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ardupilot/libraries/AP_OSD/AP_OSD_MAX7456.cpp

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/*
* 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/>.
*
* MAX7456 driver partially based on betaflight and inav max7456.c implemention.
* Many thanks to their authors.
*/
#include <AP_OSD/AP_OSD_MAX7456.h>
#if HAL_WITH_OSD_BITMAP
#include <AP_HAL/Util.h>
#include <AP_HAL/Semaphores.h>
#include <AP_HAL/Scheduler.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include <GCS_MAVLink/GCS.h>
#include <utility>
#define VIDEO_COLUMNS 30
#define NVM_RAM_SIZE 54
//MAX7456 registers
#define MAX7456ADD_READ 0x80
#define MAX7456ADD_VM0 0x00
#define MAX7456ADD_VM1 0x01
#define MAX7456ADD_HOS 0x02
#define MAX7456ADD_VOS 0x03
#define MAX7456ADD_DMM 0x04
#define MAX7456ADD_DMAH 0x05
#define MAX7456ADD_DMAL 0x06
#define MAX7456ADD_DMDI 0x07
#define MAX7456ADD_CMM 0x08
#define MAX7456ADD_CMAH 0x09
#define MAX7456ADD_CMAL 0x0a
#define MAX7456ADD_CMDI 0x0b
#define MAX7456ADD_OSDM 0x0c
#define MAX7456ADD_RB0 0x10
#define MAX7456ADD_OSDBL 0x6c
#define MAX7456ADD_STAT 0xA0
#define MAX7456ADD_CMDO 0xC0
// VM0 register bits
#define VIDEO_BUFFER_DISABLE 0x01
#define MAX7456_RESET 0x02
#define VERTICAL_SYNC_NEXT_VSYNC 0x04
#define OSD_ENABLE 0x08
#define VIDEO_MODE_PAL 0x40
#define VIDEO_MODE_NTSC 0x00
#define VIDEO_MODE_MASK 0x40
#define VIDEO_MODE_IS_PAL(val) (((val) & VIDEO_MODE_MASK) == VIDEO_MODE_PAL)
#define VIDEO_MODE_IS_NTSC(val) (((val) & VIDEO_MODE_MASK) == VIDEO_MODE_NTSC)
// VM1 register bits
// duty cycle is on_off
#define BLINK_DUTY_CYCLE_50_50 0x00
#define BLINK_DUTY_CYCLE_33_66 0x01
#define BLINK_DUTY_CYCLE_25_75 0x02
#define BLINK_DUTY_CYCLE_75_25 0x03
// blinking time
#define BLINK_TIME_0 0x00
#define BLINK_TIME_1 0x04
#define BLINK_TIME_2 0x08
#define BLINK_TIME_3 0x0C
// background mode brightness (percent)
#define BACKGROUND_BRIGHTNESS_0 (0x00 << 4)
#define BACKGROUND_BRIGHTNESS_7 (0x01 << 4)
#define BACKGROUND_BRIGHTNESS_14 (0x02 << 4)
#define BACKGROUND_BRIGHTNESS_21 (0x03 << 4)
#define BACKGROUND_BRIGHTNESS_28 (0x04 << 4)
#define BACKGROUND_BRIGHTNESS_35 (0x05 << 4)
#define BACKGROUND_BRIGHTNESS_42 (0x06 << 4)
#define BACKGROUND_BRIGHTNESS_49 (0x07 << 4)
// STAT register bits
#define STAT_PAL 0x01
#define STAT_NTSC 0x02
#define STAT_LOS 0x04
#define STAT_NVR_BUSY 0x20
#define STAT_IS_PAL(val) ((val) & STAT_PAL)
#define STAT_IS_NTSC(val) ((val) & STAT_NTSC)
#define STAT_IS_LOS(val) ((val) & STAT_LOS)
#define VIN_IS_PAL(val) (!STAT_IS_LOS(val) && STAT_IS_PAL(val))
#define VIN_IS_NTSC(val) (!STAT_IS_LOS(val) && STAT_IS_NTSC(val))
// There are occasions that NTSC is not detected even with !LOS (AB7456 specific?)
// When this happens, lower 3 bits of STAT register is read as zero.
// To cope with this case, this macro defines !LOS && !PAL as NTSC.
// Should be compatible with MAX7456 and non-problematic case.
#define VIN_IS_NTSC_ALT(val) (!STAT_IS_LOS(val) && !STAT_IS_PAL(val))
//CMM register bits
#define WRITE_NVR 0xA0
#define READ_NVR 0x50
// DMM special bits
#define DMM_BLINK (1 << 4)
#define DMM_INVERT_PIXEL_COLOR (1 << 3)
#define DMM_CLEAR_DISPLAY (1 << 2)
#define DMM_CLEAR_DISPLAY_VERT (DMM_CLEAR_DISPLAY | 1 << 1)
#define DMM_AUTOINCREMENT (1 << 0)
// time to check video signal format
#define VIDEO_SIGNAL_CHECK_INTERVAL_MS 1000
//time to wait for input to stabilize
#define VIDEO_SIGNAL_DEBOUNCE_MS 100
//time to wait nvm flash complete
#define MAX_NVM_WAIT 10000
//black and white level
#ifndef WHITEBRIGHTNESS
#define WHITEBRIGHTNESS 0x01
#endif
#ifndef BLACKBRIGHTNESS
#define BLACKBRIGHTNESS 0x00
#endif
#define BWBRIGHTNESS ((BLACKBRIGHTNESS << 2) | WHITEBRIGHTNESS)
extern const AP_HAL::HAL &hal;
AP_OSD_MAX7456::AP_OSD_MAX7456(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev):
AP_OSD_Backend(osd), _dev(std::move(dev))
{
video_signal_reg = VIDEO_MODE_PAL | OSD_ENABLE;
video_lines = video_lines_pal;
}
bool AP_OSD_MAX7456::init()
{
uint8_t status = 0xFF;
_dev->get_semaphore()->take_blocking();
_dev->write_register(MAX7456ADD_VM0, MAX7456_RESET);
hal.scheduler->delay(1);
_dev->read_registers(MAX7456ADD_VM0|MAX7456ADD_READ, &status, 1);
_dev->get_semaphore()->give();
if (status != 0) {
return false;
}
return update_font();
}
bool AP_OSD_MAX7456::update_font()
{
uint8_t updated_chars = 0;
last_font = get_font_num();
FileData *fd = load_font_data(last_font);
if (fd == nullptr) {
return false;
}
const uint8_t *font_data = fd->data;
uint32_t font_size = fd->length;
if (font_size != NVM_RAM_SIZE * 256) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "AP_OSD: bad font size %u\n", unsigned(font_size));
delete fd;
return false;
}
for (uint16_t chr=0; chr < 256; chr++) {
const uint8_t* chr_font_data = font_data + chr*NVM_RAM_SIZE;
//check if char already up to date
if (!check_font_char(chr, chr_font_data)) {
//update char inside max7456 NVM
if (!update_font_char(chr, chr_font_data)) {
delete fd;
return false;
}
updated_chars++;
}
}
delete fd;
return true;
}
//compare char chr inside MAX7456 NVM with font_data
bool AP_OSD_MAX7456::check_font_char(uint8_t chr, const uint8_t* font_data)
{
buffer_offset = 0;
//send request to read data from NVM
buffer_add_cmd(MAX7456ADD_VM0, 0);
buffer_add_cmd(MAX7456ADD_CMAH, chr);
buffer_add_cmd(MAX7456ADD_CMM, READ_NVR);
for (uint16_t x = 0; x < NVM_RAM_SIZE; x++) {
buffer_add_cmd(MAX7456ADD_CMAL, x);
buffer_add_cmd(MAX7456ADD_CMDO, 0xFF);
}
_dev->get_semaphore()->take_blocking();
_dev->transfer(buffer, buffer_offset, buffer, buffer_offset);
_dev->get_semaphore()->give();
//skip response from MAX7456ADD_VM0/MAX7456ADD_CMAH...
buffer_offset = 9;
for (uint16_t x = 0; x < NVM_RAM_SIZE; x++) {
if (buffer[buffer_offset] != font_data[x]) {
return false;
}
//one byte per MAX7456ADD_CMAL/MAX7456ADD_CMDO pair
buffer_offset += 4;
}
return true;
}
bool AP_OSD_MAX7456::update_font_char(uint8_t chr, const uint8_t* font_data)
{
uint16_t retry;
buffer_offset = 0;
buffer_add_cmd(MAX7456ADD_VM0, 0);
buffer_add_cmd(MAX7456ADD_CMAH, chr);
for (uint16_t x = 0; x < NVM_RAM_SIZE; x++) {
buffer_add_cmd(MAX7456ADD_CMAL, x);
buffer_add_cmd(MAX7456ADD_CMDI, font_data[x]);
}
buffer_add_cmd(MAX7456ADD_CMM, WRITE_NVR);
_dev->get_semaphore()->take_blocking();
_dev->transfer(buffer, buffer_offset, nullptr, 0);
_dev->get_semaphore()->give();
for (retry = 0; retry < MAX_NVM_WAIT; retry++) {
uint8_t status = 0xFF;
hal.scheduler->delay(15);
_dev->get_semaphore()->take_blocking();
_dev->read_registers(MAX7456ADD_STAT, &status, 1);
_dev->get_semaphore()->give();
if ((status & STAT_NVR_BUSY) == 0x00) {
break;
}
}
return retry != MAX_NVM_WAIT;
}
AP_OSD_Backend *AP_OSD_MAX7456::probe(AP_OSD &osd, AP_HAL::OwnPtr<AP_HAL::Device> dev)
{
if (!dev) {
return nullptr;
}
AP_OSD_MAX7456 *backend = new AP_OSD_MAX7456(osd, std::move(dev));
if (!backend) {
return nullptr;
}
if (!backend->init()) {
delete backend;
return nullptr;
}
return backend;
}
void AP_OSD_MAX7456::buffer_add_cmd(uint8_t reg, uint8_t arg)
{
if (buffer_offset < spi_buffer_size - 1) {
buffer[buffer_offset++] = reg;
buffer[buffer_offset++] = arg;
}
}
//Thanks to betaflight for the max stall/reboot detection approach and ntsc/pal autodetection
void AP_OSD_MAX7456::check_reinit()
{
uint8_t check = 0xFF;
_dev->get_semaphore()->take_blocking();
_dev->read_registers(MAX7456ADD_VM0|MAX7456ADD_READ, &check, 1);
uint32_t now = AP_HAL::millis();
// Stall check
if (check != video_signal_reg) {
reinit();
} else if ((now - last_signal_check) > VIDEO_SIGNAL_CHECK_INTERVAL_MS) {
uint8_t sense;
// Adjust output format based on the current input format
_dev->read_registers(MAX7456ADD_STAT, &sense, 1);
if (sense & STAT_LOS) {
video_detect_time = 0;
} else {
if ((VIN_IS_PAL(sense) && VIDEO_MODE_IS_NTSC(video_signal_reg))
|| (VIN_IS_NTSC_ALT(sense) && VIDEO_MODE_IS_PAL(video_signal_reg))) {
if (video_detect_time) {
if (AP_HAL::millis() - video_detect_time > VIDEO_SIGNAL_DEBOUNCE_MS) {
reinit();
}
} else {
// Wait for signal to stabilize
video_detect_time = AP_HAL::millis();
}
}
}
last_signal_check = now;
}
_dev->get_semaphore()->give();
}
void AP_OSD_MAX7456::reinit()
{
uint8_t sense;
//do not init MAX before camera power up correctly
if (AP_HAL::millis() < 1500) {
return;
}
//check input signal format
_dev->read_registers(MAX7456ADD_STAT, &sense, 1);
if (VIN_IS_PAL(sense)) {
video_signal_reg = VIDEO_MODE_PAL | OSD_ENABLE;
video_lines = video_lines_pal;
_format = FORMAT_PAL;
} else {
video_signal_reg = VIDEO_MODE_NTSC | OSD_ENABLE;
video_lines = video_lines_ntsc;
_format = FORMAT_NTSC;
}
// set all rows to same character black/white level
for (uint8_t x = 0; x < video_lines_pal; x++) {
_dev->write_register(MAX7456ADD_RB0 + x, BWBRIGHTNESS);
}
// make sure the Max7456 is enabled
_dev->write_register(MAX7456ADD_VM0, video_signal_reg);
_dev->write_register(MAX7456ADD_VM1, BLINK_DUTY_CYCLE_50_50 | BLINK_TIME_3 | BACKGROUND_BRIGHTNESS_28);
_dev->write_register(MAX7456ADD_DMM, DMM_CLEAR_DISPLAY);
//write osd position
int8_t hos = constrain_int16(_osd.h_offset, 0, 63);
int8_t vos = constrain_int16(_osd.v_offset, 0, 31);
_dev->write_register(MAX7456ADD_HOS, hos);
_dev->write_register(MAX7456ADD_VOS, vos);
last_v_offset = _osd.v_offset;
last_h_offset = _osd.h_offset;
// force redrawing all screen
memset(shadow_frame, 0xFF, sizeof(shadow_frame));
initialized = true;
}
void AP_OSD_MAX7456::flush()
{
if (last_font != get_font_num()) {
update_font();
}
// check for offset changes
if (last_v_offset != _osd.v_offset) {
int8_t vos = constrain_int16(_osd.v_offset, 0, 31);
_dev->get_semaphore()->take_blocking();
_dev->write_register(MAX7456ADD_VOS, vos);
_dev->get_semaphore()->give();
last_v_offset = _osd.v_offset;
}
if (last_h_offset != _osd.h_offset) {
int8_t hos = constrain_int16(_osd.h_offset, 0, 63);
_dev->get_semaphore()->take_blocking();
_dev->write_register(MAX7456ADD_HOS, hos);
_dev->get_semaphore()->give();
last_h_offset = _osd.h_offset;
}
check_reinit();
transfer_frame();
}
void AP_OSD_MAX7456::transfer_frame()
{
uint16_t previous_pos = UINT16_MAX - 1;
bool autoincrement = false;
if (!initialized) {
return;
}
buffer_offset = 0;
for (uint8_t y=0; y<video_lines; y++) {
for (uint8_t x=0; x<video_columns; x++) {
if (!is_dirty(x, y)) {
continue;
}
//ensure space for 1 char and escape sequence
if (buffer_offset >= spi_buffer_size - 32) {
break;
}
shadow_frame[y][x] = frame[y][x];
uint8_t chr = frame[y][x];
uint16_t pos = y * video_columns + x;
bool position_changed = ((previous_pos + 1) != pos);
if (position_changed && autoincrement) {
//it is impossible to write to MAX7456ADD_DMAH/MAX7456ADD_DMAL in autoincrement mode
//so, exit autoincrement mode
buffer_add_cmd(MAX7456ADD_DMDI, 0xFF);
buffer_add_cmd(MAX7456ADD_DMM, 0);
autoincrement = false;
}
if (!autoincrement) {
buffer_add_cmd(MAX7456ADD_DMAH, pos >> 8);
buffer_add_cmd(MAX7456ADD_DMAL, pos & 0xFF);
}
if (!autoincrement && is_dirty(x+1, y)) {
//(re)enter autoincrement mode
buffer_add_cmd(MAX7456ADD_DMM, DMM_AUTOINCREMENT);
autoincrement = true;
}
buffer_add_cmd(MAX7456ADD_DMDI, chr);
previous_pos = pos;
}
}
if (autoincrement) {
buffer_add_cmd(MAX7456ADD_DMDI, 0xFF);
buffer_add_cmd(MAX7456ADD_DMM, 0);
autoincrement = false;
}
if (buffer_offset > 0) {
_dev->get_semaphore()->take_blocking();
_dev->transfer(buffer, buffer_offset, nullptr, 0);
_dev->get_semaphore()->give();
}
}
bool AP_OSD_MAX7456::is_dirty(uint8_t x, uint8_t y)
{
if (y>=video_lines || x>=video_columns) {
return false;
}
return frame[y][x] != shadow_frame[y][x];
}
void AP_OSD_MAX7456::clear()
{
AP_OSD_Backend::clear();
memset(frame, ' ', sizeof(frame));
}
void AP_OSD_MAX7456::write(uint8_t x, uint8_t y, const char* text)
{
if (y >= video_lines_pal || text == nullptr) {
return;
}
while ((x < VIDEO_COLUMNS) && (*text != 0)) {
frame[y][x] = *text;
++text;
++x;
}
}
// return a correction factor used to display angles correctly
float AP_OSD_MAX7456::get_aspect_ratio_correction() const
{
switch (_format) {
case FORMAT_NTSC:
return 12.0f/18.46f;
case FORMAT_PAL:
return 12.0f/15.0f;
default:
return 1.0f;
};
}
#endif // HAL_WITH_OSD_BITMAP