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AP_OSD: use fixed array sizes

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the allocation didn't win anything as the backend is already allocated
This commit is contained in:
Andrew Tridgell 2018-06-24 20:54:25 +10:00
parent 2c29d1c297
commit 2fb63828bb
2 changed files with 22 additions and 54 deletions
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58
libraries/AP_OSD/AP_OSD_MAX7456.cpp
View File

@ -25,13 +25,9 @@
#include <utility>
#define VIDEO_BUFFER_CHARS_NTSC 390
#define VIDEO_BUFFER_CHARS_PAL 480
#define VIDEO_LINES_NTSC 13
#define VIDEO_LINES_PAL 16
#define VIDEO_COLUMNS 30
#define MAX_UPDATED_CHARS 64
#define SPI_BUFFER_SIZE ((MAX_UPDATED_CHARS + 1)* 8)
#define NVM_RAM_SIZE 54
//MAX7456 registers
@ -140,44 +136,12 @@ AP_OSD_MAX7456::AP_OSD_MAX7456(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev):
AP_OSD_Backend(osd), _dev(std::move(dev))
{
video_signal_reg = VIDEO_MODE_PAL | OSD_ENABLE;
max_screen_size = VIDEO_BUFFER_CHARS_PAL;
}
AP_OSD_MAX7456::~AP_OSD_MAX7456()
{
if (buffer != nullptr) {
hal.util->free_type(buffer, SPI_BUFFER_SIZE, AP_HAL::Util::MEM_DMA_SAFE);
}
if (frame != nullptr) {
hal.util->free_type(frame, VIDEO_BUFFER_CHARS_PAL, AP_HAL::Util::MEM_FAST);
}
if (shadow_frame != nullptr) {
hal.util->free_type(shadow_frame, VIDEO_BUFFER_CHARS_PAL, AP_HAL::Util::MEM_FAST);
}
if (attr != nullptr) {
hal.util->free_type(attr, VIDEO_BUFFER_CHARS_PAL, AP_HAL::Util::MEM_FAST);
}
if (shadow_attr != nullptr) {
hal.util->free_type(shadow_attr, VIDEO_BUFFER_CHARS_PAL, AP_HAL::Util::MEM_FAST);
}
max_screen_size = video_buffer_chars_pal;
}
bool AP_OSD_MAX7456::init()
{
uint8_t status = 0xFF;
buffer = (uint8_t *)hal.util->malloc_type(SPI_BUFFER_SIZE, AP_HAL::Util::MEM_DMA_SAFE);
frame = (uint8_t *)hal.util->malloc_type(VIDEO_BUFFER_CHARS_PAL, AP_HAL::Util::MEM_FAST);
shadow_frame = (uint8_t *)hal.util->malloc_type(VIDEO_BUFFER_CHARS_PAL, AP_HAL::Util::MEM_FAST);
attr = (uint8_t *)hal.util->malloc_type(VIDEO_BUFFER_CHARS_PAL, AP_HAL::Util::MEM_FAST);
shadow_attr = (uint8_t *)hal.util->malloc_type(VIDEO_BUFFER_CHARS_PAL, AP_HAL::Util::MEM_FAST);
if (buffer == nullptr || frame == nullptr || shadow_frame == nullptr || attr== nullptr ||shadow_attr == nullptr) {
return false;
}
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
_dev->get_semaphore()->take_blocking();
_dev->write_register(MAX7456ADD_VM0, MAX7456_RESET);
@ -236,17 +200,19 @@ AP_OSD_Backend *AP_OSD_MAX7456::probe(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device
}
AP_OSD_MAX7456 *backend = new AP_OSD_MAX7456(osd, std::move(dev));
if (!backend || !backend->init()) {
if (!backend) {
return nullptr;
}
if (!backend->init()) {
delete backend;
return nullptr;
}
return backend;
}
void AP_OSD_MAX7456::buffer_add_cmd(uint8_t reg, uint8_t arg)
{
if (buffer_offset < SPI_BUFFER_SIZE - 1) {
if (buffer_offset < spi_buffer_size - 1) {
buffer[buffer_offset++] = reg;
buffer[buffer_offset++] = arg;
}
@ -303,10 +269,10 @@ void AP_OSD_MAX7456::reinit()
_dev->read_registers(MAX7456ADD_STAT, &sense, 1);
if (VIN_IS_PAL(sense)) {
video_signal_reg = VIDEO_MODE_PAL | OSD_ENABLE;
max_screen_size = VIDEO_BUFFER_CHARS_PAL;
max_screen_size = video_buffer_chars_pal;
} else {
video_signal_reg = VIDEO_MODE_NTSC | OSD_ENABLE;
max_screen_size = VIDEO_BUFFER_CHARS_NTSC;
max_screen_size = video_buffer_chars_ntsc;
}
// set all rows to same character black/white level
@ -320,8 +286,8 @@ void AP_OSD_MAX7456::reinit()
_dev->write_register(MAX7456ADD_DMM, DMM_CLEAR_DISPLAY);
// force redrawing all screen
memset(shadow_frame, 0xFF, VIDEO_BUFFER_CHARS_PAL);
memset(shadow_attr, 0xFF, VIDEO_BUFFER_CHARS_PAL);
memset(shadow_frame, 0xFF, video_buffer_chars_pal);
memset(shadow_attr, 0xFF, video_buffer_chars_pal);
initialized = true;
}
@ -351,7 +317,7 @@ void AP_OSD_MAX7456::transfer_frame()
if (frame[pos] == shadow_frame[pos] && attr[pos] == shadow_attr[pos]) {
continue;
}
if (++updated_chars > MAX_UPDATED_CHARS) {
if (++updated_chars > max_updated_chars) {
break;
}
shadow_frame[pos] = frame[pos];
@ -377,7 +343,7 @@ void AP_OSD_MAX7456::transfer_frame()
void AP_OSD_MAX7456::clear()
{
for (uint16_t i=0; i<VIDEO_BUFFER_CHARS_PAL; i++) {
for (uint16_t i=0; i<video_buffer_chars_pal; i++) {
frame[i] = ' ';
attr[i] = 0;
}

18
libraries/AP_OSD/AP_OSD_MAX7456.h
View File

@ -40,9 +40,6 @@ private:
//constructor
AP_OSD_MAX7456(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev);
//destructor
virtual ~AP_OSD_MAX7456(void);
void buffer_add_cmd(uint8_t reg, uint8_t arg);
bool update_font();
@ -58,17 +55,22 @@ private:
uint8_t video_signal_reg;
bool initialized;
uint8_t *frame;
static const uint16_t video_buffer_chars_ntsc = 390;
static const uint16_t video_buffer_chars_pal = 480;
static const uint8_t max_updated_chars = 64;
static const uint16_t spi_buffer_size = ((max_updated_chars + 1) * 8);
uint8_t frame[video_buffer_chars_pal];
//frame already transfered to max
//used to optimize number of characters updated
uint8_t *shadow_frame;
uint8_t shadow_frame[video_buffer_chars_pal];
uint8_t *attr;
uint8_t attr[video_buffer_chars_pal];
uint8_t *shadow_attr;
uint8_t shadow_attr[video_buffer_chars_pal];
uint8_t *buffer;
uint8_t buffer[spi_buffer_size];
int buffer_offset;
uint32_t last_signal_check;