/** ****************************************************************************** * @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. 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 #include "osdgen.h" #include "attitudeactual.h" #include "gpsposition.h" #include "homelocation.h" #include "gpstime.h" #include "gpssatellites.h" #include "osdsettings.h" #include "baroaltitude.h" #include "taskinfo.h" #include "flightstatus.h" #include "fonts.h" #include "font12x18.h" #include "font8x10.h" #include "WMMInternal.h" #include "splash.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 uint8_t *draw_buffer_level; extern uint8_t *draw_buffer_mask; extern uint8_t *disp_buffer_level; extern uint8_t *disp_buffer_mask; TTime timex; // **************** // Private functions static void osdgenTask(void *parameters); // **************** // Private constants #define LONG_TIME 0xffff xSemaphoreHandle osdSemaphore = NULL; #define STACK_SIZE_BYTES 4096 #define TASK_PRIORITY (tskIDLE_PRIORITY + 4) #define UPDATE_PERIOD 100 // **************** // Private variables static xTaskHandle osdgenTaskHandle; struct splashEntry { unsigned int width, height; const uint16_t *level; const uint16_t *mask; }; struct splashEntry splash[3] = { { oplogo_width, oplogo_height, oplogo_bits, oplogo_mask_bits }, { level_width, level_height, level_bits, level_mask_bits }, { llama_width, llama_height, llama_bits, llama_mask_bits } }; uint16_t mirror(uint16_t source) { int result = ((source & 0x8000) >> 7) | ((source & 0x4000) >> 5) | ((source & 0x2000) >> 3) | ((source & 0x1000) >> 1) | ((source & 0x0800) << 1) | ((source & 0x0400) << 3) | ((source & 0x0200) << 5) | ((source & 0x0100) << 7) | ((source & 0x0080) >> 7) | ((source & 0x0040) >> 5) | ((source & 0x0020) >> 3) | ((source & 0x0010) >> 1) | ((source & 0x0008) << 1) | ((source & 0x0004) << 3) | ((source & 0x0002) << 5) | ((source & 0x0001) << 7); return result; } void clearGraphics() { memset((uint8_t *)draw_buffer_mask, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT); memset((uint8_t *)draw_buffer_level, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT); } void copyimage(uint16_t offsetx, uint16_t offsety, int image) { // check top/left position if (!validPos(offsetx, offsety)) { return; } struct splashEntry splash_info; splash_info = splash[image]; offsetx = offsetx / 8; for (uint16_t y = offsety; y < ((splash_info.height) + offsety); y++) { uint16_t x1 = offsetx; for (uint16_t x = offsetx; x < (((splash_info.width) / 16) + offsetx); x++) { draw_buffer_level[y * GRAPHICS_WIDTH + x1 + 1] = (uint8_t)( mirror(splash_info.level[(y - offsety) * ((splash_info.width) / 16) + (x - offsetx)]) >> 8); draw_buffer_level[y * GRAPHICS_WIDTH + x1] = (uint8_t)( mirror(splash_info.level[(y - offsety) * ((splash_info.width) / 16) + (x - offsetx)]) & 0xFF); draw_buffer_mask[y * GRAPHICS_WIDTH + x1 + 1] = (uint8_t)( mirror(splash_info.mask[(y - offsety) * ((splash_info.width) / 16) + (x - offsetx)]) >> 8); draw_buffer_mask[y * GRAPHICS_WIDTH + x1] = (uint8_t)(mirror(splash_info.mask[(y - offsety) * ((splash_info.width) / 16) + (x - offsetx)]) & 0xFF); x1 += 2; } } } uint8_t validPos(uint16_t x, uint16_t y) { if (x < GRAPHICS_HDEADBAND || x >= GRAPHICS_WIDTH_REAL || y >= GRAPHICS_HEIGHT_REAL) { return 0; } return 1; } // 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; write_pixel_lm(x0, y0 + radius, 1, 1); write_pixel_lm(x0, y0 - radius, 1, 1); write_pixel_lm(x0 + radius, y0, 1, 1); write_pixel_lm(x0 - radius, y0, 1, 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; write_pixel_lm(x0 + x, y0 + y, 1, 1); write_pixel_lm(x0 - x, y0 + y, 1, 1); write_pixel_lm(x0 + x, y0 - y, 1, 1); write_pixel_lm(x0 - x, y0 - y, 1, 1); write_pixel_lm(x0 + y, y0 + x, 1, 1); write_pixel_lm(x0 - y, y0 + x, 1, 1); write_pixel_lm(x0 + y, y0 - x, 1, 1); write_pixel_lm(x0 - y, y0 - x, 1, 1); } } void swap(uint16_t *a, uint16_t *b) { uint16_t temp = *a; *a = *b; *b = temp; } static const 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); } /// 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) { write_pixel_lm(centerX + deltaX, centerY + deltaY, 1, 1); // Ist Quadrant write_pixel_lm(centerX - deltaX, centerY + deltaY, 1, 1); // IInd Quadrant write_pixel_lm(centerX - deltaX, centerY - deltaY, 1, 1); // IIIrd Quadrant write_pixel_lm(centerX + deltaX, centerY - deltaY, 1, 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 / 2.0f) * (x + 1 / 2.0f) + 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; write_line_lm((x) - 1 - b, (y) - 1 + a, (x) - 1 + b, (y) - 1 - a, 1, 1); // Direction line // write_line_lm((GRAPHICS_SIZE/2)-1 + a/2, (GRAPHICS_SIZE/2)-1 + b/2, (GRAPHICS_SIZE/2)-1 - a/2, (GRAPHICS_SIZE/2)-1 - b/2, 1, 1); //Arrow bottom line write_line_lm((x) - 1 + b, (y) - 1 - a, (x) - 1 - a / 2, (y) - 1 - b / 2, 1, 1); // Arrow "wings" write_line_lm((x) - 1 + b, (y) - 1 - a, (x) - 1 + a / 2, (y) - 1 + b / 2, 1, 1); } void drawBox(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2) { write_line_lm(x1, y1, x2, y1, 1, 1); // top write_line_lm(x1, y1, x1, y2, 1, 1); // left write_line_lm(x2, y1, x2, y2, 1, 1); // right write_line_lm(x1, y2, x2, y2, 1, 1); // 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(uint8_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 << (7 - 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 << (7 - 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(uint8_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); } else { /* Otherwise we need to write the edges and then the middle. */ 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++) { uint8_t m = 0xff; WRITE_WORD_MODE(buff, i, m, 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(uint8_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. */ unsigned int addr0 = CALC_BUFF_ADDR(x, y0); unsigned int addr1 = CALC_BUFF_ADDR(x, y1); /* Then we calculate the pixel data to be written. */ unsigned int bitnum = CALC_BIT_IN_WORD(x); uint16_t mask = 1 << (7 - bitnum); /* Run from addr0 to addr1 placing pixels. Increment by the number * of words n each graphics line. */ for (a = addr0; a <= addr1; a += GRAPHICS_WIDTH_REAL / 8) { 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(uint8_t *buff, unsigned int x, unsigned int y, unsigned int width, unsigned int height, int mode) { unsigned 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. unsigned int addr0 = CALC_BUFF_ADDR(x, y); unsigned int addr1 = CALC_BUFF_ADDR(x + width, y); unsigned int addr0_bit = CALC_BIT_IN_WORD(x); unsigned int addr1_bit = CALC_BIT_IN_WORD(x + width); unsigned 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 += GRAPHICS_WIDTH_REAL / 8; } } else { // Otherwise we need to write the edges and then the middle repeatedly. 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 += GRAPHICS_WIDTH_REAL / 8; addr1 += GRAPHICS_WIDTH_REAL / 8; 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++) { uint8_t m = 0xff; WRITE_WORD_MODE(buff, i, m, mode); } addr0 += GRAPHICS_WIDTH_REAL / 8; addr1 += GRAPHICS_WIDTH_REAL / 8; 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(uint8_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(uint8_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(uint8_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 unsigned 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; unsigned int deltay = abs(y1 - y0); int error = deltax / 2; int ystep; unsigned int y = y0; unsigned int x; // , lasty = y, stox = 0; if (y0 < y1) { ystep = 1; } else { ystep = -1; } for (x = x0; x < x1; x++) { if (steep) { write_pixel(buff, y, x, mode); } else { write_pixel(buff, x, y, mode); } 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, __attribute__((unused)) int endcap0, __attribute__((unused)) 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; unsigned int deltay = abs(y1 - y0); int error = deltax / 2; int ystep; unsigned int y = y0; unsigned 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(uint8_t *buff, uint16_t word, unsigned int addr, unsigned int xoff, int mode) { int16_t firstmask = word >> xoff; int16_t lastmask = word << (16 - xoff); WRITE_WORD_MODE(buff, addr + 1, firstmask && 0x00ff, mode); WRITE_WORD_MODE(buff, addr, (firstmask & 0xff00) >> 8, mode); if (xoff > 0) { WRITE_WORD_MODE(buff, addr + 2, (lastmask & 0xff00) >> 8, 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(uint8_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 + 1, firstmask & 0x00ff); WRITE_WORD_NAND(buff, addr, (firstmask & 0xff00) >> 8); if (xoff > 0) { WRITE_WORD_NAND(buff, addr + 2, (lastmask & 0xff00) >> 8); } } /** * 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(uint8_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 + 1, firstmask & 0x00ff); WRITE_WORD_OR(buff, addr, (firstmask & 0xff00) >> 8); if (xoff > 0) { WRITE_WORD_OR(buff, addr + 2, (lastmask & 0xff00) >> 8); } } /** * 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(uint8_t ch, int font, struct FontEntry *font_info, char *lookup) { // First locate the font struct. if ((unsigned int)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_char16: 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_char16(char ch, unsigned int x, unsigned int y, int font) { unsigned int yy, addr_temp, row, row_temp, xshift; uint16_t and_mask, or_mask, levels; struct FontEntry font_info; // char lookup = 0; fetch_font_info(0, font, &font_info, NULL); // 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 > GRAPHICS_WIDTH_REAL) { return; } // Load data pointer. row = ch * font_info.height; 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++) { if (font == 3) { write_word_misaligned_OR(draw_buffer_mask, font_mask12x18[row] << xshift, addr, wbit); } else { write_word_misaligned_OR(draw_buffer_mask, font_mask8x10[row] << xshift, addr, wbit); } addr += GRAPHICS_WIDTH_REAL / 8; 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++) { if (font == 3) { levels = font_frame12x18[row]; // if(!(flags & FONT_INVERT)) // data is normally inverted levels = ~levels; or_mask = font_mask12x18[row] << xshift; and_mask = (font_mask12x18[row] & levels) << xshift; } else { levels = font_frame8x10[row]; // if(!(flags & FONT_INVERT)) // data is normally inverted levels = ~levels; or_mask = font_mask8x10[row] << xshift; and_mask = (font_mask8x10[row] & levels) << 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 += GRAPHICS_WIDTH_REAL / 8; row++; } } } /** * 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) { unsigned int yy, addr_temp, row, row_temp, xshift; uint16_t and_mask, or_mask, levels; struct FontEntry font_info; char lookup = 0; fetch_font_info(ch, font, &font_info, &lookup); // Compute starting address (for x,y) of character. unsigned int addr = CALC_BUFF_ADDR(x, y); unsigned 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 > GRAPHICS_WIDTH_REAL) { 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 += GRAPHICS_WIDTH_REAL / 8; 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++) { levels = font_info.data[row + font_info.height]; if (!(flags & FONT_INVERT)) { // data is normally inverted levels = ~levels; } or_mask = font_info.data[row] << xshift; and_mask = (font_info.data[row] & levels) << 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 += GRAPHICS_WIDTH_REAL / 8; 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 < GRAPHICS_WIDTH_REAL) { if (font_info.id < 2) { write_char(*str, xx, yy, flags, font); } else { write_char16(*str, xx, yy, 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, __attribute__((unused)) int va, __attribute__((unused)) 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_rectangle_outlined((x) - 1, (y) - 1 + 2, size, size * 3, 0, 1); write_vline_lm((x) - 1 + (size / 2 + size / 4) + 1, (y) - 2, (y) - 1 + 1, 0, 1); write_vline_lm((x) - 1 + (size / 2 - size / 4) - 1, (y) - 2, (y) - 1 + 1, 0, 1); write_hline_lm((x) - 1 + (size / 2 - size / 4), (x) - 1 + (size / 2 + size / 4), (y) - 2, 0, 1); 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); batteryLines = battery * (size * 3 - 2) / 100; for (i = 0; i < batteryLines; i++) { write_hline_lm((x) - 1, (x) - 1 + size, (y) - 1 + size * 3 - i, 1, 1); } } void printTime(uint16_t x, uint16_t y) { char temp[9] = { 0 }; sprintf(temp, "%02d:%02d:%02d", timex.hour, timex.min, timex.sec); // printTextFB(x,y,temp); write_string(temp, x, y, 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 3); } /* 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 x x displacement (typ. 0) * @param y y displacement (typ. half display height) * @param height height of scale * @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 boundtick_len boundary 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, __attribute__((unused)) 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) { x = x - GRAPHICS_HDEADBAND; majtick_start = GRAPHICS_WIDTH_REAL - x - 1; majtick_end = GRAPHICS_WIDTH_REAL - x - majtick_len - 1; mintick_start = GRAPHICS_WIDTH_REAL - x - 1; mintick_end = GRAPHICS_WIDTH_REAL - x - mintick_len - 1; boundtick_start = GRAPHICS_WIDTH_REAL - x - 1; boundtick_end = GRAPHICS_WIDTH_REAL - 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 r = 0, rr = 0, rv = 0, ys = 0, style = 0; // calc_ys = 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, __attribute__((unused)) 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, xs; // rv, 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, 3, &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, 0, 0, TEXT_VA_MIDDLE, TEXT_HA_CENTER, 1, 3); } // CORE draw routines end here void draw_artificial_horizon(float angle, float pitch, int16_t l_x, int16_t l_y, int16_t size) { float alpha; uint8_t vertical = 0, horizontal = 0; int16_t x1, x2; int16_t y1, y2; int16_t refx, refy; alpha = DEG2RAD(angle); refx = l_x + size / 2; refy = l_y + size / 2; // float k = 0; float dx = sinf(alpha) * (pitch / 90.0f * (size / 2)); float dy = cosf(alpha) * (pitch / 90.0f * (size / 2)); int16_t x0 = (size / 2) - dx; int16_t y0 = (size / 2) + dy; // calculate the line function if ((angle < 90.0f) && (angle > -90)) { vertical = 0; if (fabsf(angle) < 1e-5f) { horizontal = 1; } else { k = tanf(alpha); } } else { vertical = 1; } // crossing point of line if (!vertical && !horizontal) { // y-y0=k(x-x0) int16_t x = 0; int16_t y = k * (x - x0) + y0; // find right crossing point x1 = x; y1 = y; if (y < 0) { y1 = 0; x1 = ((y1 - y0) + k * x0) / k; } if (y > size) { y1 = size; x1 = ((y1 - y0) + k * x0) / k; } // left crossing point x = size; y = k * (x - x0) + y0; x2 = x; y2 = y; if (y < 0) { y2 = 0; x2 = ((y2 - y0) + k * x0) / k; } if (y > size) { y2 = size; x2 = ((y2 - y0) + k * x0) / k; } // move to location // horizon line write_line_outlined(x1 + l_x, y1 + l_y, x2 + l_x, y2 + l_y, 0, 0, 0, 1); // fill if (angle <= 0.0f && angle > -90.0f) { // write_string("1", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); for (int i = y2; i < size; i++) { x2 = ((i - y0) + k * x0) / k; if (x2 > size) { x2 = size; } if (x2 < 0) { x2 = 0; } write_hline_lm(x2 + l_x, size + l_x, i + l_y, 1, 1); } } else if (angle < -90.0f) { // write_string("2", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); for (int i = 0; i < y2; i++) { x2 = ((i - y0) + k * x0) / k; if (x2 > size) { x2 = size; } if (x2 < 0) { x2 = 0; } write_hline_lm(size + l_x, x2 + l_x, i + l_y, 1, 1); } } else if (angle > 0.0f && angle < 90.0f) { // write_string("3", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); for (int i = y1; i < size; i++) { x2 = ((i - y0) + k * x0) / k; if (x2 > size) { x2 = size; } if (x2 < 0) { x2 = 0; } write_hline_lm(0 + l_x, x2 + l_x, i + l_y, 1, 1); } } else if (angle > 90.0f) { // write_string("4", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); for (int i = 0; i < y1; i++) { x2 = ((i - y0) + k * x0) / k; if (x2 > size) { x2 = size; } if (x2 < 0) { x2 = 0; } write_hline_lm(x2 + l_x, 0 + l_x, i + l_y, 1, 1); } } } else if (vertical) { // horizon line write_line_outlined(x0 + l_x, 0 + l_y, x0 + l_x, size + l_y, 0, 0, 0, 1); if (angle >= 90.0f) { // write_string("5", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); for (int i = 0; i < size; i++) { write_hline_lm(0 + l_x, x0 + l_x, i + l_y, 1, 1); } } else { // write_string("6", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); for (int i = 0; i < size; i++) { write_hline_lm(size + l_x, x0 + l_x, i + l_y, 1, 1); } } } else if (horizontal) { // horizon line write_hline_outlined(0 + l_x, size + l_x, y0 + l_y, 0, 0, 0, 1); if (angle < 0) { // write_string("7", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); for (int i = 0; i < y0; i++) { write_hline_lm(0 + l_x, size + l_x, i + l_y, 1, 1); } } else { // write_string("8", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); for (int i = y0; i < size; i++) { write_hline_lm(0 + l_x, size + l_x, i + l_y, 1, 1); } } } // sides write_line_outlined(l_x, l_y, l_x, l_y + size, 0, 0, 0, 1); write_line_outlined(l_x + size, l_y, l_x + size, l_y + size, 0, 0, 0, 1); // plane write_line_outlined(refx - 5, refy, refx + 6, refy, 0, 0, 0, 1); write_line_outlined(refx, refy, refx, refy - 3, 0, 0, 0, 1); } void introText() { write_string("ver 0.2", APPLY_HDEADBAND((GRAPHICS_RIGHT / 2)), APPLY_VDEADBAND(GRAPHICS_BOTTOM - 10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); } void introGraphics() { /* logo */ int image = 0; struct splashEntry splash_info; splash_info = splash[image]; copyimage(APPLY_HDEADBAND(GRAPHICS_RIGHT / 2 - (splash_info.width) / 2), APPLY_VDEADBAND(GRAPHICS_BOTTOM / 2 - (splash_info.height) / 2), image); /* frame */ drawBox(APPLY_HDEADBAND(0), APPLY_VDEADBAND(0), APPLY_HDEADBAND(GRAPHICS_RIGHT - 8), APPLY_VDEADBAND(GRAPHICS_BOTTOM)); // Must mask out last half-word because SPI keeps clocking it out otherwise for (uint32_t i = 0; i < 8; i++) { write_vline(draw_buffer_level, GRAPHICS_WIDTH_REAL - i - 1, 0, GRAPHICS_HEIGHT_REAL - 1, 0); write_vline(draw_buffer_mask, GRAPHICS_WIDTH_REAL - i - 1, 0, GRAPHICS_HEIGHT_REAL - 1, 0); } } void calcHomeArrow(int16_t m_yaw) { HomeLocationData home; HomeLocationGet(&home); GPSPositionData gpsData; GPSPositionGet(&gpsData); /** http://www.movable-type.co.uk/scripts/latlong.html **/ float lat1, lat2, lon1, lon2, a, c, d, x, y, brng, u2g; float elevation; float gcsAlt = home.Altitude; // Home MSL altitude float uavAlt = gpsData.Altitude; // UAV MSL altitude float dAlt = uavAlt - gcsAlt; // Altitude difference // Convert to radians lat1 = DEG2RAD(home.Latitude) / 10000000.0f; // Home lat lon1 = DEG2RAD(home.Longitude) / 10000000.0f; // Home lon lat2 = DEG2RAD(gpsData.Latitude) / 10000000.0f; // UAV lat lon2 = DEG2RAD(gpsData.Longitude) / 10000000.0f; // UAV lon // Bearing /** var y = Math.sin(dLon) * Math.cos(lat2); var x = Math.cos(lat1)*Math.sin(lat2) - Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon); var brng = Math.atan2(y, x).toDeg(); **/ y = sinf(lon2 - lon1) * cosf(lat2); x = cosf(lat1) * sinf(lat2) - sinf(lat1) * cosf(lat2) * cosf(lon2 - lon1); brng = RAD2DEG(atan2f(y, x)); if (brng < 0) { brng += 360.0f; } // yaw corrected bearing, needs compass u2g = brng - 180.0f - m_yaw; if (u2g < 0) { u2g += 360.0f; } // Haversine formula for distance /** var R = 6371; // km var dLat = (lat2-lat1).toRad(); var dLon = (lon2-lon1).toRad(); var a = Math.sin(dLat/2) * Math.sin(dLat/2) + Math.cos(lat1.toRad()) * Math.cos(lat2.toRad()) * Math.sin(dLon/2) * Math.sin(dLon/2); var c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a)); var d = R * c; **/ a = sinf((lat2 - lat1) / 2) * sinf((lat2 - lat1) / 2) + cosf(lat1) * cosf(lat2) * sinf((lon2 - lon1) / 2) * sinf((lon2 - lon1) / 2); c = 2.0f * atan2f(sqrtf(a), sqrtf(1.0f - a)); d = 6371.0f * 1000.0f * c; // Elevation v depends servo direction if (d > 0.0f) { elevation = 90.0f - RAD2DEG(atanf(dAlt / d)); } else { elevation = 0.0f; } // ! TODO: sanity check char temp[50] = { 0 }; sprintf(temp, "hea:%d", (int)brng); write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT / 2 - 30), APPLY_VDEADBAND(30), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); sprintf(temp, "ele:%d", (int)elevation); write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT / 2 - 30), APPLY_VDEADBAND(30 + 10), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); sprintf(temp, "dis:%d", (int)d); write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT / 2 - 30), APPLY_VDEADBAND(30 + 10 + 10), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); sprintf(temp, "u2g:%d", (int)u2g); write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT / 2 - 30), APPLY_VDEADBAND(30 + 10 + 10 + 10), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); sprintf(temp, "%c%c", (int)(u2g / 22.5f) * 2 + 0x90, (int)(u2g / 22.5f) * 2 + 0x91); write_string(temp, APPLY_HDEADBAND(250), APPLY_VDEADBAND(40 + 10 + 10), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 3); } int lama = 10; int lama_loc[2][30]; void lamas(void) { char temp[10] = { 0 }; lama++; if (lama % 10 == 0) { for (int z = 0; z < 30; z++) { lama_loc[0][z] = rand() % (GRAPHICS_RIGHT - 10); lama_loc[1][z] = rand() % (GRAPHICS_BOTTOM - 10); } } for (int z = 0; z < 30; z++) { sprintf(temp, "%c", 0xe8 + (lama_loc[0][z] % 2)); write_string(temp, APPLY_HDEADBAND(lama_loc[0][z]), APPLY_VDEADBAND(lama_loc[1][z]), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); } } // main draw function void updateGraphics() { OsdSettingsData OsdSettings; OsdSettingsGet(&OsdSettings); AttitudeActualData attitude; AttitudeActualGet(&attitude); GPSPositionData gpsData; GPSPositionGet(&gpsData); HomeLocationData home; HomeLocationGet(&home); BaroAltitudeData baro; BaroAltitudeGet(&baro); FlightStatusData status; FlightStatusGet(&status); PIOS_Servo_Set(0, OsdSettings.White); PIOS_Servo_Set(1, OsdSettings.Black); switch (OsdSettings.Screen) { case 0: // Dave simple { if (home.Set == HOMELOCATION_SET_FALSE) { char temps[20] = { 0 }; sprintf(temps, "HOME NOT SET"); // printTextFB(x,y,temp); write_string(temps, APPLY_HDEADBAND(GRAPHICS_RIGHT / 2), (GRAPHICS_BOTTOM / 2), 0, 0, TEXT_VA_TOP, TEXT_HA_CENTER, 0, 3); } char temp[50] = { 0 }; memset(temp, ' ', 40); // Note: cast to double required due to -Wdouble-promotion compiler option is // being used, and there is no way in C to pass a float to a variadic function like sprintf() sprintf(temp, "Lat:%11.7f", (double)(gpsData.Latitude / 10000000.0f)); write_string(temp, APPLY_HDEADBAND(20), APPLY_VDEADBAND(GRAPHICS_BOTTOM - 30), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_LEFT, 0, 3); sprintf(temp, "Lon:%11.7f", (double)(gpsData.Longitude / 10000000.0f)); write_string(temp, APPLY_HDEADBAND(20), APPLY_VDEADBAND(GRAPHICS_BOTTOM - 10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_LEFT, 0, 3); sprintf(temp, "Sat:%d", (int)gpsData.Satellites); write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT - 40), APPLY_VDEADBAND(30), 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2); /* Print ADC voltage FLIGHT*/ sprintf(temp, "V:%5.2fV", (double)(PIOS_ADC_PinGet(2) * 3 * 6.1f / 4096)); write_string(temp, APPLY_HDEADBAND(20), APPLY_VDEADBAND(20), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 3); if (gpsData.Heading > 180) { calcHomeArrow((int16_t)(gpsData.Heading - 360)); } else { calcHomeArrow((int16_t)(gpsData.Heading)); } } break; case 1: { /*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;*/ // GPS HACK if (gpsData.Heading > 180) { calcHomeArrow((int16_t)(gpsData.Heading - 360)); } else { calcHomeArrow((int16_t)(gpsData.Heading)); } /* Draw Attitude Indicator */ if (OsdSettings.Attitude == OSDSETTINGS_ATTITUDE_ENABLED) { drawAttitude(APPLY_HDEADBAND(OsdSettings.AttitudeSetup[OSDSETTINGS_ATTITUDESETUP_X]), APPLY_VDEADBAND(OsdSettings.AttitudeSetup[OSDSETTINGS_ATTITUDESETUP_Y]), attitude.Pitch, attitude.Roll, 96); } // 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[50] = { 0 }; memset(temp, ' ', 40); sprintf(temp, "Lat:%11.7f", (double)(gpsData.Latitude / 10000000.0f)); write_string(temp, APPLY_HDEADBAND(5), APPLY_VDEADBAND(5), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); sprintf(temp, "Lon:%11.7f", (double)(gpsData.Longitude / 10000000.0f)); write_string(temp, APPLY_HDEADBAND(5), APPLY_VDEADBAND(15), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); sprintf(temp, "Fix:%d", (int)gpsData.Status); write_string(temp, APPLY_HDEADBAND(5), APPLY_VDEADBAND(25), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); sprintf(temp, "Sat:%d", (int)gpsData.Satellites); write_string(temp, APPLY_HDEADBAND(5), APPLY_VDEADBAND(35), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); /* Print RTC time */ if (OsdSettings.Time == OSDSETTINGS_TIME_ENABLED) { printTime(APPLY_HDEADBAND(OsdSettings.TimeSetup[OSDSETTINGS_TIMESETUP_X]), APPLY_VDEADBAND(OsdSettings.TimeSetup[OSDSETTINGS_TIMESETUP_Y])); } /* Print Number of detected video Lines */ sprintf(temp, "Lines:%4d", PIOS_Video_GetOSDLines()); write_string(temp, APPLY_HDEADBAND((GRAPHICS_RIGHT - 8)), APPLY_VDEADBAND(5), 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2); /* Print ADC voltage */ // sprintf(temp,"Rssi:%4dV",(int)(PIOS_ADC_PinGet(4)*3000/4096)); // write_string(temp, (GRAPHICS_WIDTH_REAL - 2),15, 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2); sprintf(temp, "Rssi:%4.2fV", (double)(PIOS_ADC_PinGet(5) * 3.0f / 4096.0f)); write_string(temp, APPLY_HDEADBAND((GRAPHICS_RIGHT - 8)), APPLY_VDEADBAND(15), 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2); /* Print CPU temperature */ sprintf(temp, "Temp:%4.2fC", (double)(PIOS_ADC_PinGet(3) * 0.29296875f - 264)); write_string(temp, APPLY_HDEADBAND((GRAPHICS_RIGHT - 8)), APPLY_VDEADBAND(25), 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2); /* Print ADC voltage FLIGHT*/ sprintf(temp, "FltV:%4.2fV", (double)(PIOS_ADC_PinGet(2) * 3.0f * 6.1f / 4096.0f)); write_string(temp, APPLY_HDEADBAND((GRAPHICS_RIGHT - 8)), APPLY_VDEADBAND(35), 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2); /* Print ADC voltage VIDEO*/ sprintf(temp, "VidV:%4.2fV", (double)(PIOS_ADC_PinGet(4) * 3.0f * 6.1f / 4096.0f)); write_string(temp, APPLY_HDEADBAND((GRAPHICS_RIGHT - 8)), APPLY_VDEADBAND(45), 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2); /* Print ADC voltage RSSI */ // sprintf(temp,"Curr:%4dA",(int)(PIOS_ADC_PinGet(0)*300*61/4096)); // write_string(temp, (GRAPHICS_WIDTH_REAL - 2),60, 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2); /* Draw Battery Gauge */ /*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; }*/ /*if(OsdSettings.Battery == OSDSETTINGS_BATTERY_ENABLED) { drawBattery(APPLY_HDEADBAND(OsdSettings.BatterySetup[OSDSETTINGS_BATTERYSETUP_X]),APPLY_VDEADBAND(OsdSettings.BatterySetup[OSDSETTINGS_BATTERYSETUP_Y]),m_batt,16); }*/ // drawAltitude(200,50,m_alt,dir); // drawArrow(96,GRAPHICS_HEIGHT_REAL/2,angleB,32); // Draw airspeed (left side.) if (OsdSettings.Speed == OSDSETTINGS_SPEED_ENABLED) { hud_draw_vertical_scale((int)gpsData.Groundspeed, 100, -1, APPLY_HDEADBAND(OsdSettings.SpeedSetup[OSDSETTINGS_SPEEDSETUP_X]), APPLY_VDEADBAND(OsdSettings.SpeedSetup[OSDSETTINGS_SPEEDSETUP_Y]), 100, 10, 20, 7, 12, 15, 1000, HUD_VSCALE_FLAG_NO_NEGATIVE); } // Draw altimeter (right side.) if (OsdSettings.Altitude == OSDSETTINGS_ALTITUDE_ENABLED) { hud_draw_vertical_scale((int)gpsData.Altitude, 200, +1, APPLY_HDEADBAND(OsdSettings.AltitudeSetup[OSDSETTINGS_ALTITUDESETUP_X]), APPLY_VDEADBAND(OsdSettings.AltitudeSetup[OSDSETTINGS_ALTITUDESETUP_Y]), 100, 20, 100, 7, 12, 15, 500, 0); } // Draw compass. if (OsdSettings.Heading == OSDSETTINGS_HEADING_ENABLED) { if (attitude.Yaw < 0) { hud_draw_linear_compass(360 + attitude.Yaw, 150, 120, APPLY_HDEADBAND(OsdSettings.HeadingSetup[OSDSETTINGS_HEADINGSETUP_X]), APPLY_VDEADBAND(OsdSettings.HeadingSetup[OSDSETTINGS_HEADINGSETUP_Y]), 15, 30, 7, 12, 0); } else { hud_draw_linear_compass(attitude.Yaw, 150, 120, APPLY_HDEADBAND(OsdSettings.HeadingSetup[OSDSETTINGS_HEADINGSETUP_X]), APPLY_VDEADBAND(OsdSettings.HeadingSetup[OSDSETTINGS_HEADINGSETUP_Y]), 15, 30, 7, 12, 0); } } } break; case 2: { int size = 64; int x = ((GRAPHICS_RIGHT / 2) - (size / 2)), y = (GRAPHICS_BOTTOM - size - 2); draw_artificial_horizon(-attitude.Roll, attitude.Pitch, APPLY_HDEADBAND(x), APPLY_VDEADBAND(y), size); hud_draw_vertical_scale((int)gpsData.Groundspeed, 20, +1, APPLY_HDEADBAND(GRAPHICS_RIGHT - (x - 1)), APPLY_VDEADBAND(y + (size / 2)), size, 5, 10, 4, 7, 10, 100, HUD_VSCALE_FLAG_NO_NEGATIVE); if (OsdSettings.AltitudeSource == OSDSETTINGS_ALTITUDESOURCE_BARO) { hud_draw_vertical_scale((int)baro.Altitude, 50, -1, APPLY_HDEADBAND((x + size + 1)), APPLY_VDEADBAND(y + (size / 2)), size, 10, 20, 4, 7, 10, 500, 0); } else { hud_draw_vertical_scale((int)gpsData.Altitude, 50, -1, APPLY_HDEADBAND((x + size + 1)), APPLY_VDEADBAND(y + (size / 2)), size, 10, 20, 4, 7, 10, 500, 0); } char temp[50] = { 0 }; memset(temp, ' ', 50); switch (status.FlightMode) { case FLIGHTSTATUS_FLIGHTMODE_MANUAL: sprintf(temp, "Man"); break; case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1: sprintf(temp, "Stab1"); break; case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2: sprintf(temp, "Stab2"); break; case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3: sprintf(temp, "Stab3"); break; case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD: sprintf(temp, "PH"); break; case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE: sprintf(temp, "RTB"); break; case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER: sprintf(temp, "PATH"); break; default: sprintf(temp, "Mode: %d", status.FlightMode); break; } write_string(temp, APPLY_HDEADBAND(5), APPLY_VDEADBAND(5), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2); } break; case 3: { lamas(); } break; case 4: case 5: case 6: { int image = OsdSettings.Screen - 4; struct splashEntry splash_info; splash_info = splash[image]; copyimage(APPLY_HDEADBAND(GRAPHICS_RIGHT / 2 - (splash_info.width) / 2), APPLY_VDEADBAND(GRAPHICS_BOTTOM / 2 - (splash_info.height) / 2), image); } break; default: write_vline_lm(APPLY_HDEADBAND(GRAPHICS_RIGHT / 2), APPLY_VDEADBAND(0), APPLY_VDEADBAND(GRAPHICS_BOTTOM), 1, 1); write_hline_lm(APPLY_HDEADBAND(0), APPLY_HDEADBAND(GRAPHICS_RIGHT), APPLY_VDEADBAND(GRAPHICS_BOTTOM / 2), 1, 1); break; } // Must mask out last half-word because SPI keeps clocking it out otherwise for (uint32_t i = 0; i < 8; i++) { write_vline(draw_buffer_level, GRAPHICS_WIDTH_REAL - i - 1, 0, GRAPHICS_HEIGHT_REAL - 1, 0); write_vline(draw_buffer_mask, GRAPHICS_WIDTH_REAL - i - 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); PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OSDGEN, osdgenTaskHandle); #ifdef PIOS_INCLUDE_WDG PIOS_WDG_RegisterFlag(PIOS_WDG_OSDGEN); #endif 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 OsdSettingsInitialize(); BaroAltitudeInitialize(); FlightStatusInitialize(); return 0; } MODULE_INITCALL(osdgenInitialize, osdgenStart) // **************** /** * Main osd task. It does not return. */ static void osdgenTask(__attribute__((unused)) void *parameters) { // portTickType lastSysTime; // Loop forever // lastSysTime = xTaskGetTickCount(); OsdSettingsData OsdSettings; OsdSettingsGet(&OsdSettings); PIOS_Servo_Set(0, OsdSettings.White); PIOS_Servo_Set(1, OsdSettings.Black); // intro for (int i = 0; i < 63; i++) { if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) { #ifdef PIOS_INCLUDE_WDG PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN); #endif clearGraphics(); introGraphics(); } } for (int i = 0; i < 63; i++) { if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) { #ifdef PIOS_INCLUDE_WDG PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN); #endif clearGraphics(); introGraphics(); introText(); } } while (1) { if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) { #ifdef PIOS_INCLUDE_WDG PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN); #endif updateOnceEveryFrame(); } // xSemaphoreTake(osdSemaphore, portMAX_DELAY); // vTaskDelayUntil(&lastSysTime, 10 / portTICK_RATE_MS); } } // **************** /** * @} * @} */