mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
584 lines
17 KiB
C++
584 lines
17 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* Notify display driver for 128 x 64 pixel displays */
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#include "Display.h"
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#include "Display_SH1106_I2C.h"
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#include "Display_SSD1306_I2C.h"
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#include "AP_Notify.h"
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#include <stdio.h>
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#include <AP_GPS/AP_GPS.h>
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static const uint8_t _font[] = {
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0x00, 0x00, 0x00, 0x00, 0x00,
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0x3E, 0x5B, 0x4F, 0x5B, 0x3E,
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0x3E, 0x6B, 0x4F, 0x6B, 0x3E,
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0x1C, 0x3E, 0x7C, 0x3E, 0x1C,
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0x18, 0x3C, 0x7E, 0x3C, 0x18,
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0x1C, 0x57, 0x7D, 0x57, 0x1C,
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0x1C, 0x5E, 0x7F, 0x5E, 0x1C,
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0x00, 0x18, 0x3C, 0x18, 0x00,
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0xFF, 0xE7, 0xC3, 0xE7, 0xFF,
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0x00, 0x18, 0x24, 0x18, 0x00,
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0xFF, 0xE7, 0xDB, 0xE7, 0xFF,
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0x30, 0x48, 0x3A, 0x06, 0x0E,
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0x26, 0x29, 0x79, 0x29, 0x26,
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0x40, 0x7F, 0x05, 0x05, 0x07,
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0x40, 0x7F, 0x05, 0x25, 0x3F,
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0x5A, 0x3C, 0xE7, 0x3C, 0x5A,
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0x7F, 0x3E, 0x1C, 0x1C, 0x08,
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0x08, 0x1C, 0x1C, 0x3E, 0x7F,
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0x14, 0x22, 0x7F, 0x22, 0x14,
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0x5F, 0x5F, 0x00, 0x5F, 0x5F,
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0x06, 0x09, 0x7F, 0x01, 0x7F,
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0x00, 0x66, 0x89, 0x95, 0x6A,
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0x60, 0x60, 0x60, 0x60, 0x60,
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0x94, 0xA2, 0xFF, 0xA2, 0x94,
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0x08, 0x04, 0x7E, 0x04, 0x08,
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0x10, 0x20, 0x7E, 0x20, 0x10,
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0x08, 0x08, 0x2A, 0x1C, 0x08,
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0x08, 0x1C, 0x2A, 0x08, 0x08,
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0x1E, 0x10, 0x10, 0x10, 0x10,
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0x0C, 0x1E, 0x0C, 0x1E, 0x0C,
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0x30, 0x38, 0x3E, 0x38, 0x30,
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0x06, 0x0E, 0x3E, 0x0E, 0x06,
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0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x5F, 0x00, 0x00,
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0x00, 0x07, 0x00, 0x07, 0x00,
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0x14, 0x7F, 0x14, 0x7F, 0x14,
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0x24, 0x2A, 0x7F, 0x2A, 0x12,
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0x23, 0x13, 0x08, 0x64, 0x62,
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0x36, 0x49, 0x56, 0x20, 0x50,
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0x00, 0x08, 0x07, 0x03, 0x00,
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0x00, 0x1C, 0x22, 0x41, 0x00,
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0x00, 0x41, 0x22, 0x1C, 0x00,
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0x2A, 0x1C, 0x7F, 0x1C, 0x2A,
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0x08, 0x08, 0x3E, 0x08, 0x08,
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0x00, 0x80, 0x70, 0x30, 0x00,
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0x08, 0x08, 0x08, 0x08, 0x08,
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0x00, 0x00, 0x60, 0x60, 0x00,
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0x20, 0x10, 0x08, 0x04, 0x02,
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0x3E, 0x51, 0x49, 0x45, 0x3E,
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0x00, 0x42, 0x7F, 0x40, 0x00,
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0x72, 0x49, 0x49, 0x49, 0x46,
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0x21, 0x41, 0x49, 0x4D, 0x33,
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0x18, 0x14, 0x12, 0x7F, 0x10,
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0x27, 0x45, 0x45, 0x45, 0x39,
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0x3C, 0x4A, 0x49, 0x49, 0x31,
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0x41, 0x21, 0x11, 0x09, 0x07,
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0x36, 0x49, 0x49, 0x49, 0x36,
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0x46, 0x49, 0x49, 0x29, 0x1E,
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0x00, 0x00, 0x14, 0x00, 0x00,
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0x00, 0x40, 0x34, 0x00, 0x00,
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0x00, 0x08, 0x14, 0x22, 0x41,
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0x14, 0x14, 0x14, 0x14, 0x14,
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0x00, 0x41, 0x22, 0x14, 0x08,
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0x02, 0x01, 0x59, 0x09, 0x06,
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0x3E, 0x41, 0x5D, 0x59, 0x4E,
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0x7C, 0x12, 0x11, 0x12, 0x7C,
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0x7F, 0x49, 0x49, 0x49, 0x36,
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0x3E, 0x41, 0x41, 0x41, 0x22,
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0x7F, 0x41, 0x41, 0x41, 0x3E,
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0x7F, 0x49, 0x49, 0x49, 0x41,
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0x7F, 0x09, 0x09, 0x09, 0x01,
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0x3E, 0x41, 0x41, 0x51, 0x73,
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0x7F, 0x08, 0x08, 0x08, 0x7F,
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0x00, 0x41, 0x7F, 0x41, 0x00,
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0x20, 0x40, 0x41, 0x3F, 0x01,
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0x7F, 0x08, 0x14, 0x22, 0x41,
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0x7F, 0x40, 0x40, 0x40, 0x40,
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0x7F, 0x02, 0x1C, 0x02, 0x7F,
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0x7F, 0x04, 0x08, 0x10, 0x7F,
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0x3E, 0x41, 0x41, 0x41, 0x3E,
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0x7F, 0x09, 0x09, 0x09, 0x06,
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0x3E, 0x41, 0x51, 0x21, 0x5E,
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0x7F, 0x09, 0x19, 0x29, 0x46,
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0x26, 0x49, 0x49, 0x49, 0x32,
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0x03, 0x01, 0x7F, 0x01, 0x03,
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0x3F, 0x40, 0x40, 0x40, 0x3F,
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0x1F, 0x20, 0x40, 0x20, 0x1F,
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0x3F, 0x40, 0x38, 0x40, 0x3F,
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0x63, 0x14, 0x08, 0x14, 0x63,
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0x03, 0x04, 0x78, 0x04, 0x03,
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0x61, 0x59, 0x49, 0x4D, 0x43,
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0x00, 0x7F, 0x41, 0x41, 0x41,
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0x02, 0x04, 0x08, 0x10, 0x20,
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0x00, 0x41, 0x41, 0x41, 0x7F,
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0x04, 0x02, 0x01, 0x02, 0x04,
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0x40, 0x40, 0x40, 0x40, 0x40,
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0x00, 0x03, 0x07, 0x08, 0x00,
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0x20, 0x54, 0x54, 0x78, 0x40,
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0x7F, 0x28, 0x44, 0x44, 0x38,
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0x38, 0x44, 0x44, 0x44, 0x28,
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0x38, 0x44, 0x44, 0x28, 0x7F,
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0x38, 0x54, 0x54, 0x54, 0x18,
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0x00, 0x08, 0x7E, 0x09, 0x02,
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0x18, 0xA4, 0xA4, 0x9C, 0x78,
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0x7F, 0x08, 0x04, 0x04, 0x78,
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0x00, 0x44, 0x7D, 0x40, 0x00,
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0x20, 0x40, 0x40, 0x3D, 0x00,
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0x7F, 0x10, 0x28, 0x44, 0x00,
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0x00, 0x41, 0x7F, 0x40, 0x00,
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0x7C, 0x04, 0x78, 0x04, 0x78,
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0x7C, 0x08, 0x04, 0x04, 0x78,
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0x38, 0x44, 0x44, 0x44, 0x38,
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0xFC, 0x18, 0x24, 0x24, 0x18,
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0x18, 0x24, 0x24, 0x18, 0xFC,
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0x7C, 0x08, 0x04, 0x04, 0x08,
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0x48, 0x54, 0x54, 0x54, 0x24,
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0x04, 0x04, 0x3F, 0x44, 0x24,
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0x3C, 0x40, 0x40, 0x20, 0x7C,
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0x1C, 0x20, 0x40, 0x20, 0x1C,
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0x3C, 0x40, 0x30, 0x40, 0x3C,
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0x44, 0x28, 0x10, 0x28, 0x44,
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0x4C, 0x90, 0x90, 0x90, 0x7C,
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0x44, 0x64, 0x54, 0x4C, 0x44,
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0x00, 0x08, 0x36, 0x41, 0x00,
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0x00, 0x00, 0x77, 0x00, 0x00,
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0x00, 0x41, 0x36, 0x08, 0x00,
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0x02, 0x01, 0x02, 0x04, 0x02,
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0x3C, 0x26, 0x23, 0x26, 0x3C,
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0x1E, 0xA1, 0xA1, 0x61, 0x12,
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0x3A, 0x40, 0x40, 0x20, 0x7A,
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0x38, 0x54, 0x54, 0x55, 0x59,
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0x21, 0x55, 0x55, 0x79, 0x41,
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0x22, 0x54, 0x54, 0x78, 0x42,
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0x21, 0x55, 0x54, 0x78, 0x40,
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0x20, 0x54, 0x55, 0x79, 0x40,
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0x0C, 0x1E, 0x52, 0x72, 0x12,
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0x39, 0x55, 0x55, 0x55, 0x59,
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0x39, 0x54, 0x54, 0x54, 0x59,
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0x39, 0x55, 0x54, 0x54, 0x58,
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0x00, 0x00, 0x45, 0x7C, 0x41,
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0x00, 0x02, 0x45, 0x7D, 0x42,
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0x00, 0x01, 0x45, 0x7C, 0x40,
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0x7D, 0x12, 0x11, 0x12, 0x7D,
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0xF0, 0x28, 0x25, 0x28, 0xF0,
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0x7C, 0x54, 0x55, 0x45, 0x00,
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0x20, 0x54, 0x54, 0x7C, 0x54,
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0x7C, 0x0A, 0x09, 0x7F, 0x49,
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0x32, 0x49, 0x49, 0x49, 0x32,
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0x3A, 0x44, 0x44, 0x44, 0x3A,
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0x32, 0x4A, 0x48, 0x48, 0x30,
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0x3A, 0x41, 0x41, 0x21, 0x7A,
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0x3A, 0x42, 0x40, 0x20, 0x78,
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0x00, 0x9D, 0xA0, 0xA0, 0x7D,
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0x3D, 0x42, 0x42, 0x42, 0x3D,
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0x3D, 0x40, 0x40, 0x40, 0x3D,
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0x3C, 0x24, 0xFF, 0x24, 0x24,
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0x48, 0x7E, 0x49, 0x43, 0x66,
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0x2B, 0x2F, 0xFC, 0x2F, 0x2B,
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0xFF, 0x09, 0x29, 0xF6, 0x20,
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0xC0, 0x88, 0x7E, 0x09, 0x03,
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0x20, 0x54, 0x54, 0x79, 0x41,
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0x00, 0x00, 0x44, 0x7D, 0x41,
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0x30, 0x48, 0x48, 0x4A, 0x32,
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0x38, 0x40, 0x40, 0x22, 0x7A,
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0x00, 0x7A, 0x0A, 0x0A, 0x72,
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0x7D, 0x0D, 0x19, 0x31, 0x7D,
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0x26, 0x29, 0x29, 0x2F, 0x28,
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0x26, 0x29, 0x29, 0x29, 0x26,
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0x30, 0x48, 0x4D, 0x40, 0x20,
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0x38, 0x08, 0x08, 0x08, 0x08,
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0x08, 0x08, 0x08, 0x08, 0x38,
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0x2F, 0x10, 0xC8, 0xAC, 0xBA,
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0x2F, 0x10, 0x28, 0x34, 0xFA,
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0x00, 0x00, 0x7B, 0x00, 0x00,
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0x08, 0x14, 0x2A, 0x14, 0x22,
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0x22, 0x14, 0x2A, 0x14, 0x08,
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0x55, 0x00, 0x55, 0x00, 0x55,
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0xAA, 0x55, 0xAA, 0x55, 0xAA,
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0xFF, 0x55, 0xFF, 0x55, 0xFF,
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0x00, 0x00, 0x00, 0xFF, 0x00,
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0x10, 0x10, 0x10, 0xFF, 0x00,
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0x14, 0x14, 0x14, 0xFF, 0x00,
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0x10, 0x10, 0xFF, 0x00, 0xFF,
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0x10, 0x10, 0xF0, 0x10, 0xF0,
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0x14, 0x14, 0x14, 0xFC, 0x00,
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0x14, 0x14, 0xF7, 0x00, 0xFF,
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0x00, 0x00, 0xFF, 0x00, 0xFF,
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0x14, 0x14, 0xF4, 0x04, 0xFC,
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0x14, 0x14, 0x17, 0x10, 0x1F,
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0x10, 0x10, 0x1F, 0x10, 0x1F,
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0x14, 0x14, 0x14, 0x1F, 0x00,
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0x10, 0x10, 0x10, 0xF0, 0x00,
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0x00, 0x00, 0x00, 0x1F, 0x10,
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0x10, 0x10, 0x10, 0x1F, 0x10,
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0x10, 0x10, 0x10, 0xF0, 0x10,
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0x00, 0x00, 0x00, 0xFF, 0x10,
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0x10, 0x10, 0x10, 0x10, 0x10,
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0x10, 0x10, 0x10, 0xFF, 0x10,
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0x00, 0x00, 0x00, 0xFF, 0x14,
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0x00, 0x00, 0xFF, 0x00, 0xFF,
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0x00, 0x00, 0x1F, 0x10, 0x17,
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0x00, 0x00, 0xFC, 0x04, 0xF4,
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0x14, 0x14, 0x17, 0x10, 0x17,
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0x14, 0x14, 0xF4, 0x04, 0xF4,
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0x00, 0x00, 0xFF, 0x00, 0xF7,
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0x14, 0x14, 0x14, 0x14, 0x14,
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0x14, 0x14, 0xF7, 0x00, 0xF7,
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0x14, 0x14, 0x14, 0x17, 0x14,
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0x10, 0x10, 0x1F, 0x10, 0x1F,
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0x14, 0x14, 0x14, 0xF4, 0x14,
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0x10, 0x10, 0xF0, 0x10, 0xF0,
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0x00, 0x00, 0x1F, 0x10, 0x1F,
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0x00, 0x00, 0x00, 0x1F, 0x14,
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0x00, 0x00, 0x00, 0xFC, 0x14,
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0x00, 0x00, 0xF0, 0x10, 0xF0,
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0x10, 0x10, 0xFF, 0x10, 0xFF,
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0x14, 0x14, 0x14, 0xFF, 0x14,
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0x10, 0x10, 0x10, 0x1F, 0x00,
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0x00, 0x00, 0x00, 0xF0, 0x10,
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0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
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0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
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0xFF, 0xFF, 0xFF, 0x00, 0x00,
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0x00, 0x00, 0x00, 0xFF, 0xFF,
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0x0F, 0x0F, 0x0F, 0x0F, 0x0F,
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0x38, 0x44, 0x44, 0x38, 0x44,
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0xFC, 0x4A, 0x4A, 0x4A, 0x34,
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0x7E, 0x02, 0x02, 0x06, 0x06,
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0x02, 0x7E, 0x02, 0x7E, 0x02,
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0x63, 0x55, 0x49, 0x41, 0x63,
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0x38, 0x44, 0x44, 0x3C, 0x04,
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0x40, 0x7E, 0x20, 0x1E, 0x20,
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0x06, 0x02, 0x7E, 0x02, 0x02,
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0x99, 0xA5, 0xE7, 0xA5, 0x99,
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0x1C, 0x2A, 0x49, 0x2A, 0x1C,
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0x4C, 0x72, 0x01, 0x72, 0x4C,
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0x30, 0x4A, 0x4D, 0x4D, 0x30,
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0x30, 0x48, 0x78, 0x48, 0x30,
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0xBC, 0x62, 0x5A, 0x46, 0x3D,
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0x3E, 0x49, 0x49, 0x49, 0x00,
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0x7E, 0x01, 0x01, 0x01, 0x7E,
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0x2A, 0x2A, 0x2A, 0x2A, 0x2A,
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0x44, 0x44, 0x5F, 0x44, 0x44,
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0x40, 0x51, 0x4A, 0x44, 0x40,
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0x40, 0x44, 0x4A, 0x51, 0x40,
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0x00, 0x00, 0xFF, 0x01, 0x03,
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0xE0, 0x80, 0xFF, 0x00, 0x00,
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0x08, 0x08, 0x6B, 0x6B, 0x08,
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0x36, 0x12, 0x36, 0x24, 0x36,
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0x06, 0x0F, 0x09, 0x0F, 0x06,
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0x00, 0x00, 0x18, 0x18, 0x00,
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0x00, 0x00, 0x10, 0x10, 0x00,
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0x30, 0x40, 0xFF, 0x01, 0x01,
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0x00, 0x1F, 0x01, 0x01, 0x1E,
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0x00, 0x19, 0x1D, 0x17, 0x12,
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0x00, 0x3C, 0x3C, 0x3C, 0x3C,
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0x00, 0x00, 0x00, 0x00, 0x00
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};
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#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
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static const char * _modename[] = {
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"STAB", // STABILIZE = 0, // manual airframe angle with manual throttle
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"ACRO", // ACRO = 1, // manual body-frame angular rate with manual throttle
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"ALTH", // ALT_HOLD = 2, // manual airframe angle with automatic throttle
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"AUTO", // AUTO = 3, // fully automatic waypoint control using mission commands
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"GUID", // GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
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"LOIT", // LOITER = 5, // automatic horizontal acceleration with automatic throttle
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"RTL ", // RTL = 6, // automatic return to launching point
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"CIRC", // CIRCLE = 7, // automatic circular flight with automatic throttle
|
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"----", //8 no mode for copter
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|
"LAND", // LAND = 9, // automatic landing with horizontal position control
|
|
"----", //10 no mode for copter
|
|
"DRIF", // DRIFT = 11, // semi-automous position, yaw and throttle control
|
|
"----", //12 no mode for copter
|
|
"SPRT", // SPORT = 13, // manual earth-frame angular rate control with manual throttle
|
|
"FLIP", // FLIP = 14, // automatically flip the vehicle on the roll axis
|
|
"ATUN", // AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
|
|
"PHLD", // POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
|
|
"BRAK", // BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
|
|
"THRW", // THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
|
|
"AVOI", // AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
|
|
"GNGP" // GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
|
|
|
|
};
|
|
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
|
|
static const char * _modename[] = {
|
|
"MANU", // = 0,
|
|
"CIRC", // = 1,
|
|
"STAB", // = 2,
|
|
"TRAN", // = 3,
|
|
"ACRO", // = 4,
|
|
"FBWA", // = 5,
|
|
"FBWB", // = 6,
|
|
"CRUS", // = 7,
|
|
"ATUN", // = 8,
|
|
"----", //9 no mode for plane
|
|
"AUTO", // = 10,
|
|
"RTL ", // = 11,
|
|
"LOIT", // = 12,
|
|
"----", //13 no mode for plane
|
|
"----", //14 no mode for plane
|
|
"GUID", // = 15,
|
|
"INIT", // = 16,
|
|
"QSTB", // = 17,
|
|
"QHVR", // = 18,
|
|
"QLIT", // = 19,
|
|
"QLND", // = 20,
|
|
"QRTL" // = 21
|
|
};
|
|
#else //rover
|
|
static const char * _modename[] = {
|
|
"MANU",
|
|
"----",
|
|
"LERN",
|
|
"STER",
|
|
"HOLD",
|
|
"----",
|
|
"----",
|
|
"----",
|
|
"----",
|
|
"----",
|
|
"AUTO",
|
|
"RTL",
|
|
"----",
|
|
"----",
|
|
"----",
|
|
"GUID",
|
|
"INIT"
|
|
};
|
|
#endif
|
|
|
|
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();
|
|
break;
|
|
|
|
case DISPLAY_SH1106:
|
|
_driver = new Display_SH1106_I2C();
|
|
break;
|
|
|
|
case DISPLAY_OFF:
|
|
default:
|
|
break;
|
|
}
|
|
|
|
if (_driver != nullptr) {
|
|
_healthy = _driver->hw_init();
|
|
}
|
|
|
|
if (!_healthy) {
|
|
return false;
|
|
}
|
|
|
|
// update all on display
|
|
update_all();
|
|
_driver->hw_update();
|
|
|
|
return true;
|
|
}
|
|
|
|
void Display::update()
|
|
{
|
|
static uint8_t timer = 0;
|
|
// return immediately if not enabled
|
|
if (!_healthy) {
|
|
return;
|
|
}
|
|
|
|
// max update frequency 2Hz
|
|
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 "};
|
|
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:
|
|
fixname = gpsfixname[6];
|
|
break;
|
|
default:
|
|
fixname = gpsfixname[0];
|
|
break;
|
|
}
|
|
snprintf(msg, DISPLAY_MESSAGE_SIZE, "GPS:%s Sats:%u", 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) + 48);
|
|
draw_char(COLUMN(9), ROW(r), (AP_Notify::flags.gps_num_sats % 10) + 48);
|
|
}
|
|
|
|
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];
|
|
snprintf(msg, DISPLAY_MESSAGE_SIZE, "Mode: %s", _modename[AP_Notify::flags.flight_mode]) ;
|
|
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];
|
|
|
|
snprintf(txt, NOTIFY_TEXT_BUFFER_SIZE, "%s", AP_Notify::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);
|
|
}
|