2015-12-22 17:16:19 -04:00
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* Notify display driver for 128 x 64 pixel displays */
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2016-01-29 00:38:21 -04:00
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#include "Display.h"
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2015-12-22 17:16:19 -04:00
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#include "AP_Notify.h"
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2016-01-29 00:38:21 -04:00
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2015-12-22 17:16:19 -04:00
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#include <AP_GPS/AP_GPS.h>
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static const uint8_t _font[] = {
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0x00, 0x00, 0x00, 0x00, 0x00,
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0x3E, 0x5B, 0x4F, 0x5B, 0x3E,
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0x3E, 0x6B, 0x4F, 0x6B, 0x3E,
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0x1C, 0x3E, 0x7C, 0x3E, 0x1C,
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0x18, 0x3C, 0x7E, 0x3C, 0x18,
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0x1C, 0x57, 0x7D, 0x57, 0x1C,
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0x1C, 0x5E, 0x7F, 0x5E, 0x1C,
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0x00, 0x18, 0x3C, 0x18, 0x00,
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0xFF, 0xE7, 0xC3, 0xE7, 0xFF,
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0x00, 0x18, 0x24, 0x18, 0x00,
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0xFF, 0xE7, 0xDB, 0xE7, 0xFF,
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0x30, 0x48, 0x3A, 0x06, 0x0E,
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0x26, 0x29, 0x79, 0x29, 0x26,
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0x40, 0x7F, 0x05, 0x05, 0x07,
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0x40, 0x7F, 0x05, 0x25, 0x3F,
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0x5A, 0x3C, 0xE7, 0x3C, 0x5A,
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0x7F, 0x3E, 0x1C, 0x1C, 0x08,
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0x08, 0x1C, 0x1C, 0x3E, 0x7F,
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0x14, 0x22, 0x7F, 0x22, 0x14,
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0x5F, 0x5F, 0x00, 0x5F, 0x5F,
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0x06, 0x09, 0x7F, 0x01, 0x7F,
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0x00, 0x66, 0x89, 0x95, 0x6A,
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0x60, 0x60, 0x60, 0x60, 0x60,
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0x94, 0xA2, 0xFF, 0xA2, 0x94,
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0x08, 0x04, 0x7E, 0x04, 0x08,
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0x10, 0x20, 0x7E, 0x20, 0x10,
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0x08, 0x08, 0x2A, 0x1C, 0x08,
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0x08, 0x1C, 0x2A, 0x08, 0x08,
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0x1E, 0x10, 0x10, 0x10, 0x10,
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0x0C, 0x1E, 0x0C, 0x1E, 0x0C,
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0x30, 0x38, 0x3E, 0x38, 0x30,
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0x06, 0x0E, 0x3E, 0x0E, 0x06,
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0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x5F, 0x00, 0x00,
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0x00, 0x07, 0x00, 0x07, 0x00,
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0x14, 0x7F, 0x14, 0x7F, 0x14,
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0x24, 0x2A, 0x7F, 0x2A, 0x12,
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0x23, 0x13, 0x08, 0x64, 0x62,
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0x36, 0x49, 0x56, 0x20, 0x50,
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0x00, 0x08, 0x07, 0x03, 0x00,
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0x00, 0x1C, 0x22, 0x41, 0x00,
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0x00, 0x41, 0x22, 0x1C, 0x00,
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0x2A, 0x1C, 0x7F, 0x1C, 0x2A,
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0x08, 0x08, 0x3E, 0x08, 0x08,
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0x00, 0x80, 0x70, 0x30, 0x00,
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0x08, 0x08, 0x08, 0x08, 0x08,
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0x00, 0x00, 0x60, 0x60, 0x00,
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0x20, 0x10, 0x08, 0x04, 0x02,
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0x3E, 0x51, 0x49, 0x45, 0x3E,
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0x00, 0x42, 0x7F, 0x40, 0x00,
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0x72, 0x49, 0x49, 0x49, 0x46,
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0x21, 0x41, 0x49, 0x4D, 0x33,
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0x18, 0x14, 0x12, 0x7F, 0x10,
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0x27, 0x45, 0x45, 0x45, 0x39,
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0x3C, 0x4A, 0x49, 0x49, 0x31,
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0x41, 0x21, 0x11, 0x09, 0x07,
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0x36, 0x49, 0x49, 0x49, 0x36,
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0x46, 0x49, 0x49, 0x29, 0x1E,
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0x00, 0x00, 0x14, 0x00, 0x00,
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0x00, 0x40, 0x34, 0x00, 0x00,
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0x00, 0x08, 0x14, 0x22, 0x41,
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0x14, 0x14, 0x14, 0x14, 0x14,
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0x00, 0x41, 0x22, 0x14, 0x08,
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0x02, 0x01, 0x59, 0x09, 0x06,
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0x3E, 0x41, 0x5D, 0x59, 0x4E,
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0x7C, 0x12, 0x11, 0x12, 0x7C,
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0x7F, 0x49, 0x49, 0x49, 0x36,
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0x3E, 0x41, 0x41, 0x41, 0x22,
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0x7F, 0x41, 0x41, 0x41, 0x3E,
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0x7F, 0x49, 0x49, 0x49, 0x41,
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0x7F, 0x09, 0x09, 0x09, 0x01,
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0x3E, 0x41, 0x41, 0x51, 0x73,
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0x7F, 0x08, 0x08, 0x08, 0x7F,
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0x00, 0x41, 0x7F, 0x41, 0x00,
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0x20, 0x40, 0x41, 0x3F, 0x01,
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0x7F, 0x08, 0x14, 0x22, 0x41,
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0x7F, 0x40, 0x40, 0x40, 0x40,
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0x7F, 0x02, 0x1C, 0x02, 0x7F,
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0x7F, 0x04, 0x08, 0x10, 0x7F,
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0x3E, 0x41, 0x41, 0x41, 0x3E,
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0x7F, 0x09, 0x09, 0x09, 0x06,
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0x3E, 0x41, 0x51, 0x21, 0x5E,
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0x7F, 0x09, 0x19, 0x29, 0x46,
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0x26, 0x49, 0x49, 0x49, 0x32,
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0x03, 0x01, 0x7F, 0x01, 0x03,
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0x3F, 0x40, 0x40, 0x40, 0x3F,
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0x1F, 0x20, 0x40, 0x20, 0x1F,
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0x3F, 0x40, 0x38, 0x40, 0x3F,
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0x63, 0x14, 0x08, 0x14, 0x63,
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0x03, 0x04, 0x78, 0x04, 0x03,
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0x61, 0x59, 0x49, 0x4D, 0x43,
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0x00, 0x7F, 0x41, 0x41, 0x41,
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0x02, 0x04, 0x08, 0x10, 0x20,
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0x00, 0x41, 0x41, 0x41, 0x7F,
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0x04, 0x02, 0x01, 0x02, 0x04,
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0x40, 0x40, 0x40, 0x40, 0x40,
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0x00, 0x03, 0x07, 0x08, 0x00,
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0x20, 0x54, 0x54, 0x78, 0x40,
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0x7F, 0x28, 0x44, 0x44, 0x38,
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0x38, 0x44, 0x44, 0x44, 0x28,
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0x38, 0x44, 0x44, 0x28, 0x7F,
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0x38, 0x54, 0x54, 0x54, 0x18,
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0x00, 0x08, 0x7E, 0x09, 0x02,
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0x18, 0xA4, 0xA4, 0x9C, 0x78,
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0x7F, 0x08, 0x04, 0x04, 0x78,
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0x00, 0x44, 0x7D, 0x40, 0x00,
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0x20, 0x40, 0x40, 0x3D, 0x00,
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0x7F, 0x10, 0x28, 0x44, 0x00,
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0x00, 0x41, 0x7F, 0x40, 0x00,
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0x7C, 0x04, 0x78, 0x04, 0x78,
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0x7C, 0x08, 0x04, 0x04, 0x78,
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0x38, 0x44, 0x44, 0x44, 0x38,
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0xFC, 0x18, 0x24, 0x24, 0x18,
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0x18, 0x24, 0x24, 0x18, 0xFC,
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0x7C, 0x08, 0x04, 0x04, 0x08,
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0x48, 0x54, 0x54, 0x54, 0x24,
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0x04, 0x04, 0x3F, 0x44, 0x24,
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0x3C, 0x40, 0x40, 0x20, 0x7C,
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0x1C, 0x20, 0x40, 0x20, 0x1C,
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0x3C, 0x40, 0x30, 0x40, 0x3C,
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0x44, 0x28, 0x10, 0x28, 0x44,
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0x4C, 0x90, 0x90, 0x90, 0x7C,
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0x44, 0x64, 0x54, 0x4C, 0x44,
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0x00, 0x08, 0x36, 0x41, 0x00,
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0x00, 0x00, 0x77, 0x00, 0x00,
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0x00, 0x41, 0x36, 0x08, 0x00,
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0x02, 0x01, 0x02, 0x04, 0x02,
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0x3C, 0x26, 0x23, 0x26, 0x3C,
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0x1E, 0xA1, 0xA1, 0x61, 0x12,
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0x3A, 0x40, 0x40, 0x20, 0x7A,
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0x38, 0x54, 0x54, 0x55, 0x59,
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0x21, 0x55, 0x55, 0x79, 0x41,
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0x22, 0x54, 0x54, 0x78, 0x42,
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0x21, 0x55, 0x54, 0x78, 0x40,
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0x20, 0x54, 0x55, 0x79, 0x40,
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0x0C, 0x1E, 0x52, 0x72, 0x12,
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0x39, 0x55, 0x55, 0x55, 0x59,
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0x39, 0x54, 0x54, 0x54, 0x59,
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0x39, 0x55, 0x54, 0x54, 0x58,
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0x00, 0x00, 0x45, 0x7C, 0x41,
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0x00, 0x02, 0x45, 0x7D, 0x42,
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0x00, 0x01, 0x45, 0x7C, 0x40,
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0x7D, 0x12, 0x11, 0x12, 0x7D,
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0xF0, 0x28, 0x25, 0x28, 0xF0,
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0x7C, 0x54, 0x55, 0x45, 0x00,
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0x20, 0x54, 0x54, 0x7C, 0x54,
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0x7C, 0x0A, 0x09, 0x7F, 0x49,
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0x32, 0x49, 0x49, 0x49, 0x32,
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0x3A, 0x44, 0x44, 0x44, 0x3A,
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0x32, 0x4A, 0x48, 0x48, 0x30,
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0x3A, 0x41, 0x41, 0x21, 0x7A,
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0x3A, 0x42, 0x40, 0x20, 0x78,
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0x00, 0x9D, 0xA0, 0xA0, 0x7D,
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0x3D, 0x42, 0x42, 0x42, 0x3D,
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0x3D, 0x40, 0x40, 0x40, 0x3D,
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0x3C, 0x24, 0xFF, 0x24, 0x24,
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0x48, 0x7E, 0x49, 0x43, 0x66,
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0x2B, 0x2F, 0xFC, 0x2F, 0x2B,
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0xFF, 0x09, 0x29, 0xF6, 0x20,
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0xC0, 0x88, 0x7E, 0x09, 0x03,
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0x20, 0x54, 0x54, 0x79, 0x41,
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0x00, 0x00, 0x44, 0x7D, 0x41,
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0x30, 0x48, 0x48, 0x4A, 0x32,
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0x38, 0x40, 0x40, 0x22, 0x7A,
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0x00, 0x7A, 0x0A, 0x0A, 0x72,
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0x7D, 0x0D, 0x19, 0x31, 0x7D,
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0x26, 0x29, 0x29, 0x2F, 0x28,
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0x26, 0x29, 0x29, 0x29, 0x26,
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0x30, 0x48, 0x4D, 0x40, 0x20,
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0x38, 0x08, 0x08, 0x08, 0x08,
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0x08, 0x08, 0x08, 0x08, 0x38,
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0x2F, 0x10, 0xC8, 0xAC, 0xBA,
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0x2F, 0x10, 0x28, 0x34, 0xFA,
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0x00, 0x00, 0x7B, 0x00, 0x00,
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0x08, 0x14, 0x2A, 0x14, 0x22,
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0x22, 0x14, 0x2A, 0x14, 0x08,
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0x55, 0x00, 0x55, 0x00, 0x55,
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0xAA, 0x55, 0xAA, 0x55, 0xAA,
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0xFF, 0x55, 0xFF, 0x55, 0xFF,
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0x00, 0x00, 0x00, 0xFF, 0x00,
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0x10, 0x10, 0x10, 0xFF, 0x00,
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0x14, 0x14, 0x14, 0xFF, 0x00,
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0x10, 0x10, 0xFF, 0x00, 0xFF,
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0x10, 0x10, 0xF0, 0x10, 0xF0,
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0x14, 0x14, 0x14, 0xFC, 0x00,
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0x14, 0x14, 0xF7, 0x00, 0xFF,
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0x00, 0x00, 0xFF, 0x00, 0xFF,
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0x14, 0x14, 0xF4, 0x04, 0xFC,
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0x14, 0x14, 0x17, 0x10, 0x1F,
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0x10, 0x10, 0x1F, 0x10, 0x1F,
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0x14, 0x14, 0x14, 0x1F, 0x00,
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0x10, 0x10, 0x10, 0xF0, 0x00,
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0x00, 0x00, 0x00, 0x1F, 0x10,
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0x10, 0x10, 0x10, 0x1F, 0x10,
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0x10, 0x10, 0x10, 0xF0, 0x10,
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0x00, 0x00, 0x00, 0xFF, 0x10,
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0x10, 0x10, 0x10, 0x10, 0x10,
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0x10, 0x10, 0x10, 0xFF, 0x10,
|
|
|
|
|
0x00, 0x00, 0x00, 0xFF, 0x14,
|
|
|
|
|
0x00, 0x00, 0xFF, 0x00, 0xFF,
|
|
|
|
|
0x00, 0x00, 0x1F, 0x10, 0x17,
|
|
|
|
|
0x00, 0x00, 0xFC, 0x04, 0xF4,
|
|
|
|
|
0x14, 0x14, 0x17, 0x10, 0x17,
|
|
|
|
|
0x14, 0x14, 0xF4, 0x04, 0xF4,
|
|
|
|
|
0x00, 0x00, 0xFF, 0x00, 0xF7,
|
|
|
|
|
0x14, 0x14, 0x14, 0x14, 0x14,
|
|
|
|
|
0x14, 0x14, 0xF7, 0x00, 0xF7,
|
|
|
|
|
0x14, 0x14, 0x14, 0x17, 0x14,
|
|
|
|
|
0x10, 0x10, 0x1F, 0x10, 0x1F,
|
|
|
|
|
0x14, 0x14, 0x14, 0xF4, 0x14,
|
|
|
|
|
0x10, 0x10, 0xF0, 0x10, 0xF0,
|
|
|
|
|
0x00, 0x00, 0x1F, 0x10, 0x1F,
|
|
|
|
|
0x00, 0x00, 0x00, 0x1F, 0x14,
|
|
|
|
|
0x00, 0x00, 0x00, 0xFC, 0x14,
|
|
|
|
|
0x00, 0x00, 0xF0, 0x10, 0xF0,
|
|
|
|
|
0x10, 0x10, 0xFF, 0x10, 0xFF,
|
|
|
|
|
0x14, 0x14, 0x14, 0xFF, 0x14,
|
|
|
|
|
0x10, 0x10, 0x10, 0x1F, 0x00,
|
|
|
|
|
0x00, 0x00, 0x00, 0xF0, 0x10,
|
|
|
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
|
|
|
0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
|
|
|
|
|
0xFF, 0xFF, 0xFF, 0x00, 0x00,
|
|
|
|
|
0x00, 0x00, 0x00, 0xFF, 0xFF,
|
|
|
|
|
0x0F, 0x0F, 0x0F, 0x0F, 0x0F,
|
|
|
|
|
0x38, 0x44, 0x44, 0x38, 0x44,
|
|
|
|
|
0xFC, 0x4A, 0x4A, 0x4A, 0x34,
|
|
|
|
|
0x7E, 0x02, 0x02, 0x06, 0x06,
|
|
|
|
|
0x02, 0x7E, 0x02, 0x7E, 0x02,
|
|
|
|
|
0x63, 0x55, 0x49, 0x41, 0x63,
|
|
|
|
|
0x38, 0x44, 0x44, 0x3C, 0x04,
|
|
|
|
|
0x40, 0x7E, 0x20, 0x1E, 0x20,
|
|
|
|
|
0x06, 0x02, 0x7E, 0x02, 0x02,
|
|
|
|
|
0x99, 0xA5, 0xE7, 0xA5, 0x99,
|
|
|
|
|
0x1C, 0x2A, 0x49, 0x2A, 0x1C,
|
|
|
|
|
0x4C, 0x72, 0x01, 0x72, 0x4C,
|
|
|
|
|
0x30, 0x4A, 0x4D, 0x4D, 0x30,
|
|
|
|
|
0x30, 0x48, 0x78, 0x48, 0x30,
|
|
|
|
|
0xBC, 0x62, 0x5A, 0x46, 0x3D,
|
|
|
|
|
0x3E, 0x49, 0x49, 0x49, 0x00,
|
|
|
|
|
0x7E, 0x01, 0x01, 0x01, 0x7E,
|
|
|
|
|
0x2A, 0x2A, 0x2A, 0x2A, 0x2A,
|
|
|
|
|
0x44, 0x44, 0x5F, 0x44, 0x44,
|
|
|
|
|
0x40, 0x51, 0x4A, 0x44, 0x40,
|
|
|
|
|
0x40, 0x44, 0x4A, 0x51, 0x40,
|
|
|
|
|
0x00, 0x00, 0xFF, 0x01, 0x03,
|
|
|
|
|
0xE0, 0x80, 0xFF, 0x00, 0x00,
|
|
|
|
|
0x08, 0x08, 0x6B, 0x6B, 0x08,
|
|
|
|
|
0x36, 0x12, 0x36, 0x24, 0x36,
|
|
|
|
|
0x06, 0x0F, 0x09, 0x0F, 0x06,
|
|
|
|
|
0x00, 0x00, 0x18, 0x18, 0x00,
|
|
|
|
|
0x00, 0x00, 0x10, 0x10, 0x00,
|
|
|
|
|
0x30, 0x40, 0xFF, 0x01, 0x01,
|
|
|
|
|
0x00, 0x1F, 0x01, 0x01, 0x1E,
|
|
|
|
|
0x00, 0x19, 0x1D, 0x17, 0x12,
|
|
|
|
|
0x00, 0x3C, 0x3C, 0x3C, 0x3C,
|
|
|
|
|
0x00, 0x00, 0x00, 0x00, 0x00
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
bool Display::init(void)
|
|
|
|
|
{
|
|
|
|
|
memset(&_flags, 0, sizeof(_flags));
|
|
|
|
|
|
|
|
|
|
_healthy = hw_init();
|
|
|
|
|
|
|
|
|
|
if (!_healthy) {
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// update all on display
|
|
|
|
|
update_all();
|
|
|
|
|
hw_update();
|
|
|
|
|
|
|
|
|
|
return true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update()
|
|
|
|
|
{
|
|
|
|
|
static uint8_t timer = 0;
|
|
|
|
|
|
|
|
|
|
// return immediately if not enabled
|
|
|
|
|
if (!_healthy) {
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// max update frequency 2Hz
|
|
|
|
|
if (timer++ < 25) {
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
timer = 0;
|
|
|
|
|
|
|
|
|
|
// check if status has changed
|
|
|
|
|
if (_flags.armed != AP_Notify::flags.armed) {
|
|
|
|
|
update_arm();
|
|
|
|
|
_flags.armed = AP_Notify::flags.armed;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (_flags.pre_arm_check != AP_Notify::flags.pre_arm_check) {
|
|
|
|
|
update_prearm();
|
|
|
|
|
_flags.pre_arm_check = AP_Notify::flags.pre_arm_check;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (_flags.gps_status != AP_Notify::flags.gps_status) {
|
|
|
|
|
update_gps();
|
|
|
|
|
_flags.gps_status = AP_Notify::flags.gps_status;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (_flags.gps_num_sats != AP_Notify::flags.gps_num_sats) {
|
|
|
|
|
update_gps_sats();
|
|
|
|
|
_flags.gps_num_sats = AP_Notify::flags.gps_num_sats;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (_flags.ekf_bad != AP_Notify::flags.ekf_bad) {
|
|
|
|
|
update_ekf();
|
|
|
|
|
_flags.ekf_bad = AP_Notify::flags.ekf_bad;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// if somethings has changed, update display
|
|
|
|
|
if (_need_update) {
|
|
|
|
|
hw_update();
|
|
|
|
|
_need_update = false;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update_all()
|
|
|
|
|
{
|
|
|
|
|
update_arm();
|
|
|
|
|
update_prearm();
|
|
|
|
|
update_gps();
|
|
|
|
|
update_gps_sats();
|
|
|
|
|
update_ekf();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::draw_text(uint16_t x, uint16_t y, const char* c)
|
|
|
|
|
{
|
|
|
|
|
while (*c != 0) {
|
|
|
|
|
draw_char(x, y, *c);
|
|
|
|
|
x += 7;
|
|
|
|
|
c++;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::draw_char(uint16_t x, uint16_t y, const char c)
|
|
|
|
|
{
|
|
|
|
|
uint8_t line;
|
|
|
|
|
|
|
|
|
|
// draw char to pixel
|
|
|
|
|
for (uint8_t i = 0; i < 6; i++) {
|
|
|
|
|
if (i == 5) {
|
|
|
|
|
line = 0;
|
|
|
|
|
} else {
|
|
|
|
|
line = _font[(c * 5) + i];
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
for (uint8_t j = 0; j < 8; j++) {
|
|
|
|
|
if (line & 1) {
|
|
|
|
|
set_pixel(x + i, y + j);
|
|
|
|
|
} else {
|
|
|
|
|
clear_pixel(x + i, y + j);
|
|
|
|
|
}
|
|
|
|
|
line >>= 1;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// update display
|
|
|
|
|
_need_update = true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update_arm()
|
|
|
|
|
{
|
|
|
|
|
if (AP_Notify::flags.armed) {
|
|
|
|
|
draw_text(COLUMN(0), ROW(0), ">>>>> ARMED! <<<<<");
|
|
|
|
|
} else {
|
|
|
|
|
draw_text(COLUMN(0), ROW(0), " disarmed ");
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update_prearm()
|
|
|
|
|
{
|
|
|
|
|
if (AP_Notify::flags.pre_arm_check) {
|
|
|
|
|
draw_text(COLUMN(0), ROW(2), "Prearm: passed ");
|
|
|
|
|
} else {
|
|
|
|
|
draw_text(COLUMN(0), ROW(2), "Prearm: failed ");
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update_gps()
|
|
|
|
|
{
|
|
|
|
|
switch (AP_Notify::flags.gps_status) {
|
|
|
|
|
case AP_GPS::NO_GPS:
|
|
|
|
|
draw_text(COLUMN(0), ROW(3), "GPS: no GPS");
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::NO_FIX:
|
|
|
|
|
draw_text(COLUMN(0), ROW(3), "GPS: no fix");
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::GPS_OK_FIX_2D:
|
|
|
|
|
draw_text(COLUMN(0), ROW(3), "GPS: 2D ");
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::GPS_OK_FIX_3D:
|
|
|
|
|
draw_text(COLUMN(0), ROW(3), "GPS: 3D ");
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::GPS_OK_FIX_3D_DGPS:
|
|
|
|
|
draw_text(COLUMN(0), ROW(3), "GPS: DGPS ");
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::GPS_OK_FIX_3D_RTK:
|
|
|
|
|
draw_text(COLUMN(0), ROW(3), "GPS: RTK ");
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update_gps_sats()
|
|
|
|
|
{
|
|
|
|
|
draw_text(COLUMN(0), ROW(4), "Sats:");
|
|
|
|
|
draw_char(COLUMN(8), ROW(4), (AP_Notify::flags.gps_num_sats / 10) + 48);
|
|
|
|
|
draw_char(COLUMN(9), ROW(4), (AP_Notify::flags.gps_num_sats % 10) + 48);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update_ekf()
|
|
|
|
|
{
|
|
|
|
|
if (AP_Notify::flags.ekf_bad) {
|
|
|
|
|
draw_text(COLUMN(0), ROW(5), "EKF: fail");
|
|
|
|
|
} else {
|
|
|
|
|
draw_text(COLUMN(0), ROW(5), "EKF: ok ");
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
