mirror of https://github.com/ArduPilot/ardupilot
210 lines
6.0 KiB
C++
210 lines
6.0 KiB
C++
#include <AP_OSD/AP_OSD_Backend.h>
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#include <AP_MSP/AP_MSP.h>
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#if HAL_WITH_MSP_DISPLAYPORT
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class AP_OSD_MSP_DisplayPort : public AP_OSD_Backend
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{
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using AP_OSD_Backend::AP_OSD_Backend;
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public:
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static AP_OSD_Backend *probe(AP_OSD &osd);
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//initialize display port and underlying hardware
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bool init() override;
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//draw given text to framebuffer
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void write(uint8_t x, uint8_t y, const char* text) override;
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//draw formatted text to framebuffer
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void write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...) override FMT_PRINTF(5, 6);
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//flush framebuffer to screen
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void flush() override;
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//clear framebuffer
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void clear() override;
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// copy the backend specific symbol set to the OSD lookup table
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void init_symbol_set(uint8_t *lookup_table, const uint8_t size) override;
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private:
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void setup_defaults(void);
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AP_MSP_Telem_Backend* _displayport;
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// MSP DisplayPort symbols
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static const uint8_t SYM_M = 0x0C;
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static const uint8_t SYM_KM = 0x7D;
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static const uint8_t SYM_FT = 0x0F;
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static const uint8_t SYM_MI = 0x7E;
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static const uint8_t SYM_ALT_M = 0x0C;
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static const uint8_t SYM_ALT_FT = 0x0F;
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static const uint8_t SYM_BATT_FULL = 0x90;
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static const uint8_t SYM_RSSI = 0x01;
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static const uint8_t SYM_VOLT = 0x06;
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static const uint8_t SYM_AMP = 0x9A;
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static const uint8_t SYM_MAH = 0x07;
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static const uint8_t SYM_MS = 0x9F;
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static const uint8_t SYM_FS = 0x99;
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static const uint8_t SYM_KMH = 0x9E;
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static const uint8_t SYM_MPH = 0x9D;
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static const uint8_t SYM_DEGR = 0x1D;
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static const uint8_t SYM_PCNT = 0x25;
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static const uint8_t SYM_RPM = 0x12;
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static const uint8_t SYM_ASPD = 0x41;
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static const uint8_t SYM_GSPD = 0x70;
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static const uint8_t SYM_WSPD = 0x1B;
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static const uint8_t SYM_VSPD = 0x7F;
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static const uint8_t SYM_WPNO = 0x23;
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static const uint8_t SYM_WPDIR = 0xE6;
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static const uint8_t SYM_WPDST = 0xE7;
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static const uint8_t SYM_FTMIN = 0xE8;
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static const uint8_t SYM_FTSEC = 0x99;
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static const uint8_t SYM_SAT_L = 0x1E;
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static const uint8_t SYM_SAT_R = 0x1F;
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static const uint8_t SYM_HDOP_L = 0x11;
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static const uint8_t SYM_HDOP_R = 0x08;
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static const uint8_t SYM_HOME = 0x05;
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static const uint8_t SYM_WIND = 0x57;
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static const uint8_t SYM_ARROW_START = 0x60;
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static const uint8_t SYM_ARROW_COUNT = 16;
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static const uint8_t SYM_AH_H_START = 0x80;
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static const uint8_t SYM_AH_H_COUNT = 9;
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static const uint8_t SYM_AH_V_START = 0x82;
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static const uint8_t SYM_AH_V_COUNT = 6;
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static const uint8_t SYM_AH_CENTER_LINE_LEFT = 0x84;
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static const uint8_t SYM_AH_CENTER_LINE_RIGHT = 0x84;
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static const uint8_t SYM_AH_CENTER = 0x2B;
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static const uint8_t SYM_HEADING_N = 0x18;
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static const uint8_t SYM_HEADING_S = 0x19;
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static const uint8_t SYM_HEADING_E = 0x1A;
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static const uint8_t SYM_HEADING_W = 0x1B;
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static const uint8_t SYM_HEADING_DIVIDED_LINE = 0x1C;
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static const uint8_t SYM_HEADING_LINE = 0x1D;
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static const uint8_t SYM_UP_UP = 0x68;
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static const uint8_t SYM_UP = 0x68;
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static const uint8_t SYM_DOWN = 0x60;
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static const uint8_t SYM_DOWN_DOWN = 0x60;
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static const uint8_t SYM_DEGREES_C = 0x0E;
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static const uint8_t SYM_DEGREES_F = 0x0D;
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static const uint8_t SYM_GPS_LAT = 0x68;
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static const uint8_t SYM_GPS_LONG = 0x6C;
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static const uint8_t SYM_ARMED = 0x08;
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static const uint8_t SYM_DISARMED = 0x08;
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static const uint8_t SYM_ROLL0 = 0x2D;
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static const uint8_t SYM_ROLLR = 0x64;
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static const uint8_t SYM_ROLLL = 0x6C;
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static const uint8_t SYM_PTCH0 = 0x7C;
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static const uint8_t SYM_PTCHUP = 0x68;
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static const uint8_t SYM_PTCHDWN = 0x60;
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static const uint8_t SYM_XERR = 0xEE;
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static const uint8_t SYM_KN = 0xF0;
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static const uint8_t SYM_NM = 0xF1;
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static const uint8_t SYM_DIST = 0x22;
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static const uint8_t SYM_FLY = 0x9C;
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static const uint8_t SYM_EFF = 0xF2;
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static const uint8_t SYM_AH = 0xF3;
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static const uint8_t SYM_MW = 0xF4;
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static const uint8_t SYM_CLK = 0x08;
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static const uint8_t SYM_KILO = 0x4B;
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static const uint8_t SYM_TERALT = 0xEF;
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static const uint8_t SYM_FENCE_ENABLED = 0xF5;
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static const uint8_t SYM_FENCE_DISABLED = 0xF6;
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static const uint8_t SYM_RNGFD = 0x72;
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static const uint8_t SYM_LQ = 0xF8;
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static constexpr uint8_t symbols[AP_OSD_NUM_SYMBOLS] {
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SYM_M,
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SYM_KM,
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SYM_FT,
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SYM_MI,
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SYM_ALT_M,
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SYM_ALT_FT,
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SYM_BATT_FULL,
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SYM_RSSI,
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SYM_VOLT,
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SYM_AMP,
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SYM_MAH,
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SYM_MS,
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SYM_FS,
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SYM_KMH,
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SYM_MPH,
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SYM_DEGR,
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SYM_PCNT,
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SYM_RPM,
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SYM_ASPD,
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SYM_GSPD,
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SYM_WSPD,
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SYM_VSPD,
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SYM_WPNO,
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SYM_WPDIR,
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SYM_WPDST,
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SYM_FTMIN,
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SYM_FTSEC,
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SYM_SAT_L,
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SYM_SAT_R,
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SYM_HDOP_L,
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SYM_HDOP_R,
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SYM_HOME,
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SYM_WIND,
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SYM_ARROW_START,
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SYM_ARROW_COUNT,
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SYM_AH_H_START,
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SYM_AH_H_COUNT,
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SYM_AH_V_START,
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SYM_AH_V_COUNT,
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SYM_AH_CENTER_LINE_LEFT,
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SYM_AH_CENTER_LINE_RIGHT,
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SYM_AH_CENTER,
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SYM_HEADING_N,
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SYM_HEADING_S,
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SYM_HEADING_E,
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SYM_HEADING_W,
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SYM_HEADING_DIVIDED_LINE,
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SYM_HEADING_LINE,
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SYM_UP_UP,
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SYM_UP,
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SYM_DOWN,
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SYM_DOWN_DOWN,
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SYM_DEGREES_C,
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SYM_DEGREES_F,
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SYM_GPS_LAT,
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SYM_GPS_LONG,
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SYM_ARMED,
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SYM_DISARMED,
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SYM_ROLL0,
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SYM_ROLLR,
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SYM_ROLLL,
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SYM_PTCH0,
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SYM_PTCHUP,
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SYM_PTCHDWN,
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SYM_XERR,
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SYM_KN,
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SYM_NM,
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SYM_DIST,
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SYM_FLY,
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SYM_EFF,
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SYM_AH,
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SYM_MW,
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SYM_CLK,
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SYM_KILO,
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SYM_TERALT,
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SYM_FENCE_ENABLED,
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SYM_FENCE_DISABLED,
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SYM_RNGFD,
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SYM_LQ,
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};
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bool _blink_on;
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};
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#endif |