2015-12-22 17:16:19 -04:00
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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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2017-01-19 03:15:24 -04:00
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#include "Display_SH1106_I2C.h"
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#include "Display_SSD1306_I2C.h"
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2019-07-05 04:26:55 -03:00
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#include "Display_SITL.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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2017-01-20 01:39:49 -04:00
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#include <stdio.h>
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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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2018-07-25 22:09:34 -03:00
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#include <AP_BattMonitor/AP_BattMonitor.h>
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2015-12-22 17:16:19 -04:00
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2017-03-10 21:16:55 -04:00
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#include <utility>
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2017-01-20 02:42:53 -04:00
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extern const AP_HAL::HAL& hal;
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2017-03-14 11:57:51 -03:00
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// Bit Map
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// Rotate right 90 degrees
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// Ex: 0x7C, 0x12, 0x11, 0x12, 0x7C, // 'A'
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// 0XXXXX00
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// 000X00X0
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// 000X000X
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// 000X00X0
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// 0XXXXX00
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2015-12-22 17:16:19 -04:00
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static const uint8_t _font[] = {
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2017-03-14 11:57:51 -03:00
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#ifdef AP_NOTIFY_DISPLAY_USE_EMOJI
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// 0x Group
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0x00, 0x00, 0x00, 0x00, 0x00, // 00
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0x3E, 0x5B, 0x4F, 0x5B, 0x3E, // 01
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0x3E, 0x6B, 0x4F, 0x6B, 0x3E, // 02
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0x1C, 0x3E, 0x7C, 0x3E, 0x1C, // 03
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0x18, 0x3C, 0x7E, 0x3C, 0x18, // 04
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0x1C, 0x57, 0x7D, 0x57, 0x1C, // 05
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0x1C, 0x5E, 0x7F, 0x5E, 0x1C, // 06
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0x00, 0x18, 0x3C, 0x18, 0x00, // 07
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0xFF, 0xE7, 0xC3, 0xE7, 0xFF, // 08
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0x00, 0x18, 0x24, 0x18, 0x00, // 09
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0xFF, 0xE7, 0xDB, 0xE7, 0xFF, // 0A
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0x30, 0x48, 0x3A, 0x06, 0x0E, // 0B
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0x26, 0x29, 0x79, 0x29, 0x26, // 0C
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0x40, 0x7F, 0x05, 0x05, 0x07, // 0D
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0x40, 0x7F, 0x05, 0x25, 0x3F, // 0E
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0x5A, 0x3C, 0xE7, 0x3C, 0x5A, // 0F
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// 1x Group
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0x7F, 0x3E, 0x1C, 0x1C, 0x08, // 10
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0x08, 0x1C, 0x1C, 0x3E, 0x7F, // 11
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0x14, 0x22, 0x7F, 0x22, 0x14, // 12
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0x5F, 0x5F, 0x00, 0x5F, 0x5F, // 13
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0x06, 0x09, 0x7F, 0x01, 0x7F, // 14
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0x00, 0x66, 0x89, 0x95, 0x6A, // 15
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0x60, 0x60, 0x60, 0x60, 0x60, // 16
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0x94, 0xA2, 0xFF, 0xA2, 0x94, // 17
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0x08, 0x04, 0x7E, 0x04, 0x08, // 18
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0x10, 0x20, 0x7E, 0x20, 0x10, // 19
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0x08, 0x08, 0x2A, 0x1C, 0x08, // 1A
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0x08, 0x1C, 0x2A, 0x08, 0x08, // 1B
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0x1E, 0x10, 0x10, 0x10, 0x10, // 1C
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0x0C, 0x1E, 0x0C, 0x1E, 0x0C, // 1D
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0x30, 0x38, 0x3E, 0x38, 0x30, // 1E
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0x06, 0x0E, 0x3E, 0x0E, 0x06, // 1F
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#endif
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// 2x Group
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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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// 3x Group
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0x3E, 0x51, 0x49, 0x45, 0x3E, // '0'
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0x00, 0x42, 0x7F, 0x40, 0x00, // '1'
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0x72, 0x49, 0x49, 0x49, 0x46, // '2'
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0x21, 0x41, 0x49, 0x4D, 0x33, // '3'
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0x18, 0x14, 0x12, 0x7F, 0x10, // '4'
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0x27, 0x45, 0x45, 0x45, 0x39, // '5'
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0x3C, 0x4A, 0x49, 0x49, 0x31, // '6'
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0x41, 0x21, 0x11, 0x09, 0x07, // '7'
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0x36, 0x49, 0x49, 0x49, 0x36, // '8'
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0x46, 0x49, 0x49, 0x29, 0x1E, // '9'
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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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// 4x Group
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0x3E, 0x41, 0x5D, 0x59, 0x4E, // '@'
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0x7C, 0x12, 0x11, 0x12, 0x7C, // 'A'
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0x7F, 0x49, 0x49, 0x49, 0x36, // 'B'
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0x3E, 0x41, 0x41, 0x41, 0x22, // 'C'
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0x7F, 0x41, 0x41, 0x41, 0x3E, // 'D'
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0x7F, 0x49, 0x49, 0x49, 0x41, // 'E'
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0x7F, 0x09, 0x09, 0x09, 0x01, // 'F'
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0x3E, 0x41, 0x41, 0x51, 0x73, // 'G'
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0x7F, 0x08, 0x08, 0x08, 0x7F, // 'H'
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0x00, 0x41, 0x7F, 0x41, 0x00, // 'I'
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0x20, 0x40, 0x41, 0x3F, 0x01, // 'J'
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0x7F, 0x08, 0x14, 0x22, 0x41, // 'K'
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0x7F, 0x40, 0x40, 0x40, 0x40, // 'L'
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0x7F, 0x02, 0x1C, 0x02, 0x7F, // 'M'
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0x7F, 0x04, 0x08, 0x10, 0x7F, // 'N'
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0x3E, 0x41, 0x41, 0x41, 0x3E, // 'O'
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// 5x Group
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0x7F, 0x09, 0x09, 0x09, 0x06, // 'P'
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0x3E, 0x41, 0x51, 0x21, 0x5E, // 'Q'
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0x7F, 0x09, 0x19, 0x29, 0x46, // 'R'
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0x26, 0x49, 0x49, 0x49, 0x32, // 'S'
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0x03, 0x01, 0x7F, 0x01, 0x03, // 'T'
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0x3F, 0x40, 0x40, 0x40, 0x3F, // 'U'
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0x1F, 0x20, 0x40, 0x20, 0x1F, // 'V'
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0x3F, 0x40, 0x38, 0x40, 0x3F, // 'W'
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0x63, 0x14, 0x08, 0x14, 0x63, // 'X'
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0x03, 0x04, 0x78, 0x04, 0x03, // 'Y'
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0x61, 0x59, 0x49, 0x4D, 0x43, // 'Z'
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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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// 6x Group
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0x00, 0x03, 0x07, 0x08, 0x00, // '`'
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0x20, 0x54, 0x54, 0x78, 0x40, // 'a'
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0x7F, 0x28, 0x44, 0x44, 0x38, // 'b'
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0x38, 0x44, 0x44, 0x44, 0x28, // 'c'
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0x38, 0x44, 0x44, 0x28, 0x7F, // 'd'
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0x38, 0x54, 0x54, 0x54, 0x18, // 'e'
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0x00, 0x08, 0x7E, 0x09, 0x02, // 'f'
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0x18, 0xA4, 0xA4, 0x9C, 0x78, // 'g'
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0x7F, 0x08, 0x04, 0x04, 0x78, // 'h'
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0x00, 0x44, 0x7D, 0x40, 0x00, // 'i'
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0x20, 0x40, 0x40, 0x3D, 0x00, // 'j'
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0x7F, 0x10, 0x28, 0x44, 0x00, // 'k'
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0x00, 0x41, 0x7F, 0x40, 0x00, // 'l'
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0x7C, 0x04, 0x78, 0x04, 0x78, // 'm'
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0x7C, 0x08, 0x04, 0x04, 0x78, // 'n'
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0x38, 0x44, 0x44, 0x44, 0x38, // 'o'
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// 7x Group
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0xFC, 0x18, 0x24, 0x24, 0x18, // 'p'
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0x18, 0x24, 0x24, 0x18, 0xFC, // 'q'
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0x7C, 0x08, 0x04, 0x04, 0x08, // 'r'
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0x48, 0x54, 0x54, 0x54, 0x24, // 's'
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0x04, 0x04, 0x3F, 0x44, 0x24, // 't'
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0x3C, 0x40, 0x40, 0x20, 0x7C, // 'u'
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0x1C, 0x20, 0x40, 0x20, 0x1C, // 'v'
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0x3C, 0x40, 0x30, 0x40, 0x3C, // 'w'
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0x44, 0x28, 0x10, 0x28, 0x44, // 'x'
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0x4C, 0x90, 0x90, 0x90, 0x7C, // 'y'
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0x44, 0x64, 0x54, 0x4C, 0x44, // 'z'
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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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#ifdef AP_NOTIFY_DISPLAY_USE_EMOJI
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0x3C, 0x26, 0x23, 0x26, 0x3C, // 7F
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// 8x Group
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0x1E, 0xA1, 0xA1, 0x61, 0x12, // 80
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0x3A, 0x40, 0x40, 0x20, 0x7A, // 81
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0x38, 0x54, 0x54, 0x55, 0x59, // 82
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0x21, 0x55, 0x55, 0x79, 0x41, // 83
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0x22, 0x54, 0x54, 0x78, 0x42, // 84
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0x21, 0x55, 0x54, 0x78, 0x40, // 85
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0x20, 0x54, 0x55, 0x79, 0x40, // 86
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0x0C, 0x1E, 0x52, 0x72, 0x12, // 87
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0x39, 0x55, 0x55, 0x55, 0x59, // 88
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0x39, 0x54, 0x54, 0x54, 0x59, // 89
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0x39, 0x55, 0x54, 0x54, 0x58, // 8A
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0x00, 0x00, 0x45, 0x7C, 0x41, // 8B
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0x00, 0x02, 0x45, 0x7D, 0x42, // 8C
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0x00, 0x01, 0x45, 0x7C, 0x40, // 8D
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0x7D, 0x12, 0x11, 0x12, 0x7D, // 8E
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0xF0, 0x28, 0x25, 0x28, 0xF0, // 8F
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// 9x Group
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0x7C, 0x54, 0x55, 0x45, 0x00, // 90
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0x20, 0x54, 0x54, 0x7C, 0x54, // 91
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0x7C, 0x0A, 0x09, 0x7F, 0x49, // 92
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0x32, 0x49, 0x49, 0x49, 0x32, // 93
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0x3A, 0x44, 0x44, 0x44, 0x3A, // 94
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0x32, 0x4A, 0x48, 0x48, 0x30, // 95
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0x3A, 0x41, 0x41, 0x21, 0x7A, // 96
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0x3A, 0x42, 0x40, 0x20, 0x78, // 97
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0x00, 0x9D, 0xA0, 0xA0, 0x7D, // 98
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0x3D, 0x42, 0x42, 0x42, 0x3D, // 99
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0x3D, 0x40, 0x40, 0x40, 0x3D, // 9A
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0x3C, 0x24, 0xFF, 0x24, 0x24, // 9B
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0x48, 0x7E, 0x49, 0x43, 0x66, // 9C
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0x2B, 0x2F, 0xFC, 0x2F, 0x2B, // 9D
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0xFF, 0x09, 0x29, 0xF6, 0x20, // 9E
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0xC0, 0x88, 0x7E, 0x09, 0x03, // 9F
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// Ax Group
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0x20, 0x54, 0x54, 0x79, 0x41, // A0
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0x00, 0x00, 0x44, 0x7D, 0x41, // A1
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|
|
|
|
0x30, 0x48, 0x48, 0x4A, 0x32, // A2
|
|
|
|
|
0x38, 0x40, 0x40, 0x22, 0x7A, // A3
|
|
|
|
|
0x00, 0x7A, 0x0A, 0x0A, 0x72, // A4
|
|
|
|
|
0x7D, 0x0D, 0x19, 0x31, 0x7D, // A5
|
|
|
|
|
0x26, 0x29, 0x29, 0x2F, 0x28, // A6
|
|
|
|
|
0x26, 0x29, 0x29, 0x29, 0x26, // A7
|
|
|
|
|
0x30, 0x48, 0x4D, 0x40, 0x20, // A8
|
|
|
|
|
0x38, 0x08, 0x08, 0x08, 0x08, // A9
|
|
|
|
|
0x08, 0x08, 0x08, 0x08, 0x38, // AA
|
|
|
|
|
0x2F, 0x10, 0xC8, 0xAC, 0xBA, // AB
|
|
|
|
|
0x2F, 0x10, 0x28, 0x34, 0xFA, // AC
|
|
|
|
|
0x00, 0x00, 0x7B, 0x00, 0x00, // AD
|
|
|
|
|
0x08, 0x14, 0x2A, 0x14, 0x22, // AE
|
|
|
|
|
0x22, 0x14, 0x2A, 0x14, 0x08, // AF
|
|
|
|
|
// Bx Group
|
|
|
|
|
0x55, 0x00, 0x55, 0x00, 0x55, // B0
|
|
|
|
|
0xAA, 0x55, 0xAA, 0x55, 0xAA, // B1
|
|
|
|
|
0xFF, 0x55, 0xFF, 0x55, 0xFF, // B2
|
|
|
|
|
0x00, 0x00, 0x00, 0xFF, 0x00, // B3
|
|
|
|
|
0x10, 0x10, 0x10, 0xFF, 0x00, // B4
|
|
|
|
|
0x14, 0x14, 0x14, 0xFF, 0x00, // B5
|
|
|
|
|
0x10, 0x10, 0xFF, 0x00, 0xFF, // B6
|
|
|
|
|
0x10, 0x10, 0xF0, 0x10, 0xF0, // B7
|
|
|
|
|
0x14, 0x14, 0x14, 0xFC, 0x00, // B8
|
|
|
|
|
0x14, 0x14, 0xF7, 0x00, 0xFF, // B9
|
|
|
|
|
0x00, 0x00, 0xFF, 0x00, 0xFF, // BA
|
|
|
|
|
0x14, 0x14, 0xF4, 0x04, 0xFC, // BB
|
|
|
|
|
0x14, 0x14, 0x17, 0x10, 0x1F, // BC
|
|
|
|
|
0x10, 0x10, 0x1F, 0x10, 0x1F, // BD
|
|
|
|
|
0x14, 0x14, 0x14, 0x1F, 0x00, // BE
|
|
|
|
|
0x10, 0x10, 0x10, 0xF0, 0x00, // BF
|
|
|
|
|
// Cx Group
|
|
|
|
|
0x00, 0x00, 0x00, 0x1F, 0x10, // C0
|
|
|
|
|
0x10, 0x10, 0x10, 0x1F, 0x10, // C1
|
|
|
|
|
0x10, 0x10, 0x10, 0xF0, 0x10, // C2
|
|
|
|
|
0x00, 0x00, 0x00, 0xFF, 0x10, // C3
|
|
|
|
|
0x10, 0x10, 0x10, 0x10, 0x10, // C4
|
|
|
|
|
0x10, 0x10, 0x10, 0xFF, 0x10, // C5
|
|
|
|
|
0x00, 0x00, 0x00, 0xFF, 0x14, // C6
|
|
|
|
|
0x00, 0x00, 0xFF, 0x00, 0xFF, // C7
|
|
|
|
|
0x00, 0x00, 0x1F, 0x10, 0x17, // C8
|
|
|
|
|
0x00, 0x00, 0xFC, 0x04, 0xF4, // C9
|
|
|
|
|
0x14, 0x14, 0x17, 0x10, 0x17, // CA
|
|
|
|
|
0x14, 0x14, 0xF4, 0x04, 0xF4, // CB
|
|
|
|
|
0x00, 0x00, 0xFF, 0x00, 0xF7, // CC
|
|
|
|
|
0x14, 0x14, 0x14, 0x14, 0x14, // CD
|
|
|
|
|
0x14, 0x14, 0xF7, 0x00, 0xF7, // CE
|
|
|
|
|
0x14, 0x14, 0x14, 0x17, 0x14, // CF
|
|
|
|
|
// Dx Group
|
|
|
|
|
0x10, 0x10, 0x1F, 0x10, 0x1F, // D0
|
|
|
|
|
0x14, 0x14, 0x14, 0xF4, 0x14, // D1
|
|
|
|
|
0x10, 0x10, 0xF0, 0x10, 0xF0, // D2
|
|
|
|
|
0x00, 0x00, 0x1F, 0x10, 0x1F, // D3
|
|
|
|
|
0x00, 0x00, 0x00, 0x1F, 0x14, // D4
|
|
|
|
|
0x00, 0x00, 0x00, 0xFC, 0x14, // D5
|
|
|
|
|
0x00, 0x00, 0xF0, 0x10, 0xF0, // D6
|
|
|
|
|
0x10, 0x10, 0xFF, 0x10, 0xFF, // D7
|
|
|
|
|
0x14, 0x14, 0x14, 0xFF, 0x14, // D8
|
|
|
|
|
0x10, 0x10, 0x10, 0x1F, 0x00, // D9
|
|
|
|
|
0x00, 0x00, 0x00, 0xF0, 0x10, // DA
|
|
|
|
|
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, // DB
|
|
|
|
|
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, // DC
|
|
|
|
|
0xFF, 0xFF, 0xFF, 0x00, 0x00, // DD
|
|
|
|
|
0x00, 0x00, 0x00, 0xFF, 0xFF, // DE
|
|
|
|
|
0x0F, 0x0F, 0x0F, 0x0F, 0x0F, // DF
|
|
|
|
|
// Ex Group
|
|
|
|
|
0x38, 0x44, 0x44, 0x38, 0x44, // E0
|
|
|
|
|
0xFC, 0x4A, 0x4A, 0x4A, 0x34, // E1
|
|
|
|
|
0x7E, 0x02, 0x02, 0x06, 0x06, // E2
|
|
|
|
|
0x02, 0x7E, 0x02, 0x7E, 0x02, // E3
|
|
|
|
|
0x63, 0x55, 0x49, 0x41, 0x63, // E4
|
|
|
|
|
0x38, 0x44, 0x44, 0x3C, 0x04, // E5
|
|
|
|
|
0x40, 0x7E, 0x20, 0x1E, 0x20, // E6
|
|
|
|
|
0x06, 0x02, 0x7E, 0x02, 0x02, // E7
|
|
|
|
|
0x99, 0xA5, 0xE7, 0xA5, 0x99, // E8
|
|
|
|
|
0x1C, 0x2A, 0x49, 0x2A, 0x1C, // E9
|
|
|
|
|
0x4C, 0x72, 0x01, 0x72, 0x4C, // EA
|
|
|
|
|
0x30, 0x4A, 0x4D, 0x4D, 0x30, // EB
|
|
|
|
|
0x30, 0x48, 0x78, 0x48, 0x30, // EC
|
|
|
|
|
0xBC, 0x62, 0x5A, 0x46, 0x3D, // ED
|
|
|
|
|
0x3E, 0x49, 0x49, 0x49, 0x00, // EE
|
|
|
|
|
0x7E, 0x01, 0x01, 0x01, 0x7E, // EF
|
|
|
|
|
// Fx Group
|
|
|
|
|
0x2A, 0x2A, 0x2A, 0x2A, 0x2A, // F0
|
|
|
|
|
0x44, 0x44, 0x5F, 0x44, 0x44, // F1
|
|
|
|
|
0x40, 0x51, 0x4A, 0x44, 0x40, // F2
|
|
|
|
|
0x40, 0x44, 0x4A, 0x51, 0x40, // F3
|
|
|
|
|
0x00, 0x00, 0xFF, 0x01, 0x03, // F4
|
|
|
|
|
0xE0, 0x80, 0xFF, 0x00, 0x00, // F5
|
|
|
|
|
0x08, 0x08, 0x6B, 0x6B, 0x08, // F6
|
|
|
|
|
0x36, 0x12, 0x36, 0x24, 0x36, // F7
|
|
|
|
|
0x06, 0x0F, 0x09, 0x0F, 0x06, // F8
|
|
|
|
|
0x00, 0x00, 0x18, 0x18, 0x00, // F9
|
|
|
|
|
0x00, 0x00, 0x10, 0x10, 0x00, // FA
|
|
|
|
|
0x30, 0x40, 0xFF, 0x01, 0x01, // FB
|
|
|
|
|
0x00, 0x1F, 0x01, 0x01, 0x1E, // FC
|
|
|
|
|
0x00, 0x19, 0x1D, 0x17, 0x12, // FD
|
|
|
|
|
0x00, 0x3C, 0x3C, 0x3C, 0x3C, // FE
|
|
|
|
|
0x00, 0x00, 0x00, 0x00, 0x00 // FF
|
|
|
|
|
#endif
|
2015-12-22 17:16:19 -04:00
|
|
|
};
|
|
|
|
|
|
2019-07-05 02:39:18 -03:00
|
|
|
#ifdef AP_NOTIFY_DISPLAY_USE_EMOJI
|
|
|
|
|
static_assert(ARRAY_SIZE(_font) == 1280, "_font is correct size");
|
|
|
|
|
#else
|
|
|
|
|
static_assert(ARRAY_SIZE(_font) == 475, "_font is correct size");
|
|
|
|
|
#endif
|
|
|
|
|
|
2015-12-22 17:16:19 -04:00
|
|
|
bool Display::init(void)
|
|
|
|
|
{
|
2017-01-19 03:15:24 -04:00
|
|
|
// exit immediately if already initialised
|
|
|
|
|
if (_driver != nullptr) {
|
|
|
|
|
return true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// initialise driver
|
2018-06-21 00:09:53 -03:00
|
|
|
FOREACH_I2C(i) {
|
2017-03-10 21:16:55 -04:00
|
|
|
switch (pNotify->_display_type) {
|
|
|
|
|
case DISPLAY_SSD1306: {
|
|
|
|
|
_driver = Display_SSD1306_I2C::probe(std::move(hal.i2c_mgr->get_device(i, NOTIFY_DISPLAY_I2C_ADDR)));
|
2017-01-19 03:15:24 -04:00
|
|
|
break;
|
2017-03-10 21:16:55 -04:00
|
|
|
}
|
|
|
|
|
case DISPLAY_SH1106: {
|
|
|
|
|
_driver = Display_SH1106_I2C::probe(std::move(hal.i2c_mgr->get_device(i, NOTIFY_DISPLAY_I2C_ADDR)));
|
2017-01-19 03:15:24 -04:00
|
|
|
break;
|
2017-03-10 21:16:55 -04:00
|
|
|
}
|
2019-07-05 04:26:55 -03:00
|
|
|
case DISPLAY_SITL: {
|
|
|
|
|
#ifdef WITH_SITL_OSD
|
|
|
|
|
_driver = Display_SITL::probe(); // never fails
|
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
|
::fprintf(stderr, "SITL Display ineffective without --osd\n");
|
|
|
|
|
#endif
|
|
|
|
|
break;
|
|
|
|
|
}
|
2017-01-19 03:15:24 -04:00
|
|
|
case DISPLAY_OFF:
|
|
|
|
|
default:
|
|
|
|
|
break;
|
2017-03-10 21:16:55 -04:00
|
|
|
}
|
2018-09-03 05:06:47 -03:00
|
|
|
if (_driver != nullptr) {
|
|
|
|
|
break;
|
|
|
|
|
}
|
2017-01-19 03:15:24 -04:00
|
|
|
}
|
|
|
|
|
|
2017-03-10 21:16:55 -04:00
|
|
|
if (_driver == nullptr) {
|
2015-12-22 17:16:19 -04:00
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// update all on display
|
|
|
|
|
update_all();
|
2017-01-19 03:15:24 -04:00
|
|
|
_driver->hw_update();
|
2015-12-22 17:16:19 -04:00
|
|
|
|
|
|
|
|
return true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update()
|
|
|
|
|
{
|
|
|
|
|
// max update frequency 2Hz
|
2017-01-20 01:51:04 -04:00
|
|
|
static uint8_t timer = 0;
|
2015-12-22 17:16:19 -04:00
|
|
|
if (timer++ < 25) {
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
timer = 0;
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
if (AP_Notify::flags.armed) {
|
2017-01-20 01:39:19 -04:00
|
|
|
if (_screenpage != 1) {
|
2017-01-19 03:15:24 -04:00
|
|
|
_driver->clear_screen();
|
2016-09-30 04:21:28 -03:00
|
|
|
update_arm(3);
|
2017-01-20 01:39:19 -04:00
|
|
|
_screenpage = 1;
|
2017-01-19 03:15:24 -04:00
|
|
|
_driver->hw_update(); //update hw once , do not transmition to display in fly
|
2016-09-30 04:21:28 -03:00
|
|
|
}
|
|
|
|
|
return;
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
|
2017-01-20 01:39:19 -04:00
|
|
|
if (_screenpage != 2) {
|
2017-01-19 03:15:24 -04:00
|
|
|
_driver->clear_screen(); //once clear screen when page changed
|
2017-01-20 01:39:19 -04:00
|
|
|
_screenpage = 2;
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
update_all();
|
2017-01-19 03:15:24 -04:00
|
|
|
_driver->hw_update(); //update at 2 Hz in disarmed mode
|
2015-12-22 17:16:19 -04:00
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::update_all()
|
|
|
|
|
{
|
2016-09-30 04:21:28 -03:00
|
|
|
update_text(0);
|
|
|
|
|
update_mode(1);
|
|
|
|
|
update_battery(2);
|
|
|
|
|
update_gps(3);
|
|
|
|
|
//update_gps_sats(4);
|
|
|
|
|
update_prearm(4);
|
|
|
|
|
update_ekf(5);
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Display::draw_text(uint16_t x, uint16_t y, const char* c)
|
|
|
|
|
{
|
2017-01-22 17:28:06 -04:00
|
|
|
if (nullptr == c) {
|
|
|
|
|
return;
|
|
|
|
|
}
|
2015-12-22 17:16:19 -04:00
|
|
|
while (*c != 0) {
|
2017-03-14 11:57:51 -03:00
|
|
|
#ifndef AP_NOTIFY_DISPLAY_USE_EMOJI
|
|
|
|
|
if (*c >= ' ' && *c <= '~') {
|
|
|
|
|
draw_char(x, y, *c - ' ');
|
2017-05-01 10:03:55 -03:00
|
|
|
} else {
|
|
|
|
|
// convert oob characters to spaces
|
|
|
|
|
draw_char(x, y, 0);
|
2017-03-14 11:57:51 -03:00
|
|
|
}
|
|
|
|
|
#else
|
2015-12-22 17:16:19 -04:00
|
|
|
draw_char(x, y, *c);
|
2017-03-14 11:57:51 -03:00
|
|
|
#endif
|
2017-05-01 10:03:55 -03:00
|
|
|
x += 7;
|
2015-12-22 17:16:19 -04:00
|
|
|
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) {
|
2017-01-19 03:15:24 -04:00
|
|
|
_driver->set_pixel(x + i, y + j);
|
2015-12-22 17:16:19 -04:00
|
|
|
} else {
|
2017-01-19 03:15:24 -04:00
|
|
|
_driver->clear_pixel(x + i, y + j);
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
line >>= 1;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void Display::update_arm(uint8_t r)
|
2015-12-22 17:16:19 -04:00
|
|
|
{
|
|
|
|
|
if (AP_Notify::flags.armed) {
|
2016-09-30 04:21:28 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), ">>>>> ARMED! <<<<<");
|
2015-12-22 17:16:19 -04:00
|
|
|
} else {
|
2016-09-30 04:21:28 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), " disarmed ");
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void Display::update_prearm(uint8_t r)
|
2015-12-22 17:16:19 -04:00
|
|
|
{
|
|
|
|
|
if (AP_Notify::flags.pre_arm_check) {
|
2016-09-30 04:21:28 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), "Prearm: passed ");
|
2015-12-22 17:16:19 -04:00
|
|
|
} else {
|
2016-09-30 04:21:28 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), "Prearm: failed ");
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void Display::update_gps(uint8_t r)
|
2015-12-22 17:16:19 -04:00
|
|
|
{
|
2017-03-14 11:57:51 -03:00
|
|
|
static const char * gpsfixname[] = {"Other", "NoGPS","NoFix","2D","3D","DGPS", "RTK f", "RTK F"};
|
|
|
|
|
char msg [DISPLAY_MESSAGE_SIZE];
|
2016-09-30 04:21:28 -03:00
|
|
|
const char * fixname;
|
|
|
|
|
switch (AP_Notify::flags.gps_status) {
|
|
|
|
|
case AP_GPS::NO_GPS:
|
|
|
|
|
fixname = gpsfixname[1];
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::NO_FIX:
|
|
|
|
|
fixname = gpsfixname[2];
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::GPS_OK_FIX_2D:
|
|
|
|
|
fixname = gpsfixname[3];
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::GPS_OK_FIX_3D:
|
|
|
|
|
fixname = gpsfixname[4];
|
|
|
|
|
break;
|
|
|
|
|
case AP_GPS::GPS_OK_FIX_3D_DGPS:
|
|
|
|
|
fixname = gpsfixname[5];
|
|
|
|
|
break;
|
2016-10-16 21:54:46 -03:00
|
|
|
case AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT:
|
2016-09-30 04:21:28 -03:00
|
|
|
fixname = gpsfixname[6];
|
|
|
|
|
break;
|
2016-10-16 21:54:46 -03:00
|
|
|
case AP_GPS::GPS_OK_FIX_3D_RTK_FIXED:
|
|
|
|
|
fixname = gpsfixname[7];
|
|
|
|
|
break;
|
2016-09-30 04:21:28 -03:00
|
|
|
default:
|
|
|
|
|
fixname = gpsfixname[0];
|
2017-01-17 08:44:26 -04:00
|
|
|
break;
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
2018-02-07 01:51:04 -04:00
|
|
|
snprintf(msg, DISPLAY_MESSAGE_SIZE, "GPS:%-5s Sats:%2u", fixname, (unsigned)AP_Notify::flags.gps_num_sats) ;
|
2017-03-14 11:57:51 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), msg);
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void Display::update_gps_sats(uint8_t r)
|
2015-12-22 17:16:19 -04:00
|
|
|
{
|
2016-09-30 04:21:28 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), "Sats:");
|
2017-01-26 12:58:59 -04:00
|
|
|
draw_char(COLUMN(8), ROW(r), (AP_Notify::flags.gps_num_sats / 10) + '0');
|
|
|
|
|
draw_char(COLUMN(9), ROW(r), (AP_Notify::flags.gps_num_sats % 10) + '0');
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void Display::update_ekf(uint8_t r)
|
2015-12-22 17:16:19 -04:00
|
|
|
{
|
|
|
|
|
if (AP_Notify::flags.ekf_bad) {
|
2016-09-30 04:21:28 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), "EKF: fail");
|
2015-12-22 17:16:19 -04:00
|
|
|
} else {
|
2016-09-30 04:21:28 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), "EKF: ok ");
|
2015-12-22 17:16:19 -04:00
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void Display::update_battery(uint8_t r)
|
|
|
|
|
{
|
2017-03-14 11:57:51 -03:00
|
|
|
char msg [DISPLAY_MESSAGE_SIZE];
|
2018-07-25 22:09:34 -03:00
|
|
|
snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP::battery().voltage()) ;
|
2017-03-14 11:57:51 -03:00
|
|
|
draw_text(COLUMN(0), ROW(r), msg);
|
2016-09-30 04:21:28 -03:00
|
|
|
}
|
2017-01-20 06:13:37 -04:00
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void Display::update_mode(uint8_t r)
|
|
|
|
|
{
|
2017-03-14 11:57:51 -03:00
|
|
|
char msg [DISPLAY_MESSAGE_SIZE];
|
|
|
|
|
if (pNotify->get_flight_mode_str()) {
|
|
|
|
|
snprintf(msg, DISPLAY_MESSAGE_SIZE, "Mode: %s", pNotify->get_flight_mode_str()) ;
|
|
|
|
|
draw_text(COLUMN(0), ROW(r), msg);
|
|
|
|
|
}
|
2016-09-30 04:21:28 -03:00
|
|
|
}
|
|
|
|
|
|
2017-02-17 03:19:16 -04:00
|
|
|
void Display::update_text_empty(uint8_t r)
|
|
|
|
|
{
|
|
|
|
|
char msg [DISPLAY_MESSAGE_SIZE] = {};
|
|
|
|
|
memset(msg, ' ', sizeof(msg)-1);
|
2017-05-01 10:09:13 -03:00
|
|
|
_movedelay = 0;
|
2017-02-17 03:19:16 -04:00
|
|
|
_mstartpos = 0;
|
|
|
|
|
draw_text(COLUMN(0), ROW(r), msg);
|
|
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void Display::update_text(uint8_t r)
|
|
|
|
|
{
|
2017-05-01 10:09:13 -03:00
|
|
|
char msg [DISPLAY_MESSAGE_SIZE] = {};
|
|
|
|
|
char txt [NOTIFY_TEXT_BUFFER_SIZE] = {};
|
2016-09-30 04:21:28 -03:00
|
|
|
|
2017-02-17 03:19:16 -04:00
|
|
|
const bool text_is_valid = AP_HAL::millis() - pNotify->_send_text_updated_millis < _send_text_valid_millis;
|
|
|
|
|
if (!text_is_valid) {
|
|
|
|
|
update_text_empty(r);
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
if (_movedelay > 0) {
|
|
|
|
|
_movedelay--;
|
2017-05-01 10:09:13 -03:00
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
snprintf(txt, sizeof(txt), "%s", pNotify->get_text());
|
|
|
|
|
|
|
|
|
|
memset(msg, ' ', sizeof(msg)-1); // leave null termination
|
|
|
|
|
const uint8_t len = strlen(&txt[_mstartpos]);
|
|
|
|
|
const uint8_t to_copy = (len < sizeof(msg)-1) ? len : (sizeof(msg)-1);
|
|
|
|
|
memcpy(msg, &txt[_mstartpos], to_copy);
|
|
|
|
|
|
|
|
|
|
if (len <= sizeof(msg)-1) {
|
|
|
|
|
// end-of-message reached; pause scrolling a while
|
|
|
|
|
_movedelay = 4;
|
|
|
|
|
// reset startpos so we start scrolling from the start again:
|
2016-09-30 04:21:28 -03:00
|
|
|
_mstartpos = 0;
|
2017-05-01 10:09:13 -03:00
|
|
|
} else {
|
|
|
|
|
_mstartpos++;
|
2016-09-30 04:21:28 -03:00
|
|
|
}
|
2017-05-01 10:09:13 -03:00
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
draw_text(COLUMN(0), ROW(0), msg);
|
|
|
|
|
}
|
