mirror of
https://github.com/iNavFlight/inav.git
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Brute force grafting
Attempt to brutally graft BF3.1’s OSD, CMS, DISPLAYPORT, DASHBOARD, MSP_DISPLAYPORT onto INAV-1.4. With this first cut, integrated OSD (based on MAX7456) and CMS over the OSD is working.
This commit is contained in:
jflyper
parent
9baac451de
commit
8dbef28d81
42 changed files with 5325 additions and 4 deletions
675
src/main/io/osd.c
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675
src/main/io/osd.c
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Created by Marcin Baliniak
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some functions based on MinimOSD
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OSD-CMS separation by jflyper
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <ctype.h>
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#include "platform.h"
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#ifdef OSD
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// XXX Must review what's included
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#include "build/version.h"
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#include "common/utils.h"
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#include "drivers/system.h"
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#include "common/axis.h"
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#include "io/gimbal.h"
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#include "flight/pid.h"
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#include "flight/mixer.h"
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#include "flight/servos.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "config/config.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#include "config/feature.h"
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#include "drivers/display.h"
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#include "cms/cms.h"
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#include "cms/cms_types.h"
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#include "cms/cms_menu_osd.h"
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#include "io/displayport_max7456.h"
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#include "io/flashfs.h"
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#include "io/osd.h"
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#ifdef USE_HARDWARE_REVISION_DETECTION
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#include "hardware_revision.h"
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#endif
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#include "drivers/max7456.h"
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#include "drivers/max7456_symbols.h"
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#include "common/printf.h"
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#include "build/debug.h"
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// Character coordinate and attributes
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#define OSD_POS(x,y) (x | (y << 5))
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#define OSD_X(x) (x & 0x001F)
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#define OSD_Y(x) ((x >> 5) & 0x001F)
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// Things in both OSD and CMS
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#define IS_HI(X) (rcData[X] > 1750)
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#define IS_LO(X) (rcData[X] < 1250)
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#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
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bool blinkState = true;
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//extern uint8_t RSSI; // TODO: not used?
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static uint16_t flyTime = 0;
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static uint8_t statRssi;
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typedef struct statistic_s {
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int16_t max_speed;
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int16_t min_voltage; // /10
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int16_t max_current; // /10
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int16_t min_rssi;
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int16_t max_altitude;
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} statistic_t;
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static statistic_t stats;
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uint16_t refreshTimeout = 0;
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#define REFRESH_1S 12
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static uint8_t armState;
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static displayPort_t *osd7456DisplayPort;
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#define AH_MAX_PITCH 200 // Specify maximum AHI pitch value displayed. Default 200 = 20.0 degrees
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#define AH_MAX_ROLL 400 // Specify maximum AHI roll value displayed. Default 400 = 40.0 degrees
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#define AH_SIDEBAR_WIDTH_POS 7
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#define AH_SIDEBAR_HEIGHT_POS 3
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/**
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* Gets the correct altitude symbol for the current unit system
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*/
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static char osdGetAltitudeSymbol()
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{
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switch (masterConfig.osdProfile.units) {
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case OSD_UNIT_IMPERIAL:
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return 0xF;
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default:
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return 0xC;
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}
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}
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/**
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* Converts altitude based on the current unit system.
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* @param alt Raw altitude (i.e. as taken from BaroAlt)
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*/
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static int32_t osdGetAltitude(int32_t alt)
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{
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switch (masterConfig.osdProfile.units) {
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case OSD_UNIT_IMPERIAL:
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return (alt * 328) / 100; // Convert to feet / 100
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default:
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return alt; // Already in metre / 100
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}
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}
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static void osdDrawSingleElement(uint8_t item)
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{
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if (!VISIBLE(masterConfig.osdProfile.item_pos[item]) || BLINK(masterConfig.osdProfile.item_pos[item]))
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return;
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uint8_t elemPosX = OSD_X(masterConfig.osdProfile.item_pos[item]);
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uint8_t elemPosY = OSD_Y(masterConfig.osdProfile.item_pos[item]);
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char buff[32];
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switch(item) {
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case OSD_RSSI_VALUE:
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{
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uint16_t osdRssi = rssi * 100 / 1024; // change range
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if (osdRssi >= 100)
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osdRssi = 99;
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buff[0] = SYM_RSSI;
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sprintf(buff + 1, "%d", osdRssi);
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break;
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}
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case OSD_MAIN_BATT_VOLTAGE:
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{
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buff[0] = SYM_BATT_5;
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sprintf(buff + 1, "%d.%1dV", vbat / 10, vbat % 10);
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break;
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}
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case OSD_CURRENT_DRAW:
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{
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buff[0] = SYM_AMP;
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sprintf(buff + 1, "%d.%02d", abs(amperage) / 100, abs(amperage) % 100);
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break;
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}
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case OSD_MAH_DRAWN:
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{
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buff[0] = SYM_MAH;
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sprintf(buff + 1, "%d", mAhDrawn);
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break;
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}
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#ifdef GPS_notyet
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case OSD_GPS_SATS:
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{
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buff[0] = 0x1f;
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sprintf(buff + 1, "%d", GPS_numSat);
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break;
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}
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case OSD_GPS_SPEED:
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{
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sprintf(buff, "%d", GPS_speed * 36 / 1000);
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break;
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}
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#endif // GPS
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case OSD_ALTITUDE:
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{
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int32_t alt = osdGetAltitude(BaroAlt);
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sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
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break;
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}
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case OSD_ONTIME:
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{
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uint32_t seconds = micros() / 1000000;
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buff[0] = SYM_ON_M;
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sprintf(buff + 1, "%02d:%02d", seconds / 60, seconds % 60);
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break;
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}
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case OSD_FLYTIME:
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{
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buff[0] = SYM_FLY_M;
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sprintf(buff + 1, "%02d:%02d", flyTime / 60, flyTime % 60);
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break;
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}
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case OSD_FLYMODE:
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{
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char *p = "ACRO";
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#if 0
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if (isAirmodeActive())
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p = "AIR";
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#endif
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if (FLIGHT_MODE(FAILSAFE_MODE))
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p = "!FS";
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else if (FLIGHT_MODE(ANGLE_MODE))
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p = "STAB";
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else if (FLIGHT_MODE(HORIZON_MODE))
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p = "HOR";
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max7456Write(elemPosX, elemPosY, p);
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return;
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}
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case OSD_CRAFT_NAME:
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{
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if (strlen(masterConfig.name) == 0)
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strcpy(buff, "CRAFT_NAME");
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else {
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for (uint8_t i = 0; i < MAX_NAME_LENGTH; i++) {
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buff[i] = toupper((unsigned char)masterConfig.name[i]);
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if (masterConfig.name[i] == 0)
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break;
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}
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}
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break;
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}
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case OSD_THROTTLE_POS:
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{
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buff[0] = SYM_THR;
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buff[1] = SYM_THR1;
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sprintf(buff + 2, "%d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
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break;
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}
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#ifdef VTX
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case OSD_VTX_CHANNEL:
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{
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sprintf(buff, "CH:%d", current_vtx_channel % CHANNELS_PER_BAND + 1);
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break;
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}
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#endif // VTX
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case OSD_CROSSHAIRS:
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elemPosX = 14 - 1; // Offset for 1 char to the left
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elemPosY = 6;
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if (maxScreenSize == VIDEO_BUFFER_CHARS_PAL)
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++elemPosY;
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buff[0] = SYM_AH_CENTER_LINE;
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buff[1] = SYM_AH_CENTER;
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buff[2] = SYM_AH_CENTER_LINE_RIGHT;
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buff[3] = 0;
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break;
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case OSD_ARTIFICIAL_HORIZON:
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{
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elemPosX = 14;
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elemPosY = 6 - 4; // Top center of the AH area
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int rollAngle = attitude.values.roll;
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int pitchAngle = attitude.values.pitch;
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if (maxScreenSize == VIDEO_BUFFER_CHARS_PAL)
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++elemPosY;
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if (pitchAngle > AH_MAX_PITCH)
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pitchAngle = AH_MAX_PITCH;
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if (pitchAngle < -AH_MAX_PITCH)
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pitchAngle = -AH_MAX_PITCH;
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if (rollAngle > AH_MAX_ROLL)
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rollAngle = AH_MAX_ROLL;
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if (rollAngle < -AH_MAX_ROLL)
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rollAngle = -AH_MAX_ROLL;
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// Convert pitchAngle to y compensation value
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pitchAngle = (pitchAngle / 8) - 41; // 41 = 4 * 9 + 5
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for (int8_t x = -4; x <= 4; x++) {
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int y = (rollAngle * x) / 64;
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y -= pitchAngle;
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// y += 41; // == 4 * 9 + 5
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if (y >= 0 && y <= 81) {
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max7456WriteChar(elemPosX + x, elemPosY + (y / 9), (SYM_AH_BAR9_0 + (y % 9)));
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}
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}
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osdDrawSingleElement(OSD_HORIZON_SIDEBARS);
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return;
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}
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case OSD_HORIZON_SIDEBARS:
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{
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elemPosX = 14;
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elemPosY = 6;
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if (maxScreenSize == VIDEO_BUFFER_CHARS_PAL)
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++elemPosY;
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// Draw AH sides
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int8_t hudwidth = AH_SIDEBAR_WIDTH_POS;
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int8_t hudheight = AH_SIDEBAR_HEIGHT_POS;
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for (int8_t y = -hudheight; y <= hudheight; y++) {
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max7456WriteChar(elemPosX - hudwidth, elemPosY + y, SYM_AH_DECORATION);
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max7456WriteChar(elemPosX + hudwidth, elemPosY + y, SYM_AH_DECORATION);
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}
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// AH level indicators
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max7456WriteChar(elemPosX - hudwidth + 1, elemPosY, SYM_AH_LEFT);
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max7456WriteChar(elemPosX + hudwidth - 1, elemPosY, SYM_AH_RIGHT);
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return;
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}
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default:
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return;
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}
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max7456Write(elemPosX, elemPosY, buff);
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}
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void osdDrawElements(void)
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{
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max7456ClearScreen();
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#if 0
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if (currentElement)
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osdDrawElementPositioningHelp();
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#else
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if (false)
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;
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#endif
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#ifdef CMS
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else if (sensors(SENSOR_ACC) || displayIsGrabbed(osd7456DisplayPort))
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#else
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else if (sensors(SENSOR_ACC))
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#endif
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{
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osdDrawSingleElement(OSD_ARTIFICIAL_HORIZON);
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osdDrawSingleElement(OSD_CROSSHAIRS);
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}
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osdDrawSingleElement(OSD_MAIN_BATT_VOLTAGE);
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osdDrawSingleElement(OSD_RSSI_VALUE);
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osdDrawSingleElement(OSD_FLYTIME);
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osdDrawSingleElement(OSD_ONTIME);
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osdDrawSingleElement(OSD_FLYMODE);
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osdDrawSingleElement(OSD_THROTTLE_POS);
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osdDrawSingleElement(OSD_VTX_CHANNEL);
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osdDrawSingleElement(OSD_CURRENT_DRAW);
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osdDrawSingleElement(OSD_MAH_DRAWN);
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osdDrawSingleElement(OSD_CRAFT_NAME);
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osdDrawSingleElement(OSD_ALTITUDE);
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#ifdef GPS
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#ifdef CMS
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if (sensors(SENSOR_GPS) || displayIsGrabbed(osd7456DisplayPort))
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#else
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if (sensors(SENSOR_GPS))
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#endif
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{
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osdDrawSingleElement(OSD_GPS_SATS);
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osdDrawSingleElement(OSD_GPS_SPEED);
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}
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#endif // GPS
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}
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void osdResetConfig(osd_profile_t *osdProfile)
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{
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osdProfile->item_pos[OSD_RSSI_VALUE] = OSD_POS(22, 0) | VISIBLE_FLAG;
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osdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 0) | VISIBLE_FLAG;
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osdProfile->item_pos[OSD_ARTIFICIAL_HORIZON] = OSD_POS(8, 6) | VISIBLE_FLAG;
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osdProfile->item_pos[OSD_HORIZON_SIDEBARS] = OSD_POS(8, 6) | VISIBLE_FLAG;
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osdProfile->item_pos[OSD_ONTIME] = OSD_POS(22, 11) | VISIBLE_FLAG;
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osdProfile->item_pos[OSD_FLYTIME] = OSD_POS(22, 12) | VISIBLE_FLAG;
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osdProfile->item_pos[OSD_FLYMODE] = OSD_POS(12, 11) | VISIBLE_FLAG;
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osdProfile->item_pos[OSD_CRAFT_NAME] = OSD_POS(12, 12);
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osdProfile->item_pos[OSD_THROTTLE_POS] = OSD_POS(1, 4);
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osdProfile->item_pos[OSD_VTX_CHANNEL] = OSD_POS(8, 6);
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osdProfile->item_pos[OSD_CURRENT_DRAW] = OSD_POS(1, 3);
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osdProfile->item_pos[OSD_MAH_DRAWN] = OSD_POS(15, 3);
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osdProfile->item_pos[OSD_GPS_SPEED] = OSD_POS(2, 2);
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osdProfile->item_pos[OSD_GPS_SATS] = OSD_POS(2, 12);
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osdProfile->item_pos[OSD_ALTITUDE] = OSD_POS(1, 5);
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osdProfile->rssi_alarm = 20;
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osdProfile->cap_alarm = 2200;
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osdProfile->time_alarm = 10; // in minutes
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osdProfile->alt_alarm = 100; // meters or feet depend on configuration
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osdProfile->video_system = 0;
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}
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void osdInit(void)
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{
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char x, string_buffer[30];
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armState = ARMING_FLAG(ARMED);
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max7456Init(masterConfig.osdProfile.video_system);
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max7456ClearScreen();
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// display logo and help
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x = 160;
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for (int i = 1; i < 5; i++) {
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for (int j = 3; j < 27; j++) {
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if (x != 255)
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max7456WriteChar(j, i, x++);
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}
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}
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sprintf(string_buffer, "BF VERSION: %s", FC_VERSION_STRING);
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max7456Write(5, 6, string_buffer);
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#ifdef CMS
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max7456Write(7, 7, CMS_STARTUP_HELP_TEXT1);
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max7456Write(11, 8, CMS_STARTUP_HELP_TEXT2);
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max7456Write(11, 9, CMS_STARTUP_HELP_TEXT3);
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#endif
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max7456RefreshAll();
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refreshTimeout = 4 * REFRESH_1S;
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osd7456DisplayPort = max7456DisplayPortInit();
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#ifdef CMS
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cmsDisplayPortRegister(osd7456DisplayPort);
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#endif
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}
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void osdUpdateAlarms(void)
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{
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osd_profile_t *pOsdProfile = &masterConfig.osdProfile;
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// This is overdone?
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// uint16_t *itemPos = masterConfig.osdProfile.item_pos;
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int32_t alt = osdGetAltitude(BaroAlt) / 100;
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statRssi = rssi * 100 / 1024;
|
||||
|
||||
if (statRssi < pOsdProfile->rssi_alarm)
|
||||
pOsdProfile->item_pos[OSD_RSSI_VALUE] |= BLINK_FLAG;
|
||||
else
|
||||
pOsdProfile->item_pos[OSD_RSSI_VALUE] &= ~BLINK_FLAG;
|
||||
|
||||
if (vbat <= (batteryWarningVoltage - 1))
|
||||
pOsdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] |= BLINK_FLAG;
|
||||
else
|
||||
pOsdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] &= ~BLINK_FLAG;
|
||||
|
||||
if (STATE(GPS_FIX) == 0)
|
||||
pOsdProfile->item_pos[OSD_GPS_SATS] |= BLINK_FLAG;
|
||||
else
|
||||
pOsdProfile->item_pos[OSD_GPS_SATS] &= ~BLINK_FLAG;
|
||||
|
||||
if (flyTime / 60 >= pOsdProfile->time_alarm && ARMING_FLAG(ARMED))
|
||||
pOsdProfile->item_pos[OSD_FLYTIME] |= BLINK_FLAG;
|
||||
else
|
||||
pOsdProfile->item_pos[OSD_FLYTIME] &= ~BLINK_FLAG;
|
||||
|
||||
if (mAhDrawn >= pOsdProfile->cap_alarm)
|
||||
pOsdProfile->item_pos[OSD_MAH_DRAWN] |= BLINK_FLAG;
|
||||
else
|
||||
pOsdProfile->item_pos[OSD_MAH_DRAWN] &= ~BLINK_FLAG;
|
||||
|
||||
if (alt >= pOsdProfile->alt_alarm)
|
||||
pOsdProfile->item_pos[OSD_ALTITUDE] |= BLINK_FLAG;
|
||||
else
|
||||
pOsdProfile->item_pos[OSD_ALTITUDE] &= ~BLINK_FLAG;
|
||||
}
|
||||
|
||||
void osdResetAlarms(void)
|
||||
{
|
||||
osd_profile_t *pOsdProfile = &masterConfig.osdProfile;
|
||||
|
||||
pOsdProfile->item_pos[OSD_RSSI_VALUE] &= ~BLINK_FLAG;
|
||||
pOsdProfile->item_pos[OSD_MAIN_BATT_VOLTAGE] &= ~BLINK_FLAG;
|
||||
pOsdProfile->item_pos[OSD_GPS_SATS] &= ~BLINK_FLAG;
|
||||
pOsdProfile->item_pos[OSD_FLYTIME] &= ~BLINK_FLAG;
|
||||
pOsdProfile->item_pos[OSD_MAH_DRAWN] &= ~BLINK_FLAG;
|
||||
}
|
||||
|
||||
static void osdResetStats(void)
|
||||
{
|
||||
stats.max_current = 0;
|
||||
stats.max_speed = 0;
|
||||
stats.min_voltage = 500;
|
||||
stats.max_current = 0;
|
||||
stats.min_rssi = 99;
|
||||
stats.max_altitude = 0;
|
||||
}
|
||||
|
||||
static void osdUpdateStats(void)
|
||||
{
|
||||
int16_t value;
|
||||
|
||||
#ifdef GPS_notyet
|
||||
value = GPS_speed * 36 / 1000;
|
||||
if (stats.max_speed < value)
|
||||
stats.max_speed = value;
|
||||
#endif
|
||||
|
||||
if (stats.min_voltage > vbat)
|
||||
stats.min_voltage = vbat;
|
||||
|
||||
value = amperage / 100;
|
||||
if (stats.max_current < value)
|
||||
stats.max_current = value;
|
||||
|
||||
if (stats.min_rssi > statRssi)
|
||||
stats.min_rssi = statRssi;
|
||||
|
||||
if (stats.max_altitude < BaroAlt)
|
||||
stats.max_altitude = BaroAlt;
|
||||
}
|
||||
|
||||
static void osdShowStats(void)
|
||||
{
|
||||
uint8_t top = 2;
|
||||
char buff[10];
|
||||
|
||||
max7456ClearScreen();
|
||||
max7456Write(2, top++, " --- STATS ---");
|
||||
|
||||
if (STATE(GPS_FIX)) {
|
||||
max7456Write(2, top, "MAX SPEED :");
|
||||
itoa(stats.max_speed, buff, 10);
|
||||
max7456Write(22, top++, buff);
|
||||
}
|
||||
|
||||
max7456Write(2, top, "MIN BATTERY :");
|
||||
sprintf(buff, "%d.%1dV", stats.min_voltage / 10, stats.min_voltage % 10);
|
||||
max7456Write(22, top++, buff);
|
||||
|
||||
max7456Write(2, top, "MIN RSSI :");
|
||||
itoa(stats.min_rssi, buff, 10);
|
||||
strcat(buff, "%");
|
||||
max7456Write(22, top++, buff);
|
||||
|
||||
if (feature(FEATURE_CURRENT_METER)) {
|
||||
max7456Write(2, top, "MAX CURRENT :");
|
||||
itoa(stats.max_current, buff, 10);
|
||||
strcat(buff, "A");
|
||||
max7456Write(22, top++, buff);
|
||||
|
||||
max7456Write(2, top, "USED MAH :");
|
||||
itoa(mAhDrawn, buff, 10);
|
||||
strcat(buff, "\x07");
|
||||
max7456Write(22, top++, buff);
|
||||
}
|
||||
|
||||
max7456Write(2, top, "MAX ALTITUDE :");
|
||||
int32_t alt = osdGetAltitude(stats.max_altitude);
|
||||
sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
|
||||
max7456Write(22, top++, buff);
|
||||
|
||||
refreshTimeout = 60 * REFRESH_1S;
|
||||
}
|
||||
|
||||
// called when motors armed
|
||||
static void osdArmMotors(void)
|
||||
{
|
||||
max7456ClearScreen();
|
||||
max7456Write(12, 7, "ARMED");
|
||||
refreshTimeout = REFRESH_1S / 2;
|
||||
osdResetStats();
|
||||
}
|
||||
|
||||
static void osdRefresh(uint32_t currentTime)
|
||||
{
|
||||
static uint8_t lastSec = 0;
|
||||
uint8_t sec;
|
||||
|
||||
// detect arm/disarm
|
||||
if (armState != ARMING_FLAG(ARMED)) {
|
||||
if (ARMING_FLAG(ARMED))
|
||||
osdArmMotors(); // reset statistic etc
|
||||
else
|
||||
osdShowStats(); // show statistic
|
||||
|
||||
armState = ARMING_FLAG(ARMED);
|
||||
}
|
||||
|
||||
osdUpdateStats();
|
||||
|
||||
sec = currentTime / 1000000;
|
||||
|
||||
if (ARMING_FLAG(ARMED) && sec != lastSec) {
|
||||
flyTime++;
|
||||
lastSec = sec;
|
||||
}
|
||||
|
||||
if (refreshTimeout) {
|
||||
if (IS_HI(THROTTLE) || IS_HI(PITCH)) // hide statistics
|
||||
refreshTimeout = 1;
|
||||
refreshTimeout--;
|
||||
if (!refreshTimeout)
|
||||
max7456ClearScreen();
|
||||
return;
|
||||
}
|
||||
|
||||
blinkState = (currentTime / 200000) % 2;
|
||||
|
||||
#ifdef CMS
|
||||
if (!displayIsGrabbed(osd7456DisplayPort)) {
|
||||
osdUpdateAlarms();
|
||||
osdDrawElements();
|
||||
#ifdef OSD_CALLS_CMS
|
||||
} else {
|
||||
cmsUpdate(currentTime);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/*
|
||||
* Called periodically by the scheduler
|
||||
*/
|
||||
void osdUpdate(uint32_t currentTime)
|
||||
{
|
||||
static uint32_t counter = 0;
|
||||
#ifdef MAX7456_DMA_CHANNEL_TX
|
||||
// don't touch buffers if DMA transaction is in progress
|
||||
if (max7456DmaInProgres())
|
||||
return;
|
||||
#endif // MAX7456_DMA_CHANNEL_TX
|
||||
|
||||
// redraw values in buffer
|
||||
if (counter++ % 5 == 0)
|
||||
osdRefresh(currentTime);
|
||||
else // rest of time redraw screen 10 chars per idle to don't lock the main idle
|
||||
max7456DrawScreen();
|
||||
|
||||
#ifdef CMS
|
||||
// do not allow ARM if we are in menu
|
||||
if (displayIsGrabbed(osd7456DisplayPort)) {
|
||||
DISABLE_ARMING_FLAG(OK_TO_ARM);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
#endif // OSD
|
||||
Loading…
Add table
Add a link
Reference in a new issue