zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

add display

master
z 5 years ago
parent
b23fb46d79
commit
f101648e41
9 changed files with 526 additions and 30 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  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. 447
      libraries/AP_Notify/Display.cpp
  9. 21
      libraries/AP_Notify/Display.h

29
ArduCopter/motors.cpp
Unescape View File

@ -26,24 +26,34 @@ void Copter::arm_motors_check() @@ -26,24 +26,34 @@ void Copter::arm_motors_check()
}
#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
if (channel_throttle->get_control_in() > 0) {
if (throttle_in > 1000-arming.get_rudder_arm_value()*10) {
arming_counter = 0;
return;
}
int16_t yaw_in = channel_yaw->get_control_in();
// 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
if (arming_counter <= AUTO_TRIM_DELAY) {
arming_counter++;
}
// 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
if (!arming.arm(AP_Arming::Method::RUDDER)) {
arming_counter = 0;
@ -58,19 +68,22 @@ void Copter::arm_motors_check() @@ -58,19 +68,22 @@ void Copter::arm_motors_check()
}
// 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) {
arming_counter = 0;
return;
}
// 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++;
}
// 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();
}

5
libraries/AP_Arming/AP_Arming.cpp
Unescape View File

@ -115,6 +115,11 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = { @@ -115,6 +115,11 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @User: Standard
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
};

4
libraries/AP_Arming/AP_Arming.h
Unescape View File

@ -79,6 +79,8 @@ public: @@ -79,6 +79,8 @@ public:
};
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[];
@ -89,6 +91,8 @@ protected: @@ -89,6 +91,8 @@ protected:
AP_Int32 checks_to_perform; // bitmask for which checks are required
AP_Float accel_error_threshold;
AP_Int8 _rudder_arming;
AP_Int8 rudder_arm_delay_dsec;
AP_Int8 rudder_arm_value_perc;
AP_Int32 _required_mission_items;
// internal members

4
libraries/AP_Camera/AP_Camera.cpp
Unescape View File

@ -156,6 +156,8 @@ void AP_Camera::trigger_pic() @@ -156,6 +156,8 @@ void AP_Camera::trigger_pic()
}
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
@ -410,12 +412,14 @@ void AP_Camera::log_picture() @@ -410,12 +412,14 @@ void AP_Camera::log_picture()
logger->Write_Camera(current_loc);
last_pos_lat = current_loc.lat;
last_pos_lng = current_loc.lng;
_image_index_log++;
}
} else {
if (logger->should_log(log_camera_bit)) {
logger->Write_Trigger(current_loc);
last_pos_lat = current_loc.lat;
last_pos_lng = current_loc.lng;
_image_index_log++;
}
}
}

6
libraries/AP_Camera/AP_Camera.h
Unescape View File

@ -78,6 +78,12 @@ public: @@ -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
// 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:
static AP_Camera *_singleton;

22
libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
Unescape View File

@ -160,20 +160,20 @@ PD0 UART4_RX UART4 NODMA @@ -160,20 +160,20 @@ PD0 UART4_RX UART4 NODMA
PD1 UART4_TX UART4 NODMA
# # 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
# # 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
# # PG14 USART6_TX USART6 NODMA
# PG15 USART6_CTS 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
PF6 UART7_RX UART7 NODMA

2
libraries/AP_Notify/AP_Notify.h
Unescape View File

@ -100,6 +100,8 @@ public: @@ -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 powering_off; // true when the vehicle is powering off
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.

447
libraries/AP_Notify/Display.cpp
Unescape View File

@ -322,6 +322,197 @@ static_assert(ARRAY_SIZE(_font) == 1280, "_font is correct size"); @@ -322,6 +322,197 @@ static_assert(ARRAY_SIZE(_font) == 1280, "_font is correct size");
static_assert(ARRAY_SIZE(_font) == 475, "_font is correct size");
#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)
{
// exit immediately if already initialised
@ -399,6 +590,9 @@ void Display::update() @@ -399,6 +590,9 @@ void Display::update()
void Display::update_all()
{
update_display_manual();
return;
update_text(0);
update_mode(1);
update_battery(2);
@ -433,15 +627,55 @@ void Display::draw_char(uint16_t x, uint16_t y, const char c) @@ -433,15 +627,55 @@ void Display::draw_char(uint16_t x, uint16_t y, const char c)
{
uint8_t line;
static uint8_t Size = 16;
uint8_t i,j;
// draw char to pixel
for (uint8_t i = 0; i < 6; i++) {
if(Size == 16)
{
for ( i = 0; i < 9; i++) {
if (i == 8) {
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 ( i = 0; i < 9; i++) {
if (i == 8) {
line = 0;
} else {
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 (uint8_t j = 0; j < 8; j++) {
for ( j = 0; j < 8; j++) {
if (line & 1) {
_driver->set_pixel(x + i, y + j);
} else {
@ -451,6 +685,7 @@ void Display::draw_char(uint16_t x, uint16_t y, const char c) @@ -451,6 +685,7 @@ void Display::draw_char(uint16_t x, uint16_t y, const char c)
}
}
}
}
void Display::update_arm(uint8_t r)
{
@ -523,9 +758,14 @@ void Display::update_ekf(uint8_t r) @@ -523,9 +758,14 @@ void Display::update_ekf(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];
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);
}
void Display::update_mode(uint8_t r)
@ -580,3 +820,204 @@ void Display::update_text(uint8_t r) @@ -580,3 +820,204 @@ void Display::update_text(uint8_t r)
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: @@ -16,6 +16,8 @@ public:
bool init(void) override;
void update() override;
void update_display_manual();
private:
void draw_char(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: @@ -30,6 +32,15 @@ private:
void update_text(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;
uint8_t _mstartpos; // ticker shift position
@ -38,5 +49,15 @@ private: @@ -38,5 +49,15 @@ private:
// stop showing text in display after this many millis:
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;
/////////////////////////////////////////////
};

Write Preview
Loading…
Cancel
Save