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LibrePilot/flight/Modules/Osd/osdgen/osdgen.c
Sambas d6216cf02b Graphic features and cleanup 
osdinput module back to irq based usart
2012-06-02 12:46:09 +03:00

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup OSDGENModule osdgen Module
* @brief Process OSD information
* @{
*
* @file osdgen.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief OSD gen module, handles OSD draw. Parts from CL-OSD and SUPEROSD projects
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
// ****************
#include "openpilot.h"
#include "osdgen.h"
#include "attitudeactual.h"
#include "gpsposition.h"
#include "homelocation.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include "osdsettings.h"
#include "fonts.h"
#include "font12x18.h"
#include "font8x10.h"
#include "WMMInternal.h"
#include "splash.h"
static uint16_t angleA=0;
static int16_t angleB=90;
static int16_t angleC=0;
static int16_t sum=2;
static int16_t m_pitch=0;
static int16_t m_roll=0;
static int16_t m_yaw=0;
static int16_t m_batt=0;
static int16_t m_alt=0;
static uint8_t m_gpsStatus=0;
static int32_t m_gpsLat=0;
static int32_t m_gpsLon=0;
static float m_gpsAlt=0;
static float m_gpsSpd=0;
extern uint8_t *draw_buffer_level;
extern uint8_t *draw_buffer_mask;
extern uint8_t *disp_buffer_level;
extern uint8_t *disp_buffer_mask;
TTime timex;
// ****************
// Private functions
static void osdgenTask(void *parameters);
// ****************
// Private constants
#define LONG_TIME 0xffff
xSemaphoreHandle osdSemaphore = NULL;
#define STACK_SIZE_BYTES 4096
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
#define UPDATE_PERIOD 100
// ****************
// Private variables
static xTaskHandle osdgenTaskHandle;
struct splashEntry
{
unsigned int width, height;
uint8_t *level;
uint8_t *mask;
};
struct splashEntry splash[3] = {
{ oplogo_width,
oplogo_height,
&oplogo_bits,
&oplogo_mask_bits },
{ level_width,
level_height,
&level_bits,
&level_mask_bits },
{ llama_width,
llama_height,
&llama_bits,
&llama_mask_bits },
};
uint16_t mirror(uint16_t source)
{
int result = ((source & 0x8000) >> 7) | ((source & 0x4000) >> 5) |
((source & 0x2000) >> 3) | ((source & 0x1000) >> 1) |
((source & 0x0800) << 1) | ((source & 0x0400) << 3) |
((source & 0x0200) << 5) | ((source & 0x0100) << 7) |
((source & 0x0080) >> 7) | ((source & 0x0040) >> 5) |
((source & 0x0020) >> 3) | ((source & 0x0010) >> 1) |
((source & 0x0008) << 1) | ((source & 0x0004) << 3) |
((source & 0x0002) << 5) | ((source & 0x0001) << 7);
return result;
}
void clearGraphics() {
memset((uint8_t *) draw_buffer_mask, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT);
memset((uint8_t *) draw_buffer_level, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT);
}
void copyimage(uint16_t offsetx, uint16_t offsety, int image) {
//check top/left position
if (!validPos(offsetx, offsety)) {
return;
}
struct splashEntry splash_info;
splash_info = splash[image];
offsetx=offsetx/8;
for (uint16_t y = offsety; y < ((splash_info.height)+offsety); y++) {
for (uint16_t x = offsetx; x < (((splash_info.width)/8)+offsetx); x++) {
draw_buffer_level[y*GRAPHICS_WIDTH+x] = mirror(splash_info.level[(y-offsety)*((splash_info.width)/8)+(x-offsetx)]);
draw_buffer_mask[y*GRAPHICS_WIDTH+x] = mirror(splash_info.mask[(y-offsety)*((splash_info.width)/8)+(x-offsetx)]);
}
}
}
uint8_t validPos(uint16_t x, uint16_t y) {
if ( x < GRAPHICS_HDEADBAND || x >= GRAPHICS_WIDTH_REAL || y >= GRAPHICS_HEIGHT_REAL) {
return 0;
}
return 1;
}
// Credit for this one goes to wikipedia! :-)
void drawCircle(uint16_t x0, uint16_t y0, uint16_t radius) {
int f = 1 - radius;
int ddF_x = 1;
int ddF_y = -2 * radius;
int x = 0;
int y = radius;
write_pixel_lm(x0, y0 + radius,1,1);
write_pixel_lm(x0, y0 - radius,1,1);
write_pixel_lm(x0 + radius, y0,1,1);
write_pixel_lm(x0 - radius, y0,1,1);
while(x < y)
{
// ddF_x == 2 * x + 1;
// ddF_y == -2 * y;
// f == x*x + y*y - radius*radius + 2*x - y + 1;
if(f >= 0)
{
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x;
write_pixel_lm(x0 + x, y0 + y,1,1);
write_pixel_lm(x0 - x, y0 + y,1,1);
write_pixel_lm(x0 + x, y0 - y,1,1);
write_pixel_lm(x0 - x, y0 - y,1,1);
write_pixel_lm(x0 + y, y0 + x,1,1);
write_pixel_lm(x0 - y, y0 + x,1,1);
write_pixel_lm(x0 + y, y0 - x,1,1);
write_pixel_lm(x0 - y, y0 - x,1,1);
}
}
void swap(uint16_t* a, uint16_t* b) {
uint16_t temp = *a;
*a = *b;
*b = temp;
}
const static int8_t sinData[91] = {
0, 2, 3, 5, 7, 9, 10, 12, 14, 16, 17, 19, 21, 22, 24, 26, 28, 29, 31, 33,
34, 36, 37, 39, 41, 42, 44, 45, 47, 48, 50, 52, 53, 54, 56, 57, 59, 60, 62,
63, 64, 66, 67, 68, 69, 71, 72, 73, 74, 75, 77, 78, 79, 80, 81, 82, 83, 84,
85, 86, 87, 87, 88, 89, 90, 91, 91, 92, 93, 93, 94, 95, 95, 96, 96, 97, 97,
97, 98, 98, 98, 99, 99, 99, 99, 100, 100, 100, 100, 100, 100};
static int8_t mySin(uint16_t angle) {
uint16_t pos = 0;
pos = angle % 360;
int8_t mult = 1;
// 180-359 is same as 0-179 but negative.
if (pos >= 180) {
pos = pos - 180;
mult = -1;
}
// 0-89 is equal to 90-179 except backwards.
if (pos >= 90) {
pos = 180 - pos;
}
return mult * (int8_t)(sinData[pos]);
}
static int8_t myCos(uint16_t angle) {
return mySin(angle + 90);
}
/// Draws four points relative to the given center point.
///
/// \li centerX + X, centerY + Y
/// \li centerX + X, centerY - Y
/// \li centerX - X, centerY + Y
/// \li centerX - X, centerY - Y
///
/// \param centerX the x coordinate of the center point
/// \param centerY the y coordinate of the center point
/// \param deltaX the difference between the centerX coordinate and each pixel drawn
/// \param deltaY the difference between the centerY coordinate and each pixel drawn
/// \param color the color to draw the pixels with.
void plotFourQuadrants(int32_t centerX, int32_t centerY, int32_t deltaX, int32_t deltaY)
{
write_pixel_lm(centerX + deltaX, centerY + deltaY,1,1); // Ist Quadrant
write_pixel_lm(centerX - deltaX, centerY + deltaY,1,1); // IInd Quadrant
write_pixel_lm(centerX - deltaX, centerY - deltaY,1,1); // IIIrd Quadrant
write_pixel_lm(centerX + deltaX, centerY - deltaY,1,1); // IVth Quadrant
}
/// Implements the midpoint ellipse drawing algorithm which is a bresenham
/// style DDF.
///
/// \param centerX the x coordinate of the center of the ellipse
/// \param centerY the y coordinate of the center of the ellipse
/// \param horizontalRadius the horizontal radius of the ellipse
/// \param verticalRadius the vertical radius of the ellipse
/// \param color the color of the ellipse border
void ellipse(int centerX, int centerY, int horizontalRadius, int verticalRadius)
{
int64_t doubleHorizontalRadius = horizontalRadius * horizontalRadius;
int64_t doubleVerticalRadius = verticalRadius * verticalRadius;
int64_t error = doubleVerticalRadius - doubleHorizontalRadius * verticalRadius + (doubleVerticalRadius >> 2);
int x = 0;
int y = verticalRadius;
int deltaX = 0;
int deltaY = (doubleHorizontalRadius << 1) * y;
plotFourQuadrants(centerX, centerY, x, y);
while(deltaY >= deltaX)
{
x++;
deltaX += (doubleVerticalRadius << 1);
error += deltaX + doubleVerticalRadius;
if(error >= 0)
{
y--;
deltaY -= (doubleHorizontalRadius << 1);
error -= deltaY;
}
plotFourQuadrants(centerX, centerY, x, y);
}
error = (int64_t)(doubleVerticalRadius * (x + 1 / 2.0) * (x + 1 / 2.0) + doubleHorizontalRadius * (y - 1) * (y - 1) - doubleHorizontalRadius * doubleVerticalRadius);
while (y>=0)
{
error += doubleHorizontalRadius;
y--;
deltaY -= (doubleHorizontalRadius<<1);
error -= deltaY;
if(error <= 0)
{
x++;
deltaX += (doubleVerticalRadius << 1);
error += deltaX;
}
plotFourQuadrants(centerX, centerY, x, y);
}
}
void drawArrow(uint16_t x, uint16_t y, uint16_t angle, uint16_t size)
{
int16_t a = myCos(angle);
int16_t b = mySin(angle);
a = (a * (size/2)) / 100;
b = (b * (size/2)) / 100;
write_line_lm((x)-1 - b, (y)-1 + a, (x)-1 + b, (y)-1 - a, 1, 1); //Direction line
//write_line_lm((GRAPHICS_SIZE/2)-1 + a/2, (GRAPHICS_SIZE/2)-1 + b/2, (GRAPHICS_SIZE/2)-1 - a/2, (GRAPHICS_SIZE/2)-1 - b/2, 1, 1); //Arrow bottom line
write_line_lm((x)-1 + b, (y)-1 - a, (x)-1 - a/2, (y)-1 - b/2, 1, 1); // Arrow "wings"
write_line_lm((x)-1 + b, (y)-1 - a, (x)-1 + a/2, (y)-1 + b/2, 1, 1);
}
void drawBox(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2)
{
write_line_lm(x1, y1, x2, y1, 1, 1); //top
write_line_lm(x1, y1, x1, y2, 1, 1); //left
write_line_lm(x2, y1, x2, y2, 1, 1); //right
write_line_lm(x1, y2, x2, y2, 1, 1); //bottom
}
// simple routines
// SUPEROSD routines, modified
/**
* write_pixel: Write a pixel at an x,y position to a given surface.
*
* @param buff pointer to buffer to write in
* @param x x coordinate
* @param y y coordinate
* @param mode 0 = clear bit, 1 = set bit, 2 = toggle bit
*/
void write_pixel(uint8_t *buff, unsigned int x, unsigned int y, int mode)
{
CHECK_COORDS(x, y);
// Determine the bit in the word to be set and the word
// index to set it in.
int bitnum = CALC_BIT_IN_WORD(x);
int wordnum = CALC_BUFF_ADDR(x, y);
// Apply a mask.
uint16_t mask = 1 << (7 - bitnum);
WRITE_WORD_MODE(buff, wordnum, mask, mode);
}
/**
* write_pixel_lm: write the pixel on both surfaces (level and mask.)
* Uses current draw buffer.
*
* @param x x coordinate
* @param y y coordinate
* @param mmode 0 = clear, 1 = set, 2 = toggle
* @param lmode 0 = black, 1 = white, 2 = toggle
*/
void write_pixel_lm(unsigned int x, unsigned int y, int mmode, int lmode)
{
CHECK_COORDS(x, y);
// Determine the bit in the word to be set and the word
// index to set it in.
int bitnum = CALC_BIT_IN_WORD(x);
int wordnum = CALC_BUFF_ADDR(x, y);
// Apply the masks.
uint16_t mask = 1 << (7 - bitnum);
WRITE_WORD_MODE(draw_buffer_mask, wordnum, mask, mmode);
WRITE_WORD_MODE(draw_buffer_level, wordnum, mask, lmode);
}
/**
* write_hline: optimised horizontal line writing algorithm
*
* @param buff pointer to buffer to write in
* @param x0 x0 coordinate
* @param x1 x1 coordinate
* @param y y coordinate
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_hline(uint8_t *buff, unsigned int x0, unsigned int x1, unsigned int y, int mode)
{
CLIP_COORDS(x0, y);
CLIP_COORDS(x1, y);
if(x0 > x1)
{
SWAP(x0, x1);
}
if(x0 == x1) return;
/* This is an optimised algorithm for writing horizontal lines.
* We begin by finding the addresses of the x0 and x1 points. */
int addr0 = CALC_BUFF_ADDR(x0, y);
int addr1 = CALC_BUFF_ADDR(x1, y);
int addr0_bit = CALC_BIT_IN_WORD(x0);
int addr1_bit = CALC_BIT_IN_WORD(x1);
int mask, mask_l, mask_r, i;
/* If the addresses are equal, we only need to write one word
* which is an island. */
if(addr0 == addr1)
{
mask = COMPUTE_HLINE_ISLAND_MASK(addr0_bit, addr1_bit);
WRITE_WORD_MODE(buff, addr0, mask, mode);
}
/* Otherwise we need to write the edges and then the middle. */
else
{
mask_l = COMPUTE_HLINE_EDGE_L_MASK(addr0_bit);
mask_r = COMPUTE_HLINE_EDGE_R_MASK(addr1_bit);
WRITE_WORD_MODE(buff, addr0, mask_l, mode);
WRITE_WORD_MODE(buff, addr1, mask_r, mode);
// Now write 0xffff words from start+1 to end-1.
for(i = addr0 + 1; i <= addr1 - 1; i++)
{
WRITE_WORD_MODE(buff, i, 0xff, mode);
}
}
}
/**
* write_hline_lm: write both level and mask buffers.
*
* @param x0 x0 coordinate
* @param x1 x1 coordinate
* @param y y coordinate
* @param lmode 0 = clear, 1 = set, 2 = toggle
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_hline_lm(unsigned int x0, unsigned int x1, unsigned int y, int lmode, int mmode)
{
// TODO: an optimisation would compute the masks and apply to
// both buffers simultaneously.
write_hline(draw_buffer_level, x0, x1, y, lmode);
write_hline(draw_buffer_mask, x0, x1, y, mmode);
}
/**
* write_hline_outlined: outlined horizontal line with varying endcaps
* Always uses draw buffer.
*
* @param x0 x0 coordinate
* @param x1 x1 coordinate
* @param y y coordinate
* @param endcap0 0 = none, 1 = single pixel, 2 = full cap
* @param endcap1 0 = none, 1 = single pixel, 2 = full cap
* @param mode 0 = black outline, white body, 1 = white outline, black body
* @param mmode 0 = clear, 1 = set, 2 = toggle
*/
void write_hline_outlined(unsigned int x0, unsigned int x1, unsigned int y, int endcap0, int endcap1, int mode, int mmode)
{
int stroke, fill;
SETUP_STROKE_FILL(stroke, fill, mode)
if(x0 > x1)
{
SWAP(x0, x1);
}
// Draw the main body of the line.
write_hline_lm(x0 + 1, x1 - 1, y - 1, stroke, mmode);
write_hline_lm(x0 + 1, x1 - 1, y + 1, stroke, mmode);
write_hline_lm(x0 + 1, x1 - 1, y, fill, mmode);
// Draw the endcaps, if any.
DRAW_ENDCAP_HLINE(endcap0, x0, y, stroke, fill, mmode);
DRAW_ENDCAP_HLINE(endcap1, x1, y, stroke, fill, mmode);
}
/**
* write_vline: optimised vertical line writing algorithm
*
* @param buff pointer to buffer to write in
* @param x x coordinate
* @param y0 y0 coordinate
* @param y1 y1 coordinate
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_vline(uint8_t *buff, unsigned int x, unsigned int y0, unsigned int y1, int mode)
{
unsigned int a;
CLIP_COORDS(x, y0);
CLIP_COORDS(x, y1);
if(y0 > y1)
{
SWAP(y0, y1);
}
if(y0 == y1) return;
/* This is an optimised algorithm for writing vertical lines.
* We begin by finding the addresses of the x,y0 and x,y1 points. */
int addr0 = CALC_BUFF_ADDR(x, y0);
int addr1 = CALC_BUFF_ADDR(x, y1);
/* Then we calculate the pixel data to be written. */
int bitnum = CALC_BIT_IN_WORD(x);
uint16_t mask = 1 << (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)
{
int yy, addr0_old, addr1_old;
CHECK_COORDS(x, y);
CHECK_COORD_X(x + width);
CHECK_COORD_Y(y + height);
if(width <= 0 || height <= 0) return;
// Calculate as if the rectangle was only a horizontal line. We then
// step these addresses through each row until we iterate `height` times.
int addr0 = CALC_BUFF_ADDR(x, y);
int addr1 = CALC_BUFF_ADDR(x + width, y);
int addr0_bit = CALC_BIT_IN_WORD(x);
int addr1_bit = CALC_BIT_IN_WORD(x + width);
int mask, mask_l, mask_r, i;
// If the addresses are equal, we need to write one word vertically.
if(addr0 == addr1)
{
mask = COMPUTE_HLINE_ISLAND_MASK(addr0_bit, addr1_bit);
while(height--)
{
WRITE_WORD_MODE(buff, addr0, mask, mode);
addr0 += GRAPHICS_WIDTH_REAL / 8;
}
}
// Otherwise we need to write the edges and then the middle repeatedly.
else
{
mask_l = COMPUTE_HLINE_EDGE_L_MASK(addr0_bit);
mask_r = COMPUTE_HLINE_EDGE_R_MASK(addr1_bit);
// Write edges first.
yy = 0;
addr0_old = addr0;
addr1_old = addr1;
while(yy < height)
{
WRITE_WORD_MODE(buff, addr0, mask_l, mode);
WRITE_WORD_MODE(buff, addr1, mask_r, mode);
addr0 += 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++)
{
WRITE_WORD_MODE(buff, i, 0xff, 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
int steep = abs(y1 - y0) > abs(x1 - x0);
if(steep)
{
SWAP(x0, y0);
SWAP(x1, y1);
}
if(x0 > x1)
{
SWAP(x0, x1);
SWAP(y0, y1);
}
int deltax = x1 - x0;
int deltay = abs(y1 - y0);
int error = deltax / 2;
int ystep;
int y = y0;
int x, lasty = y, stox = 0;
if(y0 < y1)
ystep = 1;
else
ystep = -1;
for(x = x0; x < x1; x++)
{
if(steep)
{
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, int endcap0, int endcap1, int mode, int mmode)
{
// Based on http://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm
// This could be improved for speed.
int omode, imode;
if(mode == 0)
{
omode = 0;
imode = 1;
}
else
{
omode = 1;
imode = 0;
}
int steep = abs(y1 - y0) > abs(x1 - x0);
if(steep)
{
SWAP(x0, y0);
SWAP(x1, y1);
}
if(x0 > x1)
{
SWAP(x0, x1);
SWAP(y0, y1);
}
int deltax = x1 - x0;
int deltay = abs(y1 - y0);
int error = deltax / 2;
int ystep;
int y = y0;
int x;
if(y0 < y1)
ystep = 1;
else
ystep = -1;
// Draw the outline.
for(x = x0; x < x1; x++)
{
if(steep)
{
write_pixel_lm(y - 1, x, mmode, omode);
write_pixel_lm(y + 1, x, mmode, omode);
write_pixel_lm(y, x - 1, mmode, omode);
write_pixel_lm(y, x + 1, mmode, omode);
}
else
{
write_pixel_lm(x - 1, y, mmode, omode);
write_pixel_lm(x + 1, y, mmode, omode);
write_pixel_lm(x, y - 1, mmode, omode);
write_pixel_lm(x, y + 1, mmode, omode);
}
error -= deltay;
if(error < 0)
{
y += ystep;
error += deltax;
}
}
// Now draw the innards.
error = deltax / 2;
y = y0;
for(x = x0; x < x1; x++)
{
if(steep)
{
write_pixel_lm(y, x, mmode, imode);
}
else
{
write_pixel_lm(x, y, mmode, imode);
}
error -= deltay;
if(error < 0)
{
y += ystep;
error += deltax;
}
}
}
/**
* write_word_misaligned: Write a misaligned word across two addresses
* with an x offset.
*
* This allows for many pixels to be set in one write.
*
* @param buff buffer to write in
* @param word word to write (16 bits)
* @param addr address of first word
* @param xoff x offset (0-15)
* @param mode 0 = clear, 1 = set, 2 = toggle
*/
void write_word_misaligned(uint8_t *buff, uint16_t word, unsigned int addr, unsigned int xoff, int mode)
{
uint16_t firstmask = word >> xoff;
uint16_t lastmask = word << (16 - xoff);
WRITE_WORD_MODE(buff, addr+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(char ch, int font, struct FontEntry *font_info, char *lookup)
{
// First locate the font struct.
if(font > SIZEOF_ARRAY(fonts))
return 0; // font does not exist, exit.*/
// Load the font info; IDs are always sequential.
*font_info = fonts[font];
// Locate character in font lookup table. (If required.)
if(lookup != NULL)
{
*lookup = font_info->lookup[ch];
if(*lookup == 0xff)
return 0; // character doesn't exist, don't bother writing it.
}
return 1;
}
/**
* write_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)
{
int yy, addr_temp, row, row_temp, xshift;
uint16_t and_mask, or_mask, level_bits;
struct FontEntry font_info;
char lookup = 0;
fetch_font_info(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)
{
level_bits = font_frame12x18[row];
//if(!(flags & FONT_INVERT)) // data is normally inverted
level_bits = ~level_bits;
or_mask = font_mask12x18[row] << xshift;
and_mask = (font_mask12x18[row] & level_bits) << xshift;
} else {
level_bits = font_frame8x10[row];
//if(!(flags & FONT_INVERT)) // data is normally inverted
level_bits = ~level_bits;
or_mask = font_mask8x10[row] << xshift;
and_mask = (font_mask8x10[row] & level_bits) << xshift;
}
write_word_misaligned_OR(draw_buffer_level, or_mask, addr, wbit);
// If we're not bold write the AND mask.
//if(!(flags & FONT_BOLD))
write_word_misaligned_NAND(draw_buffer_level, and_mask, addr, wbit);
addr += 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)
{
int yy, addr_temp, row, row_temp, xshift;
uint16_t and_mask, or_mask, level_bits;
struct FontEntry font_info;
char lookup = 0;
fetch_font_info(ch, font, &font_info, &lookup);
// Compute starting address (for x,y) of character.
int addr = CALC_BUFF_ADDR(x, y);
int wbit = CALC_BIT_IN_WORD(x);
// If font only supports lowercase or uppercase, make the letter
// lowercase or uppercase.
if(font_info.flags & FONT_LOWERCASE_ONLY)
ch = tolower(ch);
if(font_info.flags & FONT_UPPERCASE_ONLY)
ch = toupper(ch);
fetch_font_info(ch, font, &font_info, &lookup);
// How big is the character? We handle characters up to 8 pixels
// wide for now. Support for large characters may be added in future.
if(font_info.width <= 8)
{
// Ensure we don't overflow.
if(x + wbit > 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++)
{
level_bits = font_info.data[row + font_info.height];
if(!(flags & FONT_INVERT)) // data is normally inverted
level_bits = ~level_bits;
or_mask = font_info.data[row] << xshift;
and_mask = (font_info.data[row] & level_bits) << xshift;
write_word_misaligned_OR(draw_buffer_level, or_mask, addr, wbit);
// If we're not bold write the AND mask.
//if(!(flags & FONT_BOLD))
write_word_misaligned_NAND(draw_buffer_level, and_mask, addr, wbit);
addr += 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, int va, int ha, int flags)
{
int fcode = 0, fptr = 0, font = 0, fwidth = 0, fheight = 0, xx = x, yy = y, max_xx = 0, max_height = 0;
struct FontEntry font_info;
// Retrieve sizes of the fonts: bigfont and smallfont.
fetch_font_info(0, 0, &font_info, NULL);
int smallfontwidth = font_info.width, smallfontheight = font_info.height;
fetch_font_info(0, 1, &font_info, NULL);
int bigfontwidth = font_info.width, bigfontheight = font_info.height;
// 11 byte stack with last byte as NUL.
char fstack[11];
fstack[10] = '\0';
// First, we need to parse the string for format characters and
// work out a bounding box. We'll parse again for the final output.
// This is a simple state machine parser.
char *ostr = str;
while(*str)
{
if(*str == '<' && fcode == 1) // escape code: skip
fcode = 0;
if(*str == '<' && fcode == 0) // begin format code?
{
fcode = 1;
fptr = 0;
}
if(*str == '>' && fcode == 1)
{
fcode = 0;
if(strcmp(fstack, "B")) // switch to "big" font (font #1)
{
fwidth = bigfontwidth;
fheight = bigfontheight;
}
else if(strcmp(fstack, "S")) // switch to "small" font (font #0)
{
fwidth = smallfontwidth;
fheight = smallfontheight;
}
if(fheight > max_height)
max_height = fheight;
// Skip over this byte. Go to next byte.
str++;
continue;
}
if(*str != '<' && *str != '>' && fcode == 1)
{
// Add to the format stack (up to 10 bytes.)
if(fptr > 10) // stop adding bytes
{
str++; // go to next byte
continue;
}
fstack[fptr++] = *str;
fstack[fptr] = '\0'; // clear next byte (ready for next char or to terminate string.)
}
if(fcode == 0)
{
// Not a format code, raw text.
xx += fwidth + xs;
if(*str == '\n')
{
if(xx > max_xx)
max_xx = xx;
xx = x;
yy += fheight + ys;
}
}
str++;
}
// Reset string pointer.
str = ostr;
// Now we've parsed it and got a bbox, we need to work out the dimensions of it
// and how to align it.
int width = max_xx - x;
int height = yy - y;
int ay, ax;
switch(va)
{
case TEXT_VA_TOP: ay = yy; break;
case TEXT_VA_MIDDLE: ay = yy - (height / 2); break;
case TEXT_VA_BOTTOM: ay = yy - height; break;
}
switch(ha)
{
case TEXT_HA_LEFT: ax = x; break;
case TEXT_HA_CENTER: ax = x - (width / 2); break;
case TEXT_HA_RIGHT: ax = x - width; break;
}
// So ax,ay is our new text origin. Parse the text format again and paint
// the text on the display.
fcode = 0;
fptr = 0;
font = 0;
xx = 0;
yy = 0;
while(*str)
{
if(*str == '<' && fcode == 1) // escape code: skip
fcode = 0;
if(*str == '<' && fcode == 0) // begin format code?
{
fcode = 1;
fptr = 0;
}
if(*str == '>' && fcode == 1)
{
fcode = 0;
if(strcmp(fstack, "B")) // switch to "big" font (font #1)
{
fwidth = bigfontwidth;
fheight = bigfontheight;
font = 1;
}
else if(strcmp(fstack, "S")) // switch to "small" font (font #0)
{
fwidth = smallfontwidth;
fheight = smallfontheight;
font = 0;
}
// Skip over this byte. Go to next byte.
str++;
continue;
}
if(*str != '<' && *str != '>' && fcode == 1)
{
// Add to the format stack (up to 10 bytes.)
if(fptr > 10) // stop adding bytes
{
str++; // go to next byte
continue;
}
fstack[fptr++] = *str;
fstack[fptr] = '\0'; // clear next byte (ready for next char or to terminate string.)
}
if(fcode == 0)
{
// Not a format code, raw text. So we draw it.
// TODO - different font sizes.
write_char(*str, xx, yy + (max_height - fheight), flags, font);
xx += fwidth + xs;
if(*str == '\n')
{
if(xx > max_xx)
max_xx = xx;
xx = x;
yy += fheight + ys;
}
}
str++;
}
}
//SUPEROSD-
// graphics
void drawAttitude(uint16_t x, uint16_t y, int16_t pitch, int16_t roll, uint16_t size)
{
int16_t a = mySin(roll+360);
int16_t b = myCos(roll+360);
int16_t c = mySin(roll+90+360)*5/100;
int16_t d = myCos(roll+90+360)*5/100;
int16_t k;
int16_t l;
int16_t indi30x1=myCos(30)*(size/2+1) / 100;
int16_t indi30y1=mySin(30)*(size/2+1) / 100;
int16_t indi30x2=myCos(30)*(size/2+4) / 100;
int16_t indi30y2=mySin(30)*(size/2+4) / 100;
int16_t indi60x1=myCos(60)*(size/2+1) / 100;
int16_t indi60y1=mySin(60)*(size/2+1) / 100;
int16_t indi60x2=myCos(60)*(size/2+4) / 100;
int16_t indi60y2=mySin(60)*(size/2+4) / 100;
pitch=pitch%90;
if(pitch>90)
{
pitch=pitch-90;
}
if(pitch<-90)
{
pitch=pitch+90;
}
a = (a * (size/2)) / 100;
b = (b * (size/2)) / 100;
if(roll<-90 || roll>90)
pitch=pitch*-1;
k = a*pitch/90;
l = b*pitch/90;
// scale
//0
//drawLine((x)-1-(size/2+4), (y)-1, (x)-1 - (size/2+1), (y)-1);
//drawLine((x)-1+(size/2+4), (y)-1, (x)-1 + (size/2+1), (y)-1);
write_line_outlined((x)-1-(size/2+4), (y)-1, (x)-1 - (size/2+1), (y)-1,0,0,0,1);
write_line_outlined((x)-1+(size/2+4), (y)-1, (x)-1 + (size/2+1), (y)-1,0,0,0,1);
//30
//drawLine((x)-1+indi30x1, (y)-1-indi30y1, (x)-1 + indi30x2, (y)-1 - indi30y2);
//drawLine((x)-1-indi30x1, (y)-1-indi30y1, (x)-1 - indi30x2, (y)-1 - indi30y2);
write_line_outlined((x)-1+indi30x1, (y)-1-indi30y1, (x)-1 + indi30x2, (y)-1 - indi30y2,0,0,0,1);
write_line_outlined((x)-1-indi30x1, (y)-1-indi30y1, (x)-1 - indi30x2, (y)-1 - indi30y2,0,0,0,1);
//60
//drawLine((x)-1+indi60x1, (y)-1-indi60y1, (x)-1 + indi60x2, (y)-1 - indi60y2);
//drawLine((x)-1-indi60x1, (y)-1-indi60y1, (x)-1 - indi60x2, (y)-1 - indi60y2);
write_line_outlined((x)-1+indi60x1, (y)-1-indi60y1, (x)-1 + indi60x2, (y)-1 - indi60y2,0,0,0,1);
write_line_outlined((x)-1-indi60x1, (y)-1-indi60y1, (x)-1 - indi60x2, (y)-1 - indi60y2,0,0,0,1);
//90
//drawLine((x)-1, (y)-1-(size/2+4), (x)-1, (y)-1 - (size/2+1));
write_line_outlined((x)-1, (y)-1-(size/2+4), (x)-1, (y)-1 - (size/2+1),0,0,0,1);
//roll
//drawLine((x)-1 - b, (y)-1 + a, (x)-1 + b, (y)-1 - a); //Direction line
write_line_outlined((x)-1 - b, (y)-1 + a, (x)-1 + b, (y)-1 - a,0,0,0,1); //Direction line
//"wingtips"
//drawLine((x)-1 - b, (y)-1 + a, (x)-1 - b + d, (y)-1 + a - c);
//drawLine((x)-1 + b + d, (y)-1 - a - c, (x)-1 + b, (y)-1 - a);
write_line_outlined((x)-1 - b, (y)-1 + a, (x)-1 - b + d, (y)-1 + a - c,0,0,0,1);
write_line_outlined((x)-1 + b + d, (y)-1 - a - c, (x)-1 + b, (y)-1 - a,0,0,0,1);
//pitch
//drawLine((x)-1, (y)-1, (x)-1 - k, (y)-1 - l);
write_line_outlined((x)-1, (y)-1, (x)-1 - k, (y)-1 - l,0,0,0,1);
//drawCircle(x-1, y-1, 5);
//write_circle_outlined(x-1, y-1, 5,0,0,0,1);
//drawCircle(x-1, y-1, size/2+4);
//write_circle_outlined(x-1, y-1, size/2+4,0,0,0,1);
}
void drawBattery(uint16_t x, uint16_t y, uint8_t battery, uint16_t size)
{
int i=0;
int batteryLines;
//top
/*drawLine((x)-1+(size/2-size/4), (y)-1, (x)-1 + (size/2+size/4), (y)-1);
drawLine((x)-1+(size/2-size/4), (y)-1+1, (x)-1 + (size/2+size/4), (y)-1+1);
drawLine((x)-1, (y)-1+2, (x)-1 + size, (y)-1+2);
//bottom
drawLine((x)-1, (y)-1+size*3, (x)-1 + size, (y)-1+size*3);
//left
drawLine((x)-1, (y)-1+2, (x)-1, (y)-1+size*3);
//right
drawLine((x)-1+size, (y)-1+2, (x)-1+size, (y)-1+size*3);*/
write_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 height height of scale
* @param x x displacement (typ. 0)
* @param y y displacement (typ. half display height)
* @param mintick_step how often a minor tick is shown
* @param majtick_step how often a major tick is shown
* @param mintick_len minor tick length
* @param majtick_len major tick length
* @param max_val maximum expected value (used to compute size of arrow ticker)
* @param flags special flags (see hud.h.)
*/
void hud_draw_vertical_scale(int v, int range, int halign, int x, int y, int height, int mintick_step, int majtick_step, int mintick_len, int majtick_len, int boundtick_len, int max_val, int flags)
{
char temp[15];//, temp2[15];
struct FontEntry font_info;
struct FontDimensions dim;
// Halign should be in a small span.
//MY_ASSERT(halign >= -1 && halign <= 1);
// Compute the position of the elements.
int majtick_start = 0, majtick_end = 0, mintick_start = 0, mintick_end = 0, boundtick_start = 0, boundtick_end = 0;
if(halign == -1)
{
majtick_start = x;
majtick_end = x + majtick_len;
mintick_start = x;
mintick_end = x + mintick_len;
boundtick_start = x;
boundtick_end = x + boundtick_len;
}
else if(halign == +1)
{
majtick_start = 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 calc_ys = 0, r = 0, rr = 0, rv = 0, ys = 0, style = 0;
// Iterate through each step.
for(r = -range_2; r <= +range_2; r++)
{
style = 0;
rr = r + range_2 - v; // normalise range for modulo, subtract value to move ticker tape
rv = -rr + range_2; // for number display
if(flags & HUD_VSCALE_FLAG_NO_NEGATIVE)
rr += majtick_step / 2;
if(rr % majtick_step == 0)
style = 1; // major tick
else if(rr % mintick_step == 0)
style = 2; // minor tick
else
style = 0;
if(flags & HUD_VSCALE_FLAG_NO_NEGATIVE && rv < 0)
continue;
if(style)
{
// Calculate y position.
ys = ((long int)(r * height) / (long int)range) + y;
//sprintf(temp, "ys=%d", ys);
//con_puts(temp, 0);
// Depending on style, draw a minor or a major tick.
if(style == 1)
{
write_hline_outlined(majtick_start, majtick_end, ys, 2, 2, 0, 1);
memset(temp, ' ', 10);
//my_itoa(rv, temp);
sprintf(temp,"%d",rv);
text_length = (strlen(temp) + 1) * small_font_char_width; // add 1 for margin
if(text_length > max_text_y)
max_text_y = text_length;
if(halign == -1)
write_string(temp, majtick_end + text_x_spacing, ys, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_LEFT, 0, 1);
else
write_string(temp, majtick_end - text_x_spacing + 1, ys, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_RIGHT, 0, 1);
}
else if(style == 2)
write_hline_outlined(mintick_start, mintick_end, ys, 2, 2, 0, 1);
}
}
// Generate the string for the value, as well as calculating its dimensions.
memset(temp, ' ', 10);
//my_itoa(v, temp);
sprintf(temp,"%d",v);
// TODO: add auto-sizing.
calc_text_dimensions(temp, font_info, 1, 0, &dim);
int xx = 0, i = 0;
if(halign == -1)
xx = majtick_end + text_x_spacing;
else
xx = majtick_end - text_x_spacing;
// Draw an arrow from the number to the point.
for(i = 0; i < arrow_len; i++)
{
if(halign == -1)
{
write_pixel_lm(xx - arrow_len + i, y - i - 1, 1, 1);
write_pixel_lm(xx - arrow_len + i, y + i - 1, 1, 1);
write_hline_lm(xx + dim.width - 1, xx - arrow_len + i + 1, y - i - 1, 0, 1);
write_hline_lm(xx + dim.width - 1, xx - arrow_len + i + 1, y + i - 1, 0, 1);
}
else
{
write_pixel_lm(xx + arrow_len - i, y - i - 1, 1, 1);
write_pixel_lm(xx + arrow_len - i, y + i - 1, 1, 1);
write_hline_lm(xx - dim.width - 1, xx + arrow_len - i - 1, y - i - 1, 0, 1);
write_hline_lm(xx - dim.width - 1, xx + arrow_len - i - 1, y + i - 1, 0, 1);
}
// FIXME
// write_hline_lm(xx - dim.width - 1, xx + (arrow_len - i), y - i - 1, 1, 1);
// write_hline_lm(xx - dim.width - 1, xx + (arrow_len - i), y + i - 1, 1, 1);
}
if(halign == -1)
{
write_hline_lm(xx, xx + dim.width - 1, y - arrow_len, 1, 1);
write_hline_lm(xx, xx + dim.width - 1, y + arrow_len - 2, 1, 1);
write_vline_lm(xx + dim.width - 1, y - arrow_len, y + arrow_len - 2, 1, 1);
}
else
{
write_hline_lm(xx, xx - dim.width - 1, y - arrow_len, 1, 1);
write_hline_lm(xx, xx - dim.width - 1, y + arrow_len - 2, 1, 1);
write_vline_lm(xx - dim.width - 1, y - arrow_len, y + arrow_len - 2, 1, 1);
}
// Draw the text.
if(halign == -1)
write_string(temp, xx, y, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_LEFT, 0, 0);
else
write_string(temp, xx, y, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_RIGHT, 0, 0);
// Then, add a slow cut off on the edges, so the text doesn't sharply
// disappear. We simply clear the areas above and below the ticker, and we
// use little markers on the edges.
if(halign == -1)
{
write_filled_rectangle_lm(majtick_end + text_x_spacing, y + (height / 2) - (font_info.height / 2), max_text_y - boundtick_start, font_info.height, 0, 0);
write_filled_rectangle_lm(majtick_end + text_x_spacing, y - (height / 2) - (font_info.height / 2), max_text_y - boundtick_start, font_info.height, 0, 0);
}
else
{
write_filled_rectangle_lm(majtick_end - text_x_spacing - max_text_y, y + (height / 2) - (font_info.height / 2), max_text_y, font_info.height, 0, 0);
write_filled_rectangle_lm(majtick_end - text_x_spacing - max_text_y, y - (height / 2) - (font_info.height / 2), max_text_y, font_info.height, 0, 0);
}
write_hline_outlined(boundtick_start, boundtick_end, y + (height / 2), 2, 2, 0, 1);
write_hline_outlined(boundtick_start, boundtick_end, y - (height / 2), 2, 2, 0, 1);
}
/**
* hud_draw_compass: Draw a compass.
*
* @param v value for the compass
* @param range range about value to display (+/- range/2 each direction)
* @param width length in pixels
* @param x x displacement (typ. half display width)
* @param y y displacement (typ. bottom of display)
* @param mintick_step how often a minor tick is shown
* @param majtick_step how often a major tick (heading "xx") is shown
* @param mintick_len minor tick length
* @param majtick_len major tick length
* @param flags special flags (see hud.h.)
*/
void hud_draw_linear_compass(int v, int range, int width, int x, int y, int mintick_step, int majtick_step, int mintick_len, int majtick_len, int flags)
{
v %= 360; // wrap, just in case.
struct FontEntry font_info;
int majtick_start = 0, majtick_end = 0, mintick_start = 0, mintick_end = 0, textoffset = 0;
char headingstr[4];
majtick_start = y;
majtick_end = y - majtick_len;
mintick_start = y;
mintick_end = y - mintick_len;
textoffset = 8;
int r, style, rr, rv, xs;
int range_2 = range / 2;
for(r = -range_2; r <= +range_2; r++)
{
style = 0;
rr = (v + r + 360) % 360; // normalise range for modulo, add to move compass track
rv = -rr + range_2; // for number display
if(rr % majtick_step == 0)
style = 1; // major tick
else if(rr % mintick_step == 0)
style = 2; // minor tick
if(style)
{
// Calculate x position.
xs = ((long int)(r * width) / (long int)range) + x;
// Draw it.
if(style == 1)
{
write_vline_outlined(xs, majtick_start, majtick_end, 2, 2, 0, 1);
// Draw heading above this tick.
// If it's not one of north, south, east, west, draw the heading.
// Otherwise, draw one of the identifiers.
if(rr % 90 != 0)
{
// We abbreviate heading to two digits. This has the side effect of being easy to compute.
headingstr[0] = '0' + (rr / 100);
headingstr[1] = '0' + ((rr / 10) % 10);
headingstr[2] = 0;
headingstr[3] = 0; // nul to terminate
}
else
{
switch(rr)
{
case 0: headingstr[0] = 'N'; break;
case 90: headingstr[0] = 'E'; break;
case 180: headingstr[0] = 'S'; break;
case 270: headingstr[0] = 'W'; break;
}
headingstr[1] = 0;
headingstr[2] = 0;
headingstr[3] = 0;
}
// +1 fudge...!
write_string(headingstr, xs + 1, majtick_start + textoffset, 1, 0, TEXT_VA_MIDDLE, TEXT_HA_CENTER, 0, 1);
}
else if(style == 2)
write_vline_outlined(xs, mintick_start, mintick_end, 2, 2, 0, 1);
}
}
// Then, draw a rectangle with the present heading in it.
// We want to cover up any other markers on the bottom.
// First compute font size.
fetch_font_info(0, 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 setAttitudeOsd(int16_t pitch, int16_t roll, int16_t yaw)
{
m_pitch=pitch;
m_roll=roll;
m_yaw=yaw;
}
void setGpsOsd(uint8_t status, int32_t lat, int32_t lon, float alt, float spd)
{
m_gpsStatus=status;
m_gpsLat=lat;
m_gpsLon=lon;
m_gpsAlt=alt;
m_gpsSpd=spd;
}
void draw_artificial_horizon(float angle, float pitch, int16_t l_x, int16_t l_y, int16_t size )
{
float alpha;
int16_t x1,x2,x3,x4;
int16_t y1,y2,y3,y4;
int16_t y_pitch;
// rotated corners
int16_t ax1,ax2,ax3,ax4,ay1,ay2,ay3,ay4;
int16_t refx,refy;
alpha=DEG2RAD(angle);
// move up or down Size
y_pitch=(pitch/90.0f*(size/2))+size/2;
// center rotate point
refx=l_x + size/2;
refy=l_y + size/2;
x1=l_x - size/2;
y1=l_y + y_pitch;
x2=l_x + size + size/2;
y2=l_y + y_pitch;
x3=l_x + size + size/2;
y3=l_y + size + y_pitch;
x4=l_x - size/2;
y4=l_y + size + y_pitch;
ax1=refy+(x1-refx)*cosf(alpha)-(y1-refy)*sinf(alpha);
ay1=refy+(x1-refx)*sinf(alpha)+(y1-refy)*cosf(alpha);
ax2=refy+(x2-refx)*cosf(alpha)-(y2-refy)*sinf(alpha);
ay2=refy+(x2-refx)*sinf(alpha)+(y2-refy)*cosf(alpha);
ax3=refy+(x3-refx)*cosf(alpha)-(y3-refy)*sinf(alpha);
ay3=refy+(x3-refx)*sinf(alpha)+(y3-refy)*cosf(alpha);
ax4=refy+(x4-refx)*cosf(alpha)-(y4-refy)*sinf(alpha);
ay4=refy+(x4-refx)*sinf(alpha)+(y4-refy)*cosf(alpha);
write_line_outlined(ax1,ay1,ax2,ay2,0,0,0,1);
//fill
for(int i=0;i<(size);i++)
{
x1=l_x - size/2;
y1=l_y + y_pitch + i;
x2=l_x + size + size/2;
y2=l_y + y_pitch + i;
ax1=refy+(x1-refx)*cosf(alpha)-(y1-refy)*sinf(alpha);
ay1=refy+(x1-refx)*sinf(alpha)+(y1-refy)*cosf(alpha);
ax2=refy+(x2-refx)*cosf(alpha)-(y2-refy)*sinf(alpha);
ay2=refy+(x2-refx)*sinf(alpha)+(y2-refy)*cosf(alpha);
write_line_lm(ax1,ay1,ax2,ay2,1,1);
}
//fill2
for(int i=0;i<(size*2);i++)
{
x1=l_x - size/2 + i;
y1=l_y + y_pitch;
x4=l_x - size/2 + i;
y4=l_y + size + y_pitch;
ax1=refy+(x1-refx)*cosf(alpha)-(y1-refy)*sinf(alpha);
ay1=refy+(x1-refx)*sinf(alpha)+(y1-refy)*cosf(alpha);
ax4=refy+(x4-refx)*cosf(alpha)-(y4-refy)*sinf(alpha);
ay4=refy+(x4-refx)*sinf(alpha)+(y4-refy)*cosf(alpha);
write_line_lm(ax1,ay1,ax4,ay4,1,1);
}
//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);
//needs better way to limit drawing outside the box
write_filled_rectangle_lm(l_x - size - size/2-1, l_y - size - size/2-1, size + size/2, size*4+2, 0,0); //left
write_filled_rectangle_lm(l_x + size + 1, l_y - size - size/2-1, size + size/2, size*4+2, 0,0); //right
write_filled_rectangle_lm(l_x-1, l_y + size + 1, size+2, size + size/2, 0,0); //bot
write_filled_rectangle_lm(l_x-1, l_y - size - size/2-1, size+1, size + size/2+1, 0,0); //top
}
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(void)
{
HomeLocationData home;
HomeLocationGet (&home);
GPSPositionData gpsData;
GPSPositionGet (&gpsData);
/** http://www.movable-type.co.uk/scripts/latlong.html **/
float lat1, lat2, lon1, lon2, a, c, d, x, y, brng, u2g;
float elevation;
float gcsAlt=home.Altitude; // Home MSL altitude
float uavAlt=gpsData.Altitude; // UAV MSL altitude
float dAlt=uavAlt-gcsAlt; // Altitude difference
// Convert to radians
lat1 = DEG2RAD(home.Latitude)/10000000.0f; // Home lat
lon1 = DEG2RAD(home.Longitude)/10000000.0f; // Home lon
lat2 = DEG2RAD(gpsData.Latitude)/10000000.0f; // UAV lat
lon2 = DEG2RAD(gpsData.Longitude)/10000000.0f; // UAV lon
// Bearing
/**
var y = Math.sin(dLon) * Math.cos(lat2);
var x = Math.cos(lat1)*Math.sin(lat2) -
Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
var brng = Math.atan2(y, x).toDeg();
**/
y = sinf(lon2-lon1) * cosf(lat2);
x = cosf(lat1) * sinf(lat2) - sinf(lat1) * cosf(lat2) * cosf(lon2-lon1);
brng = RAD2DEG(atan2f((sinf(lon2-lon1)*cosf(lat2)),(cosf(lat1)*sinf(lat2)-sinf(lat1)*cosf(lat2)*cosf(lon2-lon1))));
if(brng<0)
brng+=360;
// yaw corrected bearing, needs compass
u2g=brng-180-m_yaw;
if(u2g<0)
u2g+=360;
// 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 * atan2f(sqrtf(a), sqrtf(1-a));
d = 6371 * 1000 * c;
// Elevation v depends servo direction
if(d!=0)
elevation = 90-RAD2DEG(atanf(dAlt/d));
else
elevation = 0;
//! TODO: sanity check
char temp[50]={0};
sprintf(temp,"hea:%d",(int)brng);
write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT/2-30), APPLY_VDEADBAND(30), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2);
sprintf(temp,"ele:%d",(int)elevation);
write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT/2-30), APPLY_VDEADBAND(30+10), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2);
sprintf(temp,"dis:%d",(int)d);
write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT/2-30), APPLY_VDEADBAND(30+10+10), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2);
sprintf(temp,"u2g:%d",(int)u2g);
write_string(temp, APPLY_HDEADBAND(GRAPHICS_RIGHT/2-30), APPLY_VDEADBAND(30+10+10+10), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2);
sprintf(temp,"%c%c",(int)(u2g/22.5f)*2+0x90,(int)(u2g/22.5f)*2+0x91);
write_string(temp, APPLY_HDEADBAND(250), APPLY_VDEADBAND(40+10+10), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 3);
}
int lama=10;
int lama_loc[2][30];
void lamas(void)
{
char temp[10]={0};
lama++;
if(lama%10==0)
{
for(int z=0; z<30;z++)
{
lama_loc[0][z]=rand()%(GRAPHICS_RIGHT-10);
lama_loc[1][z]=rand()%(GRAPHICS_BOTTOM-10);
}
}
for(int z=0; z<30;z++)
{
sprintf(temp,"%c",0xe8+(lama_loc[0][z]%2));
write_string(temp,APPLY_HDEADBAND(lama_loc[0][z]),APPLY_VDEADBAND(lama_loc[1][z]), 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 2);
}
}
//main draw function
void updateGraphics() {
OsdSettingsData OsdSettings;
OsdSettingsGet (&OsdSettings);
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
GPSPositionData gpsData;
GPSPositionGet(&gpsData);
HomeLocationData home;
HomeLocationGet(&home);
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);
}
if(gpsData.Heading>180)
setAttitudeOsd(0,0,(int16_t)(gpsData.Heading-360));
else
setAttitudeOsd(0,0,(int16_t)(gpsData.Heading));
char temp[50]={0};
memset(temp, ' ', 40);
sprintf(temp,"Lat:%11.7f",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",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",(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);
calcHomeArrow();
}
break;
case 1:
{
// GPS HACK
if(gpsData.Heading>180)
setAttitudeOsd(0,0,(int16_t)(gpsData.Heading-360));
else
setAttitudeOsd(0,0,(int16_t)(gpsData.Heading));
/*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;
calcHomeArrow();
/* 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",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",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",(PIOS_ADC_PinGet(4)*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",(PIOS_ADC_PinGet(6)*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",(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",(PIOS_ADC_PinGet(3)*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)
if(0)
{
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)m_gpsSpd, 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)m_gpsAlt, 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(m_yaw<0) {
hud_draw_linear_compass(360+m_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(m_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:
{
draw_artificial_horizon(-attitude.Roll,attitude.Pitch,100,100,30);
}
break;
case 3:
{
lamas();
}
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);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, osdgenTaskHandle);
return 0;
}
/**
* Initialise the osd module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t osdgenInitialize(void)
{
AttitudeActualInitialize();
#ifdef PIOS_INCLUDE_GPS
GPSPositionInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
GPSSatellitesInitialize();
#endif
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
#endif
OsdSettingsInitialize();
return 0;
}
MODULE_INITCALL(osdgenInitialize, osdgenStart)
// ****************
/**
* Main osd task. It does not return.
*/
static void osdgenTask(void *parameters)
{
portTickType lastSysTime;
// Loop forever
lastSysTime = xTaskGetTickCount();
// intro
for(int i=0; i<63; i++)
{
if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE )
{
clearGraphics();
introGraphics();
}
}
for(int i=0; i<63; i++)
{
if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE )
{
clearGraphics();
introGraphics();
introText();
}
}
while (1)
{
if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE )
{
updateOnceEveryFrame();
}
//xSemaphoreTake(osdSemaphore, portMAX_DELAY);
//vTaskDelayUntil(&lastSysTime, 10 / portTICK_RATE_MS);
}
}
// ****************
/**
* @}
* @}
*/
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