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Improved OSD and Matek type OSD support.

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Matek osd will work now, TEXT artificial horizon is added, additional string format capabilities are given in the osd_put_s() and osd_sprintf() functions , able to inject special osd character code in to a string to be sent to the osd display
and the code now checks the osd chip's busy flag instead of waiting and hoping that the OSD is not busy.
This commit is contained in:
hendrixgr
2020-10-13 16:21:06 +03:00
committed by GitHub
parent f67172d1a6
commit 2e3721bbad
1 changed files with 136 additions and 148 deletions
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sw/airborne/modules/display/max7456.c
+136 -148
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@@ -106,7 +106,7 @@ enum osd_attributes{
R_JUST = 0x01,
C_JUST = 0x02,
};
};
uint8_t max7456_osd_status = OSD_UNINIT;
uint8_t osd_enable = true;
@@ -209,7 +209,7 @@ static float home_direction(void)
*/
/*
* WHEN home_dir = (float)(atan2(Home_PositionForPlane2.fx, (Home_PositionForPlane2.fy)));
* WHEN home_dir = (float)(atan2(Home_PositionForPlane2.fx, (Home_PositionForPlane2.fy)));
*
*
* plane front
@@ -236,7 +236,7 @@ static float home_direction(void)
-90˚ -> antenna looks backwards
*/
/* fixed to the plane*/
home_dir = (float)(atan2(Home_PositionForPlane2.fy, (Home_PositionForPlane2.fx)));
home_dir = (float)(atan2(Home_PositionForPlane2.fy, (Home_PositionForPlane2.fx)));
home_dir = DegOfRad(home_dir);
if(home_dir < 0){ home_dir += 360; }
@@ -253,8 +253,8 @@ if (max7456_osd_status == OSD_IDLE){
max7456_trans.input_length = 1;
max7456_trans.output_buf[0] = OSD_STAT_REG;
max7456_osd_status = OSD_READ_STATUS;
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
}
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
}
return;
}
@@ -273,12 +273,12 @@ if (c >= '0' && c <= '9'){
if (c == '0'){ c -= 38; }else{ c -= 48; }
}
else
if (c >= 'A' && c <= 'Z'){
c -= 54;
if (c >= 'A' && c <= 'Z'){
c -= 54;
}
else
if (c >= 'a' && c <= 'z'){
c -= 60;
if (c >= 'a' && c <= 'z'){
c -= 60;
}else{
switch (c){
@@ -307,7 +307,6 @@ return(c);
#endif
}
static void osd_put_s(char *string, uint8_t attributes, uint8_t char_nb, uint8_t row, uint8_t column)
{
@@ -316,7 +315,7 @@ char osd_buf[OSD_STRING_SIZE];
if (row > 15){ column = 15; }
if (column > 29){ column = 29; }
// translate the string and put it to the "osd_string" '\0' = 0xff
x = 0;
while (*(string+x) != '\0'){ osd_string[x] = ascii_to_osd_c(*(string+x)); x++; }
@@ -324,14 +323,14 @@ osd_string[x] = 0xff;
string_len = x;
idx = x;
if (attributes & C_JUST){
if (attributes & C_JUST){
if(char_nb%2 == 0){ char_nb++; }
post_offset = (char_nb - string_len)/2;
aft_offset = char_nb - string_len;
if( ((int8_t)column-(char_nb/2)) >= 0){ column -= (char_nb/2); }
if( ((int8_t)column-(char_nb/2)) >= 0){ column -= (char_nb/2); }
for(x=0; x<30; x++){ osd_buf[x] = 0; } // FILL WITH SPACES
// COPY THE ORIGINAL STRING TO ITS NEW POSITION
for(x=0; x<string_len; x++){ osd_buf[post_offset+x] = osd_string[x]; }
for(x=0; x<string_len; x++){ osd_buf[post_offset+x] = osd_string[x]; }
osd_buf[string_len+aft_offset] = 0xFF; // TERMINATE THE MODIFIED STRING
// COPY THE MODIFIED STRING TO MAIN OSD STRING
x = 0;
@@ -347,7 +346,7 @@ if (attributes & R_JUST){
//First shift right the string and then add spaces at the beggining
while(idx >= 0){ osd_string[idx+post_offset] = osd_string[idx]; idx--; }
idx = 0;
while(idx < post_offset){ osd_string[idx] = 0; idx++; }
while(idx < post_offset){ osd_string[idx] = 0; idx++; }
//osd_string[idx] = 0xff;
}else{
@@ -355,10 +354,10 @@ if (attributes & R_JUST){
for (x=0; x < (int8_t)(sizeof(osd_string)); x++){ if(osd_string[x] == 0xFF){ break; } }
for (; x< char_nb; x++){ osd_string[x] = 0; }
osd_string[x] = 0xff;
}
}
osd_char_address = ((uint16_t)row*30) + column;
osd_attr = (attributes & (BLINK|INVERT));
osd_attr = (attributes & (BLINK|INVERT));
//TRIGGER THE SPI TRANSFERS. The rest of the spi transfers occur in the "max7456_event" function.
if (max7456_osd_status == OSD_IDLE){
max7456_trans.output_length = 2;
@@ -406,17 +405,17 @@ param_end = 0;
}
if (param_end-param_start){
//load the special character value where the % character was
string_buf[x] = ((string_buf[param_start]-48)*100) + ((string_buf[param_start+1]-48)*10) + (string_buf[param_start+2]-48);
string_buf[x] = ((string_buf[param_start]-48)*100) + ((string_buf[param_start+1]-48)*10) + (string_buf[param_start+2]-48);
x++; // increment x to the next character which should be the first special character's digit
//Move the rest of the buffer forward so only the special character remains,
// for example in %170c '%' now has the special character's code and x now points to '1'
// which will be overwritten with the rest of the string after the 'c'
// which will be overwritten with the rest of the string after the 'c'
for (y=(x+4); y<=sizeof(string_buf); y++){ string_buf[x++] = string_buf[y]; }
}
//}while((param_end-param_start > 0));
//}while((param_end-param_start > 0));
// RESET THE USED VARIABLES JUST TO BE SAFE.
// RESET THE USED VARIABLES JUST TO BE SAFE.
x = 0;
y = 0;
param_start = 0;
@@ -424,7 +423,7 @@ param_end = 0;
// Search for the prameter start and stop positions.
while ( string_buf[x] != '\0'){
if ( string_buf[x] == '%'){
param_start = x;
param_start = x;
}else if ( string_buf[x] == 'f'){ param_end = x; break; }
x++;
@@ -466,23 +465,23 @@ if (param_end - param_start){
}else{ y--; }
}while(1);
}while(1);
// Fill the buffer with the characters in the beggining of the string if any.
for (x=0; x<param_start; x++){ *(buffer+x) = string_buf[x]; }
// x is now pointing to the next character in osd_string.
// x is now pointing to the next character in osd_string.
// y is already pointing to the first digit or negative sign in "to_asc" array.
while (y < sizeof(to_asc)){ *(buffer + x) = to_asc[y]; x++; y++; }
// x is now pointing to the next character in osd_string.
// x is now pointing to the next character in osd_string.
// "param_end" is pointing to the last format character in the string.
do{
param_end++;
param_end++;
*(buffer + x++) = string_buf[param_end];
}while(string_buf[param_end] != '\0'); //Write the rest of the string including the terminating char.
} // if (param_end - param_start){
} // End of if (param_end - param_start)
return(0);
}
@@ -548,158 +547,147 @@ float ph_y = waypoints[WP_HOME].y - pos->y;
max7456_trans.output_buf[0] = OSD_OSDBL_REG_R;
max7456_osd_status = OSD_INIT3;
spi_submit(&(MAX7456_SPI_DEV), &max7456_trans);
} else if (max7456_osd_status == OSD_IDLE && osd_enable > 0) { // DRAW THE OSD SCREEN
//draw_osd();
switch (step){
case (0):
osd_put_s("HDG", FALSE, 3, 1, 14);
step = 1;
break;
case (1):
} else if (max7456_osd_status == OSD_IDLE && osd_enable > 0) {
switch (step){
case (0):
osd_put_s("HDG", FALSE, 3, 1, 14);
step = 1;
break;
case (1):
#if !defined USE_MATEK_TYPE_OSD_CHIP || USE_MATEK_TYPE_OSD_CHIP == 0
osd_put_s("DISTANCE", FALSE, 8, 14, 12);
osd_put_s("DISTANCE", FALSE, 8, 14, 12);
#endif
step = 10;
break;
step = 10;
break;
case (10):
osd_put_s("( )", FALSE, 3, 8, 14);
step = 20;
break;
case (20):
temp = ((float)electrical.vsupply);
osd_sprintf(osd_string, "%.1fV", temp );
if (temp > LOW_BAT_LEVEL){
osd_put_s(osd_string, L_JUST, 5, 1, 1);
case (10):
osd_put_s("( )", FALSE, 3, 8, 14);
step = 20;
break;
case (20):
temp = ((float)electrical.vsupply);
osd_sprintf(osd_string, "%.1fV", temp );
if (temp > LOW_BAT_LEVEL){
osd_put_s(osd_string, L_JUST, 5, 1, 1);
}else{ osd_put_s(osd_string, L_JUST|BLINK|INVERT, 5, 1, 1); }
step = 30;
break;
case (30):
}else{ osd_put_s(osd_string, L_JUST|BLINK|INVERT, 5, 1, 1); }
step = 30;
break;
case (30):
#if OSD_USE_MAG_COMPASS && !defined(SITL)
#pragma message "OSD USES THE MAGNETIC HEADING"
temp = DegOfRad(MAG_Heading);
if (temp < 0){ temp += 360; }
temp = DegOfRad(MAG_Heading);
if (temp < 0){ temp += 360; }
#else
#pragma message "OSD USES THE GPS HEADING"
temp = DegOfRad(state.h_speed_dir_f);
if (temp < 0){ temp += 360; }
temp = DegOfRad(state.h_speed_dir_f);
if (temp < 0){ temp += 360; }
#endif
osd_sprintf(osd_string, "%.0f", temp);
osd_put_s(osd_string, C_JUST, 3, 1, 15);
step = 40;
break;
case (40):
osd_sprintf(osd_string, "%.0f KM", (state.h_speed_norm_f*3.6));
osd_put_s(osd_string, R_JUST, 6, 1, 29);
step = 42;
break;
case (42):
osd_sprintf(osd_string, "%.0fTHR", (((float)ap_state->commands[COMMAND_THROTTLE]/MAX_PPRZ)*100));
osd_put_s(osd_string, R_JUST, 5, 2, 29);
step = 50;
break;
case (50):
osd_sprintf(osd_string, "%.0f", temp);
osd_put_s(osd_string, C_JUST, 3, 1, 15);
step = 40;
break;
case (40):
osd_sprintf(osd_string, "%.0f KM", (state.h_speed_norm_f*3.6));
osd_put_s(osd_string, R_JUST, 6, 1, 29);
step = 42;
break;
case (42):
osd_sprintf(osd_string, "%.0fTHR", (((float)ap_state->commands[COMMAND_THROTTLE]/MAX_PPRZ)*100));
osd_put_s(osd_string, R_JUST, 5, 2, 29);
step = 50;
break;
case (50):
#if OSD_USE_BARO_ALTITUDE && !defined(SITL)
#pragma message "OSD ALTITUDE IS COMING FROM BAROMETER"
#if defined BARO_ALTITUDE_VAR
osd_sprintf(osd_string, "%.0fM", BARO_ALTITUDE_VAR );
osd_sprintf(osd_string, "%.0fM", BARO_ALTITUDE_VAR );
#else
#warning OSD USES THE DEFAULT BARO ALTITUDE VARIABLE
osd_sprintf(osd_string, "%.0fM", baro_alt );
osd_sprintf(osd_string, "%.0fM", baro_alt );
#endif
#else
#pragma message "ALTITUDE IS COMING FROM GPS"
osd_sprintf(osd_string, "%.0fM", GetPosAlt() );
osd_sprintf(osd_string, "%.0fM", GetPosAlt() );
#endif
osd_put_s(osd_string, L_JUST, 6, 14, 1); // "FALSE = L_JUST
step = 52;
break;
case (52):
osd_put_s(osd_string, L_JUST, 6, 14, 1); // "FALSE = L_JUST
step = 52;
break;
case (52):
#if defined USE_MATEK_TYPE_OSD_CHIP && USE_MATEK_TYPE_OSD_CHIP == 1
// ANY SPECIAL CHARACTER CODE MUST BE A 3 DIGIT NUMBER WITH THE LEADING ZEROS!!!!
// THE SPECIAL CHARACTER CAN BE PLACED BEFORE OR AFTER THE FLOAT OR ANY OTHER CHARACTER
osd_sprintf(osd_string, "%191c%.0f", home_direction() );
osd_put_s(osd_string, C_JUST, 4, 2, 15); // "FALSE = L_JUST
// ANY SPECIAL CHARACTER CODE MUST BE A 3 DIGIT NUMBER WITH THE LEADING ZEROS!!!!
// THE SPECIAL CHARACTER CAN BE PLACED BEFORE OR AFTER THE FLOAT OR ANY OTHER CHARACTER
osd_sprintf(osd_string, "%191c%.0f", home_direction() );
osd_put_s(osd_string, C_JUST, 4, 2, 15); // "FALSE = L_JUST
#else
osd_sprintf(osd_string, "H%.0f", home_direction() );
osd_put_s(osd_string, C_JUST, 4, 2, 15); // "FALSE = L_JUST
osd_sprintf(osd_string, "H%.0f", home_direction() );
osd_put_s(osd_string, C_JUST, 4, 2, 15); // "FALSE = L_JUST
#endif
step = 60;
break;
step = 60;
break;
case (60):
case (60):
#if defined USE_MATEK_TYPE_OSD_CHIP && USE_MATEK_TYPE_OSD_CHIP == 1
// ANY SPECIAL CHARACTER CODE MUST BE A 3 DIGIT NUMBER WITH THE LEADING ZEROS!!!!
// THE SPECIAL CHARACTER CAN BE PLACED BEFORE OR AFTER THE FLOAT OR ANY OTHER CHARACTER
osd_sprintf(osd_string, "%160c%.0fM", (float)(sqrt(ph_x*ph_x + ph_y *ph_y)));
osd_put_s(osd_string, C_JUST, 6, 14, 15);
// ANY SPECIAL CHARACTER CODE MUST BE A 3 DIGIT NUMBER WITH THE LEADING ZEROS!!!!
// THE SPECIAL CHARACTER CAN BE PLACED BEFORE OR AFTER THE FLOAT OR ANY OTHER CHARACTER
osd_sprintf(osd_string, "%160c%.0fM", (float)(sqrt(ph_x*ph_x + ph_y *ph_y)));
osd_put_s(osd_string, C_JUST, 6, 14, 15);
#else
osd_sprintf(osd_string, "%.0fM", (float)(sqrt(ph_x*ph_x + ph_y *ph_y)));
osd_put_s(osd_string, C_JUST, 6, 14, 15);
osd_sprintf(osd_string, "%.0fM", (float)(sqrt(ph_x*ph_x + ph_y *ph_y)));
osd_put_s(osd_string, C_JUST, 6, 14, 15);
#endif
step = 70;
break;
case (70):
osd_sprintf(osd_string, "%.1fVZ", stateGetSpeedEnu_f()->z);
osd_put_s(osd_string, R_JUST, 9, 14, 29);
step = 80;
break;
// A Text PFD as graphics are not the strong point of the MAX7456
// In order to level the aircraft while fpving
// just move the stick to the opposite direction from the angles shown on the osd
// and that's why positive pitch (UP) is shown below the OSD center
case (80):
if(DegOfRad(att->theta) > 2){
osd_sprintf(osd_string, "%.0f", DegOfRad(att->theta));
osd_put_s(osd_string, C_JUST, 5, 6, 15);
step = 70;
break;
case (70):
osd_sprintf(osd_string, "%.1fVZ", stateGetSpeedEnu_f()->z);
osd_put_s(osd_string, R_JUST, 9, 14, 29);
step = 80;
break;
// A Text PFD as graphics are not the strong point of the MAX7456
// In order to level the aircraft while fpving
// just move the stick to the opposite direction from the angles shown on the osd
// and that's why positive pitch (UP) is shown below the OSD center
case (80):
if (DegOfRad(att->theta) > 2){
osd_sprintf(osd_string, "%.0f", DegOfRad(att->theta));
osd_put_s(osd_string, C_JUST, 5, 6, 15);
}else{ osd_put_s(" ", C_JUST, 5, 6, 15); }
step = 90;
break;
case (90):
if(DegOfRad(att->theta) < -2){
osd_sprintf(osd_string, "%.0f", DegOfRad(att->theta));
osd_put_s(osd_string, C_JUST, 5, 10, 15);
}else{ osd_put_s(" ", C_JUST, 5, 6, 15); }
step = 90;
break;
case (90):
if (DegOfRad(att->theta) < -2){
osd_sprintf(osd_string, "%.0f", DegOfRad(att->theta));
osd_put_s(osd_string, C_JUST, 5, 10, 15);
}else{ osd_put_s(" ", C_JUST, 5, 10, 15); }
step = 100;
break;
case (100):
if(DegOfRad(att->phi) > 2){
osd_sprintf(osd_string, "%.0f>", DegOfRad(att->phi));
osd_put_s(osd_string, FALSE, 5, 8, 18);
}else{ osd_put_s(" ", C_JUST, 5, 10, 15); }
step = 100;
break;
case (100):
if (DegOfRad(att->phi) > 2){
osd_sprintf(osd_string, "%.0f>", DegOfRad(att->phi));
osd_put_s(osd_string, FALSE, 5, 8, 18);
}else{ osd_put_s(" ", FALSE, 5, 8, 18); }
step = 110;
break;
case (110):
if(DegOfRad(att->phi) < -2){
osd_sprintf(osd_string, "<%.0f", DegOfRad(fabs(att->phi)) );
osd_put_s(osd_string, R_JUST, 5, 8, 13);
}else{ osd_put_s(" ", FALSE, 5, 8, 18); }
step = 110;
break;
case (110):
if (DegOfRad(att->phi) < -2){
osd_sprintf(osd_string, "<%.0f", DegOfRad(fabs(att->phi)) );
osd_put_s(osd_string, R_JUST, 5, 8, 13);
}else{ osd_put_s(" ", R_JUST, 5, 8, 13); }
step = 120;
break;
}else{ osd_put_s(" ", R_JUST, 5, 8, 13); }
step = 120;
break;
case (120):
check_osd_status();
step = 10;
break;
case (120):
check_osd_status();
step = 10;
break;
default: step = 10; break;
}
}
default: step = 10; break;
} // End of switch statement.
} // End of if (max7456_osd_status == OSD_UNINIT)
return;
}