omnibus: initial osd driver for omnibus board

boards/omnibus/f4sd/default.cmake

@@ -42,6 +42,7 @@ px4_add_board(
 		#telemetry # all available telemetry drivers
 		telemetry/frsky_telemetry
 		#test_ppm
+		osd
 
 	MODULES
 		attitude_estimator_q

boards/omnibus/f4sd/src/board_config.h

@@ -167,6 +167,7 @@
 #define GPIO_SPI3_MOSI_OFF           _PIN_OFF(GPIO_SPI3_MOSI)
 /* SPI 3 CS's  off */
 #define GPIO_SPI3_CS_BARO_OFF        _PIN_OFF(GPIO_SPI3_CS_BARO)
+#define GPIO_SPI3_CS_OSD_OFF        _PIN_OFF(GPIO_SPI3_CS_OSD)
 
 // One device per bus
 #define PX4_SPI_BUS_SENSORS         1
@@ -174,6 +175,7 @@
 #define PX4_SPIDEV_ICM_20602        1
 #define PX4_SPIDEV_BARO_BUS         3
 #define PX4_SPIDEV_BARO             1
+#define PX4_SPIDEV_OSD              2
 
 /* USB OTG FS
  *
@@ -186,6 +188,7 @@
 /*----------------------------------------------------------*/
 
 #define PX4_SPI_BUS_BARO         3
+#define PX4_SPI_BUS_OSD			 3
 
 #define PX4_I2C_BUS_EXPANSION    2
 #define PX4_I2C_BUS_LED          PX4_I2C_BUS_EXPANSION

boards/omnibus/f4sd/src/spi.c

@@ -76,6 +76,7 @@ __EXPORT void stm32_spiinitialize()
 	stm32_configgpio(GPIO_SPI_CS_MEMS);
 	stm32_configgpio(GPIO_SPI_CS_SDCARD);
 	stm32_configgpio(GPIO_SPI3_CS_BARO);
+	stm32_configgpio(GPIO_SPI3_CS_OSD);
 }
 
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
@@ -107,6 +108,7 @@ __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
 	UNUSED(devid);
 	/* SPI select is active low, so write !selected to select the device */
 	px4_arch_gpiowrite(GPIO_SPI3_CS_BARO, !selected);
+	px4_arch_gpiowrite(GPIO_SPI3_CS_OSD, !selected);
 }
 
 __EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
@@ -138,6 +140,8 @@ __EXPORT void board_spi_reset(int ms)
 	/* disable SPI bus 3  CS */
 	stm32_configgpio(GPIO_SPI3_CS_BARO_OFF);
 	stm32_gpiowrite(GPIO_SPI3_CS_BARO_OFF, 0);
+	stm32_configgpio(GPIO_SPI3_CS_OSD_OFF);
+	stm32_gpiowrite(GPIO_SPI3_CS_OSD_OFF, 0);
 
 	/* disable SPI bus 1*/
 	stm32_configgpio(GPIO_SPI1_SCK_OFF);

src/drivers/osd/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__osd
+	MAIN osd
+	SRCS
+		osd.cpp
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/osd/osd.h

@@ -0,0 +1,199 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/**
+ * @file osd.h
+ * @author Daniele Pettenuzzo
+ *
+ * Driver for the ATXXXX chip on the omnibus fcu connected via SPI.
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <perf/perf_counter.h>
+#include <parameters/param.h>
+#include <px4_getopt.h>
+#include <px4_workqueue.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/spi.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_status.h>
+
+/* Configuration Constants */
+#ifdef PX4_SPI_BUS_OSD
+#define OSD_BUS PX4_SPI_BUS_OSD
+#else
+#error "add the required spi bus from board_config.h here"
+#endif
+
+#ifdef PX4_SPIDEV_OSD
+#define OSD_SPIDEV PX4_SPIDEV_OSD
+#else
+#error "add the required spi bus from board_config.h here"
+#endif
+
+#define OSD_SPI_BUS_SPEED (2000000L) /*  2 MHz  */
+
+#define DIR_READ(a) ((a) | (1 << 7))
+#define DIR_WRITE(a) ((a) & 0x7f)
+
+#define OSD_DEVICE_PATH "/dev/osd"
+
+#define OSD_US 1000 /*  1 ms  */
+#define OSD_UPDATE_RATE 500000 /*  2 Hz  */
+#define OSD_CHARS_PER_ROW	30
+#define OSD_ZERO_BYTE 0x00
+#define OSD_PAL_TX_MODE 0x40
+
+/* OSD Registers addresses */
+
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class OSD : public device::SPI
+{
+public:
+	OSD(int bus = OSD_BUS);
+
+	virtual ~OSD();
+
+	virtual int init();
+
+	virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
+
+	virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
+
+	/**
+	* Diagnostics - print some basic information about the driver.
+	*/
+	void print_info();
+
+	/**
+	* Initialise the automatic measurement state machine and start it.
+	*
+	* @note This function is called at open and error time.  It might make sense
+	*       to make it more aggressive about resetting the bus in case of errors.
+	*/
+	void start();
+
+protected:
+	virtual int probe();
+
+private:
+	work_s _work;
+
+	int _measure_ticks;
+
+	perf_counter_t _sample_perf;
+	perf_counter_t _comms_errors;
+
+	param_t _p_tx_mode;
+	int32_t _tx_mode;
+
+	int _battery_sub;
+	int _local_position_sub;
+	int _vehicle_status_sub;
+
+	bool _on;
+
+	// battery
+	float _battery_voltage_filtered_v;
+	float _battery_discharge_mah;
+	bool _battery_valid;
+
+	// altitude
+	float _local_position_z;
+	bool _local_position_valid;
+
+	// flight time
+	uint8_t _arming_state;
+	uint64_t _arming_timestamp;
+
+	/**
+	* Stop the automatic measurement state machine.
+	*/
+	void stop();
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	void cycle();
+
+	int reset();
+
+	int init_osd();
+
+	int readRegister(unsigned reg, uint8_t *data, unsigned count);
+	int writeRegister(unsigned reg, uint8_t data);
+
+	int add_character_to_screen(char c, uint8_t pos_x, uint8_t pos_y);
+	int add_battery_symbol(uint8_t pos_x, uint8_t pos_y);
+	int add_battery_info(uint8_t pos_x, uint8_t pos_y);
+	int add_altitude_symbol(uint8_t pos_x, uint8_t pos_y);
+	int add_altitude(uint8_t pos_x, uint8_t pos_y);
+	int add_flighttime_symbol(uint8_t pos_x, uint8_t pos_y);
+	int add_flighttime(float flight_time, uint8_t pos_x, uint8_t pos_y);
+
+	int enable_screen();
+	int disable_screen();
+
+	int update_topics();
+	int	update_screen();
+
+	/**
+	* Static trampoline from the workq context; because we don't have a
+	* generic workq wrapper yet.
+	*
+	* @param arg		Instance pointer for the driver that is polling.
+	*/
+	static void cycle_trampoline(void *arg);
+
+
+};
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int osd_main(int argc, char *argv[]);

src/drivers/osd/osd_params.c

@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+* ATXXX OSD Chip
+*
+* Select Transmission Standard
+*
+* @value 0 NTSC
+* @value 1 PAL
+*
+* @reboot_required true
+*
+*/
+PARAM_DEFINE_INT32(OSD_TX_MODE, 0);