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add display

master
z 5 years ago
parent
b23fb46d79
commit
f101648e41
9 changed files with 526 additions and 30 deletions
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  1. 29
      ArduCopter/motors.cpp
  2. 5
      libraries/AP_Arming/AP_Arming.cpp
  3. 4
      libraries/AP_Arming/AP_Arming.h
  4. 4
      libraries/AP_Camera/AP_Camera.cpp
  5. 6
      libraries/AP_Camera/AP_Camera.h
  6. 22
      libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
  7. 2
      libraries/AP_Notify/AP_Notify.h
  8. 463
      libraries/AP_Notify/Display.cpp
  9. 21
      libraries/AP_Notify/Display.h

29
ArduCopter/motors.cpp
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@ -26,24 +26,34 @@ void Copter::arm_motors_check()
} }
#endif #endif
int16_t yaw_in = channel_yaw->get_control_in();
int16_t pitch_in = channel_pitch->get_control_in();
int16_t roll_in = channel_roll->get_control_in();
int16_t throttle_in = channel_throttle->get_control_in();
static const uint16_t trim_trg_value = arming.get_rudder_arm_value()*40;
static const int8_t con_arm_delay = arming.get_rudder_arm_time();
// static uint8_t cnt;
// cnt++;
// if(cnt%20 == 0)
// gcs().send_text(MAV_SEVERITY_INFO,"v:%4d,t:%4d,y:%4d,p:%4d,r:%4d",trim_trg_value,throttle_in,yaw_in,pitch_in,roll_in);
// ensure throttle is down // ensure throttle is down
if (channel_throttle->get_control_in() > 0) { if (throttle_in > 1000-arming.get_rudder_arm_value()*10) {
arming_counter = 0; arming_counter = 0;
return; return;
} }
int16_t yaw_in = channel_yaw->get_control_in();
// full right // full right
if (yaw_in > 4000) { // if (yaw_in > 4000) {
if(yaw_in>trim_trg_value&&pitch_in>trim_trg_value&&roll_in< -trim_trg_value){
// increase the arming counter to a maximum of 1 beyond the auto trim counter // increase the arming counter to a maximum of 1 beyond the auto trim counter
if (arming_counter <= AUTO_TRIM_DELAY) { if (arming_counter <= AUTO_TRIM_DELAY) {
arming_counter++; arming_counter++;
} }
// arm the motors and configure for flight // arm the motors and configure for flight
if (arming_counter == ARM_DELAY && !motors->armed()) { // if (arming_counter == ARM_DELAY && !motors->armed()) {
if (arming_counter == con_arm_delay && !motors->armed()) {
// reset arming counter if arming fail // reset arming counter if arming fail
if (!arming.arm(AP_Arming::Method::RUDDER)) { if (!arming.arm(AP_Arming::Method::RUDDER)) {
arming_counter = 0; arming_counter = 0;
@ -58,19 +68,22 @@ void Copter::arm_motors_check()
} }
// full left and rudder disarming is enabled // full left and rudder disarming is enabled
} else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) { // } else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
} else if((yaw_in<-trim_trg_value&&pitch_in>trim_trg_value&&roll_in>trim_trg_value)&&(arming_rudder==AP_Arming::RudderArming::ARMDISARM)){
if (!flightmode->has_manual_throttle() && !ap.land_complete) { if (!flightmode->has_manual_throttle() && !ap.land_complete) {
arming_counter = 0; arming_counter = 0;
return; return;
} }
// increase the counter to a maximum of 1 beyond the disarm delay // increase the counter to a maximum of 1 beyond the disarm delay
if (arming_counter <= DISARM_DELAY) { // if (arming_counter <= DISARM_DELAY) {
if (arming_counter <= con_arm_delay) {
arming_counter++; arming_counter++;
} }
// disarm the motors // disarm the motors
if (arming_counter == DISARM_DELAY && motors->armed()) { // if (arming_counter == DISARM_DELAY && motors->armed()) {
if (arming_counter == con_arm_delay && motors->armed()) {
arming.disarm(); arming.disarm();
} }

5
libraries/AP_Arming/AP_Arming.cpp
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@ -115,6 +115,11 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("CHECK", 8, AP_Arming, checks_to_perform, ARMING_CHECK_ALL), AP_GROUPINFO("CHECK", 8, AP_Arming, checks_to_perform, ARMING_CHECK_ALL),
// @Brown ,摇杆解锁延时， *0.1s
AP_GROUPINFO("DELAY", 9, AP_Arming, rudder_arm_delay_dsec, 5),
// @Brown ,摇杆解锁量，百分比
AP_GROUPINFO("VPERC", 10, AP_Arming, rudder_arm_value_perc, 90),
AP_GROUPEND AP_GROUPEND
}; };

4
libraries/AP_Arming/AP_Arming.h
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@ -79,6 +79,8 @@ public:
}; };
RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); } RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
int8_t get_rudder_arm_time() const { return rudder_arm_delay_dsec.get(); }
int8_t get_rudder_arm_value() const { return rudder_arm_value_perc.get(); }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -89,6 +91,8 @@ protected:
AP_Int32 checks_to_perform; // bitmask for which checks are required AP_Int32 checks_to_perform; // bitmask for which checks are required
AP_Float accel_error_threshold; AP_Float accel_error_threshold;
AP_Int8 _rudder_arming; AP_Int8 _rudder_arming;
AP_Int8 rudder_arm_delay_dsec;
AP_Int8 rudder_arm_value_perc;
AP_Int32 _required_mission_items; AP_Int32 _required_mission_items;
// internal members // internal members

4
libraries/AP_Camera/AP_Camera.cpp
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@ -156,6 +156,8 @@ void AP_Camera::trigger_pic()
} }
log_picture(); log_picture();
AP_Notify::flags.image_index_log = number_of_log();
AP_Notify::flags.image_index = number_of_index();
} }
/// de-activate the trigger after some delay, but without using a delay() function /// de-activate the trigger after some delay, but without using a delay() function
@ -410,12 +412,14 @@ void AP_Camera::log_picture()
logger->Write_Camera(current_loc); logger->Write_Camera(current_loc);
last_pos_lat = current_loc.lat; last_pos_lat = current_loc.lat;
last_pos_lng = current_loc.lng; last_pos_lng = current_loc.lng;
_image_index_log++;
} }
} else { } else {
if (logger->should_log(log_camera_bit)) { if (logger->should_log(log_camera_bit)) {
logger->Write_Trigger(current_loc); logger->Write_Trigger(current_loc);
last_pos_lat = current_loc.lat; last_pos_lat = current_loc.lat;
last_pos_lng = current_loc.lng; last_pos_lng = current_loc.lng;
_image_index_log++;
} }
} }
} }

6
libraries/AP_Camera/AP_Camera.h
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@ -78,6 +78,12 @@ public:
void get_last_trigger_pos(int32_t &lat,int32_t &lng){ lat=last_pos_lat;lng=last_pos_lng; } // @Brown,for get camera pos void get_last_trigger_pos(int32_t &lat,int32_t &lng){ lat=last_pos_lat;lng=last_pos_lng; } // @Brown,for get camera pos
// modivy by @Brown
uint16_t number_of_log(void) const { return _image_index_log; }
uint16_t number_of_index(void) const { return _image_index; }
uint16_t _image_index_log; // number of pictures taken to log @Brown
private: private:
static AP_Camera *_singleton; static AP_Camera *_singleton;

22
libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
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@ -160,20 +160,20 @@ PD0 UART4_RX UART4 NODMA
PD1 UART4_TX UART4 NODMA PD1 UART4_TX UART4 NODMA
# # USART6 is telem3 # # USART6 is telem3
PG9 USART6_RX USART6 NODMA
# we leave PG14 as an input to prevent it acting as a pullup
# on the IOMCU SBUS input
# PG14 USART6_TX USART6 NODMA
PG15 USART6_CTS USART6
PG8 USART6_RTS USART6
# # USART6 is telem3 for cube
# PG9 USART6_RX USART6 NODMA # PG9 USART6_RX USART6 NODMA
# # we leave PG14 as an input to prevent it acting as a pullup # # we leave PG14 as an input to prevent it acting as a pullup
# # on the IOMCU SBUS input # # on the IOMCU SBUS input
# PG14 USART6_TX USART6 NODMA # # PG14 USART6_TX USART6 NODMA
# # PG15 USART6_CTS USART6 # PG15 USART6_CTS USART6
# # PG8 USART6_RTS USART6 # PG8 USART6_RTS USART6
# # USART6 is telem3 for cube
PG9 USART6_RX USART6 NODMA
# we leave PG14 as an input to prevent it acting as a pullup
# on the IOMCU SBUS input
PG14 USART6_TX USART6 NODMA
# PG15 USART6_CTS USART6
# PG8 USART6_RTS USART6
# UART7 is debug # UART7 is debug
PF6 UART7_RX UART7 NODMA PF6 UART7_RX UART7 NODMA

2
libraries/AP_Notify/AP_Notify.h
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@ -100,6 +100,8 @@ public:
bool waiting_for_throw; // true when copter is in THROW mode and waiting to detect the user hand launch bool waiting_for_throw; // true when copter is in THROW mode and waiting to detect the user hand launch
bool powering_off; // true when the vehicle is powering off bool powering_off; // true when the vehicle is powering off
bool video_recording; // true when the vehicle is recording video bool video_recording; // true when the vehicle is recording video
uint16_t image_index ; // camera images ,add by @Brown
uint16_t image_index_log ; // camera images to log
}; };
/// notify_events_type - bitmask of active events. /// notify_events_type - bitmask of active events.

463
libraries/AP_Notify/Display.cpp
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@ -322,6 +322,197 @@ static_assert(ARRAY_SIZE(_font) == 1280, "_font is correct size");
static_assert(ARRAY_SIZE(_font) == 475, "_font is correct size"); static_assert(ARRAY_SIZE(_font) == 475, "_font is correct size");
#endif #endif
static const unsigned char _font_16[]=
{
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};
/// 致(0) 睿(1) 智(2) 控(3) 云(4) 台(5)
static unsigned char ZRZKYT[][32]={
{0x00,0x00,0xFF,0x05,0x05,0xF5,0x55,0x5D,0x55,0x55,0x55,0x55,0xF5,0x05,0x01,0x00},
{0x40,0x30,0x0F,0x80,0xA0,0x97,0xBD,0x55,0x55,0x55,0x55,0x55,0xB7,0x80,0x80,0x00},/*"厦",0*/
{0x00,0xF8,0x01,0x06,0x00,0x00,0x02,0x02,0x02,0x02,0x02,0x02,0x02,0xFE,0x00,0x00},
{0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x40,0x80,0x7F,0x00,0x00},/*"门",1*/
{0x42,0x62,0x5A,0xC6,0x52,0x62,0xC2,0x20,0xD8,0x17,0x10,0x10,0xF0,0x10,0x10,0x00},
{0x40,0xC4,0x44,0x7F,0x24,0x24,0xA0,0x40,0x21,0x16,0x08,0x16,0x21,0x40,0x80,0x00},/*"致",2*/
{0x20,0x18,0x88,0xA8,0x68,0x28,0xA8,0x6F,0xAA,0x2A,0x6A,0xAA,0x0A,0x28,0x18,0x00},
{0x04,0x04,0x02,0xFE,0xAB,0xAB,0xAA,0xAA,0xAA,0xAB,0xAB,0xFE,0x02,0x04,0x04,0x00},/*"睿",3*/
{0x10,0x94,0x53,0x32,0x1E,0x32,0x52,0x10,0x00,0x7E,0x42,0x42,0x42,0x7E,0x00,0x00},
{0x00,0x00,0x00,0xFF,0x49,0x49,0x49,0x49,0x49,0x49,0x49,0xFF,0x00,0x00,0x00,0x00},/*"智",4*/
{0x10,0x10,0x10,0xFF,0x90,0x20,0x98,0x48,0x28,0x09,0x0E,0x28,0x48,0xA8,0x18,0x00},
{0x02,0x42,0x81,0x7F,0x00,0x40,0x40,0x42,0x42,0x42,0x7E,0x42,0x42,0x42,0x40,0x00},/*"控",5*/
};
unsigned char gImage_zr12864[] = {
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x08,0x38,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,
0xF8,0xF8,0xF8,0xF8,0x78,0x18,0x00,0xC0,0xF0,0xF0,0xF0,0xE0,0xC0,0x80,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x10,0xB0,0xF0,0x70,0x30,0x30,0x30,0xB0,0x30,
0x00,0xC0,0xF0,0x30,0x30,0x30,0x30,0xF0,0xF0,0x30,0x00,0x00,0x00,0x00,0xC0,0xC0,
0x40,0x78,0x78,0x50,0x50,0x50,0x50,0x50,0x50,0x50,0x50,0x50,0x50,0xD0,0xD0,0xC0,
0x00,0x00,0x00,0x00,0x00,0xF0,0xB0,0x90,0xF0,0xF0,0xB0,0x90,0x90,0x80,0x00,0xF0,
0xF0,0x30,0x30,0x30,0xF0,0xF0,0x00,0x00,0x00,0x00,0xC0,0xC0,0xF8,0xF0,0xC0,0x00,
0x00,0xF0,0xF0,0x30,0x30,0x30,0x38,0x38,0x30,0x30,0xF0,0xF0,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x03,0x83,0xE3,0xFB,0xFF,0xFF,0xFF,0x7F,
0x3F,0x0F,0x83,0xE0,0xF8,0xFE,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFC,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x67,0x67,0x66,0xFE,0xFE,0x66,0x67,0x67,
0x00,0x01,0x03,0x98,0xF8,0xF0,0xFC,0x0F,0x03,0x00,0x00,0x00,0x00,0x00,0x01,0xF5,
0xF4,0xB5,0xBD,0xBF,0xBF,0xA9,0xA9,0xA9,0xAF,0xBF,0xBF,0xBD,0xBC,0xF4,0xF5,0x01,
0x00,0x00,0x00,0x00,0x00,0xEC,0xE4,0x36,0x37,0x33,0x37,0x34,0x3C,0x30,0x30,0x37,
0x37,0x36,0x36,0xF6,0xE7,0xE7,0x00,0x00,0x00,0x00,0x60,0x60,0xFF,0xFF,0x30,0x10,
0x00,0x05,0x67,0x66,0x63,0x63,0xE0,0xE0,0x63,0x66,0x66,0x65,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x80,0xC0,0xF0,0xFC,0xFF,0xFF,0xFF,0x7F,0x1F,0x87,0x01,0x10,
0x7C,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x7F,0x3F,0x1F,0x0F,0x03,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x88,0x88,0x8C,0x8C,0x8F,0x0F,0x0C,0x8C,0x04,
0x00,0x00,0x8E,0x07,0x01,0x80,0x03,0x07,0x0E,0x00,0x00,0x00,0x80,0x80,0x80,0x0F,
0x0F,0x0A,0x8A,0x0A,0x0A,0x0A,0x8A,0x0A,0x0A,0x8A,0x0A,0x0A,0x0A,0x0F,0x0F,0x00,
0x80,0x80,0x80,0x80,0x00,0x0F,0x8F,0x09,0x09,0x09,0x89,0x09,0x09,0x89,0x09,0x09,
0x09,0x09,0x09,0x0F,0x8F,0x0F,0x00,0x00,0x80,0x00,0x08,0x88,0x8F,0x8F,0x00,0x00,
0x00,0x88,0x88,0x08,0x08,0x88,0x0F,0x0F,0x08,0x08,0x88,0x88,0x80,0x00,0x00,0x00,
0x00,0x00,0x00,0x3E,0x3F,0x3F,0x3F,0x1F,0x0F,0x03,0x20,0x38,0x3E,0x3F,0x3F,0x3E,
0x38,0x01,0x03,0x0F,0x3F,0x3F,0x3F,0x3F,0x3F,0x3F,0x3F,0x3E,0x38,0x20,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x38,0x24,0x23,0x21,0x00,0x00,0x3F,0x04,
0x04,0x04,0x3F,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,0x00,0x00,0x3F,0x04,0x04,0x3B,
0x00,0x00,0x1F,0x20,0x20,0x20,0x1F,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,0x00,0x00,
0x30,0x28,0x26,0x23,0x00,0x00,0x3F,0x04,0x04,0x04,0x3F,0x00,0x00,0x3F,0x00,0x00,
0x00,0x00,0x00,0x00,0x3F,0x06,0x0A,0x11,0x20,0x00,0x1F,0x20,0x20,0x20,0x1F,0x00,
0x00,0x3F,0x03,0x06,0x18,0x3F,0x00,0x00,0x0E,0x11,0x20,0x20,0x24,0x1C,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,/*"d:\Users\z\Pictures\应用\转尺寸\ZR12864w2.bmp",0*/
};
bool Display::init(void) bool Display::init(void)
{ {
// exit immediately if already initialised // exit immediately if already initialised
@ -399,6 +590,9 @@ void Display::update()
void Display::update_all() void Display::update_all()
{ {
update_display_manual();
return;
update_text(0); update_text(0);
update_mode(1); update_mode(1);
update_battery(2); update_battery(2);
@ -433,21 +627,62 @@ void Display::draw_char(uint16_t x, uint16_t y, const char c)
{ {
uint8_t line; uint8_t line;
static uint8_t Size = 16;
uint8_t i,j;
// draw char to pixel // draw char to pixel
for (uint8_t i = 0; i < 6; i++) { if(Size == 16)
if (i == 5) { {
line = 0; for ( i = 0; i < 9; i++) {
} else { if (i == 8) {
line = _font[(c * 5) + i]; line = 0;
} else {
line = _font_16[(c * 16) + i];
}
for ( j = 0; j < 8; j++) {
if (line & 1) {
_driver->set_pixel(x + i, y + j );
} else {
_driver->clear_pixel(x + i, y + j );
}
line >>= 1;
}
} }
for (uint8_t j = 0; j < 8; j++) { for ( i = 0; i < 9; i++) {
if (line & 1) { if (i == 8) {
_driver->set_pixel(x + i, y + j); line = 0;
} else { } else {
_driver->clear_pixel(x + i, y + j); line = _font_16[(c * 16) + 8 + i];
}
for ( j = 0; j < 8; j++) {
if (line & 1) {
_driver->set_pixel(x + i, y + 8 + j);
} else {
_driver->clear_pixel(x + i, y + 8 + j);
}
line >>= 1;
}
}
}else{
for ( i = 0; i < 6; i++) {
if (i == 5) {
line = 0;
} else {
line = _font[(c * 5) + i];
}
for ( j = 0; j < 8; j++) {
if (line & 1) {
_driver->set_pixel(x + i, y + j);
} else {
_driver->clear_pixel(x + i, y + j);
}
line >>= 1;
} }
line >>= 1;
} }
} }
} }
@ -523,9 +758,14 @@ void Display::update_ekf(uint8_t r)
void Display::update_battery(uint8_t r) void Display::update_battery(uint8_t r)
{ {
// char msg [DISPLAY_MESSAGE_SIZE];
// snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP::battery().voltage()) ;
// draw_text(COLUMN(0), ROW(r), msg);
char msg [DISPLAY_MESSAGE_SIZE]; char msg [DISPLAY_MESSAGE_SIZE];
snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP::battery().voltage()) ; snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %2.1fV,GPS:%2u", (double)AP::battery().voltage(), (unsigned)AP_Notify::flags.gps_num_sats) ;
draw_text(COLUMN(0), ROW(r), msg); draw_text(COLUMN(0), ROW(r), msg);
} }
void Display::update_mode(uint8_t r) void Display::update_mode(uint8_t r)
@ -580,3 +820,204 @@ void Display::update_text(uint8_t r)
draw_text(COLUMN(0), ROW(0), msg); draw_text(COLUMN(0), ROW(0), msg);
} }
void Display::draw_chinese(uint8_t x,uint8_t y,unsigned char hz[][32],uint8_t no)
{
uint8_t i,j,line = 0;
for ( i = 0; i < 17; i++) {
if (i == 16) {
line = 0;
} else {
line = hz[2 * no][i];
}
for ( j = 0; j < 8; j++) {
if (line & 1) {
_driver->set_pixel(x + i, y + j );
} else {
_driver->clear_pixel(x + i, y + j );
}
line >>= 1;
}
}
for ( i = 0; i < 17; i++) {
if (i == 16) {
line = 0;
} else {
line = hz[2 * no + 1][i];
}
for ( j = 0; j < 8; j++) {
if (line & 1) {
_driver->set_pixel(x + i, y + 8 + j);
} else {
_driver->clear_pixel(x + i, y + 8 + j);
}
line >>= 1;
}
}
}
void Display::draw_BMP(uint8_t x0,uint8_t y0,uint8_t x1,uint8_t y1,unsigned char BMP[])
{
uint16_t i = 0;
uint16_t j = 0;
uint8_t x,y;
uint8_t line = BMP[0];
// if(y1%8 == 0)
// y = y1/8;
// else
// y = y1/8 +1;
for(y=0; y<64; y+=8)
{
for(x=0; x<128; x++)
{
line = BMP[i++];
for ( j = 0; j < 8; j++) {
if (line & 1) {
_driver->set_pixel(x, y + j);
} else {
_driver->clear_pixel(x + i, y + j);
}
line >>= 1;
}
}
}
}
void Display::display_clear(void)
{
for(int i = 0; i < 64; i++)
{
for(int j = 0; j<128; j++){
_driver->clear_pixel(j , i);
}
}
}
void Display::update_chinese(uint8_t r)
{
draw_chinese(COLUMN(0), ROW(r),ZRZKYT,0);
draw_chinese(COLUMN(3), ROW(r),ZRZKYT,1);
draw_chinese(COLUMN(6), ROW(r),ZRZKYT,2);
draw_chinese(COLUMN(9), ROW(r),ZRZKYT,3);
draw_chinese(COLUMN(12), ROW(r),ZRZKYT,4);
draw_chinese(COLUMN(15), ROW(r),ZRZKYT,5);
}
void Display::update_camera(uint8_t r)
{
// char msg [DISPLAY_MESSAGE_SIZE];
// snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %2.2fV,GPS:%2u", (double)AP::battery().voltage(), (unsigned)AP_Notify::flags.gps_num_sats) ;
// draw_text(COLUMN(0), ROW(r), msg);
char msg2 [DISPLAY_MESSAGE_SIZE];
snprintf(msg2, DISPLAY_MESSAGE_SIZE, "IMG: %4d,L: %4d ", AP_Notify::flags.image_index,AP_Notify::flags.image_index_log) ;
draw_text(COLUMN(0), ROW(r), msg2);
}
void Display::update_display_manual()
{
static uint8_t time_cnt;
static uint8_t display_stage = 1;
// if (time_cnt++ > 10) {
// time_cnt = 0;
// display_stage++;
// }
// if(display_stage>5)
// display_stage = 1;
RESTART1:
switch (display_stage)
{
case 1:
display_clear();
display_stage = 2;
case 2:
draw_BMP(0,0,128,8,gImage_zr12864); // 绘制图片
if (time_cnt++ > 10) {
time_cnt = 0;
display_stage++;
}
break;
case 3:
display_clear();
display_stage = 4;
case 4:
// update_text(0);
update_chinese(0);
update_camera(2);
update_battery(4);
break;
// case 5:
// // update_text(0);
// update_chinese(0);
// // update_gps(2);
// update_camera(4);
// break;
// case 6:
// display_stage = 1;
// goto RESTART1;
// // update_text(0);
// update_chinese(0);
// update_mode(2);
// update_battery(4);
// break;
// case 7:
// // update_text(0);
// update_chinese(0);
// update_gps(2);
// update_camera(4);
// break;
// case 8:
// display_stage = 1;
// goto RESTART1;
default:
break;
}
}
/*
check if feedback pin is high
*/
// void Display::trigger_pin_timer(void)
// {
// int8_t dpin = hal.gpio->analogPinToDigitalPin(_feedback_pin);
// if (dpin == -1) {
// return;
// }
// // ensure we are in input mode
// hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
// // enable pullup
// hal.gpio->write(dpin, 1);
// uint8_t pin_state = hal.gpio->read(dpin);
// uint8_t trigger_polarity = _feedback_polarity==0?0:1;
// if (pin_state == trigger_polarity &&
// _last_pin_state != trigger_polarity) {
// _page_turn = true;
// }
// _last_pin_state = pin_state;
// }

21
libraries/AP_Notify/Display.h
Unescape View File

@ -16,6 +16,8 @@ public:
bool init(void) override; bool init(void) override;
void update() override; void update() override;
void update_display_manual();
private: private:
void draw_char(uint16_t x, uint16_t y, const char c); void draw_char(uint16_t x, uint16_t y, const char c);
void draw_text(uint16_t x, uint16_t y, const char *c); void draw_text(uint16_t x, uint16_t y, const char *c);
@ -30,6 +32,15 @@ private:
void update_text(uint8_t r); void update_text(uint8_t r);
void update_text_empty(uint8_t r); void update_text_empty(uint8_t r);
void draw_chinese(uint8_t x,uint8_t y,unsigned char hz[][32],uint8_t no);
void update_chinese(uint8_t r);
void update_camera(uint8_t r);
void display_clear(void);
void draw_BMP(uint8_t x0,uint8_t y0,uint8_t x1,uint8_t y1,unsigned char BMP[]);
Display_Backend *_driver; Display_Backend *_driver;
uint8_t _mstartpos; // ticker shift position uint8_t _mstartpos; // ticker shift position
@ -38,5 +49,15 @@ private:
// stop showing text in display after this many millis: // stop showing text in display after this many millis:
const uint16_t _send_text_valid_millis = 20000; const uint16_t _send_text_valid_millis = 20000;
/////////////////// @Brown ///////////////////
// void trigger_pin_timer(void);
// AP_Int8 _feedback_pin;
// AP_Int8 _feedback_polarity;
// uint8_t _last_pin_state;
// bool _page_turn;
// bool _timer_installed = false;
/////////////////////////////////////////////
}; };

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