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AP_OSD: added support for an MSP based OSD

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This commit is contained in:
yaapu 2020-08-04 22:41:02 +02:00 committed by Andrew Tridgell
parent 234ed303fe
commit b8b285b359
5 changed files with 374 additions and 2 deletions
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13
libraries/AP_OSD/AP_OSD.cpp
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@ -25,6 +25,7 @@
#ifdef WITH_SITL_OSD
#include "AP_OSD_SITL.h"
#endif
#include "AP_OSD_MSP.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Util.h>
#include <RC_Channel/RC_Channel.h>
@ -218,9 +219,17 @@ void AP_OSD::init()
break;
}
#endif
case OSD_MSP: {
backend = AP_OSD_MSP::probe(*this);
if (backend == nullptr) {
break;
}
if (backend != nullptr) {
// create thread as higher priority than IO
hal.console->printf("Started MSP OSD\n");
break;
}
}
if (backend != nullptr && (enum osd_types)osd_type.get() != OSD_MSP) {
// create thread as higher priority than IO for all backends but MSP which has its own
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1024, AP_HAL::Scheduler::PRIORITY_IO, 1);
}
}

17
libraries/AP_OSD/AP_OSD.h
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@ -26,6 +26,7 @@
#endif
class AP_OSD_Backend;
class AP_MSP;
#define AP_OSD_NUM_SCREENS 4
@ -68,6 +69,9 @@ public:
AP_Int16 channel_max;
private:
friend class AP_MSP;
friend class AP_MSP_Telem_Backend;
AP_OSD_Backend *backend;
AP_OSD *osd;
@ -124,6 +128,16 @@ private:
AP_OSD_Setting bat2used{false, 0, 0};
AP_OSD_Setting clk{false, 0, 0};
// MSP OSD only
AP_OSD_Setting sidebars{false, 0, 0};
AP_OSD_Setting crosshair{false, 0, 0};
AP_OSD_Setting home_dist{true, 1, 1};
AP_OSD_Setting home_dir{true, 1, 1};
AP_OSD_Setting power{true, 1, 1};
AP_OSD_Setting cell_volt{true, 1, 1};
AP_OSD_Setting batt_bar{true, 1, 1};
AP_OSD_Setting arming{true, 1, 1};
bool check_option(uint32_t option);
enum unit_type {
@ -194,6 +208,8 @@ class AP_OSD
{
public:
friend class AP_OSD_Screen;
friend class AP_MSP;
friend class AP_MSP_Telem_Backend;
//constructor
AP_OSD();
@ -217,6 +233,7 @@ public:
OSD_NONE=0,
OSD_MAX7456=1,
OSD_SITL=2,
OSD_MSP=3,
};
enum switch_method {
TOGGLE=0,

188
libraries/AP_OSD/AP_OSD_MSP.cpp Normal file
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@ -0,0 +1,188 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/*
OSD backend for MSP
*/
#include "AP_OSD_MSP.h"
static const struct AP_Param::defaults_table_struct defaults_table[] = {
/*
//OSD_RSSI_VALUE
{ "OSD_RSSI_EN", 1.0 },
{ "OSD_RSSI_X", 1.0 },
{ "OSD_RSSI_Y", 1.0 },
//OSD_MAIN_BATT_VOLTAGE
{ "OSD_BAT_VOLT_EN", 1.0 },
{ "OSD_BAT_VOLT_X", 1.0 },
{ "OSD_BAT_VOLT_Y", 1.0 },
//OSD_CRAFT_NAME (text flightmode + status text messages + wind)
{ "OSD_MESSAGE_EN", 1.0 },
{ "OSD_MESSAGE_X", 1.0 },
{ "OSD_MESSAGE_Y", 1.0 },
//OSD_FLYMODE (displays failsafe status and optionally rtl engaged)
{ "OSD_FLTMODE_EN", 1.0 },
{ "OSD_FLTMODE_X", 1.0 },
{ "OSD_FLTMODE_Y", 1.0 },
//OSD_CURRENT_DRAW
{ "OSD_CURRENT_EN", 1.0 },
{ "OSD_CURRENT_X", 1.0 },
{ "OSD_CURRENT_Y", 1.0 },
//OSD_MAH_DRAWN
{ "OSD_BATUSED_EN", 1.0 },
{ "OSD_BATUSED_X", 1.0 },
{ "OSD_BATUSED_Y", 1.0 },
//OSD_GPS_SPEED
{ "OSD_GSPEED_EN", 1.0 },
{ "OSD_GSPEED_X", 1.0 },
{ "OSD_GSPEED_Y", 1.0 },
//OSD_GPS_SATS
{ "OSD_SATS_EN", 1.0 },
{ "OSD_SATS_X", 1.0 },
{ "OSD_SATS_Y", 1.0 },
//OSD_ALTITUDE
{ "OSD_ALTITUDE_EN", 1.0 },
{ "OSD_ALTITUDE_X", 1.0 },
{ "OSD_ALTITUDE_Y", 1.0 },
//OSD_GPS_LON
{ "OSD_GPSLONG_EN", 1.0 },
{ "OSD_GPSLONG_X", 1.0 },
{ "OSD_GPSLONG_Y", 1.0 },
//OSD_GPS_LAT
{ "OSD_GPSLAT_EN", 1.0 },
{ "OSD_GPSLAT_X", 1.0 },
{ "OSD_GPSLAT_Y", 1.0 },
//OSD_PITCH_ANGLE
{ "OSD_PITCH_EN", 1.0 },
{ "OSD_PITCH_X", 1.0 },
{ "OSD_PITCH_Y", 1.0 },
//OSD_ROLL_ANGLE
{ "OSD_ROLL_EN", 1.0 },
{ "OSD_ROLL_X", 1.0 },
{ "OSD_ROLL_Y", 1.0 },
//OSD_MAIN_BATT_USAGE
{ "OSD_BATTBAR_EN", 1.0 },
{ "OSD_BATTBAR_X", 1.0 },
{ "OSD_BATTBAR_Y", 1.0 },
//OSD_NUMERICAL_VARIO
{ "OSD_VSPEED_EN", 1.0 },
{ "OSD_VSPEED_X", 1.0 },
{ "OSD_VSPEED_Y", 1.0 },
#ifdef HAVE_AP_BLHELI_SUPPORT
//OSD_ESC_TMP
{ "OSD_BLHTEMP_EN", 1.0 },
{ "OSD_BLHTEMP_X", 1.0 },
{ "OSD_BLHTEMP_Y", 1.0 },
#endif
//OSD_RTC_DATETIME
{ "OSD_CLK_EN", 1.0 },
{ "OSD_CLK_X", 1.0 },
{ "OSD_CLK_Y", 1.0 },
// --------------------------
// MSP OSD only
// --------------------------
// OSD items disabled by default (partially supported)
//OSD_CROSSHAIRS
{ "OSD_CRSSHAIR_EN", 0 },
//OSD_ARTIFICIAL_HORIZON
{ "OSD_HORIZON_EN", 0 },
//OSD_HORIZON_SIDEBARS
{ "OSD_SIDEBARS_EN", 0 },
//OSD_NUMERICAL_HEADING
{ "OSD_HEADING_EN", 0.0 },
// Supported OSD items
//OSD_POWER
{ "OSD_POWER_EN", 1.0 },
{ "OSD_POWER_X", 1.0 },
{ "OSD_POWER_Y", 1.0 },
//OSD_AVG_CELL_VOLTAGE
{ "OSD_CELLVOLT_EN", 1.0 },
{ "OSD_CELLVOLT_X", 1.0 },
{ "OSD_CELLVOLT_Y", 1.0 },
//OSD_DISARMED
{ "OSD_ARMING_EN", 1.0 },
{ "OSD_ARMING_X", 1.0 },
{ "OSD_ARMING_Y", 1.0 },
//OSD_HOME_DIR
{ "OSD_HOMEDIR_EN", 1.0 },
{ "OSD_HOMEDIR_X", 1.0 },
{ "OSD_HOMEDIR_Y", 1.0 },
//OSD_HOME_DIST
{ "OSD_HOMEDIST_EN", 1.0 },
{ "OSD_HOMEDIST_X", 1.0 },
{ "OSD_HOMEDIST_Y", 1.0 },
*/
};
extern const AP_HAL::HAL &hal;
// initialise backend
bool AP_OSD_MSP::init(void)
{
return true;
}
// override built in positions with defaults for MSP OSD
void AP_OSD_MSP::setup_defaults(void)
{
AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
}
AP_OSD_Backend *AP_OSD_MSP::probe(AP_OSD &osd)
{
AP_OSD_MSP *backend = new AP_OSD_MSP(osd);
if (!backend) {
return nullptr;
}
if (!backend->init()) {
delete backend;
return nullptr;
}
return backend;
}
AP_OSD_MSP::AP_OSD_MSP(AP_OSD &osd):
AP_OSD_Backend(osd)
{
}

27
libraries/AP_OSD/AP_OSD_MSP.h Normal file
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@ -0,0 +1,27 @@
#include <AP_OSD/AP_OSD_Backend.h>
#include <AP_MSP/AP_MSP.h>
class AP_OSD_MSP : public AP_OSD_Backend
{
public:
static AP_OSD_Backend *probe(AP_OSD &osd);
//initilize display port and underlying hardware
bool init() override;
//draw given text to framebuffer
void write(uint8_t x, uint8_t y, const char* text) override {};
//flush framebuffer to screen
void flush() override {};
//clear framebuffer
void clear() override {};
private:
//constructor
AP_OSD_MSP(AP_OSD &osd);
void setup_defaults(void);
};

131
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -34,6 +34,7 @@
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_RTC/AP_RTC.h>
#include <AP_MSP/msp.h>
#include <ctype.h>
#include <GCS_MAVLink/GCS.h>
@ -705,6 +706,136 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Range: 0 15
AP_SUBGROUPINFO(clk, "CLK", 43, AP_OSD_Screen, AP_OSD_Setting),
#if HAL_MSP_ENABLED
// @Param: SIDEBARS_EN
// @DisplayName: SIDEBARS_EN
// @Description: Displays artificial horizon side bars (MSP OSD only)
// @Values: 0:Disabled,1:Enabled
// @Param: SIDEBARS_X
// @DisplayName: SIDEBARS_X
// @Description: Horizontal position on screen (MSP OSD only)
// @Range: 0 29
// @Param: SIDEBARS_Y
// @DisplayName: SIDEBARS_Y
// @Description: Vertical position on screen (MSP OSD only)
// @Range: 0 15
AP_SUBGROUPINFO(sidebars, "SIDEBARS", 44, AP_OSD_Screen, AP_OSD_Setting),
// @Param: CRSSHAIR_EN
// @DisplayName: CRSSHAIR_EN
// @Description: Displays artificial horizon crosshair (MSP OSD only)
// @Values: 0:Disabled,1:Enabled
// @Param: CRSSHAIR_X
// @DisplayName: CRSSHAIR_X
// @Description: Horizontal position on screen (MSP OSD only)
// @Range: 0 29
// @Param: CRSSHAIR_Y
// @DisplayName: CRSSHAIR_Y
// @Description: Vertical position on screen (MSP OSD only)
// @Range: 0 15
AP_SUBGROUPINFO(crosshair, "CRSSHAIR", 45, AP_OSD_Screen, AP_OSD_Setting),
// @Param: HOMEDIST_EN
// @DisplayName: HOMEDIST_EN
// @Description: Displays distance from HOME (MSP OSD only)
// @Values: 0:Disabled,1:Enabled
// @Param: HOMEDIST_X
// @DisplayName: HOMEDIST_X
// @Description: Horizontal position on screen (MSP OSD only)
// @Range: 0 29
// @Param: HOMEDIST_Y
// @DisplayName: HOMEDIST_Y
// @Description: Vertical position on screen (MSP OSD only)
// @Range: 0 15
AP_SUBGROUPINFO(home_dist, "HOMEDIST", 46, AP_OSD_Screen, AP_OSD_Setting),
// @Param: HOMEDIR_EN
// @DisplayName: HOMEDIR_EN
// @Description: Displays relative direction to HOME (MSP OSD only)
// @Values: 0:Disabled,1:Enabled
// @Param: HOMEDIR_X
// @DisplayName: HOMEDIR_X
// @Description: Horizontal position on screen
// @Range: 0 29
// @Param: HOMEDIR_Y
// @DisplayName: HOMEDIR_Y
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(home_dir, "HOMEDIR", 47, AP_OSD_Screen, AP_OSD_Setting),
// @Param: POWER_EN
// @DisplayName: POWER_EN
// @Description: Displays power (MSP OSD only)
// @Values: 0:Disabled,1:Enabled
// @Param: POWER_X
// @DisplayName: POWER_X
// @Description: Horizontal position on screen
// @Range: 0 29
// @Param: POWER_Y
// @DisplayName: POWER_Y
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(power, "POWER", 48, AP_OSD_Screen, AP_OSD_Setting),
// @Param: CELL_VOLT_EN
// @DisplayName: CELL_VOLT_EN
// @Description: Displays average cell voltage (MSP OSD only)
// @Values: 0:Disabled,1:Enabled
// @Param: CELL_VOLT_X
// @DisplayName: CELL_VOLT_X
// @Description: Horizontal position on screen
// @Range: 0 29
// @Param: CELL_VOLT_Y
// @DisplayName: CELL_VOLT_Y
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(cell_volt, "CELLVOLT", 49, AP_OSD_Screen, AP_OSD_Setting),
// @Param: BATT_BAR_EN
// @DisplayName: BATT_BAR_EN
// @Description: Displays battery usage bar (MSP OSD only)
// @Values: 0:Disabled,1:Enabled
// @Param: BATT_BAR_X
// @DisplayName: BATT_BAR_X
// @Description: Horizontal position on screen
// @Range: 0 29
// @Param: BATT_BAR_Y
// @DisplayName: BATT_BAR_Y
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(batt_bar, "BATTBAR", 50, AP_OSD_Screen, AP_OSD_Setting),
// @Param: ARMING_EN
// @DisplayName: ARMING_EN
// @Description: Displays arming status (MSP OSD only)
// @Values: 0:Disabled,1:Enabled
// @Param: ARMING_X
// @DisplayName: ARMING_X
// @Description: Horizontal position on screen
// @Range: 0 29
// @Param: ARMING_Y
// @DisplayName: ARMING_Y
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(arming, "ARMING", 51, AP_OSD_Screen, AP_OSD_Setting),
#endif //HAL_MSP_ENABLED
AP_GROUPEND
};