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AP_HAL_F4Light: fixed OSD compilation issue

This commit is contained in:
night-ghost 2018-03-04 14:53:50 +05:00 committed by Andrew Tridgell
parent 67a3afbbbd
commit 4d5b5b7fdd
5 changed files with 50 additions and 97 deletions
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86
libraries/AP_HAL_F4Light/hardware/osd/osd.cpp
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@ -44,8 +44,6 @@ using namespace F4Light;
namespace OSDns {
class BetterStream : AP_HAL::BetterStream {};
#include "osd_core/GCS_MAVLink.h"
#include "osd_core/OSD_Max7456.h"
@ -880,24 +878,24 @@ void osd_loop() {
}
#endif
if(lflags.got_data){ // были свежие данные - обработать
if(lflags.got_data){ // if new data comes
pan_toggle(); // проверить переключение экранов
pan_toggle(); // check for screen toggle
if(!lflags.need_redraw) {
lflags.need_redraw=1;
vsync_wait=1; // будем ждать прерывания
vsync_wait=1; // will wait for interrupt
}
lflags.got_data=0; // данные обработаны
lflags.got_data=0; // data parsed
}
if( lflags.need_redraw) {
lflags.need_redraw=0; // экран перерисован
lflags.need_redraw=0; // screen drawn
setHomeVars(); // calculate and set Distance from home and Direction to home
setFdataVars(); // накопление статистики и рекордов
setFdataVars(); // statistics and min/max
writePanels(); // writing enabled panels (check OSD_Panels Tab)
@ -905,17 +903,17 @@ void osd_loop() {
prepare_dma_buffer(); // prepare diff with addresses
#endif
update_screen = 1; // пришли данные, надо перерисовать экран
update_screen = 1; // data comes, wee need to redraw screen
}
if(pt > timer_20ms){
timer_20ms+=20;
On20ms();
if(update_screen && vsync_wait && (millis() - vsync_time)>50){ // прерывания остановились - с последнего прошло более 50мс
if(update_screen && vsync_wait && (millis() - vsync_time)>50){ // interrupts stopped - more than 50 ms passed from the last one
vsync_wait=0; // хватит ждать
Scheduler::set_task_priority(task_handle, OSD_HIGH_PRIORITY); // equal to main
OSD::update(); // обновим принудительно (и далее будем обновлять каждые 20мс)
OSD::update(); // update compulsorily (and then update every 20ms)
update_screen = 0;
Scheduler::set_task_priority(task_handle, OSD_LOW_PRIORITY);
}
@ -945,7 +943,7 @@ void osd_loop() {
if(pt > timer_500ms){
timer_500ms+= 500;
lflags.got_data=1; // каждые полсекунды принудительно
lflags.got_data=1; // every half second forcibly
update_screen = 1;
lflags.flag_05s = 1;
@ -959,8 +957,8 @@ void osd_loop() {
if(lflags.got_date) day_seconds++; // if we has GPS time - let it ticks
if( vas_vsync && vsync_count < 5) { // при частоте кадров их должно быть 25 или 50
// но есть платы где эта нога не подключена. Китай...
if( vas_vsync && vsync_count < 5) { // at a frame rate they should be 25 or 50
// but there are boards where this pin is not connected. China...
max7456_err_count++;
if(max7456_err_count>3) { // 3 seconds bad sync
#ifdef DEBUG
@ -982,10 +980,10 @@ void osd_loop() {
void vsync_ISR(){
vas_vsync=true;
vsync_wait=0; // отметить его наличие
vsync_wait=0; // note its presence
vsync_count++; // считаем кадровые прерывания
vsync_time=millis(); // и отметим его время
vsync_count++; // count VSYNC interrupts
vsync_time=millis(); // and note a time
if(update_screen) { // there is data for screen
osd_need_redraw=true;
@ -1054,53 +1052,7 @@ void update_max_buffer(const uint8_t *buffer, uint16_t len){
uint16_t cnt=0;
#if defined(OSD_DMA_TRANSFER) && 0
// MAX_write(MAX7456_DMM_reg, 0);
// MAX_write(MAX7456_VM1_reg, B01000111); - in dma_buffer
if(!diff_done){
prepare_dma_buffer();
}
if(dma_transfer_length) {
osd_spi->transfer(dma_buffer, dma_transfer_length, NULL, 0); // diff already prepared
dma_transfer_length = 0;
}
diff_done = false;
max7456_cs_off();
uint8_t patt = MAX7456_ENABLE_display | MAX7456_SYNC_autosync | OSD::video_mode;
max7456_cs_on();
uint8_t vm0 = MAX_read(MAX7456_VM0_reg | MAX7456_reg_read);
max7456_cs_off();
if(vm0 != patt) {
max_err_cnt++;
if(max_err_cnt<3) {
OSD::hw_init(); // first try without reset
} else {
// 3 errors together - nothing helps :(
#ifdef BOARD_OSD_RESET_PIN
{
const stm32_pin_info &pp = PIN_MAP[BOARD_OSD_RESET_PIN];
gpio_write_bit(pp.gpio_device, pp.gpio_bit, LOW);
delayMicroseconds(50);
gpio_write_bit(pp.gpio_device, pp.gpio_bit, HIGH);
delayMicroseconds(120);
}
#endif
OSD::init();
max_err_cnt=0;
write_buff_to_MAX(false); // restore screen
}
// MAX_write(MAX7456_VM0_reg, patt);
} else {
max_err_cnt=0;
}
#elif 1
#if 1
uint8_t patt = MAX7456_ENABLE_display | MAX7456_SYNC_autosync | OSD::video_mode;
max7456_cs_on();
uint8_t vm0 = MAX_read(MAX7456_VM0_reg | MAX7456_reg_read);
@ -1129,7 +1081,7 @@ void update_max_buffer(const uint8_t *buffer, uint16_t len){
MAX_write(MAX7456_DMAH_reg, 0);
MAX_write(MAX7456_DMAL_reg, 0);
MAX_write(MAX7456_DMM_reg, 1); // автоинкремент адреса
MAX_write(MAX7456_DMM_reg, 1); // set address auto-increment
max7456_cs_off();
@ -1167,7 +1119,7 @@ void update_max_buffer(const uint8_t *buffer, uint16_t len){
// a try to do writes in software strobe mode
MAX_write(MAX7456_DMAH_reg, 0);
MAX_write(MAX7456_DMAL_reg, 0);
MAX_write(MAX7456_DMM_reg, 1); // автоинкремент адреса
MAX_write(MAX7456_DMM_reg, 1); // set address auto-increment
max7456_cs_off();
while(len--){
max7456_cs_on();
@ -1179,7 +1131,7 @@ void update_max_buffer(const uint8_t *buffer, uint16_t len){
max7456_cs_off();
}
max7456_cs_on();
MAX_write(MAX7456_DMM_reg, 0); // автоинкремент адреса
MAX_write(MAX7456_DMM_reg, 0); // clear address auto-increment
#else
// just write all to MAX
MAX_write(MAX7456_DMAH_reg, 0);

21
libraries/AP_HAL_F4Light/hardware/osd/osd.h
View File

@ -18,25 +18,4 @@ extern const AP_HAL::HAL& hal;
#define OSD_LOW_PRIORITY 115 // 15 less than main task so runs almost only in delay() time - 1/16 of main thread
#define OSD_HIGH_PRIORITY 99 // 1 more than main so uses 2/3 of CPU
namespace OSDns {// OSD interface emulates UART
void osd_begin(AP_HAL::OwnPtr<F4Light::SPIDevice> spi);
void osd_loop();
int16_t osd_available();
int16_t osd_getc();
void osd_dequeue();
uint32_t osd_txspace();
void osd_putc(uint8_t c);
void max_do_transfer(const uint8_t *buffer, uint16_t len);
void update_max_buffer(const uint8_t *buffer, uint16_t len);
inline uint32_t millis(){ return AP_HAL::millis(); }
class BetterStream;
}
#endif

4
libraries/AP_HAL_F4Light/hardware/osd/osd_core/GCS_MAVLink.h
View File

@ -20,10 +20,10 @@
#define MAVLINK_COMM_NUM_BUFFERS 1
/// MAVLink stream used for HIL interaction
extern BetterStream *mavlink_comm_0_port;
extern AP_HAL::BetterStream *mavlink_comm_0_port;
/// MAVLink stream used for ground control communication
extern BetterStream *mavlink_comm_1_port;
extern AP_HAL::BetterStream *mavlink_comm_1_port;
/// MAVLink system definition
extern mavlink_system_t mavlink_system;

15
libraries/AP_HAL_F4Light/hardware/osd/osd_core/compat.h
View File

@ -48,17 +48,10 @@ static inline uint8_t pgm_read_byte(const void * v){
}
// this can be used on Arduino's world to load an address so limiting to uint16_t cause HardFault
# if 0
static inline uint16_t pgm_read_word(const void * v){
const uint16_t * addr = (const uint16_t *)v;
return *addr;
}
#else
static inline uint32_t pgm_read_word(const void * v){
const uint32_t * addr = (const uint32_t *)v;
return *addr;
}
#endif
#include <AP_HAL_F4Light/AP_HAL_F4Light.h>
@ -72,6 +65,14 @@ static inline uint32_t pgm_read_word(const void * v){
using namespace F4Light;
#include "../osd_ns.h"
class OSDns::BetterStream : public AP_HAL::BetterStream {};
using namespace OSDns;
typedef uint32_t byte_32;
typedef int16_t byte_16;

21
libraries/AP_HAL_F4Light/hardware/osd/osd_ns.h Normal file
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@ -0,0 +1,21 @@
namespace OSDns {// OSD interface emulates UART
void osd_begin(AP_HAL::OwnPtr<F4Light::SPIDevice> spi);
void osd_loop();
int16_t osd_available();
int16_t osd_getc();
void osd_dequeue();
uint32_t osd_txspace();
void osd_putc(uint8_t c);
void max_do_transfer(const uint8_t *buffer, uint16_t len);
void update_max_buffer(const uint8_t *buffer, uint16_t len);
inline uint32_t millis(){ return AP_HAL::millis(); }
class BetterStream;
}