#BL_BANK_BASE := 0x08000000 # Start of bootloader flash
#BL_BANK_SIZE := 0x00008000 # Should include BD_INFO region
FW_BANK_BASE := 0x08000000 # Start of firmware flash
FW_BANK_SIZE := 0x0001E000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064
OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 108000000