mirror of https://github.com/ArduPilot/ardupilot
AP_OSD: initial version
This commit is contained in:
Alexander Malishev
Andrew Tridgell
parent
568e5a24b4
commit
c1d82a43c5
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* AP_OSD partially based on betaflight and inav osd.c implemention.
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* clarity.mcm font is taken from inav configurator.
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* Many thanks to their authors.
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*/
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#include <AP_OSD/AP_OSD.h>
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#include <AP_OSD/AP_OSD_MAX7456.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_RSSI/AP_RSSI.h>
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#include <AP_Notify/AP_Notify.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Util.h>
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#include <utility>
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// Character coordinate and attributes
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#define VISIBLE_FLAG 0x0800
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#define VISIBLE(x) (x & VISIBLE_FLAG)
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#define OSD_POS(x,y) (x | (y << 5))
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#define OSD_X(x) (x & 0x001F)
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#define OSD_Y(x) ((x >> 5) & 0x001F)
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//Symbols
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#define SYM_BLANK 0x20
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#define SYM_COLON 0x2D
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#define SYM_ZERO_HALF_TRAILING_DOT 192
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#define SYM_ZERO_HALF_LEADING_DOT 208
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#define SYM_M 177
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#define SYM_ALT_M 177
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#define SYM_BATT_FULL 0x90
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#define SYM_RSSI 0x01
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#define SYM_VOLT 0x06
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#define SYM_AMP 0x9A
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#define SYM_MAH 0x07
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#define SYM_SAT_L 0x1E
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#define SYM_SAT_R 0x1F
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#define AH_SYMBOL_COUNT 9
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const AP_Param::GroupInfo AP_OSD::var_info[] = {
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// @Param: ENABLED
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// @DisplayName: Enable OSD
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// @Description: Enable OSD
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO_FLAGS("ENABLED", 0, AP_OSD, osd_enabled, 1, AP_PARAM_FLAG_ENABLE),
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// @Param: UPDATE_FONT
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// @DisplayName: Update font
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// @Description: Undate font inside osd chip
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// @Values: 0:Do not update,1:Update
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// @User: Standard
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AP_GROUPINFO("UPDATE_FONT", 1, AP_OSD, update_font, 1),
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// @Param: 1_ALTITUDE
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// @DisplayName: Altitude position
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// @Description: Altitude position and visibility
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// @Values: 2048 * visible + x + y * 16
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// @User: Advanced
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AP_GROUPINFO("1_ALTITUDE", 2, AP_OSD, pos_altitude, OSD_POS(1, 0) | VISIBLE_FLAG),
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// @Param:1_BATT_VOLTAGE
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// @DisplayName:
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// @Description:
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// @Values: 2048 * visible + x + y * 16
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// @User: Advanced
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AP_GROUPINFO("1_BAT_VOLT", 3, AP_OSD, pos_batt_voltage, OSD_POS(12, 0) | VISIBLE_FLAG),
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// @Param:1_RSSI
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// @DisplayName:
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// @Description:
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// @Values: 2048 * visible + x + y * 16
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// @User: Advanced
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AP_GROUPINFO("1_RSSI", 4, AP_OSD, pos_rssi, OSD_POS(23, 0) | VISIBLE_FLAG),
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// @Param:1_CURRENT_DRAW
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// @DisplayName:
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// @Description:
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// @Values: 2048 * visible + x + y * 16
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// @User: Advanced
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AP_GROUPINFO("1_CUR_DRAW", 5, AP_OSD, pos_current_draw, OSD_POS(1, 3) | VISIBLE_FLAG),
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// @Param:1_MAH_DRAWN
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// @DisplayName:
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// @Description:
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// @Values: 2048 * visible + x + y * 16
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// @User: Advanced
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AP_GROUPINFO("1_MAH_DRAWN", 6, AP_OSD, pos_mah_drawn, OSD_POS(1, 4) | VISIBLE_FLAG),
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// @Param:1_GPS_SATS
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// @DisplayName:
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// @Description:
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// @Values: 2048 * visible + x + y * 16
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// @User: Advanced
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AP_GROUPINFO("1_GPS_SATS", 7, AP_OSD, pos_gps_sats, OSD_POS(0, 11) | VISIBLE_FLAG),
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// @Param:1_FLYMODE
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// @DisplayName:
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// @Description:
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// @Values: 2048 * visible + x + y * 16
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// @User: Advanced
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AP_GROUPINFO("1_FLYMODE", 8, AP_OSD, pos_flymode, OSD_POS(12, 12) | VISIBLE_FLAG),
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// @Param:1_MESSAGES
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// @DisplayName:
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// @Description:
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// @Values: 2048 * visible + x + y * 16
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// @User: Advanced
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AP_GROUPINFO("1_MESSAGES", 9, AP_OSD, pos_messages, OSD_POS(1, 13) | VISIBLE_FLAG),
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AP_GROUPEND
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};
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extern const AP_HAL::HAL& hal;
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AP_OSD::AP_OSD() : backend(nullptr), last_update_ms(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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void AP_OSD::init()
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{
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if (!osd_enabled) {
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return;
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}
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AP_HAL::OwnPtr<AP_HAL::Device> spi_dev = std::move(hal.spi->get_device("osd"));
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if (!spi_dev) {
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return;
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}
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backend = AP_OSD_MAX7456::probe(*this, std::move(spi_dev));
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if (backend == nullptr) {
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return;
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}
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last_update_ms = 0;
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hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_OSD::timer, void));
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}
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void AP_OSD::timer()
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{
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uint32_t now = AP_HAL::millis();
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if (now - last_update_ms > 16) {
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last_update_ms = now;
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update_osd();
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}
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}
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void AP_OSD::update_osd()
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{
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backend->clear();
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draw_messages();
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draw_flymode();
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draw_altitude();
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draw_batt_voltage();
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draw_rssi();
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draw_current_draw();
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draw_mah_drawn();
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draw_gps_sats();
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backend->flush();
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}
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void AP_OSD::draw_altitude()
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{
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if (VISIBLE(pos_altitude)) {
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uint8_t x = OSD_X(pos_altitude);
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uint8_t y = OSD_Y(pos_altitude);
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float alt;
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AP_AHRS::get_singleton()->get_relative_position_D_home(alt);
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backend->write(x, y, false, "%4.0f%c", alt, SYM_ALT_M);
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}
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}
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void AP_OSD::draw_batt_voltage()
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{
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if (VISIBLE(pos_batt_voltage)) {
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uint8_t x = OSD_X(pos_batt_voltage);
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uint8_t y = OSD_Y(pos_batt_voltage);
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AP_BattMonitor & battery = AP_BattMonitor::battery();
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uint8_t p = battery.capacity_remaining_pct();
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p = (100 - p) / 16.6;
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backend->write(x,y, battery.has_failsafed(), "%c%2.1fV", SYM_BATT_FULL + p, battery.voltage());
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}
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}
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void AP_OSD::draw_rssi()
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{
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if (VISIBLE(pos_rssi)) {
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uint8_t x = OSD_X(pos_rssi);
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uint8_t y = OSD_Y(pos_rssi);
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int rssi = AP_RSSI::get_instance()->read_receiver_rssi_uint8();
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rssi = (rssi * 99) / 255;
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backend->write(x, y, rssi < 5, "%c%2d", SYM_RSSI, rssi);
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}
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}
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void AP_OSD::draw_current_draw()
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{
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if (VISIBLE(pos_current_draw)) {
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uint8_t x = OSD_X(pos_current_draw);
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uint8_t y = OSD_Y(pos_current_draw);
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AP_BattMonitor & battery = AP_BattMonitor::battery();
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float current = battery.current_amps();
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backend->write(x, y, false, "%c%2.1f",SYM_AMP, current);
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}
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}
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void AP_OSD::draw_flymode()
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{
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if (VISIBLE(pos_flymode)) {
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uint8_t x = OSD_X(pos_flymode);
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uint8_t y = OSD_Y(pos_flymode);
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backend->write(x, y, AP_Notify::instance()->get_flight_mode_str());
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}
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}
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void AP_OSD::draw_gps_sats()
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{
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if (VISIBLE(pos_gps_sats)) {
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uint8_t x = OSD_X(pos_gps_sats);
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uint8_t y = OSD_Y(pos_gps_sats);
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AP_GPS& gps = AP::gps();
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bool has_3dfix = gps.status() <= AP_GPS::GPS_OK_FIX_2D;
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backend->write(x, y, !has_3dfix, "%c%c%2d", SYM_SAT_L, SYM_SAT_R, gps.num_sats());
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}
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}
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void AP_OSD::draw_mah_drawn()
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{
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if (VISIBLE(pos_mah_drawn)) {
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uint8_t x = OSD_X(pos_mah_drawn);
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uint8_t y = OSD_Y(pos_mah_drawn);
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AP_BattMonitor & battery = AP_BattMonitor::battery();
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backend->write(x,y, battery.has_failsafed(), "%c%4.0f", SYM_MAH, battery.consumed_mah());
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}
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}
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void AP_OSD::draw_messages()
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{
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if (VISIBLE(pos_messages)) {
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uint8_t x = OSD_X(pos_messages);
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uint8_t y = OSD_Y(pos_messages);
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AP_Notify * notify = AP_Notify::instance();
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bool text_is_valid = AP_HAL::millis() - notify->get_text_updated_millis() < 20000;
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if (text_is_valid) {
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backend->write(x, y, notify->get_text());
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}
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}
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}
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@ -0,0 +1,67 @@
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include <AP_Param/AP_Param.h>
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class AP_OSD_Backend;
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class AP_OSD {
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public:
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//constructor
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AP_OSD();
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/* Do not allow copies */
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AP_OSD(const AP_OSD &other) = delete;
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AP_OSD &operator=(const AP_OSD&) = delete;
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// init - perform required initialisation
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void init();
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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AP_Int8 osd_enabled;
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AP_Int8 update_font;
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AP_Int16 pos_altitude;
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AP_Int16 pos_batt_voltage;
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AP_Int16 pos_rssi;
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AP_Int16 pos_current_draw;
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AP_Int16 pos_mah_drawn;
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AP_Int16 pos_gps_sats;
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AP_Int16 pos_flymode;
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AP_Int16 pos_messages;
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private:
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void timer();
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void update_osd();
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AP_OSD_Backend *backend;
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uint32_t last_update_ms;
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void draw_altitude();
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void draw_batt_voltage();
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void draw_rssi();
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void draw_current_draw();
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void draw_mah_drawn();
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void draw_horizon();
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void draw_ontime_flytime();
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void draw_gps_sats();
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void draw_flymode();
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void draw_messages();
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};
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@ -0,0 +1,32 @@
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
|
||||||
|
* Free Software Foundation, either version 3 of the License, or
|
||||||
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* (at your option) any later version.
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*
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* 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.
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||||||
|
*
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* You should have received a copy of the GNU General Public License along
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||||||
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include <AP_OSD/AP_OSD_Backend.h>
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#include <AP_HAL/Util.h>
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extern const AP_HAL::HAL& hal;
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void AP_OSD_Backend::write(int x, int y, bool blink, const char *fmt, ...)
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{
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char buff[32];
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va_list ap;
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va_start(ap, fmt);
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int res = hal.util->vsnprintf(buff, sizeof(buff), fmt, ap);
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if (res < sizeof(buff)) {
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write(x, y, buff, blink? AP_OSD_Backend::BLINK : 0);
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}
|
||||||
|
va_end(ap);
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,57 @@
|
||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <AP_HAL/HAL.h>
|
||||||
|
#include <AP_OSD/AP_OSD.h>
|
||||||
|
|
||||||
|
|
||||||
|
class AP_OSD_Backend {
|
||||||
|
|
||||||
|
public:
|
||||||
|
//constructor
|
||||||
|
AP_OSD_Backend(AP_OSD &osd): _osd(osd) {};
|
||||||
|
|
||||||
|
//destructor
|
||||||
|
virtual ~AP_OSD_Backend(void) {}
|
||||||
|
|
||||||
|
//draw given text to framebuffer
|
||||||
|
virtual void write(int x, int y, const char* text, uint8_t char_attr = 0) = 0;
|
||||||
|
|
||||||
|
//draw formatted text to framebuffer
|
||||||
|
virtual void write(int x, int y, bool blink, const char *fmt, ...);
|
||||||
|
|
||||||
|
//initilize framebuffer and underlying hardware
|
||||||
|
virtual bool init() = 0;
|
||||||
|
|
||||||
|
//update screen
|
||||||
|
virtual void flush() = 0;
|
||||||
|
|
||||||
|
//clear screen
|
||||||
|
virtual void clear() = 0;
|
||||||
|
|
||||||
|
enum character_attribute_t {
|
||||||
|
BLINK = (1 << 4),
|
||||||
|
INVERT = (1 << 3),
|
||||||
|
};
|
||||||
|
|
||||||
|
protected:
|
||||||
|
AP_OSD& _osd;
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,406 @@
|
||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*
|
||||||
|
* MAX7456 driver partially based on betaflight and inav max7456.c implemention.
|
||||||
|
* Many thanks to their authors.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <AP_OSD/AP_OSD_MAX7456.h>
|
||||||
|
|
||||||
|
#include <AP_HAL/Util.h>
|
||||||
|
#include <AP_HAL/Semaphores.h>
|
||||||
|
#include <AP_HAL/Scheduler.h>
|
||||||
|
#include <AP_ROMFS/AP_ROMFS.h>
|
||||||
|
|
||||||
|
#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
|
||||||
|
#define MAX7456ADD_READ 0x80
|
||||||
|
#define MAX7456ADD_VM0 0x00
|
||||||
|
#define MAX7456ADD_VM1 0x01
|
||||||
|
#define MAX7456ADD_HOS 0x02
|
||||||
|
#define MAX7456ADD_VOS 0x03
|
||||||
|
#define MAX7456ADD_DMM 0x04
|
||||||
|
#define MAX7456ADD_DMAH 0x05
|
||||||
|
#define MAX7456ADD_DMAL 0x06
|
||||||
|
#define MAX7456ADD_DMDI 0x07
|
||||||
|
#define MAX7456ADD_CMM 0x08
|
||||||
|
#define MAX7456ADD_CMAH 0x09
|
||||||
|
#define MAX7456ADD_CMAL 0x0a
|
||||||
|
#define MAX7456ADD_CMDI 0x0b
|
||||||
|
#define MAX7456ADD_OSDM 0x0c
|
||||||
|
#define MAX7456ADD_RB0 0x10
|
||||||
|
#define MAX7456ADD_OSDBL 0x6c
|
||||||
|
#define MAX7456ADD_STAT 0xA0
|
||||||
|
|
||||||
|
// VM0 register bits
|
||||||
|
#define VIDEO_BUFFER_DISABLE 0x01
|
||||||
|
#define MAX7456_RESET 0x02
|
||||||
|
#define VERTICAL_SYNC_NEXT_VSYNC 0x04
|
||||||
|
#define OSD_ENABLE 0x08
|
||||||
|
#define VIDEO_MODE_PAL 0x40
|
||||||
|
#define VIDEO_MODE_NTSC 0x00
|
||||||
|
#define VIDEO_MODE_MASK 0x40
|
||||||
|
|
||||||
|
#define VIDEO_MODE_IS_PAL(val) (((val) & VIDEO_MODE_MASK) == VIDEO_MODE_PAL)
|
||||||
|
#define VIDEO_MODE_IS_NTSC(val) (((val) & VIDEO_MODE_MASK) == VIDEO_MODE_NTSC)
|
||||||
|
|
||||||
|
// VM1 register bits
|
||||||
|
// duty cycle is on_off
|
||||||
|
#define BLINK_DUTY_CYCLE_50_50 0x00
|
||||||
|
#define BLINK_DUTY_CYCLE_33_66 0x01
|
||||||
|
#define BLINK_DUTY_CYCLE_25_75 0x02
|
||||||
|
#define BLINK_DUTY_CYCLE_75_25 0x03
|
||||||
|
|
||||||
|
// blinking time
|
||||||
|
#define BLINK_TIME_0 0x00
|
||||||
|
#define BLINK_TIME_1 0x04
|
||||||
|
#define BLINK_TIME_2 0x08
|
||||||
|
#define BLINK_TIME_3 0x0C
|
||||||
|
|
||||||
|
// background mode brightness (percent)
|
||||||
|
#define BACKGROUND_BRIGHTNESS_0 (0x00 << 4)
|
||||||
|
#define BACKGROUND_BRIGHTNESS_7 (0x01 << 4)
|
||||||
|
#define BACKGROUND_BRIGHTNESS_14 (0x02 << 4)
|
||||||
|
#define BACKGROUND_BRIGHTNESS_21 (0x03 << 4)
|
||||||
|
#define BACKGROUND_BRIGHTNESS_28 (0x04 << 4)
|
||||||
|
#define BACKGROUND_BRIGHTNESS_35 (0x05 << 4)
|
||||||
|
#define BACKGROUND_BRIGHTNESS_42 (0x06 << 4)
|
||||||
|
#define BACKGROUND_BRIGHTNESS_49 (0x07 << 4)
|
||||||
|
|
||||||
|
// STAT register bits
|
||||||
|
#define STAT_PAL 0x01
|
||||||
|
#define STAT_NTSC 0x02
|
||||||
|
#define STAT_LOS 0x04
|
||||||
|
#define STAT_NVR_BUSY 0x20
|
||||||
|
|
||||||
|
#define STAT_IS_PAL(val) ((val) & STAT_PAL)
|
||||||
|
#define STAT_IS_NTSC(val) ((val) & STAT_NTSC)
|
||||||
|
#define STAT_IS_LOS(val) ((val) & STAT_LOS)
|
||||||
|
|
||||||
|
#define VIN_IS_PAL(val) (!STAT_IS_LOS(val) && STAT_IS_PAL(val))
|
||||||
|
#define VIN_IS_NTSC(val) (!STAT_IS_LOS(val) && STAT_IS_NTSC(val))
|
||||||
|
|
||||||
|
// There are occasions that NTSC is not detected even with !LOS (AB7456 specific?)
|
||||||
|
// When this happens, lower 3 bits of STAT register is read as zero.
|
||||||
|
// To cope with this case, this macro defines !LOS && !PAL as NTSC.
|
||||||
|
// Should be compatible with MAX7456 and non-problematic case.
|
||||||
|
#define VIN_IS_NTSC_ALT(val) (!STAT_IS_LOS(val) && !STAT_IS_PAL(val))
|
||||||
|
|
||||||
|
//CMM register bits
|
||||||
|
#define WRITE_NVR 0xA0
|
||||||
|
|
||||||
|
// DMM special bits
|
||||||
|
#define DMM_BLINK (1 << 4)
|
||||||
|
#define DMM_INVERT_PIXEL_COLOR (1 << 3)
|
||||||
|
#define DMM_CLEAR_DISPLAY (1 << 2)
|
||||||
|
#define DMM_CLEAR_DISPLAY_VERT (DMM_CLEAR_DISPLAY | 1 << 1)
|
||||||
|
#define DMM_AUTOINCREMENT (1 << 0)
|
||||||
|
|
||||||
|
// time to check video signal format
|
||||||
|
#define VIDEO_SIGNAL_CHECK_INTERVAL_MS 1000
|
||||||
|
//time to wait for input to stabilize
|
||||||
|
#define VIDEO_SIGNAL_DEBOUNCE_MS 100
|
||||||
|
//time to wait nvm flash complete
|
||||||
|
#define MAX_NVM_WAIT 10000
|
||||||
|
|
||||||
|
//black and white level
|
||||||
|
#ifndef WHITEBRIGHTNESS
|
||||||
|
#define WHITEBRIGHTNESS 0x01
|
||||||
|
#endif
|
||||||
|
#ifndef BLACKBRIGHTNESS
|
||||||
|
#define BLACKBRIGHTNESS 0x00
|
||||||
|
#endif
|
||||||
|
#define BWBRIGHTNESS ((BLACKBRIGHTNESS << 2) | WHITEBRIGHTNESS)
|
||||||
|
|
||||||
|
|
||||||
|
extern const AP_HAL::HAL &hal;
|
||||||
|
|
||||||
|
AP_OSD_MAX7456::AP_OSD_MAX7456(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev):
|
||||||
|
AP_OSD_Backend(osd), _dev(std::move(dev))
|
||||||
|
{
|
||||||
|
buffer = nullptr;
|
||||||
|
frame = nullptr;
|
||||||
|
shadow_frame = nullptr;
|
||||||
|
attr = nullptr;;
|
||||||
|
shadow_attr = nullptr;
|
||||||
|
video_signal_reg = VIDEO_MODE_PAL | OSD_ENABLE;
|
||||||
|
max_screen_size = VIDEO_BUFFER_CHARS_PAL;
|
||||||
|
buffer_offset = 0;
|
||||||
|
video_detect_time = 0;
|
||||||
|
last_signal_check = 0;
|
||||||
|
initialized = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
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);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
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);
|
||||||
|
hal.scheduler->delay(1);
|
||||||
|
_dev->read_registers(MAX7456ADD_VM0|MAX7456ADD_READ, &status, 1);
|
||||||
|
_dev->get_semaphore()->give();
|
||||||
|
return status == 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool AP_OSD_MAX7456::update_font()
|
||||||
|
{
|
||||||
|
uint32_t font_size;
|
||||||
|
const uint8_t *font_data = AP_ROMFS::find_file("osd_font.bin", font_size);
|
||||||
|
if (font_data == nullptr || font_size != NVM_RAM_SIZE * 256) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
for (int chr=0; chr < 256; chr++) {
|
||||||
|
uint8_t status;
|
||||||
|
const uint8_t* chr_font_data = font_data + chr*NVM_RAM_SIZE;
|
||||||
|
int retry;
|
||||||
|
buffer_offset = 0;
|
||||||
|
buffer_add_cmd(MAX7456ADD_VM0, 0);
|
||||||
|
buffer_add_cmd(MAX7456ADD_CMAH, chr);
|
||||||
|
for (int x = 0; x < NVM_RAM_SIZE; x++) {
|
||||||
|
buffer_add_cmd(MAX7456ADD_CMAL, x);
|
||||||
|
buffer_add_cmd(MAX7456ADD_CMDI, chr_font_data[x]);
|
||||||
|
}
|
||||||
|
buffer_add_cmd(MAX7456ADD_CMM, WRITE_NVR);
|
||||||
|
|
||||||
|
_dev->get_semaphore()->take_blocking();
|
||||||
|
_dev->transfer(buffer, buffer_offset, nullptr, 0);
|
||||||
|
_dev->get_semaphore()->give();
|
||||||
|
|
||||||
|
for (retry = 0; retry < MAX_NVM_WAIT; retry++) {
|
||||||
|
hal.scheduler->delay(15);
|
||||||
|
_dev->get_semaphore()->take_blocking();
|
||||||
|
_dev->read_registers(MAX7456ADD_STAT, &status, 1);
|
||||||
|
_dev->get_semaphore()->give();
|
||||||
|
if ((status & STAT_NVR_BUSY) == 0x00) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (retry == MAX_NVM_WAIT) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
AP_OSD_Backend *AP_OSD_MAX7456::probe(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev)
|
||||||
|
{
|
||||||
|
if (!dev) {
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
AP_OSD_MAX7456 *backend = new AP_OSD_MAX7456(osd, std::move(dev));
|
||||||
|
if (!backend || !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) {
|
||||||
|
buffer[buffer_offset++] = reg;
|
||||||
|
buffer[buffer_offset++] = arg;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_OSD_MAX7456::check_reinit()
|
||||||
|
{
|
||||||
|
uint8_t check = 0xFF;
|
||||||
|
_dev->get_semaphore()->take_blocking();
|
||||||
|
|
||||||
|
_dev->read_registers(MAX7456ADD_VM0|MAX7456ADD_READ, &check, 1);
|
||||||
|
|
||||||
|
uint32_t now = AP_HAL::millis();
|
||||||
|
|
||||||
|
// Stall check
|
||||||
|
if (check != video_signal_reg) {
|
||||||
|
reinit();
|
||||||
|
} else if ((now - last_signal_check) > VIDEO_SIGNAL_CHECK_INTERVAL_MS) {
|
||||||
|
uint8_t sense;
|
||||||
|
|
||||||
|
// Adjust output format based on the current input format
|
||||||
|
_dev->read_registers(MAX7456ADD_STAT, &sense, 1);
|
||||||
|
|
||||||
|
if (sense & STAT_LOS) {
|
||||||
|
video_detect_time = 0;
|
||||||
|
} else {
|
||||||
|
if ((VIN_IS_PAL(sense) && VIDEO_MODE_IS_NTSC(video_signal_reg))
|
||||||
|
|| (VIN_IS_NTSC_ALT(sense) && VIDEO_MODE_IS_PAL(video_signal_reg))) {
|
||||||
|
if (video_detect_time) {
|
||||||
|
if (AP_HAL::millis() - video_detect_time > VIDEO_SIGNAL_DEBOUNCE_MS) {
|
||||||
|
reinit();
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
// Wait for signal to stabilize
|
||||||
|
video_detect_time = AP_HAL::millis();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
last_signal_check = now;
|
||||||
|
}
|
||||||
|
_dev->get_semaphore()->give();
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_OSD_MAX7456::reinit()
|
||||||
|
{
|
||||||
|
uint8_t sense;
|
||||||
|
|
||||||
|
//do not init MAX before camera power up correctly
|
||||||
|
if (AP_HAL::millis() < 1500) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
//check input signal format
|
||||||
|
_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;
|
||||||
|
} else {
|
||||||
|
video_signal_reg = VIDEO_MODE_NTSC | OSD_ENABLE;
|
||||||
|
max_screen_size = VIDEO_BUFFER_CHARS_NTSC;
|
||||||
|
}
|
||||||
|
|
||||||
|
// set all rows to same character black/white level
|
||||||
|
for (int x = 0; x < VIDEO_LINES_PAL; x++) {
|
||||||
|
_dev->write_register(MAX7456ADD_RB0 + x, BWBRIGHTNESS);
|
||||||
|
}
|
||||||
|
|
||||||
|
// make sure the Max7456 is enabled
|
||||||
|
_dev->write_register(MAX7456ADD_VM0, video_signal_reg);
|
||||||
|
_dev->write_register(MAX7456ADD_VM1, BLINK_DUTY_CYCLE_50_50 | BLINK_TIME_3 | BACKGROUND_BRIGHTNESS_28);
|
||||||
|
_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);
|
||||||
|
|
||||||
|
initialized = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_OSD_MAX7456::flush()
|
||||||
|
{
|
||||||
|
if (_osd.update_font) {
|
||||||
|
if (!update_font()) {
|
||||||
|
hal.console->printf("AP_OSD: error during font update\n");
|
||||||
|
}
|
||||||
|
_osd.update_font.set_and_save(0);
|
||||||
|
}
|
||||||
|
check_reinit();
|
||||||
|
transfer_frame();
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_OSD_MAX7456::transfer_frame()
|
||||||
|
{
|
||||||
|
int updated_chars = 0;
|
||||||
|
uint8_t last_attribute = 0xFF;
|
||||||
|
if (!initialized) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
buffer_offset = 0;
|
||||||
|
for (int pos=0; pos<max_screen_size; pos++) {
|
||||||
|
if (frame[pos] == shadow_frame[pos] && attr[pos] == shadow_attr[pos]) {
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
if (++updated_chars > MAX_UPDATED_CHARS) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
shadow_frame[pos] = frame[pos];
|
||||||
|
shadow_attr[pos] = attr[pos];
|
||||||
|
uint8_t attribute = attr[pos] & (DMM_BLINK | DMM_INVERT_PIXEL_COLOR);
|
||||||
|
uint8_t chr = frame[pos];
|
||||||
|
|
||||||
|
if (attribute != last_attribute) {
|
||||||
|
buffer_add_cmd(MAX7456ADD_DMM, attribute);
|
||||||
|
last_attribute = attribute;
|
||||||
|
}
|
||||||
|
buffer_add_cmd(MAX7456ADD_DMAH, pos >> 8);
|
||||||
|
buffer_add_cmd(MAX7456ADD_DMAL, pos & 0xFF);
|
||||||
|
buffer_add_cmd(MAX7456ADD_DMDI, chr);
|
||||||
|
}
|
||||||
|
|
||||||
|
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()
|
||||||
|
{
|
||||||
|
for (int i=0; i<VIDEO_BUFFER_CHARS_PAL; i++) {
|
||||||
|
frame[i] = ' ';
|
||||||
|
attr[i] = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void AP_OSD_MAX7456::write(int x, int y, const char* text, uint8_t char_attr)
|
||||||
|
{
|
||||||
|
if (y >= VIDEO_LINES_PAL || text == nullptr) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
while ((x < VIDEO_COLUMNS) && (*text != 0)) {
|
||||||
|
frame[y * VIDEO_COLUMNS + x] = *text;
|
||||||
|
attr[y * VIDEO_COLUMNS + x] = char_attr;
|
||||||
|
++text;
|
||||||
|
++x;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,78 @@
|
||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <AP_OSD/AP_OSD_Backend.h>
|
||||||
|
|
||||||
|
class AP_OSD_MAX7456 : public AP_OSD_Backend {
|
||||||
|
|
||||||
|
public:
|
||||||
|
|
||||||
|
static AP_OSD_Backend *probe(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev);
|
||||||
|
|
||||||
|
//draw given text to framebuffer
|
||||||
|
virtual void write(int x, int y, const char* text, uint8_t char_attr);
|
||||||
|
|
||||||
|
//initilize display port and underlying hardware
|
||||||
|
virtual bool init();
|
||||||
|
|
||||||
|
//flush framebuffer to screen
|
||||||
|
virtual void flush();
|
||||||
|
|
||||||
|
//clear framebuffer
|
||||||
|
virtual void clear();
|
||||||
|
|
||||||
|
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();
|
||||||
|
|
||||||
|
void check_reinit();
|
||||||
|
|
||||||
|
void reinit();
|
||||||
|
|
||||||
|
void transfer_frame();
|
||||||
|
|
||||||
|
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
|
||||||
|
|
||||||
|
uint8_t video_signal_reg;
|
||||||
|
bool initialized;
|
||||||
|
|
||||||
|
uint8_t *frame;
|
||||||
|
|
||||||
|
//frame already transfered to max
|
||||||
|
//used to optimize number of characters updated
|
||||||
|
uint8_t *shadow_frame;
|
||||||
|
|
||||||
|
uint8_t *attr;
|
||||||
|
|
||||||
|
uint8_t *shadow_attr;
|
||||||
|
|
||||||
|
uint8_t *buffer;
|
||||||
|
int buffer_offset;
|
||||||
|
|
||||||
|
uint32_t last_signal_check;
|
||||||
|
uint32_t video_detect_time;
|
||||||
|
|
||||||
|
uint16_t max_screen_size;
|
||||||
|
};
|
||||||
Binary file not shown.
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,21 @@
|
||||||
|
#!/usr/bin/python
|
||||||
|
import sys;
|
||||||
|
|
||||||
|
if len(sys.argv) < 3:
|
||||||
|
print "Usage: ./mcm2bin.py clarify.mcm clarify.bin"
|
||||||
|
exit()
|
||||||
|
|
||||||
|
with open(sys.argv[1]) as inp:
|
||||||
|
content = inp.readlines()
|
||||||
|
inp.close();
|
||||||
|
|
||||||
|
content.pop(0)
|
||||||
|
|
||||||
|
out = open(sys.argv[2], 'wb')
|
||||||
|
i = -1
|
||||||
|
for line in content:
|
||||||
|
i = i + 1
|
||||||
|
if i % 64 < 54:
|
||||||
|
b = int(line, 2)
|
||||||
|
out.write(bytearray([b]))
|
||||||
|
out.close()
|
||||||
Loading…
Reference in New Issue