/* * 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 . * */ /* OSD backend for MSP */ #include #include #include "AP_OSD_MSP_DisplayPort.h" #if HAL_WITH_MSP_DISPLAYPORT static const struct AP_Param::defaults_table_struct defaults_table[] = { /* { "PARAM_NAME", value_float } */ }; extern const AP_HAL::HAL &hal; constexpr uint8_t AP_OSD_MSP_DisplayPort::symbols[AP_OSD_NUM_SYMBOLS]; // initialise backend bool AP_OSD_MSP_DisplayPort::init(void) { // check if we have a DisplayPort backend to use const AP_MSP *msp = AP::msp(); if (msp == nullptr) { gcs().send_text(MAV_SEVERITY_WARNING,"MSP backend not available"); return false; } _displayport = msp->find_protocol(AP_SerialManager::SerialProtocol_MSP_DisplayPort); if (_displayport == nullptr) { gcs().send_text(MAV_SEVERITY_WARNING,"MSP DisplayPort uart not available"); return false; } // re-init port here for use in this thread _displayport->init_uart(); return true; } void AP_OSD_MSP_DisplayPort::clear(void) { // clear remote MSP screen _displayport->msp_displayport_clear_screen(); // toggle flashing @2Hz const uint32_t now = AP_HAL::millis(); if (((now / 500) & 0x01) != _blink_on) { _blink_on = !_blink_on; } } void AP_OSD_MSP_DisplayPort::write(uint8_t x, uint8_t y, const char* text) { _displayport->msp_displayport_write_string(x, y, 0, text); } void AP_OSD_MSP_DisplayPort::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...) { if (blink && !_blink_on) { return; } char buf[32+1]; // +1 for snprintf null-termination va_list ap; va_start(ap, fmt); int res = hal.util->vsnprintf(buf, sizeof(buf), fmt, ap); res = MIN(res, int(sizeof(buf))); if (res < int(sizeof(buf))-1) { _displayport->msp_displayport_write_string(x, y, blink, buf); } va_end(ap); } void AP_OSD_MSP_DisplayPort::flush(void) { // grab the screen and force a redraw _displayport->msp_displayport_grab(); _displayport->msp_displayport_draw_screen(); // ok done processing displayport data // let's process incoming MSP frames (and reply if needed) _displayport->process_incoming_data(); } void AP_OSD_MSP_DisplayPort::init_symbol_set(uint8_t *lookup_table, const uint8_t size) { const AP_MSP *msp = AP::msp(); if (msp == nullptr) { return; } // do we use backend specific symbols table? if (msp->check_option(AP_MSP::MspOption::OPTION_DISPLAYPORT_BTFL_SYMBOLS)) { memcpy(lookup_table, symbols, size); } else { memcpy(lookup_table, AP_OSD_Backend::symbols, size); } } // override built in positions with defaults for MSP OSD void AP_OSD_MSP_DisplayPort::setup_defaults(void) { AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table)); } AP_OSD_Backend *AP_OSD_MSP_DisplayPort::probe(AP_OSD &osd) { AP_OSD_MSP_DisplayPort *backend = new AP_OSD_MSP_DisplayPort(osd); if (!backend) { return nullptr; } if (!backend->init()) { delete backend; return nullptr; } return backend; } #endif