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ardupilot/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.h

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#include <AP_OSD/AP_OSD_Backend.h>
#include <AP_MSP/AP_MSP.h>
#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
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