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118 lines
3.6 KiB
118 lines
3.6 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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*/ |
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/* |
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OSD backend for MSP |
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*/ |
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#include <AP_MSP/AP_MSP.h> |
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#include <AP_MSP/msp.h> |
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#include "AP_OSD_MSP_DisplayPort.h" |
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#if HAL_WITH_MSP_DISPLAYPORT |
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static const struct AP_Param::defaults_table_struct defaults_table[] = { |
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/* |
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{ "PARAM_NAME", value_float } |
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*/ |
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}; |
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extern const AP_HAL::HAL &hal; |
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constexpr uint8_t AP_OSD_MSP_DisplayPort::symbols[AP_OSD_NUM_SYMBOLS]; |
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// initialise backend |
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bool AP_OSD_MSP_DisplayPort::init(void) |
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{ |
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// check if we have a DisplayPort backend to use |
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const AP_MSP *msp = AP::msp(); |
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if (msp == nullptr) { |
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gcs().send_text(MAV_SEVERITY_WARNING,"MSP backend not available"); |
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return false; |
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} |
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_displayport = msp->find_protocol(AP_SerialManager::SerialProtocol_MSP_DisplayPort); |
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if (_displayport == nullptr) { |
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gcs().send_text(MAV_SEVERITY_WARNING,"MSP DisplayPort uart not available"); |
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return false; |
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} |
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// re-init port here for use in this thread |
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_displayport->init_uart(); |
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return true; |
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} |
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void AP_OSD_MSP_DisplayPort::clear(void) |
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{ |
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// clear remote MSP screen |
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_displayport->msp_displayport_clear_screen(); |
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// toggle flashing @1Hz |
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const uint32_t now = AP_HAL::millis(); |
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if ((uint32_t(now * 0.004) & 0x01) != _blink_on) { |
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_blink_on = !_blink_on; |
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blink_phase = (blink_phase+1)%4; |
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} |
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} |
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void AP_OSD_MSP_DisplayPort::write(uint8_t x, uint8_t y, const char* text) |
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{ |
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_displayport->msp_displayport_write_string(x, y, 0, text); |
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} |
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uint8_t AP_OSD_MSP_DisplayPort::format_string_for_osd(char* buff, uint8_t size, bool decimal_packed, const char *fmt, va_list ap) |
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{ |
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const AP_MSP *msp = AP::msp(); |
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const bool pack = decimal_packed && msp && !msp->is_option_enabled(AP_MSP::Option::DISPLAYPORT_BTFL_SYMBOLS); |
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return AP_OSD_Backend::format_string_for_osd(buff, size, pack, fmt, ap); |
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} |
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void AP_OSD_MSP_DisplayPort::flush(void) |
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{ |
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// grab the screen and force a redraw |
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_displayport->msp_displayport_grab(); |
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_displayport->msp_displayport_draw_screen(); |
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// ok done processing displayport data |
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// let's process incoming MSP frames (and reply if needed) |
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_displayport->process_incoming_data(); |
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} |
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void AP_OSD_MSP_DisplayPort::init_symbol_set(uint8_t *lookup_table, const uint8_t size) |
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{ |
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const AP_MSP *msp = AP::msp(); |
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// do we use backend specific symbols table? |
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if (msp && msp->is_option_enabled(AP_MSP::Option::DISPLAYPORT_BTFL_SYMBOLS)) { |
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memcpy(lookup_table, symbols, size); |
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} else { |
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memcpy(lookup_table, AP_OSD_Backend::symbols, size); |
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} |
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} |
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// override built in positions with defaults for MSP OSD |
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void AP_OSD_MSP_DisplayPort::setup_defaults(void) |
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{ |
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AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table)); |
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} |
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AP_OSD_Backend *AP_OSD_MSP_DisplayPort::probe(AP_OSD &osd) |
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{ |
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AP_OSD_MSP_DisplayPort *backend = new AP_OSD_MSP_DisplayPort(osd); |
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if (!backend) { |
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return nullptr; |
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} |
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if (!backend->init()) { |
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delete backend; |
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return nullptr; |
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} |
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return backend; |
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} |
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#endif |