AP_OSD: use software blink

This should fix blink issue with some hardware

libraries/AP_OSD/AP_OSD_Backend.cpp

@@ -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);
 }

libraries/AP_OSD/AP_OSD_Backend.h

@@ -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;
+    //should match hw blink
-
+    virtual void clear()
-    enum character_attribute_t {
+    {
-        BLINK = (1 << 4),
+        blink_phase = (blink_phase+1)%4;
-        INVERT = (1 << 3),
     };
 
     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;
 };
 
 

libraries/AP_OSD/AP_OSD_MAX7456.cpp

@@ -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;
 }
@@ -380,8 +379,8 @@ void AP_OSD_MAX7456::flush()
 
 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 (!is_dirty(x, y)) {
-            if (frame[y][x] == shadow_frame[y][x] && attr[y][x] == shadow_attr[y][x]) {
                 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_DMDI, 0xFF);
+                buffer_add_cmd(MAX7456ADD_DMM, 0);
-                    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 (!autoincrement && is_dirty(x+1, y)) {
-            if (position_changed || attribute_changed) {
+                //(re)enter autoincrement mode
-                buffer_add_cmd(MAX7456ADD_DMM, attribute | DMM_AUTOINCREMENT);
+                buffer_add_cmd(MAX7456ADD_DMM, DMM_AUTOINCREMENT);
-                last_attribute = attribute;
+                autoincrement = true;
             }
 
             buffer_add_cmd(MAX7456ADD_DMDI, chr);
             previous_pos = pos;
         }
     }
-
+    if (autoincrement) {
-    if (buffer_offset > 0) {
         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));
+    if (y>=video_lines || x>=video_columns) {
-    memset(attr, 0, sizeof(attr));
+        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;
     }

libraries/AP_OSD/AP_OSD_MAX7456.h

@@ -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;
 

libraries/AP_OSD/AP_OSD_SITL.cpp

@@ -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();

libraries/AP_OSD/AP_OSD_SITL.h

@@ -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);