AP_OSD: added support for an MSP based OSD

libraries/AP_OSD/AP_OSD.cpp

@@ -25,6 +25,7 @@
 #ifdef WITH_SITL_OSD
 #include "AP_OSD_SITL.h"
 #endif
+#include "AP_OSD_MSP.h"
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Util.h>
 #include <RC_Channel/RC_Channel.h>
@@ -218,9 +219,17 @@ void AP_OSD::init()
         break;
     }
 #endif
+    case OSD_MSP: {
+        backend = AP_OSD_MSP::probe(*this);
+        if (backend == nullptr) {
+            break;
         }
-    if (backend != nullptr) {
+        hal.console->printf("Started MSP OSD\n");
-        // create thread as higher priority than IO
+        break;
+    }
+    }
+    if (backend != nullptr && (enum osd_types)osd_type.get() != OSD_MSP) {
+        // create thread as higher priority than IO for all backends but MSP which has its own
         hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1024, AP_HAL::Scheduler::PRIORITY_IO, 1);
     }
 }

libraries/AP_OSD/AP_OSD.h

@@ -26,6 +26,7 @@
 #endif
 
 class AP_OSD_Backend;
+class AP_MSP;
 
 #define AP_OSD_NUM_SCREENS 4
 
@@ -68,6 +69,9 @@ public:
     AP_Int16 channel_max;
 
 private:
+    friend class AP_MSP;
+    friend class AP_MSP_Telem_Backend;
+
     AP_OSD_Backend *backend;
     AP_OSD *osd;
 
@@ -124,6 +128,16 @@ private:
     AP_OSD_Setting bat2used{false, 0, 0};
     AP_OSD_Setting clk{false, 0, 0};
     
+    // MSP OSD only
+    AP_OSD_Setting sidebars{false, 0, 0};
+    AP_OSD_Setting crosshair{false, 0, 0};
+    AP_OSD_Setting home_dist{true, 1, 1};
+    AP_OSD_Setting home_dir{true, 1, 1};
+    AP_OSD_Setting power{true, 1, 1};
+    AP_OSD_Setting cell_volt{true, 1, 1};
+    AP_OSD_Setting batt_bar{true, 1, 1};
+    AP_OSD_Setting arming{true, 1, 1};
+
     bool check_option(uint32_t option);
 
     enum unit_type {
@@ -194,6 +208,8 @@ class AP_OSD
 {
 public:
     friend class AP_OSD_Screen;
+    friend class AP_MSP;
+    friend class AP_MSP_Telem_Backend;
     //constructor
     AP_OSD();
 
@@ -217,6 +233,7 @@ public:
         OSD_NONE=0,
         OSD_MAX7456=1,
         OSD_SITL=2,
+        OSD_MSP=3,
     };
     enum switch_method {
         TOGGLE=0,

libraries/AP_OSD/AP_OSD_MSP.cpp

@@ -0,0 +1,188 @@
+/*
+ * 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/>.
+ *
+ */
+/*
+  OSD backend for MSP
+ */
+#include "AP_OSD_MSP.h"
+
+
+static const struct AP_Param::defaults_table_struct defaults_table[] = {
+    /*
+    //OSD_RSSI_VALUE
+    { "OSD_RSSI_EN",       1.0 },
+    { "OSD_RSSI_X",        1.0 },
+    { "OSD_RSSI_Y",        1.0 },
+
+    //OSD_MAIN_BATT_VOLTAGE
+    { "OSD_BAT_VOLT_EN",       1.0 },
+    { "OSD_BAT_VOLT_X",        1.0 },
+    { "OSD_BAT_VOLT_Y",        1.0 },
+
+    //OSD_CRAFT_NAME (text flightmode + status text messages + wind)
+    { "OSD_MESSAGE_EN",       1.0 },
+    { "OSD_MESSAGE_X",        1.0 },
+    { "OSD_MESSAGE_Y",        1.0 },
+
+    //OSD_FLYMODE (displays failsafe status and optionally rtl engaged)
+    { "OSD_FLTMODE_EN",       1.0 },
+    { "OSD_FLTMODE_X",        1.0 },
+    { "OSD_FLTMODE_Y",        1.0 },
+
+    //OSD_CURRENT_DRAW
+    { "OSD_CURRENT_EN",       1.0 },
+    { "OSD_CURRENT_X",        1.0 },
+    { "OSD_CURRENT_Y",        1.0 },
+
+    //OSD_MAH_DRAWN
+    { "OSD_BATUSED_EN",       1.0 },
+    { "OSD_BATUSED_X",        1.0 },
+    { "OSD_BATUSED_Y",        1.0 },
+
+    //OSD_GPS_SPEED
+    { "OSD_GSPEED_EN",       1.0 },
+    { "OSD_GSPEED_X",        1.0 },
+    { "OSD_GSPEED_Y",        1.0 },
+
+    //OSD_GPS_SATS
+    { "OSD_SATS_EN",       1.0 },
+    { "OSD_SATS_X",        1.0 },
+    { "OSD_SATS_Y",        1.0 },
+
+    //OSD_ALTITUDE
+    { "OSD_ALTITUDE_EN",       1.0 },
+    { "OSD_ALTITUDE_X",        1.0 },
+    { "OSD_ALTITUDE_Y",        1.0 },
+
+    //OSD_GPS_LON
+    { "OSD_GPSLONG_EN",       1.0 },
+    { "OSD_GPSLONG_X",        1.0 },
+    { "OSD_GPSLONG_Y",        1.0 },
+
+    //OSD_GPS_LAT
+    { "OSD_GPSLAT_EN",       1.0 },
+    { "OSD_GPSLAT_X",        1.0 },
+    { "OSD_GPSLAT_Y",        1.0 },
+
+    //OSD_PITCH_ANGLE
+    { "OSD_PITCH_EN",       1.0 },
+    { "OSD_PITCH_X",        1.0 },
+    { "OSD_PITCH_Y",        1.0 },
+
+    //OSD_ROLL_ANGLE
+    { "OSD_ROLL_EN",       1.0 },
+    { "OSD_ROLL_X",        1.0 },
+    { "OSD_ROLL_Y",        1.0 },
+
+    //OSD_MAIN_BATT_USAGE
+    { "OSD_BATTBAR_EN",       1.0 },
+    { "OSD_BATTBAR_X",        1.0 },
+    { "OSD_BATTBAR_Y",        1.0 },
+
+    //OSD_NUMERICAL_VARIO
+    { "OSD_VSPEED_EN",       1.0 },
+    { "OSD_VSPEED_X",        1.0 },
+    { "OSD_VSPEED_Y",        1.0 },
+
+#ifdef HAVE_AP_BLHELI_SUPPORT
+    //OSD_ESC_TMP
+    { "OSD_BLHTEMP_EN",       1.0 },
+    { "OSD_BLHTEMP_X",        1.0 },
+    { "OSD_BLHTEMP_Y",        1.0 },
+#endif
+
+    //OSD_RTC_DATETIME
+    { "OSD_CLK_EN",       1.0 },
+    { "OSD_CLK_X",        1.0 },
+    { "OSD_CLK_Y",        1.0 },
+
+    // --------------------------
+    // MSP OSD only
+    // --------------------------
+
+    // OSD items disabled by default (partially supported)
+    //OSD_CROSSHAIRS
+    { "OSD_CRSSHAIR_EN",       0 },
+
+    //OSD_ARTIFICIAL_HORIZON
+    { "OSD_HORIZON_EN",        0 },
+
+    //OSD_HORIZON_SIDEBARS
+    { "OSD_SIDEBARS_EN",       0 },
+
+    //OSD_NUMERICAL_HEADING
+    { "OSD_HEADING_EN",       0.0 },
+
+    // Supported OSD items
+
+    //OSD_POWER
+    { "OSD_POWER_EN",       1.0 },
+    { "OSD_POWER_X",        1.0 },
+    { "OSD_POWER_Y",        1.0 },
+
+    //OSD_AVG_CELL_VOLTAGE
+    { "OSD_CELLVOLT_EN",       1.0 },
+    { "OSD_CELLVOLT_X",        1.0 },
+    { "OSD_CELLVOLT_Y",        1.0 },
+
+    //OSD_DISARMED
+    { "OSD_ARMING_EN",       1.0 },
+    { "OSD_ARMING_X",        1.0 },
+    { "OSD_ARMING_Y",        1.0 },
+
+    //OSD_HOME_DIR
+    { "OSD_HOMEDIR_EN",       1.0 },
+    { "OSD_HOMEDIR_X",        1.0 },
+    { "OSD_HOMEDIR_Y",        1.0 },
+
+    //OSD_HOME_DIST
+    { "OSD_HOMEDIST_EN",       1.0 },
+    { "OSD_HOMEDIST_X",        1.0 },
+    { "OSD_HOMEDIST_Y",        1.0 },
+    */
+};
+
+
+extern const AP_HAL::HAL &hal;
+
+// initialise backend
+bool AP_OSD_MSP::init(void)
+{
+    return true;
+}
+
+// override built in positions with defaults for MSP OSD
+void AP_OSD_MSP::setup_defaults(void) 
+{
+    AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
+}
+
+AP_OSD_Backend *AP_OSD_MSP::probe(AP_OSD &osd)
+{
+    AP_OSD_MSP *backend = new AP_OSD_MSP(osd);
+    if (!backend) {
+        return nullptr;
+    }
+    if (!backend->init()) {
+        delete backend;
+        return nullptr;
+    }
+    return backend;
+}
+
+AP_OSD_MSP::AP_OSD_MSP(AP_OSD &osd):
+    AP_OSD_Backend(osd)
+{
+}

libraries/AP_OSD/AP_OSD_MSP.h

@@ -0,0 +1,27 @@
+#include <AP_OSD/AP_OSD_Backend.h>
+#include <AP_MSP/AP_MSP.h>
+
+class AP_OSD_MSP : public AP_OSD_Backend
+{
+
+public:
+    static AP_OSD_Backend *probe(AP_OSD &osd);
+
+    //initilize 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 {};
+
+private:
+    //constructor
+    AP_OSD_MSP(AP_OSD &osd);
+
+    void setup_defaults(void);
+};

libraries/AP_OSD/AP_OSD_Screen.cpp

@@ -34,6 +34,7 @@
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
 #include <AP_RTC/AP_RTC.h>
+#include <AP_MSP/msp.h>
 
 #include <ctype.h>
 #include <GCS_MAVLink/GCS.h>
@@ -705,6 +706,136 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
     // @Range: 0 15
     AP_SUBGROUPINFO(clk, "CLK", 43, AP_OSD_Screen, AP_OSD_Setting),
     
+#if HAL_MSP_ENABLED
+    // @Param: SIDEBARS_EN
+    // @DisplayName: SIDEBARS_EN
+    // @Description: Displays artificial horizon side bars (MSP OSD only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: SIDEBARS_X
+    // @DisplayName: SIDEBARS_X
+    // @Description: Horizontal position on screen (MSP OSD only) 
+    // @Range: 0 29
+
+    // @Param: SIDEBARS_Y
+    // @DisplayName: SIDEBARS_Y
+    // @Description: Vertical position on screen (MSP OSD only)
+    // @Range: 0 15
+    AP_SUBGROUPINFO(sidebars, "SIDEBARS", 44, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: CRSSHAIR_EN
+    // @DisplayName: CRSSHAIR_EN
+    // @Description: Displays artificial horizon crosshair (MSP OSD only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: CRSSHAIR_X
+    // @DisplayName: CRSSHAIR_X
+    // @Description: Horizontal position on screen (MSP OSD only) 
+    // @Range: 0 29
+
+    // @Param: CRSSHAIR_Y
+    // @DisplayName: CRSSHAIR_Y
+    // @Description: Vertical position on screen (MSP OSD only)
+    // @Range: 0 15
+    AP_SUBGROUPINFO(crosshair, "CRSSHAIR", 45, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: HOMEDIST_EN
+    // @DisplayName: HOMEDIST_EN
+    // @Description: Displays distance from HOME (MSP OSD only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: HOMEDIST_X
+    // @DisplayName: HOMEDIST_X
+    // @Description: Horizontal position on screen (MSP OSD only)
+    // @Range: 0 29
+
+    // @Param: HOMEDIST_Y
+    // @DisplayName: HOMEDIST_Y
+    // @Description: Vertical position on screen (MSP OSD only)
+    // @Range: 0 15
+    AP_SUBGROUPINFO(home_dist, "HOMEDIST", 46, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: HOMEDIR_EN
+    // @DisplayName: HOMEDIR_EN
+    // @Description: Displays relative direction to HOME (MSP OSD only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: HOMEDIR_X
+    // @DisplayName: HOMEDIR_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 29
+
+    // @Param: HOMEDIR_Y
+    // @DisplayName: HOMEDIR_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 15
+    AP_SUBGROUPINFO(home_dir, "HOMEDIR", 47, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: POWER_EN
+    // @DisplayName: POWER_EN
+    // @Description: Displays power (MSP OSD only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: POWER_X
+    // @DisplayName: POWER_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 29
+
+    // @Param: POWER_Y
+    // @DisplayName: POWER_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 15
+    AP_SUBGROUPINFO(power, "POWER", 48, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: CELL_VOLT_EN
+    // @DisplayName: CELL_VOLT_EN
+    // @Description: Displays average cell voltage (MSP OSD only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: CELL_VOLT_X
+    // @DisplayName: CELL_VOLT_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 29
+
+    // @Param: CELL_VOLT_Y
+    // @DisplayName: CELL_VOLT_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 15
+    AP_SUBGROUPINFO(cell_volt, "CELLVOLT", 49, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: BATT_BAR_EN
+    // @DisplayName: BATT_BAR_EN
+    // @Description: Displays battery usage bar (MSP OSD only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: BATT_BAR_X
+    // @DisplayName: BATT_BAR_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 29
+
+    // @Param: BATT_BAR_Y
+    // @DisplayName: BATT_BAR_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 15
+    AP_SUBGROUPINFO(batt_bar, "BATTBAR", 50, AP_OSD_Screen, AP_OSD_Setting),
+
+    // @Param: ARMING_EN
+    // @DisplayName: ARMING_EN
+    // @Description: Displays arming status (MSP OSD only)
+    // @Values: 0:Disabled,1:Enabled
+
+    // @Param: ARMING_X
+    // @DisplayName: ARMING_X
+    // @Description: Horizontal position on screen
+    // @Range: 0 29
+
+    // @Param: ARMING_Y
+    // @DisplayName: ARMING_Y
+    // @Description: Vertical position on screen
+    // @Range: 0 15
+    AP_SUBGROUPINFO(arming, "ARMING", 51, AP_OSD_Screen, AP_OSD_Setting),
+#endif //HAL_MSP_ENABLED
+
     AP_GROUPEND
 };