mirror of https://github.com/ArduPilot/ardupilot
293 lines
8.4 KiB
C++
293 lines
8.4 KiB
C++
/*
|
|
* 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 <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <AP_HAL/HAL.h>
|
|
#include <AP_OSD/AP_OSD.h>
|
|
#include <AP_Filesystem/AP_Filesystem.h>
|
|
|
|
|
|
class AP_OSD_Backend
|
|
{
|
|
|
|
public:
|
|
//constructor
|
|
AP_OSD_Backend(AP_OSD &osd): _osd(osd) {}
|
|
|
|
//destructor
|
|
virtual ~AP_OSD_Backend(void) {}
|
|
|
|
//draw given text to framebuffer
|
|
virtual void write(uint8_t x, uint8_t y, const char* text) = 0;
|
|
|
|
//draw formatted text to framebuffer
|
|
virtual void write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...) FMT_PRINTF(5, 6);
|
|
|
|
//initilize framebuffer and underlying hardware
|
|
virtual bool init() = 0;
|
|
|
|
//update screen
|
|
virtual void flush() = 0;
|
|
|
|
// return a correction factor used to display angles correctly
|
|
virtual float get_aspect_ratio_correction() const {return 1;}
|
|
|
|
//clear screen
|
|
//should match hw blink
|
|
virtual void clear()
|
|
{
|
|
blink_phase = (blink_phase+1)%4;
|
|
}
|
|
|
|
// copy the backend specific symbol set to the OSD lookup table
|
|
virtual void init_symbol_set(uint8_t *symbols, const uint8_t size);
|
|
|
|
// called by the OSD thread once
|
|
virtual void osd_thread_run_once() { return; }
|
|
|
|
AP_OSD * get_osd()
|
|
{
|
|
return &_osd;
|
|
}
|
|
|
|
protected:
|
|
AP_OSD& _osd;
|
|
|
|
// get font choice
|
|
uint8_t get_font_num(void) const
|
|
{
|
|
return (uint8_t)_osd.font_num.get();
|
|
}
|
|
|
|
//check option
|
|
bool check_option(uint32_t option) const
|
|
{
|
|
return (_osd.options & option) != 0;
|
|
}
|
|
|
|
uint8_t convert_to_decimal_packed_characters(char* buff, uint8_t size);
|
|
virtual uint8_t format_string_for_osd(char* dst, uint8_t size, bool decimal_packed, const char *fmt, va_list ap);
|
|
|
|
// load a font from sdcard or ROMFS
|
|
FileData *load_font_data(uint8_t font_num);
|
|
|
|
int8_t blink_phase;
|
|
|
|
enum vid_format {
|
|
FORMAT_UNKNOWN = 0,
|
|
FORMAT_NTSC = 1,
|
|
FORMAT_PAL = 2,
|
|
} _format;
|
|
|
|
// default OSD symbols
|
|
static const uint8_t SYM_M = 0xB9;
|
|
static const uint8_t SYM_KM = 0xBA;
|
|
static const uint8_t SYM_FT = 0x0F;
|
|
static const uint8_t SYM_MI = 0xBB;
|
|
static const uint8_t SYM_ALT_M = 0xB1;
|
|
static const uint8_t SYM_ALT_FT = 0xB3;
|
|
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 = 0xA1;
|
|
static const uint8_t SYM_MPH = 0xB0;
|
|
static const uint8_t SYM_DEGR = 0xA8;
|
|
static const uint8_t SYM_PCNT = 0x25;
|
|
static const uint8_t SYM_RPM = 0xE0;
|
|
static const uint8_t SYM_ASPD = 0xE1;
|
|
static const uint8_t SYM_GSPD = 0xE2;
|
|
static const uint8_t SYM_WSPD = 0xE3;
|
|
static const uint8_t SYM_VSPD = 0xE4;
|
|
static const uint8_t SYM_WPNO = 0xE5;
|
|
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 = 0xBD;
|
|
static const uint8_t SYM_HDOP_R = 0xBE;
|
|
|
|
static const uint8_t SYM_HOME = 0xBF;
|
|
static const uint8_t SYM_WIND = 0x16;
|
|
|
|
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 = 0xCA;
|
|
static const uint8_t SYM_AH_V_COUNT = 6;
|
|
|
|
static const uint8_t SYM_AH_CENTER_LINE_LEFT = 0x26;
|
|
static const uint8_t SYM_AH_CENTER_LINE_RIGHT = 0x27;
|
|
static const uint8_t SYM_AH_CENTER = 0x7E;
|
|
|
|
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 = 0xA2;
|
|
static const uint8_t SYM_UP = 0xA3;
|
|
static const uint8_t SYM_DOWN = 0xA4;
|
|
static const uint8_t SYM_DOWN_DOWN = 0xA5;
|
|
|
|
static const uint8_t SYM_DEGREES_C = 0x0E;
|
|
static const uint8_t SYM_DEGREES_F = 0x0D;
|
|
static const uint8_t SYM_GPS_LAT = 0xA6;
|
|
static const uint8_t SYM_GPS_LONG = 0xA7;
|
|
static const uint8_t SYM_ARMED = 0x00;
|
|
static const uint8_t SYM_DISARMED = 0xE9;
|
|
static const uint8_t SYM_ROLL0 = 0x2D;
|
|
static const uint8_t SYM_ROLLR = 0xEA;
|
|
static const uint8_t SYM_ROLLL = 0xEB;
|
|
static const uint8_t SYM_PTCH0 = 0x7C;
|
|
static const uint8_t SYM_PTCHUP = 0xEC;
|
|
static const uint8_t SYM_PTCHDWN = 0xED;
|
|
static const uint8_t SYM_XERR = 0xEE;
|
|
static const uint8_t SYM_KN = 0xF0;
|
|
static const uint8_t SYM_NM = 0xF1;
|
|
static const uint8_t SYM_DIST = 0x22;
|
|
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 = 0xBC;
|
|
static const uint8_t SYM_KILO = 0x4B;
|
|
static const uint8_t SYM_TERALT = 0xEF;
|
|
static const uint8_t SYM_FENCE_ENABLED = 0xF5;
|
|
static const uint8_t SYM_FENCE_DISABLED = 0xF6;
|
|
static const uint8_t SYM_RNGFD = 0xF7;
|
|
static const uint8_t SYM_LQ = 0xF8;
|
|
|
|
static const uint8_t SYM_SIDEBAR_R_ARROW = 0x09;
|
|
static const uint8_t SYM_SIDEBAR_L_ARROW = 0x0A;
|
|
static const uint8_t SYM_SIDEBAR_A = 0x13;
|
|
static const uint8_t SYM_SIDEBAR_B = 0x14;
|
|
static const uint8_t SYM_SIDEBAR_C = 0x15;
|
|
static const uint8_t SYM_SIDEBAR_D = 0xDD;
|
|
static const uint8_t SYM_SIDEBAR_E = 0xDB;
|
|
static const uint8_t SYM_SIDEBAR_F = 0xDC;
|
|
static const uint8_t SYM_SIDEBAR_G = 0xDA;
|
|
static const uint8_t SYM_SIDEBAR_H = 0xDE;
|
|
static const uint8_t SYM_SIDEBAR_I = 0x11;
|
|
static const uint8_t SYM_SIDEBAR_J = 0x12;
|
|
|
|
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,
|
|
SYM_SIDEBAR_R_ARROW,
|
|
SYM_SIDEBAR_L_ARROW,
|
|
SYM_SIDEBAR_A,
|
|
SYM_SIDEBAR_B,
|
|
SYM_SIDEBAR_C,
|
|
SYM_SIDEBAR_D,
|
|
SYM_SIDEBAR_E,
|
|
SYM_SIDEBAR_F,
|
|
SYM_SIDEBAR_G,
|
|
SYM_SIDEBAR_H,
|
|
SYM_SIDEBAR_I,
|
|
SYM_SIDEBAR_J,
|
|
};
|
|
};
|