#include #include #if HAL_WITH_MSP_DISPLAYPORT class AP_OSD_MSP_DisplayPort : public AP_OSD_Backend { using AP_OSD_Backend::AP_OSD_Backend; public: static AP_OSD_Backend *probe(AP_OSD &osd); //initialize 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; // copy the backend specific symbol set to the OSD lookup table void init_symbol_set(uint8_t *lookup_table, const uint8_t size) override; // called by the OSD thread once // used to initialize the uart in the correct thread void osd_thread_run_once() override; // return a correction factor used to display angles correctly float get_aspect_ratio_correction() const override; bool is_compatible_with_backend_type(AP_OSD::osd_types type) const override { switch(type) { case AP_OSD::osd_types::OSD_MSP: case AP_OSD::osd_types::OSD_MSP_DISPLAYPORT: return false; case AP_OSD::osd_types::OSD_NONE: case AP_OSD::osd_types::OSD_TXONLY: case AP_OSD::osd_types::OSD_MAX7456: case AP_OSD::osd_types::OSD_SITL: return true; } return false; } AP_OSD::osd_types get_backend_type() const override { return AP_OSD::osd_types::OSD_MSP_DISPLAYPORT; } protected: uint8_t format_string_for_osd(char* dst, uint8_t size, bool decimal_packed, const char *fmt, va_list ap) override; private: void setup_defaults(void); AP_MSP_Telem_Backend* _displayport; // MSP DisplayPort symbols static const uint8_t SYM_M = 0x0C; static const uint8_t SYM_KM = 0x7D; static const uint8_t SYM_FT = 0x0F; static const uint8_t SYM_MI = 0x7E; static const uint8_t SYM_ALT_M = 0x0C; static const uint8_t SYM_ALT_FT = 0x0F; static const uint8_t SYM_BATT_FULL = 0x90; static const uint8_t SYM_RSSI = 0x01; static const uint8_t SYM_VOLT = 0x06; static const uint8_t SYM_AMP = 0x9A; static const uint8_t SYM_MAH = 0x07; static const uint8_t SYM_MS = 0x9F; static const uint8_t SYM_FS = 0x99; static const uint8_t SYM_KMH = 0x9E; static const uint8_t SYM_MPH = 0x9D; static const uint8_t SYM_DEGR = 0x08; static const uint8_t SYM_PCNT = 0x25; static const uint8_t SYM_RPM = 0x12; static const uint8_t SYM_ASPD = 0x41; static const uint8_t SYM_GSPD = 0x47; static const uint8_t SYM_WSPD = 0x57; static const uint8_t SYM_VSPD = 0x5E; static const uint8_t SYM_WPNO = 0x23; static const uint8_t SYM_WPDIR = 0xE6; static const uint8_t SYM_WPDST = 0xE7; static const uint8_t SYM_FTMIN = 0xE8; static const uint8_t SYM_FTSEC = 0x99; static const uint8_t SYM_SAT_L = 0x1E; static const uint8_t SYM_SAT_R = 0x1F; static const uint8_t SYM_HDOP_L = 0x48; static const uint8_t SYM_HDOP_R = 0x44; static const uint8_t SYM_HOME = 0x11; static const uint8_t SYM_WIND = 0x57; static const uint8_t SYM_ARROW_START = 0x60; static const uint8_t SYM_ARROW_COUNT = 16; static const uint8_t SYM_AH_H_START = 0x80; static const uint8_t SYM_AH_H_COUNT = 9; static const uint8_t SYM_AH_V_START = 0x82; static const uint8_t SYM_AH_V_COUNT = 6; static const uint8_t SYM_AH_CENTER_LINE_LEFT = 0x84; static const uint8_t SYM_AH_CENTER_LINE_RIGHT = 0x84; static const uint8_t SYM_AH_CENTER = 0x2B; static const uint8_t SYM_HEADING_N = 0x18; static const uint8_t SYM_HEADING_S = 0x19; static const uint8_t SYM_HEADING_E = 0x1A; static const uint8_t SYM_HEADING_W = 0x1B; static const uint8_t SYM_HEADING_DIVIDED_LINE = 0x1C; static const uint8_t SYM_HEADING_LINE = 0x1D; static const uint8_t SYM_UP_UP = 0x68; static const uint8_t SYM_UP = 0x68; static const uint8_t SYM_DOWN = 0x60; static const uint8_t SYM_DOWN_DOWN = 0x60; static const uint8_t SYM_DEGREES_C = 0x0E; static const uint8_t SYM_DEGREES_F = 0x0D; static const uint8_t SYM_GPS_LAT = 0x89; static const uint8_t SYM_GPS_LONG = 0x98; static const uint8_t SYM_ARMED = 0x00; static const uint8_t SYM_DISARMED = 0x2A; static const uint8_t SYM_ROLL0 = 0x2D; static const uint8_t SYM_ROLLR = 0x64; static const uint8_t SYM_ROLLL = 0x6C; static const uint8_t SYM_PTCH0 = 0x7C; static const uint8_t SYM_PTCHUP = 0x68; static const uint8_t SYM_PTCHDWN = 0x60; static const uint8_t SYM_XERR = 0x21; static const uint8_t SYM_KN = 0xF0; static const uint8_t SYM_NM = 0xF1; static const uint8_t SYM_DIST = 0x04; static const uint8_t SYM_FLY = 0x9C; static const uint8_t SYM_EFF = 0xF2; static const uint8_t SYM_AH = 0xF3; static const uint8_t SYM_MW = 0xF4; static const uint8_t SYM_CLK = 0x08; static const uint8_t SYM_KILO = 0x4B; static const uint8_t SYM_TERALT = 0x7F; static const uint8_t SYM_FENCE_ENABLED = 0xF5; static const uint8_t SYM_FENCE_DISABLED = 0xF6; static const uint8_t SYM_RNGFD = 0x7F; static const uint8_t SYM_LQ = 0xF8; static constexpr uint8_t symbols[AP_OSD_NUM_SYMBOLS] { SYM_M, SYM_KM, SYM_FT, SYM_MI, SYM_ALT_M, SYM_ALT_FT, SYM_BATT_FULL, SYM_RSSI, SYM_VOLT, SYM_AMP, SYM_MAH, SYM_MS, SYM_FS, SYM_KMH, SYM_MPH, SYM_DEGR, SYM_PCNT, SYM_RPM, SYM_ASPD, SYM_GSPD, SYM_WSPD, SYM_VSPD, SYM_WPNO, SYM_WPDIR, SYM_WPDST, SYM_FTMIN, SYM_FTSEC, SYM_SAT_L, SYM_SAT_R, SYM_HDOP_L, SYM_HDOP_R, SYM_HOME, SYM_WIND, SYM_ARROW_START, SYM_ARROW_COUNT, SYM_AH_H_START, SYM_AH_H_COUNT, SYM_AH_V_START, SYM_AH_V_COUNT, SYM_AH_CENTER_LINE_LEFT, SYM_AH_CENTER_LINE_RIGHT, SYM_AH_CENTER, SYM_HEADING_N, SYM_HEADING_S, SYM_HEADING_E, SYM_HEADING_W, SYM_HEADING_DIVIDED_LINE, SYM_HEADING_LINE, SYM_UP_UP, SYM_UP, SYM_DOWN, SYM_DOWN_DOWN, SYM_DEGREES_C, SYM_DEGREES_F, SYM_GPS_LAT, SYM_GPS_LONG, SYM_ARMED, SYM_DISARMED, SYM_ROLL0, SYM_ROLLR, SYM_ROLLL, SYM_PTCH0, SYM_PTCHUP, SYM_PTCHDWN, SYM_XERR, SYM_KN, SYM_NM, SYM_DIST, SYM_FLY, SYM_EFF, SYM_AH, SYM_MW, SYM_CLK, SYM_KILO, SYM_TERALT, SYM_FENCE_ENABLED, SYM_FENCE_DISABLED, SYM_RNGFD, SYM_LQ, }; bool _blink_on; }; #endif