atxxxx.h
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/****************************************************************************
*
* 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 atxxxx.h
* @author Daniele Pettenuzzo
*
* Driver for the ATXXXX chip on the omnibus fcu connected via SPI.
*/
#include <drivers/device/spi.h>
#include <drivers/drv_hrt.h>
#include <parameters/param.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
#define OSD_SPI_BUS_SPEED (2000000L) /* 2 MHz */
#define DIR_READ(a) ((a) | (1 << 7))
#define DIR_WRITE(a) ((a) & 0x7f)
#define OSD_CHARS_PER_ROW 30
#define OSD_NUM_ROWS_PAL 16
#define OSD_NUM_ROWS_NTSC 13
#define OSD_ZERO_BYTE 0x00
#define OSD_PAL_TX_MODE 0x40
extern "C" __EXPORT int atxxxx_main(int argc, char *argv[]);
class OSDatxxxx : public device::SPI, public ModuleParams, public I2CSPIDriver<OSDatxxxx>
{
public:
OSDatxxxx(I2CSPIBusOption bus_option, int bus, int devid, int bus_frequency, spi_mode_e spi_mode);
virtual ~OSDatxxxx() = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
void RunImpl();
protected:
int probe() override;
private:
int start();
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);
void add_string_to_screen_centered(const char *str, uint8_t pos_y, int max_length);
void clear_line(uint8_t pos_x, uint8_t pos_y, int length);
int add_battery_info(uint8_t pos_x, uint8_t pos_y);
int add_altitude(uint8_t pos_x, uint8_t pos_y);
int add_flighttime(float flight_time, uint8_t pos_x, uint8_t pos_y);
static const char *get_flight_mode(uint8_t nav_state);
int enable_screen();
int disable_screen();
int update_topics();
int update_screen();
uORB::Subscription _battery_sub{ORB_ID(battery_status)};
uORB::Subscription _local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
// battery
float _battery_voltage_filtered_v{0.f};
float _battery_discharge_mah{0.f};
bool _battery_valid{false};
// altitude
float _local_position_z{0.f};
bool _local_position_valid{false};
// flight time
uint8_t _arming_state{0};
uint64_t _arming_timestamp{0};
// flight mode
uint8_t _nav_state{0};
DEFINE_PARAMETERS(
(ParamInt<px4::params::OSD_ATXXXX_CFG>) _param_osd_atxxxx_cfg
)
};