ardupilot/libraries/AP_Notify/Display.cpp

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

/*
   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, see <http://www.gnu.org/licenses/>.
 */

/* Notify display driver for 128 x 64 pixel displays */

#include "AP_Notify.h"
#include <AP_GPS/AP_GPS.h>
#include "Display.h"

static const uint8_t _font[] = {
    0x00, 0x00, 0x00, 0x00, 0x00,
    0x3E, 0x5B, 0x4F, 0x5B, 0x3E,
    0x3E, 0x6B, 0x4F, 0x6B, 0x3E,
    0x1C, 0x3E, 0x7C, 0x3E, 0x1C,
    0x18, 0x3C, 0x7E, 0x3C, 0x18,
    0x1C, 0x57, 0x7D, 0x57, 0x1C,
    0x1C, 0x5E, 0x7F, 0x5E, 0x1C,
    0x00, 0x18, 0x3C, 0x18, 0x00,
    0xFF, 0xE7, 0xC3, 0xE7, 0xFF,
    0x00, 0x18, 0x24, 0x18, 0x00,
    0xFF, 0xE7, 0xDB, 0xE7, 0xFF,
    0x30, 0x48, 0x3A, 0x06, 0x0E,
    0x26, 0x29, 0x79, 0x29, 0x26,
    0x40, 0x7F, 0x05, 0x05, 0x07,
    0x40, 0x7F, 0x05, 0x25, 0x3F,
    0x5A, 0x3C, 0xE7, 0x3C, 0x5A,
    0x7F, 0x3E, 0x1C, 0x1C, 0x08,
    0x08, 0x1C, 0x1C, 0x3E, 0x7F,
    0x14, 0x22, 0x7F, 0x22, 0x14,
    0x5F, 0x5F, 0x00, 0x5F, 0x5F,
    0x06, 0x09, 0x7F, 0x01, 0x7F,
    0x00, 0x66, 0x89, 0x95, 0x6A,
    0x60, 0x60, 0x60, 0x60, 0x60,
    0x94, 0xA2, 0xFF, 0xA2, 0x94,
    0x08, 0x04, 0x7E, 0x04, 0x08,
    0x10, 0x20, 0x7E, 0x20, 0x10,
    0x08, 0x08, 0x2A, 0x1C, 0x08,
    0x08, 0x1C, 0x2A, 0x08, 0x08,
    0x1E, 0x10, 0x10, 0x10, 0x10,
    0x0C, 0x1E, 0x0C, 0x1E, 0x0C,
    0x30, 0x38, 0x3E, 0x38, 0x30,
    0x06, 0x0E, 0x3E, 0x0E, 0x06,
    0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x5F, 0x00, 0x00,
    0x00, 0x07, 0x00, 0x07, 0x00,
    0x14, 0x7F, 0x14, 0x7F, 0x14,
    0x24, 0x2A, 0x7F, 0x2A, 0x12,
    0x23, 0x13, 0x08, 0x64, 0x62,
    0x36, 0x49, 0x56, 0x20, 0x50,
    0x00, 0x08, 0x07, 0x03, 0x00,
    0x00, 0x1C, 0x22, 0x41, 0x00,
    0x00, 0x41, 0x22, 0x1C, 0x00,
    0x2A, 0x1C, 0x7F, 0x1C, 0x2A,
    0x08, 0x08, 0x3E, 0x08, 0x08,
    0x00, 0x80, 0x70, 0x30, 0x00,
    0x08, 0x08, 0x08, 0x08, 0x08,
    0x00, 0x00, 0x60, 0x60, 0x00,
    0x20, 0x10, 0x08, 0x04, 0x02,
    0x3E, 0x51, 0x49, 0x45, 0x3E,
    0x00, 0x42, 0x7F, 0x40, 0x00,
    0x72, 0x49, 0x49, 0x49, 0x46,
    0x21, 0x41, 0x49, 0x4D, 0x33,
    0x18, 0x14, 0x12, 0x7F, 0x10,
    0x27, 0x45, 0x45, 0x45, 0x39,
    0x3C, 0x4A, 0x49, 0x49, 0x31,
    0x41, 0x21, 0x11, 0x09, 0x07,
    0x36, 0x49, 0x49, 0x49, 0x36,
    0x46, 0x49, 0x49, 0x29, 0x1E,
    0x00, 0x00, 0x14, 0x00, 0x00,
    0x00, 0x40, 0x34, 0x00, 0x00,
    0x00, 0x08, 0x14, 0x22, 0x41,
    0x14, 0x14, 0x14, 0x14, 0x14,
    0x00, 0x41, 0x22, 0x14, 0x08,
    0x02, 0x01, 0x59, 0x09, 0x06,
    0x3E, 0x41, 0x5D, 0x59, 0x4E,
    0x7C, 0x12, 0x11, 0x12, 0x7C,
    0x7F, 0x49, 0x49, 0x49, 0x36,
    0x3E, 0x41, 0x41, 0x41, 0x22,
    0x7F, 0x41, 0x41, 0x41, 0x3E,
    0x7F, 0x49, 0x49, 0x49, 0x41,
    0x7F, 0x09, 0x09, 0x09, 0x01,
    0x3E, 0x41, 0x41, 0x51, 0x73,
    0x7F, 0x08, 0x08, 0x08, 0x7F,
    0x00, 0x41, 0x7F, 0x41, 0x00,
    0x20, 0x40, 0x41, 0x3F, 0x01,
    0x7F, 0x08, 0x14, 0x22, 0x41,
    0x7F, 0x40, 0x40, 0x40, 0x40,
    0x7F, 0x02, 0x1C, 0x02, 0x7F,
    0x7F, 0x04, 0x08, 0x10, 0x7F,
    0x3E, 0x41, 0x41, 0x41, 0x3E,
    0x7F, 0x09, 0x09, 0x09, 0x06,
    0x3E, 0x41, 0x51, 0x21, 0x5E,
    0x7F, 0x09, 0x19, 0x29, 0x46,
    0x26, 0x49, 0x49, 0x49, 0x32,
    0x03, 0x01, 0x7F, 0x01, 0x03,
    0x3F, 0x40, 0x40, 0x40, 0x3F,
    0x1F, 0x20, 0x40, 0x20, 0x1F,
    0x3F, 0x40, 0x38, 0x40, 0x3F,
    0x63, 0x14, 0x08, 0x14, 0x63,
    0x03, 0x04, 0x78, 0x04, 0x03,
    0x61, 0x59, 0x49, 0x4D, 0x43,
    0x00, 0x7F, 0x41, 0x41, 0x41,
    0x02, 0x04, 0x08, 0x10, 0x20,
    0x00, 0x41, 0x41, 0x41, 0x7F,
    0x04, 0x02, 0x01, 0x02, 0x04,
    0x40, 0x40, 0x40, 0x40, 0x40,
    0x00, 0x03, 0x07, 0x08, 0x00,
    0x20, 0x54, 0x54, 0x78, 0x40,
    0x7F, 0x28, 0x44, 0x44, 0x38,
    0x38, 0x44, 0x44, 0x44, 0x28,
    0x38, 0x44, 0x44, 0x28, 0x7F,
    0x38, 0x54, 0x54, 0x54, 0x18,
    0x00, 0x08, 0x7E, 0x09, 0x02,
    0x18, 0xA4, 0xA4, 0x9C, 0x78,
    0x7F, 0x08, 0x04, 0x04, 0x78,
    0x00, 0x44, 0x7D, 0x40, 0x00,
    0x20, 0x40, 0x40, 0x3D, 0x00,
    0x7F, 0x10, 0x28, 0x44, 0x00,
    0x00, 0x41, 0x7F, 0x40, 0x00,
    0x7C, 0x04, 0x78, 0x04, 0x78,
    0x7C, 0x08, 0x04, 0x04, 0x78,
    0x38, 0x44, 0x44, 0x44, 0x38,
    0xFC, 0x18, 0x24, 0x24, 0x18,
    0x18, 0x24, 0x24, 0x18, 0xFC,
    0x7C, 0x08, 0x04, 0x04, 0x08,
    0x48, 0x54, 0x54, 0x54, 0x24,
    0x04, 0x04, 0x3F, 0x44, 0x24,
    0x3C, 0x40, 0x40, 0x20, 0x7C,
    0x1C, 0x20, 0x40, 0x20, 0x1C,
    0x3C, 0x40, 0x30, 0x40, 0x3C,
    0x44, 0x28, 0x10, 0x28, 0x44,
    0x4C, 0x90, 0x90, 0x90, 0x7C,
    0x44, 0x64, 0x54, 0x4C, 0x44,
    0x00, 0x08, 0x36, 0x41, 0x00,
    0x00, 0x00, 0x77, 0x00, 0x00,
    0x00, 0x41, 0x36, 0x08, 0x00,
    0x02, 0x01, 0x02, 0x04, 0x02,
    0x3C, 0x26, 0x23, 0x26, 0x3C,
    0x1E, 0xA1, 0xA1, 0x61, 0x12,
    0x3A, 0x40, 0x40, 0x20, 0x7A,
    0x38, 0x54, 0x54, 0x55, 0x59,
    0x21, 0x55, 0x55, 0x79, 0x41,
    0x22, 0x54, 0x54, 0x78, 0x42,
    0x21, 0x55, 0x54, 0x78, 0x40,
    0x20, 0x54, 0x55, 0x79, 0x40,
    0x0C, 0x1E, 0x52, 0x72, 0x12,
    0x39, 0x55, 0x55, 0x55, 0x59,
    0x39, 0x54, 0x54, 0x54, 0x59,
    0x39, 0x55, 0x54, 0x54, 0x58,
    0x00, 0x00, 0x45, 0x7C, 0x41,
    0x00, 0x02, 0x45, 0x7D, 0x42,
    0x00, 0x01, 0x45, 0x7C, 0x40,
    0x7D, 0x12, 0x11, 0x12, 0x7D,
    0xF0, 0x28, 0x25, 0x28, 0xF0,
    0x7C, 0x54, 0x55, 0x45, 0x00,
    0x20, 0x54, 0x54, 0x7C, 0x54,
    0x7C, 0x0A, 0x09, 0x7F, 0x49,
    0x32, 0x49, 0x49, 0x49, 0x32,
    0x3A, 0x44, 0x44, 0x44, 0x3A,
    0x32, 0x4A, 0x48, 0x48, 0x30,
    0x3A, 0x41, 0x41, 0x21, 0x7A,
    0x3A, 0x42, 0x40, 0x20, 0x78,
    0x00, 0x9D, 0xA0, 0xA0, 0x7D,
    0x3D, 0x42, 0x42, 0x42, 0x3D,
    0x3D, 0x40, 0x40, 0x40, 0x3D,
    0x3C, 0x24, 0xFF, 0x24, 0x24,
    0x48, 0x7E, 0x49, 0x43, 0x66,
    0x2B, 0x2F, 0xFC, 0x2F, 0x2B,
    0xFF, 0x09, 0x29, 0xF6, 0x20,
    0xC0, 0x88, 0x7E, 0x09, 0x03,
    0x20, 0x54, 0x54, 0x79, 0x41,
    0x00, 0x00, 0x44, 0x7D, 0x41,
    0x30, 0x48, 0x48, 0x4A, 0x32,
    0x38, 0x40, 0x40, 0x22, 0x7A,
    0x00, 0x7A, 0x0A, 0x0A, 0x72,
    0x7D, 0x0D, 0x19, 0x31, 0x7D,
    0x26, 0x29, 0x29, 0x2F, 0x28,
    0x26, 0x29, 0x29, 0x29, 0x26,
    0x30, 0x48, 0x4D, 0x40, 0x20,
    0x38, 0x08, 0x08, 0x08, 0x08,
    0x08, 0x08, 0x08, 0x08, 0x38,
    0x2F, 0x10, 0xC8, 0xAC, 0xBA,
    0x2F, 0x10, 0x28, 0x34, 0xFA,
    0x00, 0x00, 0x7B, 0x00, 0x00,
    0x08, 0x14, 0x2A, 0x14, 0x22,
    0x22, 0x14, 0x2A, 0x14, 0x08,
    0x55, 0x00, 0x55, 0x00, 0x55,
    0xAA, 0x55, 0xAA, 0x55, 0xAA,
    0xFF, 0x55, 0xFF, 0x55, 0xFF,
    0x00, 0x00, 0x00, 0xFF, 0x00,
    0x10, 0x10, 0x10, 0xFF, 0x00,
    0x14, 0x14, 0x14, 0xFF, 0x00,
    0x10, 0x10, 0xFF, 0x00, 0xFF,
    0x10, 0x10, 0xF0, 0x10, 0xF0,
    0x14, 0x14, 0x14, 0xFC, 0x00,
    0x14, 0x14, 0xF7, 0x00, 0xFF,
    0x00, 0x00, 0xFF, 0x00, 0xFF,
    0x14, 0x14, 0xF4, 0x04, 0xFC,
    0x14, 0x14, 0x17, 0x10, 0x1F,
    0x10, 0x10, 0x1F, 0x10, 0x1F,
    0x14, 0x14, 0x14, 0x1F, 0x00,
    0x10, 0x10, 0x10, 0xF0, 0x00,
    0x00, 0x00, 0x00, 0x1F, 0x10,
    0x10, 0x10, 0x10, 0x1F, 0x10,
    0x10, 0x10, 0x10, 0xF0, 0x10,
    0x00, 0x00, 0x00, 0xFF, 0x10,
    0x10, 0x10, 0x10, 0x10, 0x10,
    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  ");
    }
}