/* This program 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 program 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 . */ /* Notify display driver for 128 x 64 pixel displays */ #include "Display.h" #include "Display_SH1106_I2C.h" #include "Display_SSD1306_I2C.h" #include "AP_Notify.h" #include #include extern const AP_HAL::HAL& hal; static const uint8_t _font[] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x3E, 0x5B, 0x4F, 0x5B, 0x3E, 0x3E, 0x6B, 0x4F, 0x6B, 0x3E, 0x1C, 0x3E, 0x7C, 0x3E, 0x1C, 0x18, 0x3C, 0x7E, 0x3C, 0x18, 0x1C, 0x57, 0x7D, 0x57, 0x1C, 0x1C, 0x5E, 0x7F, 0x5E, 0x1C, 0x00, 0x18, 0x3C, 0x18, 0x00, 0xFF, 0xE7, 0xC3, 0xE7, 0xFF, 0x00, 0x18, 0x24, 0x18, 0x00, 0xFF, 0xE7, 0xDB, 0xE7, 0xFF, 0x30, 0x48, 0x3A, 0x06, 0x0E, 0x26, 0x29, 0x79, 0x29, 0x26, 0x40, 0x7F, 0x05, 0x05, 0x07, 0x40, 0x7F, 0x05, 0x25, 0x3F, 0x5A, 0x3C, 0xE7, 0x3C, 0x5A, 0x7F, 0x3E, 0x1C, 0x1C, 0x08, 0x08, 0x1C, 0x1C, 0x3E, 0x7F, 0x14, 0x22, 0x7F, 0x22, 0x14, 0x5F, 0x5F, 0x00, 0x5F, 0x5F, 0x06, 0x09, 0x7F, 0x01, 0x7F, 0x00, 0x66, 0x89, 0x95, 0x6A, 0x60, 0x60, 0x60, 0x60, 0x60, 0x94, 0xA2, 0xFF, 0xA2, 0x94, 0x08, 0x04, 0x7E, 0x04, 0x08, 0x10, 0x20, 0x7E, 0x20, 0x10, 0x08, 0x08, 0x2A, 0x1C, 0x08, 0x08, 0x1C, 0x2A, 0x08, 0x08, 0x1E, 0x10, 0x10, 0x10, 0x10, 0x0C, 0x1E, 0x0C, 0x1E, 0x0C, 0x30, 0x38, 0x3E, 0x38, 0x30, 0x06, 0x0E, 0x3E, 0x0E, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5F, 0x00, 0x00, 0x00, 0x07, 0x00, 0x07, 0x00, 0x14, 0x7F, 0x14, 0x7F, 0x14, 0x24, 0x2A, 0x7F, 0x2A, 0x12, 0x23, 0x13, 0x08, 0x64, 0x62, 0x36, 0x49, 0x56, 0x20, 0x50, 0x00, 0x08, 0x07, 0x03, 0x00, 0x00, 0x1C, 0x22, 0x41, 0x00, 0x00, 0x41, 0x22, 0x1C, 0x00, 0x2A, 0x1C, 0x7F, 0x1C, 0x2A, 0x08, 0x08, 0x3E, 0x08, 0x08, 0x00, 0x80, 0x70, 0x30, 0x00, 0x08, 0x08, 0x08, 0x08, 0x08, 0x00, 0x00, 0x60, 0x60, 0x00, 0x20, 0x10, 0x08, 0x04, 0x02, 0x3E, 0x51, 0x49, 0x45, 0x3E, 0x00, 0x42, 0x7F, 0x40, 0x00, 0x72, 0x49, 0x49, 0x49, 0x46, 0x21, 0x41, 0x49, 0x4D, 0x33, 0x18, 0x14, 0x12, 0x7F, 0x10, 0x27, 0x45, 0x45, 0x45, 0x39, 0x3C, 0x4A, 0x49, 0x49, 0x31, 0x41, 0x21, 0x11, 0x09, 0x07, 0x36, 0x49, 0x49, 0x49, 0x36, 0x46, 0x49, 0x49, 0x29, 0x1E, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x40, 0x34, 0x00, 0x00, 0x00, 0x08, 0x14, 0x22, 0x41, 0x14, 0x14, 0x14, 0x14, 0x14, 0x00, 0x41, 0x22, 0x14, 0x08, 0x02, 0x01, 0x59, 0x09, 0x06, 0x3E, 0x41, 0x5D, 0x59, 0x4E, 0x7C, 0x12, 0x11, 0x12, 0x7C, 0x7F, 0x49, 0x49, 0x49, 0x36, 0x3E, 0x41, 0x41, 0x41, 0x22, 0x7F, 0x41, 0x41, 0x41, 0x3E, 0x7F, 0x49, 0x49, 0x49, 0x41, 0x7F, 0x09, 0x09, 0x09, 0x01, 0x3E, 0x41, 0x41, 0x51, 0x73, 0x7F, 0x08, 0x08, 0x08, 0x7F, 0x00, 0x41, 0x7F, 0x41, 0x00, 0x20, 0x40, 0x41, 0x3F, 0x01, 0x7F, 0x08, 0x14, 0x22, 0x41, 0x7F, 0x40, 0x40, 0x40, 0x40, 0x7F, 0x02, 0x1C, 0x02, 0x7F, 0x7F, 0x04, 0x08, 0x10, 0x7F, 0x3E, 0x41, 0x41, 0x41, 0x3E, 0x7F, 0x09, 0x09, 0x09, 0x06, 0x3E, 0x41, 0x51, 0x21, 0x5E, 0x7F, 0x09, 0x19, 0x29, 0x46, 0x26, 0x49, 0x49, 0x49, 0x32, 0x03, 0x01, 0x7F, 0x01, 0x03, 0x3F, 0x40, 0x40, 0x40, 0x3F, 0x1F, 0x20, 0x40, 0x20, 0x1F, 0x3F, 0x40, 0x38, 0x40, 0x3F, 0x63, 0x14, 0x08, 0x14, 0x63, 0x03, 0x04, 0x78, 0x04, 0x03, 0x61, 0x59, 0x49, 0x4D, 0x43, 0x00, 0x7F, 0x41, 0x41, 0x41, 0x02, 0x04, 0x08, 0x10, 0x20, 0x00, 0x41, 0x41, 0x41, 0x7F, 0x04, 0x02, 0x01, 0x02, 0x04, 0x40, 0x40, 0x40, 0x40, 0x40, 0x00, 0x03, 0x07, 0x08, 0x00, 0x20, 0x54, 0x54, 0x78, 0x40, 0x7F, 0x28, 0x44, 0x44, 0x38, 0x38, 0x44, 0x44, 0x44, 0x28, 0x38, 0x44, 0x44, 0x28, 0x7F, 0x38, 0x54, 0x54, 0x54, 0x18, 0x00, 0x08, 0x7E, 0x09, 0x02, 0x18, 0xA4, 0xA4, 0x9C, 0x78, 0x7F, 0x08, 0x04, 0x04, 0x78, 0x00, 0x44, 0x7D, 0x40, 0x00, 0x20, 0x40, 0x40, 0x3D, 0x00, 0x7F, 0x10, 0x28, 0x44, 0x00, 0x00, 0x41, 0x7F, 0x40, 0x00, 0x7C, 0x04, 0x78, 0x04, 0x78, 0x7C, 0x08, 0x04, 0x04, 0x78, 0x38, 0x44, 0x44, 0x44, 0x38, 0xFC, 0x18, 0x24, 0x24, 0x18, 0x18, 0x24, 0x24, 0x18, 0xFC, 0x7C, 0x08, 0x04, 0x04, 0x08, 0x48, 0x54, 0x54, 0x54, 0x24, 0x04, 0x04, 0x3F, 0x44, 0x24, 0x3C, 0x40, 0x40, 0x20, 0x7C, 0x1C, 0x20, 0x40, 0x20, 0x1C, 0x3C, 0x40, 0x30, 0x40, 0x3C, 0x44, 0x28, 0x10, 0x28, 0x44, 0x4C, 0x90, 0x90, 0x90, 0x7C, 0x44, 0x64, 0x54, 0x4C, 0x44, 0x00, 0x08, 0x36, 0x41, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00, 0x41, 0x36, 0x08, 0x00, 0x02, 0x01, 0x02, 0x04, 0x02, 0x3C, 0x26, 0x23, 0x26, 0x3C, 0x1E, 0xA1, 0xA1, 0x61, 0x12, 0x3A, 0x40, 0x40, 0x20, 0x7A, 0x38, 0x54, 0x54, 0x55, 0x59, 0x21, 0x55, 0x55, 0x79, 0x41, 0x22, 0x54, 0x54, 0x78, 0x42, 0x21, 0x55, 0x54, 0x78, 0x40, 0x20, 0x54, 0x55, 0x79, 0x40, 0x0C, 0x1E, 0x52, 0x72, 0x12, 0x39, 0x55, 0x55, 0x55, 0x59, 0x39, 0x54, 0x54, 0x54, 0x59, 0x39, 0x55, 0x54, 0x54, 0x58, 0x00, 0x00, 0x45, 0x7C, 0x41, 0x00, 0x02, 0x45, 0x7D, 0x42, 0x00, 0x01, 0x45, 0x7C, 0x40, 0x7D, 0x12, 0x11, 0x12, 0x7D, 0xF0, 0x28, 0x25, 0x28, 0xF0, 0x7C, 0x54, 0x55, 0x45, 0x00, 0x20, 0x54, 0x54, 0x7C, 0x54, 0x7C, 0x0A, 0x09, 0x7F, 0x49, 0x32, 0x49, 0x49, 0x49, 0x32, 0x3A, 0x44, 0x44, 0x44, 0x3A, 0x32, 0x4A, 0x48, 0x48, 0x30, 0x3A, 0x41, 0x41, 0x21, 0x7A, 0x3A, 0x42, 0x40, 0x20, 0x78, 0x00, 0x9D, 0xA0, 0xA0, 0x7D, 0x3D, 0x42, 0x42, 0x42, 0x3D, 0x3D, 0x40, 0x40, 0x40, 0x3D, 0x3C, 0x24, 0xFF, 0x24, 0x24, 0x48, 0x7E, 0x49, 0x43, 0x66, 0x2B, 0x2F, 0xFC, 0x2F, 0x2B, 0xFF, 0x09, 0x29, 0xF6, 0x20, 0xC0, 0x88, 0x7E, 0x09, 0x03, 0x20, 0x54, 0x54, 0x79, 0x41, 0x00, 0x00, 0x44, 0x7D, 0x41, 0x30, 0x48, 0x48, 0x4A, 0x32, 0x38, 0x40, 0x40, 0x22, 0x7A, 0x00, 0x7A, 0x0A, 0x0A, 0x72, 0x7D, 0x0D, 0x19, 0x31, 0x7D, 0x26, 0x29, 0x29, 0x2F, 0x28, 0x26, 0x29, 0x29, 0x29, 0x26, 0x30, 0x48, 0x4D, 0x40, 0x20, 0x38, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08, 0x38, 0x2F, 0x10, 0xC8, 0xAC, 0xBA, 0x2F, 0x10, 0x28, 0x34, 0xFA, 0x00, 0x00, 0x7B, 0x00, 0x00, 0x08, 0x14, 0x2A, 0x14, 0x22, 0x22, 0x14, 0x2A, 0x14, 0x08, 0x55, 0x00, 0x55, 0x00, 0x55, 0xAA, 0x55, 0xAA, 0x55, 0xAA, 0xFF, 0x55, 0xFF, 0x55, 0xFF, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x10, 0x10, 0x10, 0xFF, 0x00, 0x14, 0x14, 0x14, 0xFF, 0x00, 0x10, 0x10, 0xFF, 0x00, 0xFF, 0x10, 0x10, 0xF0, 0x10, 0xF0, 0x14, 0x14, 0x14, 0xFC, 0x00, 0x14, 0x14, 0xF7, 0x00, 0xFF, 0x00, 0x00, 0xFF, 0x00, 0xFF, 0x14, 0x14, 0xF4, 0x04, 0xFC, 0x14, 0x14, 0x17, 0x10, 0x1F, 0x10, 0x10, 0x1F, 0x10, 0x1F, 0x14, 0x14, 0x14, 0x1F, 0x00, 0x10, 0x10, 0x10, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x10, 0x10, 0x10, 0x10, 0x1F, 0x10, 0x10, 0x10, 0x10, 0xF0, 0x10, 0x00, 0x00, 0x00, 0xFF, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0xFF, 0x10, 0x00, 0x00, 0x00, 0xFF, 0x14, 0x00, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0x00, 0x1F, 0x10, 0x17, 0x00, 0x00, 0xFC, 0x04, 0xF4, 0x14, 0x14, 0x17, 0x10, 0x17, 0x14, 0x14, 0xF4, 0x04, 0xF4, 0x00, 0x00, 0xFF, 0x00, 0xF7, 0x14, 0x14, 0x14, 0x14, 0x14, 0x14, 0x14, 0xF7, 0x00, 0xF7, 0x14, 0x14, 0x14, 0x17, 0x14, 0x10, 0x10, 0x1F, 0x10, 0x1F, 0x14, 0x14, 0x14, 0xF4, 0x14, 0x10, 0x10, 0xF0, 0x10, 0xF0, 0x00, 0x00, 0x1F, 0x10, 0x1F, 0x00, 0x00, 0x00, 0x1F, 0x14, 0x00, 0x00, 0x00, 0xFC, 0x14, 0x00, 0x00, 0xF0, 0x10, 0xF0, 0x10, 0x10, 0xFF, 0x10, 0xFF, 0x14, 0x14, 0x14, 0xFF, 0x14, 0x10, 0x10, 0x10, 0x1F, 0x00, 0x00, 0x00, 0x00, 0xF0, 0x10, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x38, 0x44, 0x44, 0x38, 0x44, 0xFC, 0x4A, 0x4A, 0x4A, 0x34, 0x7E, 0x02, 0x02, 0x06, 0x06, 0x02, 0x7E, 0x02, 0x7E, 0x02, 0x63, 0x55, 0x49, 0x41, 0x63, 0x38, 0x44, 0x44, 0x3C, 0x04, 0x40, 0x7E, 0x20, 0x1E, 0x20, 0x06, 0x02, 0x7E, 0x02, 0x02, 0x99, 0xA5, 0xE7, 0xA5, 0x99, 0x1C, 0x2A, 0x49, 0x2A, 0x1C, 0x4C, 0x72, 0x01, 0x72, 0x4C, 0x30, 0x4A, 0x4D, 0x4D, 0x30, 0x30, 0x48, 0x78, 0x48, 0x30, 0xBC, 0x62, 0x5A, 0x46, 0x3D, 0x3E, 0x49, 0x49, 0x49, 0x00, 0x7E, 0x01, 0x01, 0x01, 0x7E, 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x44, 0x44, 0x5F, 0x44, 0x44, 0x40, 0x51, 0x4A, 0x44, 0x40, 0x40, 0x44, 0x4A, 0x51, 0x40, 0x00, 0x00, 0xFF, 0x01, 0x03, 0xE0, 0x80, 0xFF, 0x00, 0x00, 0x08, 0x08, 0x6B, 0x6B, 0x08, 0x36, 0x12, 0x36, 0x24, 0x36, 0x06, 0x0F, 0x09, 0x0F, 0x06, 0x00, 0x00, 0x18, 0x18, 0x00, 0x00, 0x00, 0x10, 0x10, 0x00, 0x30, 0x40, 0xFF, 0x01, 0x01, 0x00, 0x1F, 0x01, 0x01, 0x1E, 0x00, 0x19, 0x1D, 0x17, 0x12, 0x00, 0x3C, 0x3C, 0x3C, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00 }; bool Display::init(void) { // exit immediately if already initialised if (_driver != nullptr) { return true; } _mstartpos = 0; // ticker shift position _movedelay = 4; // ticker delay before shifting after new message displayed // initialise driver switch (pNotify->_display_type) { case DISPLAY_SSD1306: _driver = new Display_SSD1306_I2C(hal.i2c_mgr->get_device(NOTIFY_DISPLAY_I2C_BUS, NOTIFY_DISPLAY_I2C_ADDR)); break; case DISPLAY_SH1106: _driver = new Display_SH1106_I2C(hal.i2c_mgr->get_device(NOTIFY_DISPLAY_I2C_BUS, NOTIFY_DISPLAY_I2C_ADDR)); break; case DISPLAY_OFF: default: break; } if (!_driver || !_driver->hw_init()) { _healthy = false; return false; } _healthy = true; // update all on display update_all(); _driver->hw_update(); return true; } void Display::update() { // return immediately if not enabled if (!_healthy) { return; } // max update frequency 2Hz static uint8_t timer = 0; if (timer++ < 25) { return; } timer = 0; if (AP_Notify::flags.armed) { if (_screenpage != 1) { _driver->clear_screen(); update_arm(3); _screenpage = 1; _driver->hw_update(); //update hw once , do not transmition to display in fly } return; } if (_screenpage != 2) { _driver->clear_screen(); //once clear screen when page changed _screenpage = 2; } update_all(); _driver->hw_update(); //update at 2 Hz in disarmed mode } void Display::update_all() { update_text(0); update_mode(1); update_battery(2); update_gps(3); //update_gps_sats(4); update_prearm(4); update_ekf(5); } void Display::draw_text(uint16_t x, uint16_t y, const char* c) { if (nullptr == c) { return; } while (*c != 0) { draw_char(x, y, *c); x += 7; c++; } } void Display::draw_char(uint16_t x, uint16_t y, const char c) { uint8_t line; // draw char to pixel for (uint8_t i = 0; i < 6; i++) { if (i == 5) { line = 0; } else { line = _font[(c * 5) + i]; } for (uint8_t j = 0; j < 8; j++) { if (line & 1) { _driver->set_pixel(x + i, y + j); } else { _driver->clear_pixel(x + i, y + j); } line >>= 1; } } } void Display::update_arm(uint8_t r) { if (AP_Notify::flags.armed) { draw_text(COLUMN(0), ROW(r), ">>>>> ARMED! <<<<<"); } else { draw_text(COLUMN(0), ROW(r), " disarmed "); } } void Display::update_prearm(uint8_t r) { if (AP_Notify::flags.pre_arm_check) { draw_text(COLUMN(0), ROW(r), "Prearm: passed "); } else { draw_text(COLUMN(0), ROW(r), "Prearm: failed "); } } void Display::update_gps(uint8_t r) { static const char * gpsfixname[] = {"Other", "NoGPS","NoFix","2D","3D","DGPS", "RTK f", "RTK F"}; char msg [DISPLAY_MESSAGE_SIZE]; const char * fixname; switch (AP_Notify::flags.gps_status) { case AP_GPS::NO_GPS: fixname = gpsfixname[1]; break; case AP_GPS::NO_FIX: fixname = gpsfixname[2]; break; case AP_GPS::GPS_OK_FIX_2D: fixname = gpsfixname[3]; break; case AP_GPS::GPS_OK_FIX_3D: fixname = gpsfixname[4]; break; case AP_GPS::GPS_OK_FIX_3D_DGPS: fixname = gpsfixname[5]; break; case AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT: fixname = gpsfixname[6]; break; case AP_GPS::GPS_OK_FIX_3D_RTK_FIXED: fixname = gpsfixname[7]; break; default: fixname = gpsfixname[0]; break; } snprintf(msg, DISPLAY_MESSAGE_SIZE, "GPS:%-5s Sats:%2u", fixname, AP_Notify::flags.gps_num_sats) ; draw_text(COLUMN(0), ROW(r), msg); } void Display::update_gps_sats(uint8_t r) { draw_text(COLUMN(0), ROW(r), "Sats:"); draw_char(COLUMN(8), ROW(r), (AP_Notify::flags.gps_num_sats / 10) + '0'); draw_char(COLUMN(9), ROW(r), (AP_Notify::flags.gps_num_sats % 10) + '0'); } void Display::update_ekf(uint8_t r) { if (AP_Notify::flags.ekf_bad) { draw_text(COLUMN(0), ROW(r), "EKF: fail"); } else { draw_text(COLUMN(0), ROW(r), "EKF: ok "); } } void Display::update_battery(uint8_t r) { char msg [DISPLAY_MESSAGE_SIZE]; snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP_Notify::flags.battery_voltage) ; draw_text(COLUMN(0), ROW(r), msg); } void Display::update_mode(uint8_t r) { char msg [DISPLAY_MESSAGE_SIZE]; if (pNotify->get_flight_mode_str()) { snprintf(msg, DISPLAY_MESSAGE_SIZE, "Mode: %s", pNotify->get_flight_mode_str()) ; draw_text(COLUMN(0), ROW(r), msg); } } void Display::update_text_empty(uint8_t r) { char msg [DISPLAY_MESSAGE_SIZE] = {}; memset(msg, ' ', sizeof(msg)-1); _movedelay = 0; _mstartpos = 0; draw_text(COLUMN(0), ROW(r), msg); } void Display::update_text(uint8_t r) { char msg [DISPLAY_MESSAGE_SIZE]; char txt [NOTIFY_TEXT_BUFFER_SIZE]; const bool text_is_valid = AP_HAL::millis() - pNotify->_send_text_updated_millis < _send_text_valid_millis; if (!text_is_valid) { update_text_empty(r); return; } snprintf(txt, NOTIFY_TEXT_BUFFER_SIZE, "%s", pNotify->get_text()); _mstartpos++; for (uint8_t i = 0; i < sizeof(msg); i++) { if (txt[i + _mstartpos - 1] != 0) { msg[i] = txt[i + _mstartpos - 1]; } else { msg[i] = ' '; _movedelay = 4; _mstartpos = 0; } } if (_mstartpos > sizeof(txt) - sizeof(msg)) { _mstartpos = 0; } if (_movedelay > 0) { _movedelay--; _mstartpos = 0; } draw_text(COLUMN(0), ROW(0), msg); }