libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp

   1 /*
   2  * This file is free software: you can redistribute it and/or modify it
   3  * under the terms of the GNU General Public License as published by the
   4  * Free Software Foundation, either version 3 of the License, or
   5  * (at your option) any later version.
   6  *
   7  * This file is distributed in the hope that it will be useful, but
   8  * WITHOUT ANY WARRANTY; without even the implied warranty of
   9  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  10  * See the GNU General Public License for more details.
  11  *
  12  * You should have received a copy of the GNU General Public License along
  13  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  14  *
  15  */
  16 /*
  17   OSD backend for MSP
  18  */
  19 #include <AP_MSP/AP_MSP.h>
  20 #include <AP_MSP/msp.h>
  21 #include "AP_OSD_MSP_DisplayPort.h"
  22
  23 #if HAL_WITH_MSP_DISPLAYPORT
  24
  25 #include <GCS_MAVLink/GCS.h>
  26
  27 static const struct AP_Param::defaults_table_struct defaults_table[] = {
  28     /*
  29     { "PARAM_NAME",       value_float }
  30     */
  31 };
  32
  33 extern const AP_HAL::HAL &hal;
  34 constexpr uint8_t AP_OSD_MSP_DisplayPort::symbols[AP_OSD_NUM_SYMBOLS];
  35
  36 // initialise backend
  37 bool AP_OSD_MSP_DisplayPort::init(void)
  38 {
  39     // check if we have a DisplayPort backend to use
  40     const AP_MSP *msp = AP::msp();
  41     if (msp == nullptr) {
  42         GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"MSP backend not available");
  43         return false;
  44     }
  45     _displayport = msp->find_protocol(AP_SerialManager::SerialProtocol_MSP_DisplayPort);
  46     if (_displayport == nullptr) {
  47         GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"MSP DisplayPort uart not available");
  48         return false;
  49     }
  50     // re-init port here for use in this thread
  51     _displayport->init_uart();
  52     return true;
  53 }
  54
  55 // called by the OSD thread once
  56 void AP_OSD_MSP_DisplayPort::osd_thread_run_once()
  57 {
  58     if (_displayport != nullptr) {
  59         _displayport->init_uart();
  60     }
  61 }
  62
  63 void AP_OSD_MSP_DisplayPort::clear(void)
  64 {
  65     // check if we need to enable some options
  66     // but only for actual OSD screens
  67     if (_osd.get_current_screen() < AP_OSD_NUM_DISPLAY_SCREENS) {
  68         const uint8_t txt_resolution = _osd.screen[_osd.get_current_screen()].get_txt_resolution();
  69         const uint8_t font_index = _osd.screen[_osd.get_current_screen()].get_font_index();
  70         _displayport->msp_displayport_set_options(font_index, txt_resolution);
  71     }
  72
  73     // clear remote MSP screen
  74     _displayport->msp_displayport_clear_screen();
  75
  76     // toggle flashing @1Hz
  77     const uint32_t now = AP_HAL::millis();
  78     if ((uint32_t(now * 0.004) & 0x01) != _blink_on) {
  79         _blink_on = !_blink_on;
  80         blink_phase = (blink_phase+1)%4;
  81     }
  82 }
  83
  84 void AP_OSD_MSP_DisplayPort::write(uint8_t x, uint8_t y, const char* text)
  85 {
  86     _displayport->msp_displayport_write_string(x, y, 0, text);
  87 }
  88
  89 uint8_t AP_OSD_MSP_DisplayPort::format_string_for_osd(char* buff, uint8_t size, bool decimal_packed, const char *fmt, va_list ap)
  90 {
  91     const AP_MSP *msp = AP::msp();
  92     const bool pack =  decimal_packed && msp && !msp->is_option_enabled(AP_MSP::Option::DISPLAYPORT_BTFL_SYMBOLS);
  93     return AP_OSD_Backend::format_string_for_osd(buff, size, pack, fmt, ap);
  94 }
  95
  96 void AP_OSD_MSP_DisplayPort::flush(void)
  97 {
  98     // grab the screen and force a redraw
  99     _displayport->msp_displayport_grab();
 100     _displayport->msp_displayport_draw_screen();
 101
 102     // ok done processing displayport data
 103     // let's process incoming MSP frames (and reply if needed)
 104     _displayport->process_incoming_data();
 105 }
 106
 107 void AP_OSD_MSP_DisplayPort::init_symbol_set(uint8_t *lookup_table, const uint8_t size)
 108 {
 109     const AP_MSP *msp = AP::msp();
 110     // do we use backend specific symbols table?
 111     if (msp && msp->is_option_enabled(AP_MSP::Option::DISPLAYPORT_BTFL_SYMBOLS)) {
 112         memcpy(lookup_table, symbols, size);
 113     } else {
 114         memcpy(lookup_table, AP_OSD_Backend::symbols, size);
 115     }
 116 }
 117
 118 // override built in positions with defaults for MSP OSD
 119 void AP_OSD_MSP_DisplayPort::setup_defaults(void)
 120 {
 121     AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
 122 }
 123
 124 AP_OSD_Backend *AP_OSD_MSP_DisplayPort::probe(AP_OSD &osd)
 125 {
 126     AP_OSD_MSP_DisplayPort *backend = NEW_NOTHROW AP_OSD_MSP_DisplayPort(osd);
 127     if (!backend) {
 128         return nullptr;
 129     }
 130     if (!backend->init()) {
 131         delete backend;
 132         return nullptr;
 133     }
 134     return backend;
 135 }
 136
 137 // return a correction factor used to display angles correctly
 138 float AP_OSD_MSP_DisplayPort::get_aspect_ratio_correction() const
 139 {
 140     return 12.0/18.0;
 141 }
 142
 143
 144 #endif