Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 08:13:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: added font check on startup

Browse Source 
Based on Andrew Tridgell suggestion
This commit is contained in:
Alexander Malishev 2018-06-26 01:22:11 +04:00 committed by Andrew Tridgell
parent 79b289f97e
commit e487f37fd7
2 changed files with 77 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

105
libraries/AP_OSD/AP_OSD_MAX7456.cpp
View File

@ -46,6 +46,7 @@
#define MAX7456ADD_RB0 0x10
#define MAX7456ADD_OSDBL 0x6c
#define MAX7456ADD_STAT 0xA0
#define MAX7456ADD_CMDO 0xC0
// VM0 register bits
#define VIDEO_BUFFER_DISABLE 0x01
@ -103,6 +104,7 @@
//CMM register bits
#define WRITE_NVR 0xA0
#define READ_NVR 0x50
// DMM special bits
#define DMM_BLINK (1 << 4)
@ -158,39 +160,77 @@ bool AP_OSD_MAX7456::update_font()
}
for (uint16_t chr=0; chr < 256; chr++) {
uint8_t status;
const uint8_t* chr_font_data = font_data + chr*NVM_RAM_SIZE;
uint16_t retry;
buffer_offset = 0;
buffer_add_cmd(MAX7456ADD_VM0, 0);
buffer_add_cmd(MAX7456ADD_CMAH, chr);
for (uint16_t 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;
//check if char already up to date
if(!check_font_char(chr, chr_font_data)) {
//update char inside max7456 NVM
if(!update_font_char(chr, chr_font_data)) {
hal.console->printf("AP_OSD: error during font char update\n");
return false;
}
}
}
hal.console->printf("AP_OSD: osd font is up to date\n");
return true;
}
//compare char chr inside MAX7456 NVM with font_data
bool AP_OSD_MAX7456::check_font_char(uint8_t chr, const uint8_t* font_data)
{
buffer_offset = 0;
//send request to read data from NVM
buffer_add_cmd(MAX7456ADD_VM0, 0);
buffer_add_cmd(MAX7456ADD_CMAH, chr);
buffer_add_cmd(MAX7456ADD_CMM, READ_NVR);
for (uint16_t x = 0; x < NVM_RAM_SIZE; x++) {
buffer_add_cmd(MAX7456ADD_CMAL, x);
buffer_add_cmd(MAX7456ADD_CMDO, 0xFF);
}
_dev->get_semaphore()->take_blocking();
_dev->transfer(buffer, buffer_offset, buffer, buffer_offset);
_dev->get_semaphore()->give();
//skip response from MAX7456ADD_VM0/MAX7456ADD_CMAH...
buffer_offset = 9;
for (uint16_t x = 0; x < NVM_RAM_SIZE; x++) {
if(buffer[buffer_offset] != font_data[x]) {
return false;
}
//one byte per MAX7456ADD_CMAL/MAX7456ADD_CMDO pair
buffer_offset += 4;
}
return true;
}
bool AP_OSD_MAX7456::update_font_char(uint8_t chr, const uint8_t* font_data)
{
uint16_t retry;
buffer_offset = 0;
buffer_add_cmd(MAX7456ADD_VM0, 0);
buffer_add_cmd(MAX7456ADD_CMAH, chr);
for (uint16_t x = 0; x < NVM_RAM_SIZE; x++) {
buffer_add_cmd(MAX7456ADD_CMAL, x);
buffer_add_cmd(MAX7456ADD_CMDI, 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++) {
uint8_t status = 0xFF;
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;
}
}
return retry != MAX_NVM_WAIT;
}
AP_OSD_Backend *AP_OSD_MAX7456::probe(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev)
{
if (!dev) {
@ -292,11 +332,9 @@ void AP_OSD_MAX7456::reinit()
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);
if (!font_updated) {
update_font();
font_updated = true;
}
check_reinit();
transfer_frame();
@ -317,7 +355,7 @@ void AP_OSD_MAX7456::transfer_frame()
if (frame[y][x] == shadow_frame[y][x] && attr[y][x] == shadow_attr[y][x]) {
continue;
}
if (++updated_chars > max_updated_chars) {
if (updated_chars > max_updated_chars) {
break;
}
shadow_frame[y][x] = frame[y][x];
@ -333,6 +371,7 @@ void AP_OSD_MAX7456::transfer_frame()
buffer_add_cmd(MAX7456ADD_DMAH, pos >> 8);
buffer_add_cmd(MAX7456ADD_DMAL, pos & 0xFF);
buffer_add_cmd(MAX7456ADD_DMDI, chr);
updated_chars++;
}
}

5
libraries/AP_OSD/AP_OSD_MAX7456.h
View File

@ -45,6 +45,10 @@ private:
bool update_font();
bool check_font_char(uint8_t chr, const uint8_t* font_data);
bool update_font_char(uint8_t chr, const uint8_t* font_data);
void check_reinit();
void reinit();
@ -55,6 +59,7 @@ private:
uint8_t video_signal_reg;
bool initialized;
bool font_updated;
static const uint8_t video_lines_ntsc = 13;
static const uint8_t video_lines_pal = 16;