libraries/AP_OSD/AP_OSD_MSP_DisplayPort.h

   1 #include <AP_OSD/AP_OSD_Backend.h>
   2 #include <AP_MSP/AP_MSP.h>
   3
   4 #if HAL_WITH_MSP_DISPLAYPORT
   5
   6 class AP_OSD_MSP_DisplayPort : public AP_OSD_Backend
   7 {
   8     using AP_OSD_Backend::AP_OSD_Backend;
   9 public:
  10     static AP_OSD_Backend *probe(AP_OSD &osd);
  11
  12     //initialize display port and underlying hardware
  13     bool init() override;
  14
  15     //draw given text to framebuffer
  16     void write(uint8_t x, uint8_t y, const char* text) override;
  17
  18     //flush framebuffer to screen
  19     void flush() override;
  20
  21     //clear framebuffer
  22     void clear() override;
  23
  24     // copy the backend specific symbol set to the OSD lookup table
  25     void init_symbol_set(uint8_t *lookup_table, const uint8_t size) override;
  26
  27     // called by the OSD thread once
  28     // used to initialize the uart in the correct thread
  29     void osd_thread_run_once() override;
  30
  31     // return a correction factor used to display angles correctly
  32     float get_aspect_ratio_correction() const override;
  33
  34     bool is_compatible_with_backend_type(AP_OSD::osd_types type) const override {
  35         switch(type) {
  36         case AP_OSD::osd_types::OSD_MSP:
  37         case AP_OSD::osd_types::OSD_MSP_DISPLAYPORT:
  38             return false;
  39         case AP_OSD::osd_types::OSD_NONE:
  40         case AP_OSD::osd_types::OSD_TXONLY:
  41         case AP_OSD::osd_types::OSD_MAX7456:
  42         case AP_OSD::osd_types::OSD_SITL:
  43             return true;
  44         }
  45         return false;
  46     }
  47
  48     AP_OSD::osd_types get_backend_type() const override {
  49         return AP_OSD::osd_types::OSD_MSP_DISPLAYPORT;
  50     }
  51 protected:
  52     uint8_t format_string_for_osd(char* dst, uint8_t size, bool decimal_packed, const char *fmt, va_list ap) override;
  53
  54 private:
  55     void setup_defaults(void);
  56
  57     AP_MSP_Telem_Backend* _displayport;
  58
  59     // MSP DisplayPort symbols
  60     static const uint8_t SYM_M = 0x0C;
  61     static const uint8_t SYM_KM = 0x7D;
  62     static const uint8_t SYM_FT = 0x0F;
  63     static const uint8_t SYM_MI = 0x7E;
  64     static const uint8_t SYM_ALT_M = 0x0C;
  65     static const uint8_t SYM_ALT_FT = 0x0F;
  66     static const uint8_t SYM_BATT_FULL = 0x90;
  67     static const uint8_t SYM_RSSI = 0x01;
  68
  69     static const uint8_t SYM_VOLT = 0x06;
  70     static const uint8_t SYM_AMP = 0x9A;
  71     static const uint8_t SYM_MAH = 0x07;
  72     static const uint8_t SYM_MS = 0x9F;
  73     static const uint8_t SYM_FS = 0x99;
  74     static const uint8_t SYM_KMH = 0x9E;
  75     static const uint8_t SYM_MPH = 0x9D;
  76     static const uint8_t SYM_DEGR = 0x08;
  77     static const uint8_t SYM_PCNT = 0x25;
  78     static const uint8_t SYM_RPM = 0x12;
  79     static const uint8_t SYM_ASPD = 0x41;
  80     static const uint8_t SYM_GSPD = 0x47;
  81     static const uint8_t SYM_WSPD = 0x57;
  82     static const uint8_t SYM_VSPD = 0x5E;
  83     static const uint8_t SYM_WPNO = 0x23;
  84     static const uint8_t SYM_WPDIR = 0xE6;
  85     static const uint8_t SYM_WPDST = 0xE7;
  86     static const uint8_t SYM_FTMIN = 0xE8;
  87     static const uint8_t SYM_FTSEC = 0x99;
  88
  89     static const uint8_t SYM_SAT_L = 0x1E;
  90     static const uint8_t SYM_SAT_R = 0x1F;
  91     static const uint8_t SYM_HDOP_L = 0x48;
  92     static const uint8_t SYM_HDOP_R = 0x44;
  93
  94     static const uint8_t SYM_HOME = 0x11;
  95     static const uint8_t SYM_WIND = 0x57;
  96
  97     static const uint8_t SYM_ARROW_START = 0x60;
  98     static const uint8_t SYM_ARROW_COUNT = 16;
  99     static const uint8_t SYM_AH_H_START = 0x80;
 100     static const uint8_t SYM_AH_H_COUNT = 9;
 101
 102     static const uint8_t SYM_AH_V_START = 0x82;
 103     static const uint8_t SYM_AH_V_COUNT = 6;
 104
 105     static const uint8_t SYM_AH_CENTER_LINE_LEFT = 0x84;
 106     static const uint8_t SYM_AH_CENTER_LINE_RIGHT = 0x84;
 107     static const uint8_t SYM_AH_CENTER = 0x2B;
 108
 109     static const uint8_t SYM_HEADING_N = 0x18;
 110     static const uint8_t SYM_HEADING_S = 0x19;
 111     static const uint8_t SYM_HEADING_E = 0x1A;
 112     static const uint8_t SYM_HEADING_W = 0x1B;
 113     static const uint8_t SYM_HEADING_DIVIDED_LINE = 0x1C;
 114     static const uint8_t SYM_HEADING_LINE = 0x1D;
 115
 116     static const uint8_t SYM_UP_UP = 0x68;
 117     static const uint8_t SYM_UP = 0x68;
 118     static const uint8_t SYM_DOWN = 0x60;
 119     static const uint8_t SYM_DOWN_DOWN = 0x60;
 120
 121     static const uint8_t SYM_DEGREES_C = 0x0E;
 122     static const uint8_t SYM_DEGREES_F = 0x0D;
 123     static const uint8_t SYM_GPS_LAT = 0x89;
 124     static const uint8_t SYM_GPS_LONG = 0x98;
 125     static const uint8_t SYM_ARMED = 0x00;
 126     static const uint8_t SYM_DISARMED = 0x2A;
 127     static const uint8_t SYM_ROLL0 = 0x2D;
 128     static const uint8_t SYM_ROLLR = 0x64;
 129     static const uint8_t SYM_ROLLL = 0x6C;
 130     static const uint8_t SYM_PTCH0 = 0x7C;
 131     static const uint8_t SYM_PTCHUP = 0x68;
 132     static const uint8_t SYM_PTCHDWN = 0x60;
 133     static const uint8_t SYM_XERR = 0x21;
 134     static const uint8_t SYM_KN = 0xF0;
 135     static const uint8_t SYM_NM = 0xF1;
 136     static const uint8_t SYM_DIST = 0x04;
 137     static const uint8_t SYM_FLY = 0x9C;
 138     static const uint8_t SYM_EFF = 0xF2;
 139     static const uint8_t SYM_AH = 0xF3;
 140     static const uint8_t SYM_MW = 0xF4;
 141     static const uint8_t SYM_CLK = 0x08;
 142     static const uint8_t SYM_KILO = 0x4B;
 143     static const uint8_t SYM_TERALT = 0x7F;
 144     static const uint8_t SYM_FENCE_ENABLED = 0xF5;
 145     static const uint8_t SYM_FENCE_DISABLED = 0xF6;
 146     static const uint8_t SYM_RNGFD = 0x7F;
 147     static const uint8_t SYM_LQ = 0xF8;
 148
 149     static const uint8_t SYM_SIDEBAR_L_ARROW = 0x02;
 150     static const uint8_t SYM_SIDEBAR_R_ARROW = 0x03;
 151     static const uint8_t SYM_SIDEBAR_A = 0x13;
 152     static const uint8_t SYM_SIDEBAR_B = SYM_SIDEBAR_A;
 153     static const uint8_t SYM_SIDEBAR_C = SYM_SIDEBAR_A;
 154     static const uint8_t SYM_SIDEBAR_D = SYM_SIDEBAR_A;
 155     static const uint8_t SYM_SIDEBAR_E = SYM_SIDEBAR_A;
 156     static const uint8_t SYM_SIDEBAR_F = SYM_SIDEBAR_A;
 157     static const uint8_t SYM_SIDEBAR_G = SYM_SIDEBAR_A;
 158     static const uint8_t SYM_SIDEBAR_H = SYM_SIDEBAR_A;
 159     static const uint8_t SYM_SIDEBAR_I = SYM_SIDEBAR_A;
 160     static const uint8_t SYM_SIDEBAR_J = SYM_SIDEBAR_A;
 161
 162
 163     static constexpr uint8_t symbols[AP_OSD_NUM_SYMBOLS] {
 164         SYM_M,
 165         SYM_KM,
 166         SYM_FT,
 167         SYM_MI,
 168         SYM_ALT_M,
 169         SYM_ALT_FT,
 170         SYM_BATT_FULL,
 171         SYM_RSSI,
 172         SYM_VOLT,
 173         SYM_AMP,
 174         SYM_MAH,
 175         SYM_MS,
 176         SYM_FS,
 177         SYM_KMH,
 178         SYM_MPH,
 179         SYM_DEGR,
 180         SYM_PCNT,
 181         SYM_RPM,
 182         SYM_ASPD,
 183         SYM_GSPD,
 184         SYM_WSPD,
 185         SYM_VSPD,
 186         SYM_WPNO,
 187         SYM_WPDIR,
 188         SYM_WPDST,
 189         SYM_FTMIN,
 190         SYM_FTSEC,
 191         SYM_SAT_L,
 192         SYM_SAT_R,
 193         SYM_HDOP_L,
 194         SYM_HDOP_R,
 195         SYM_HOME,
 196         SYM_WIND,
 197         SYM_ARROW_START,
 198         SYM_ARROW_COUNT,
 199         SYM_AH_H_START,
 200         SYM_AH_H_COUNT,
 201         SYM_AH_V_START,
 202         SYM_AH_V_COUNT,
 203         SYM_AH_CENTER_LINE_LEFT,
 204         SYM_AH_CENTER_LINE_RIGHT,
 205         SYM_AH_CENTER,
 206         SYM_HEADING_N,
 207         SYM_HEADING_S,
 208         SYM_HEADING_E,
 209         SYM_HEADING_W,
 210         SYM_HEADING_DIVIDED_LINE,
 211         SYM_HEADING_LINE,
 212         SYM_UP_UP,
 213         SYM_UP,
 214         SYM_DOWN,
 215         SYM_DOWN_DOWN,
 216         SYM_DEGREES_C,
 217         SYM_DEGREES_F,
 218         SYM_GPS_LAT,
 219         SYM_GPS_LONG,
 220         SYM_ARMED,
 221         SYM_DISARMED,
 222         SYM_ROLL0,
 223         SYM_ROLLR,
 224         SYM_ROLLL,
 225         SYM_PTCH0,
 226         SYM_PTCHUP,
 227         SYM_PTCHDWN,
 228         SYM_XERR,
 229         SYM_KN,
 230         SYM_NM,
 231         SYM_DIST,
 232         SYM_FLY,
 233         SYM_EFF,
 234         SYM_AH,
 235         SYM_MW,
 236         SYM_CLK,
 237         SYM_KILO,
 238         SYM_TERALT,
 239         SYM_FENCE_ENABLED,
 240         SYM_FENCE_DISABLED,
 241         SYM_RNGFD,
 242         SYM_LQ,
 243         SYM_SIDEBAR_L_ARROW,
 244         SYM_SIDEBAR_R_ARROW,
 245         SYM_SIDEBAR_A,
 246         SYM_SIDEBAR_B,
 247         SYM_SIDEBAR_C,
 248         SYM_SIDEBAR_D,
 249         SYM_SIDEBAR_E,
 250         SYM_SIDEBAR_F,
 251         SYM_SIDEBAR_G,
 252         SYM_SIDEBAR_H,
 253         SYM_SIDEBAR_I,
 254         SYM_SIDEBAR_J,
 255     };
 256
 257     bool _blink_on;
 258 };
 259 #endif