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6fdf554d4a
Conflicts: flight/modules/Attitude/revolution/attitude.c ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp shared/uavobjectdefinition/attitudesettings.xml
2497 lines
91 KiB
C
2497 lines
91 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup OSDgenModule osdgen Module
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* @brief Process OSD information
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* @{
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*
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* @file osdgen.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief OSD gen module, handles OSD draw. Parts from CL-OSD and SUPEROSD projects
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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// ****************
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#include <openpilot.h>
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#include "osdgen.h"
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#include "attitudestate.h"
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#include "gpspositionsensor.h"
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#include "homelocation.h"
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#include "gpstime.h"
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#include "gpssatellites.h"
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#include "osdsettings.h"
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#include "barosensor.h"
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#include "taskinfo.h"
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#include "flightstatus.h"
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#include "fonts.h"
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#include "font12x18.h"
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#include "font8x10.h"
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#include "WMMInternal.h"
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#include "splash.h"
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/*
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static uint16_t angleA=0;
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static int16_t angleB=90;
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static int16_t angleC=0;
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static int16_t sum=2;
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static int16_t m_pitch=0;
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static int16_t m_roll=0;
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static int16_t m_yaw=0;
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static int16_t m_batt=0;
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static int16_t m_alt=0;
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static uint8_t m_gpsStatus=0;
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static int32_t m_gpsLat=0;
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static int32_t m_gpsLon=0;
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static float m_gpsAlt=0;
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static float m_gpsSpd=0;*/
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extern uint8_t *draw_buffer_level;
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extern uint8_t *draw_buffer_mask;
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extern uint8_t *disp_buffer_level;
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extern uint8_t *disp_buffer_mask;
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TTime timex;
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// ****************
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// Private functions
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static void osdgenTask(void *parameters);
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// ****************
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// Private constants
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#define LONG_TIME 0xffff
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xSemaphoreHandle osdSemaphore = NULL;
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#define STACK_SIZE_BYTES 4096
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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#define UPDATE_PERIOD 100
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// ****************
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// Private variables
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static xTaskHandle osdgenTaskHandle;
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struct splashEntry {
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unsigned int width, height;
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const uint16_t *level;
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const uint16_t *mask;
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};
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struct splashEntry splash[3] = {
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{ oplogo_width,
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oplogo_height,
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oplogo_bits,
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oplogo_mask_bits },
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{ level_width,
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level_height,
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level_bits,
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level_mask_bits },
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{ llama_width,
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llama_height,
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llama_bits,
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llama_mask_bits }
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};
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uint16_t mirror(uint16_t source)
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{
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int result = ((source & 0x8000) >> 7) | ((source & 0x4000) >> 5) | ((source & 0x2000) >> 3) | ((source & 0x1000) >> 1) | ((source & 0x0800) << 1)
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| ((source & 0x0400) << 3) | ((source & 0x0200) << 5) | ((source & 0x0100) << 7) | ((source & 0x0080) >> 7) | ((source & 0x0040) >> 5)
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| ((source & 0x0020) >> 3) | ((source & 0x0010) >> 1) | ((source & 0x0008) << 1) | ((source & 0x0004) << 3) | ((source & 0x0002) << 5)
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| ((source & 0x0001) << 7);
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return result;
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}
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void clearGraphics()
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{
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memset((uint8_t *)draw_buffer_mask, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT);
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memset((uint8_t *)draw_buffer_level, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT);
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}
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void copyimage(uint16_t offsetx, uint16_t offsety, int image)
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{
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// check top/left position
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if (!validPos(offsetx, offsety)) {
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return;
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}
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struct splashEntry splash_info;
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splash_info = splash[image];
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offsetx = offsetx / 8;
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for (uint16_t y = offsety; y < ((splash_info.height) + offsety); y++) {
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uint16_t x1 = offsetx;
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for (uint16_t x = offsetx; x < (((splash_info.width) / 16) + offsetx); x++) {
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draw_buffer_level[y * GRAPHICS_WIDTH + x1 + 1] = (uint8_t)(
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mirror(splash_info.level[(y - offsety) * ((splash_info.width) / 16) + (x - offsetx)]) >> 8);
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draw_buffer_level[y * GRAPHICS_WIDTH + x1] = (uint8_t)(
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mirror(splash_info.level[(y - offsety) * ((splash_info.width) / 16) + (x - offsetx)]) & 0xFF);
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draw_buffer_mask[y * GRAPHICS_WIDTH + x1 + 1] = (uint8_t)(
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mirror(splash_info.mask[(y - offsety) * ((splash_info.width) / 16) + (x - offsetx)]) >> 8);
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draw_buffer_mask[y * GRAPHICS_WIDTH + x1] = (uint8_t)(mirror(splash_info.mask[(y - offsety) * ((splash_info.width) / 16) + (x - offsetx)]) & 0xFF);
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x1 += 2;
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}
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}
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}
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uint8_t validPos(uint16_t x, uint16_t y)
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{
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if (x < GRAPHICS_HDEADBAND || x >= GRAPHICS_WIDTH_REAL || y >= GRAPHICS_HEIGHT_REAL) {
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return 0;
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}
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return 1;
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}
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// Credit for this one goes to wikipedia! :-)
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void drawCircle(uint16_t x0, uint16_t y0, uint16_t radius)
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{
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int f = 1 - radius;
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int ddF_x = 1;
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int ddF_y = -2 * radius;
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int x = 0;
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int y = radius;
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write_pixel_lm(x0, y0 + radius, 1, 1);
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write_pixel_lm(x0, y0 - radius, 1, 1);
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write_pixel_lm(x0 + radius, y0, 1, 1);
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write_pixel_lm(x0 - radius, y0, 1, 1);
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while (x < y) {
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// ddF_x == 2 * x + 1;
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// ddF_y == -2 * y;
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// f == x*x + y*y - radius*radius + 2*x - y + 1;
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if (f >= 0) {
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y--;
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ddF_y += 2;
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f += ddF_y;
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}
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x++;
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ddF_x += 2;
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f += ddF_x;
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write_pixel_lm(x0 + x, y0 + y, 1, 1);
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write_pixel_lm(x0 - x, y0 + y, 1, 1);
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write_pixel_lm(x0 + x, y0 - y, 1, 1);
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write_pixel_lm(x0 - x, y0 - y, 1, 1);
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write_pixel_lm(x0 + y, y0 + x, 1, 1);
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write_pixel_lm(x0 - y, y0 + x, 1, 1);
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write_pixel_lm(x0 + y, y0 - x, 1, 1);
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write_pixel_lm(x0 - y, y0 - x, 1, 1);
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}
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}
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void swap(uint16_t *a, uint16_t *b)
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{
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uint16_t temp = *a;
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*a = *b;
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*b = temp;
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}
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static const int8_t sinData[91] =
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{ 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,
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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,
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98, 98, 99, 99, 99, 99, 100, 100, 100, 100, 100, 100 };
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static int8_t mySin(uint16_t angle)
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{
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uint16_t pos = 0;
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pos = angle % 360;
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int8_t mult = 1;
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// 180-359 is same as 0-179 but negative.
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if (pos >= 180) {
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pos = pos - 180;
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mult = -1;
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}
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// 0-89 is equal to 90-179 except backwards.
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if (pos >= 90) {
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pos = 180 - pos;
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}
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return mult * (int8_t)(sinData[pos]);
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}
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static int8_t myCos(uint16_t angle)
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{
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return mySin(angle + 90);
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}
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/// Draws four points relative to the given center point.
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///
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/// \li centerX + X, centerY + Y
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/// \li centerX + X, centerY - Y
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/// \li centerX - X, centerY + Y
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/// \li centerX - X, centerY - Y
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///
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/// \param centerX the x coordinate of the center point
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/// \param centerY the y coordinate of the center point
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/// \param deltaX the difference between the centerX coordinate and each pixel drawn
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/// \param deltaY the difference between the centerY coordinate and each pixel drawn
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/// \param color the color to draw the pixels with.
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void plotFourQuadrants(int32_t centerX, int32_t centerY, int32_t deltaX, int32_t deltaY)
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{
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write_pixel_lm(centerX + deltaX, centerY + deltaY, 1, 1); // Ist Quadrant
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write_pixel_lm(centerX - deltaX, centerY + deltaY, 1, 1); // IInd Quadrant
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write_pixel_lm(centerX - deltaX, centerY - deltaY, 1, 1); // IIIrd Quadrant
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write_pixel_lm(centerX + deltaX, centerY - deltaY, 1, 1); // IVth Quadrant
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}
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/// Implements the midpoint ellipse drawing algorithm which is a bresenham
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/// style DDF.
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///
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/// \param centerX the x coordinate of the center of the ellipse
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/// \param centerY the y coordinate of the center of the ellipse
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/// \param horizontalRadius the horizontal radius of the ellipse
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/// \param verticalRadius the vertical radius of the ellipse
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/// \param color the color of the ellipse border
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void ellipse(int centerX, int centerY, int horizontalRadius, int verticalRadius)
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{
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int64_t doubleHorizontalRadius = horizontalRadius * horizontalRadius;
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int64_t doubleVerticalRadius = verticalRadius * verticalRadius;
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int64_t error = doubleVerticalRadius - doubleHorizontalRadius * verticalRadius + (doubleVerticalRadius >> 2);
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int x = 0;
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int y = verticalRadius;
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int deltaX = 0;
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int deltaY = (doubleHorizontalRadius << 1) * y;
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plotFourQuadrants(centerX, centerY, x, y);
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while (deltaY >= deltaX) {
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x++;
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deltaX += (doubleVerticalRadius << 1);
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error += deltaX + doubleVerticalRadius;
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if (error >= 0) {
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y--;
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deltaY -= (doubleHorizontalRadius << 1);
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error -= deltaY;
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}
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plotFourQuadrants(centerX, centerY, x, y);
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}
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error = (int64_t)(doubleVerticalRadius * (x + 1 / 2.0f) * (x + 1 / 2.0f) + doubleHorizontalRadius * (y - 1) * (y - 1) - doubleHorizontalRadius * doubleVerticalRadius);
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while (y >= 0) {
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error += doubleHorizontalRadius;
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y--;
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deltaY -= (doubleHorizontalRadius << 1);
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error -= deltaY;
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if (error <= 0) {
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x++;
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deltaX += (doubleVerticalRadius << 1);
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error += deltaX;
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}
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plotFourQuadrants(centerX, centerY, x, y);
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}
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}
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void drawArrow(uint16_t x, uint16_t y, uint16_t angle, uint16_t size)
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{
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int16_t a = myCos(angle);
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int16_t b = mySin(angle);
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a = (a * (size / 2)) / 100;
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b = (b * (size / 2)) / 100;
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write_line_lm((x) - 1 - b, (y) - 1 + a, (x) - 1 + b, (y) - 1 - a, 1, 1); // Direction line
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// 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
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write_line_lm((x) - 1 + b, (y) - 1 - a, (x) - 1 - a / 2, (y) - 1 - b / 2, 1, 1); // Arrow "wings"
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write_line_lm((x) - 1 + b, (y) - 1 - a, (x) - 1 + a / 2, (y) - 1 + b / 2, 1, 1);
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}
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void drawBox(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2)
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{
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write_line_lm(x1, y1, x2, y1, 1, 1); // top
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write_line_lm(x1, y1, x1, y2, 1, 1); // left
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write_line_lm(x2, y1, x2, y2, 1, 1); // right
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write_line_lm(x1, y2, x2, y2, 1, 1); // bottom
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}
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// simple routines
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// SUPEROSD routines, modified
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/**
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* write_pixel: Write a pixel at an x,y position to a given surface.
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*
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* @param buff pointer to buffer to write in
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* @param x x coordinate
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* @param y y coordinate
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* @param mode 0 = clear bit, 1 = set bit, 2 = toggle bit
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*/
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void write_pixel(uint8_t *buff, unsigned int x, unsigned int y, int mode)
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{
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CHECK_COORDS(x, y);
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// Determine the bit in the word to be set and the word
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// index to set it in.
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int bitnum = CALC_BIT_IN_WORD(x);
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int wordnum = CALC_BUFF_ADDR(x, y);
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// Apply a mask.
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uint16_t mask = 1 << (7 - bitnum);
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WRITE_WORD_MODE(buff, wordnum, mask, mode);
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}
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/**
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* write_pixel_lm: write the pixel on both surfaces (level and mask.)
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* Uses current draw buffer.
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*
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* @param x x coordinate
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* @param y y coordinate
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* @param mmode 0 = clear, 1 = set, 2 = toggle
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* @param lmode 0 = black, 1 = white, 2 = toggle
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*/
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void write_pixel_lm(unsigned int x, unsigned int y, int mmode, int lmode)
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{
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CHECK_COORDS(x, y);
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// Determine the bit in the word to be set and the word
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// index to set it in.
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int bitnum = CALC_BIT_IN_WORD(x);
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int wordnum = CALC_BUFF_ADDR(x, y);
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// Apply the masks.
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uint16_t mask = 1 << (7 - bitnum);
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WRITE_WORD_MODE(draw_buffer_mask, wordnum, mask, mmode);
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WRITE_WORD_MODE(draw_buffer_level, wordnum, mask, lmode);
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}
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/**
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* write_hline: optimised horizontal line writing algorithm
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*
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* @param buff pointer to buffer to write in
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* @param x0 x0 coordinate
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* @param x1 x1 coordinate
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* @param y y coordinate
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* @param mode 0 = clear, 1 = set, 2 = toggle
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*/
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void write_hline(uint8_t *buff, unsigned int x0, unsigned int x1, unsigned int y, int mode)
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{
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CLIP_COORDS(x0, y);
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CLIP_COORDS(x1, y);
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if (x0 > x1) {
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SWAP(x0, x1);
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}
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if (x0 == x1) {
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return;
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}
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/* This is an optimised algorithm for writing horizontal lines.
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* We begin by finding the addresses of the x0 and x1 points. */
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int addr0 = CALC_BUFF_ADDR(x0, y);
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int addr1 = CALC_BUFF_ADDR(x1, y);
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int addr0_bit = CALC_BIT_IN_WORD(x0);
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int addr1_bit = CALC_BIT_IN_WORD(x1);
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int mask, mask_l, mask_r, i;
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/* If the addresses are equal, we only need to write one word
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* which is an island. */
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if (addr0 == addr1) {
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mask = COMPUTE_HLINE_ISLAND_MASK(addr0_bit, addr1_bit);
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WRITE_WORD_MODE(buff, addr0, mask, mode);
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} else {
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/* Otherwise we need to write the edges and then the middle. */
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mask_l = COMPUTE_HLINE_EDGE_L_MASK(addr0_bit);
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mask_r = COMPUTE_HLINE_EDGE_R_MASK(addr1_bit);
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WRITE_WORD_MODE(buff, addr0, mask_l, mode);
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WRITE_WORD_MODE(buff, addr1, mask_r, mode);
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// Now write 0xffff words from start+1 to end-1.
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for (i = addr0 + 1; i <= addr1 - 1; i++) {
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uint8_t m = 0xff;
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WRITE_WORD_MODE(buff, i, m, mode);
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}
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}
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}
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/**
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* write_hline_lm: write both level and mask buffers.
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*
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* @param x0 x0 coordinate
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* @param x1 x1 coordinate
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* @param y y coordinate
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* @param lmode 0 = clear, 1 = set, 2 = toggle
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* @param mmode 0 = clear, 1 = set, 2 = toggle
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*/
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void write_hline_lm(unsigned int x0, unsigned int x1, unsigned int y, int lmode, int mmode)
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{
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// TODO: an optimisation would compute the masks and apply to
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// both buffers simultaneously.
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write_hline(draw_buffer_level, x0, x1, y, lmode);
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write_hline(draw_buffer_mask, x0, x1, y, mmode);
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}
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/**
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* write_hline_outlined: outlined horizontal line with varying endcaps
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* Always uses draw buffer.
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*
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* @param x0 x0 coordinate
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* @param x1 x1 coordinate
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* @param y y coordinate
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* @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);
|
|
GPSPositionSensorData gpsData;
|
|
GPSPositionSensorGet(&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);
|
|
AttitudeStateData attitude;
|
|
AttitudeStateGet(&attitude);
|
|
GPSPositionSensorData gpsData;
|
|
GPSPositionSensorGet(&gpsData);
|
|
HomeLocationData home;
|
|
HomeLocationGet(&home);
|
|
BaroSensorData baro;
|
|
BaroSensorGet(&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)
|
|
{
|
|
AttitudeStateInitialize();
|
|
#ifdef PIOS_INCLUDE_GPS
|
|
GPSPositionSensorInitialize();
|
|
#if !defined(PIOS_GPS_MINIMAL)
|
|
GPSTimeInitialize();
|
|
GPSSatellitesInitialize();
|
|
#endif
|
|
#ifdef PIOS_GPS_SETS_HOMELOCATION
|
|
HomeLocationInitialize();
|
|
#endif
|
|
#endif
|
|
OsdSettingsInitialize();
|
|
BaroSensorInitialize();
|
|
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);
|
|
}
|
|
}
|
|
|
|
// ****************
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|