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AP_OSD: use software blink 

This should fix blink issue with some hardware
This commit is contained in:
Alexander Malishev 2018-07-12 02:13:44 +04:00 committed by Andrew Tridgell
parent f083b80700
commit 785cf293cd
9 changed files with 64 additions and 56 deletions
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4
libraries/AP_OSD/AP_OSD.cpp
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@ -83,7 +83,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_FONT", 9, AP_OSD, font_num, 0),
// @Param: _V_OFFSET
// @DisplayName: OSD vertical offset
// @Description: Sets vertical offset of the osd inside image
@ -127,7 +127,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @Values: 0:Metric,1:Imperial,2:SI,3:Aviation
// @User: Standard
AP_GROUPINFO("_UNITS", 15, AP_OSD, units, 0),
AP_GROUPEND
};

2
libraries/AP_OSD/AP_OSD.h
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@ -114,7 +114,7 @@ private:
TEMPERATURE=5,
UNIT_TYPE_LAST=6,
};
char u_icon(enum unit_type unit);
float u_scale(enum unit_type unit, float value);

8
libraries/AP_OSD/AP_OSD_Backend.cpp
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@ -25,12 +25,16 @@ extern const AP_HAL::HAL& hal;
void AP_OSD_Backend::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...)
{
if (blink && (blink_phase < 2)) {
return;
}
char buff[32];
va_list ap;
va_start(ap, fmt);
int res = hal.util->vsnprintf(buff, sizeof(buff), fmt, ap);
if (res > 0 && _osd.options.get() & AP_OSD::OPTION_DECIMAL_PACK) {
if (res > 0 && check_option(AP_OSD::OPTION_DECIMAL_PACK)) {
// automatically use packed decimal characters
// based on fiam idea implemented in inav osd
char *p = strchr(&buff[1],'.');
if (p && isdigit(p[1]) && isdigit(p[-1])) {
p[-1] += SYM_DIG_OFS_1;
@ -40,7 +44,7 @@ void AP_OSD_Backend::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ..
}
}
if (res < int(sizeof(buff))) {
write(x, y, buff, blink? AP_OSD_Backend::BLINK : 0);
write(x, y, buff);
}
va_end(ap);
}

23
libraries/AP_OSD/AP_OSD_Backend.h
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@ -30,7 +30,7 @@ public:
virtual ~AP_OSD_Backend(void) {}
//draw given text to framebuffer
virtual void write(uint8_t x, uint8_t y, const char* text, uint8_t char_attr = 0) = 0;
virtual void write(uint8_t x, uint8_t y, const char* text) = 0;
//draw formatted text to framebuffer
virtual void write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...);
@ -42,11 +42,10 @@ public:
virtual void flush() = 0;
//clear screen
virtual void clear() = 0;
enum character_attribute_t {
BLINK = (1 << 4),
INVERT = (1 << 3),
//should match hw blink
virtual void clear()
{
blink_phase = (blink_phase+1)%4;
};
AP_OSD * get_osd()
@ -58,8 +57,18 @@ protected:
AP_OSD& _osd;
// get font choice
uint8_t get_font_num(void) const { return (uint8_t)_osd.font_num.get(); }
uint8_t get_font_num(void) const
{
return (uint8_t)_osd.font_num.get();
}
//check option
bool check_option(uint32_t option)
{
return (_osd.options & option) != 0;
}
int8_t blink_phase;
};

57
libraries/AP_OSD/AP_OSD_MAX7456.cpp
View File

@ -347,7 +347,6 @@ void AP_OSD_MAX7456::reinit()
// force redrawing all screen
memset(shadow_frame, 0xFF, sizeof(shadow_frame));
memset(shadow_attr, 0xFF, sizeof(shadow_attr));
initialized = true;
}
@ -357,7 +356,7 @@ void AP_OSD_MAX7456::flush()
if (last_font != get_font_num()) {
update_font();
}
// check for offset changes
if (last_v_offset != _osd.v_offset) {
int8_t vos = constrain_int16(_osd.v_offset, 0, 31);
@ -373,15 +372,15 @@ void AP_OSD_MAX7456::flush()
_dev->get_semaphore()->give();
last_h_offset = _osd.h_offset;
}
check_reinit();
transfer_frame();
}
void AP_OSD_MAX7456::transfer_frame()
{
uint8_t last_attribute = 0xFF;
uint16_t previous_pos = UINT16_MAX - 1;
bool autoincrement = false;
if (!initialized) {
return;
}
@ -389,8 +388,7 @@ void AP_OSD_MAX7456::transfer_frame()
buffer_offset = 0;
for (uint8_t y=0; y<video_lines; y++) {
for (uint8_t x=0; x<video_columns; x++) {
if (frame[y][x] == shadow_frame[y][x] && attr[y][x] == shadow_attr[y][x]) {
if (!is_dirty(x, y)) {
continue;
}
//ensure space for 1 char and escape sequence
@ -398,58 +396,67 @@ void AP_OSD_MAX7456::transfer_frame()
break;
}
shadow_frame[y][x] = frame[y][x];
shadow_attr[y][x] = attr[y][x];
uint8_t attribute = attr[y][x] & (DMM_BLINK | DMM_INVERT_PIXEL_COLOR);
uint8_t chr = frame[y][x];
uint16_t pos = y * video_columns + x;
bool attribute_changed = (attribute != last_attribute);
bool position_changed = ((previous_pos + 1) != pos);
if (position_changed) {
if (position_changed && autoincrement) {
//it is impossible to write to MAX7456ADD_DMAH/MAX7456ADD_DMAL in autoincrement mode
//so, exit autoincrement mode
if (buffer_offset != 0) {
buffer_add_cmd(MAX7456ADD_DMDI, 0xFF);
buffer_add_cmd(MAX7456ADD_DMM, 0);
}
buffer_add_cmd(MAX7456ADD_DMDI, 0xFF);
buffer_add_cmd(MAX7456ADD_DMM, 0);
autoincrement = false;
}
if (!autoincrement) {
buffer_add_cmd(MAX7456ADD_DMAH, pos >> 8);
buffer_add_cmd(MAX7456ADD_DMAL, pos & 0xFF);
}
//update character attributes and (re)enter autoincrement mode
if (position_changed || attribute_changed) {
buffer_add_cmd(MAX7456ADD_DMM, attribute | DMM_AUTOINCREMENT);
last_attribute = attribute;
if (!autoincrement && is_dirty(x+1, y)) {
//(re)enter autoincrement mode
buffer_add_cmd(MAX7456ADD_DMM, DMM_AUTOINCREMENT);
autoincrement = true;
}
buffer_add_cmd(MAX7456ADD_DMDI, chr);
previous_pos = pos;
}
}
if (buffer_offset > 0) {
if (autoincrement) {
buffer_add_cmd(MAX7456ADD_DMDI, 0xFF);
buffer_add_cmd(MAX7456ADD_DMM, 0);
autoincrement = false;
}
if (buffer_offset > 0) {
_dev->get_semaphore()->take_blocking();
_dev->transfer(buffer, buffer_offset, nullptr, 0);
_dev->get_semaphore()->give();
}
}
void AP_OSD_MAX7456::clear()
bool AP_OSD_MAX7456::is_dirty(uint8_t x, uint8_t y)
{
memset(frame, ' ', sizeof(frame));
memset(attr, 0, sizeof(attr));
if (y>=video_lines || x>=video_columns) {
return false;
}
return frame[y][x] != shadow_frame[y][x];
}
void AP_OSD_MAX7456::write(uint8_t x, uint8_t y, const char* text, uint8_t char_attr)
void AP_OSD_MAX7456::clear()
{
AP_OSD_Backend::clear();
memset(frame, ' ', sizeof(frame));
}
void AP_OSD_MAX7456::write(uint8_t x, uint8_t y, const char* text)
{
if (y >= video_lines_pal || text == nullptr) {
return;
}
while ((x < VIDEO_COLUMNS) && (*text != 0)) {
frame[y][x] = *text;
attr[y][x] = char_attr;
++text;
++x;
}

8
libraries/AP_OSD/AP_OSD_MAX7456.h
View File

@ -25,7 +25,7 @@ public:
static AP_OSD_Backend *probe(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev);
//draw given text to framebuffer
void write(uint8_t x, uint8_t y, const char* text, uint8_t char_attr) override;
void write(uint8_t x, uint8_t y, const char* text) override;
//initilize display port and underlying hardware
bool init() override;
@ -55,6 +55,8 @@ private:
void transfer_frame();
bool is_dirty(uint8_t x, uint8_t y);
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
uint8_t video_signal_reg;
@ -74,10 +76,6 @@ private:
//used to optimize number of characters updated
uint8_t shadow_frame[video_lines_pal][video_columns];
// this assumes at most 32 columns
uint8_t attr[video_lines_pal][video_columns];
uint8_t shadow_attr[video_lines_pal][video_columns];
uint8_t buffer[spi_buffer_size];
int buffer_offset;

13
libraries/AP_OSD/AP_OSD_SITL.cpp
View File

@ -98,7 +98,7 @@ void AP_OSD_SITL::load_font(void)
free(font_data);
}
void AP_OSD_SITL::write(uint8_t x, uint8_t y, const char* text, uint8_t char_attr)
void AP_OSD_SITL::write(uint8_t x, uint8_t y, const char* text)
{
if (y >= video_lines || text == nullptr) {
return;
@ -106,7 +106,6 @@ void AP_OSD_SITL::write(uint8_t x, uint8_t y, const char* text, uint8_t char_att
mutex->take_blocking();
while ((x < video_cols) && (*text != 0)) {
buffer[y][x] = *text;
attr[y][x] = char_attr;
++text;
++x;
}
@ -115,6 +114,7 @@ void AP_OSD_SITL::write(uint8_t x, uint8_t y, const char* text, uint8_t char_att
void AP_OSD_SITL::clear(void)
{
AP_OSD_Backend::clear();
mutex->take_blocking();
memset(buffer, 0, sizeof(buffer));
mutex->give();
@ -136,7 +136,6 @@ void AP_OSD_SITL::update_thread(void)
AP_HAL::panic("Unable to create OSD window");
}
uint8_t blink = 0;
while (w->isOpen()) {
sf::Event event;
while (w->pollEvent(event)) {
@ -151,10 +150,8 @@ void AP_OSD_SITL::update_thread(void)
last_counter = counter;
uint8_t buffer2[video_lines][video_cols];
uint8_t attr2[video_lines][video_cols];
mutex->take_blocking();
memcpy(buffer2, buffer, sizeof(buffer2));
memcpy(attr2, attr, sizeof(attr2));
mutex->give();
w->clear();
@ -164,11 +161,6 @@ void AP_OSD_SITL::update_thread(void)
uint16_t py = y * (char_height+char_spacing) * char_scale;
sf::Sprite s;
uint8_t c = buffer2[y][x];
if (attr2[y][x] & BLINK) {
if (blink >= 2) {
c = ' ';
}
}
s.setTexture(font[c]);
s.setPosition(sf::Vector2f(px, py));
s.scale(sf::Vector2f(char_scale,char_scale));
@ -176,7 +168,6 @@ void AP_OSD_SITL::update_thread(void)
}
}
blink = (blink+1) % 4;
w->display();
if (last_font != get_font_num()) {
load_font();

3
libraries/AP_OSD/AP_OSD_SITL.h
View File

@ -31,7 +31,7 @@ public:
static AP_OSD_Backend *probe(AP_OSD &osd);
//draw given text to framebuffer
void write(uint8_t x, uint8_t y, const char* text, uint8_t char_attr) override;
void write(uint8_t x, uint8_t y, const char* text) override;
//initilize display port and underlying hardware
bool init() override;
@ -62,7 +62,6 @@ private:
static const uint8_t char_scale = 2;
uint8_t buffer[video_lines][video_cols];
uint8_t attr[video_lines][video_cols];
void update_thread();
static void *update_thread_start(void *obj);

2
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -144,7 +144,7 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Group: GPSLONG
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(gps_longitude, "GPSLONG", 25, AP_OSD_Screen, AP_OSD_Setting),
// @Group: ROLL
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(roll_angle, "ROLL", 26, AP_OSD_Screen, AP_OSD_Setting),