Paparazzi UAS: sw/airborne/modules/display/max7456.c File Reference

Paparazzi UAS v5.18.0_stable

Paparazzi is a free software Unmanned Aircraft System.

#include "std.h"
#include "inter_mcu.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/gpio.h"
#include "mcu_periph/spi.h"
#include "generated/flight_plan.h"
#include "generated/airframe.h"
#include "autopilot.h"
#include "subsystems/electrical.h"
#include "state.h"
#include "firmwares/rotorcraft/navigation.h"
#include "subsystems/datalink/telemetry.h"
#include "modules/display/max7456.h"
#include "modules/display/max7456_regs.h"

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Data Structures
struct	VECTOR

struct	MATRIX

Macros
#define	OSD_STRING_SIZE 31

#define	osd_sprintf _osd_sprintf

#define	OSD_USE_FLOAT_LOW_PASS_FILTERING

#define	AMPS_LOW_PASS_FILTER_STRENGTH 6

#define	SPEED_LOW_PASS_FILTER_STRENGTH 6

#define	BAT_CAPACITY 5000.0

#define	IMU_MAG_X_SIGN 1

Enumerations
enum	max7456_osd_status_codes { OSD_UNINIT, OSD_INIT1, OSD_INIT2, OSD_INIT3, OSD_INIT4, OSD_READ_STATUS, OSD_IDLE, OSD_S_STEP1, OSD_S_STEP2, OSD_S_STEP3, OSD_FINISHED }

enum	osd_attributes { BLINK = OSD_BLINK_CHAR, INVERT = OSD_INVERT_PIXELS, L_JUST = 0x00, R_JUST = 0x01, C_JUST = 0x02 }

Functions
static void	send_mag_heading (struct transport_tx trans, struct link_device dev)

static void	vSubtractVectors (VECTOR *svA, VECTOR svB, VECTOR svC)

static void	vMultiplyMatrixByVector (VECTOR *svA, MATRIX smB, VECTOR svC)

static float	home_direction (void)

static char	ascii_to_osd_c (char c)

static void	calc_flight_time_left (void)

static void	draw_osd (void)

static void	osd_put_s (char *string, uint8_t attributes, uint8_t char_nb, uint8_t row, uint8_t column)

static bool	_osd_sprintf (char buffer, char string, float value)

void	max7456_init (void)

void	max7456_periodic (void)

void	max7456_event (void)

Variables
struct spi_transaction	max7456_trans

uint8_t	osd_spi_tx_buffer [2]

uint8_t	osd_spi_rx_buffer [2]

char	osd_string [OSD_STRING_SIZE]

char	osd_str_buf [OSD_STRING_SIZE]

char	osd_char = ' '

uint8_t	step = 0

uint16_t	osd_char_address = 0

uint8_t	osd_attr = false

uint8_t	max7456_osd_status = OSD_UNINIT

uint8_t	osd_enable = true

uint8_t	osd_enable_val = OSD_IMAGE_ENABLE

uint8_t	osd_stat_reg = 0

uint32_t	max_flyable_distance_left = 0

float	mag_course_deg = 0

float	mag_heading_rad = 0

float	gps_course_deg = 0

float	home_dir_deg = 0

Detailed Description

Maxim MAX7456 single-channel monochrome on-screen display driver.

Definition in file max7456.c.

Data Structure Documentation

◆ VECTOR

struct VECTOR

Definition at line 84 of file point.c.

Data Fields
float	fx
float	fy
float	fz

◆ MATRIX

struct MATRIX

Definition at line 90 of file point.c.

Data Fields
float	fx1
float	fx2
float	fx3
float	fy1
float	fy2
float	fy3
float	fz1
float	fz2
float	fz3

Macro Definition Documentation

◆ AMPS_LOW_PASS_FILTER_STRENGTH

#define AMPS_LOW_PASS_FILTER_STRENGTH 6

Definition at line 67 of file max7456.c.

◆ BAT_CAPACITY

#define BAT_CAPACITY 5000.0

Definition at line 76 of file max7456.c.

◆ IMU_MAG_X_SIGN

#define IMU_MAG_X_SIGN 1

Definition at line 99 of file max7456.c.

◆ osd_sprintf

#define osd_sprintf _osd_sprintf

Definition at line 59 of file max7456.c.

◆ OSD_STRING_SIZE

#define OSD_STRING_SIZE 31

Definition at line 58 of file max7456.c.

◆ OSD_USE_FLOAT_LOW_PASS_FILTERING

#define OSD_USE_FLOAT_LOW_PASS_FILTERING

Definition at line 62 of file max7456.c.

◆ SPEED_LOW_PASS_FILTER_STRENGTH

#define SPEED_LOW_PASS_FILTER_STRENGTH 6

Definition at line 71 of file max7456.c.

Enumeration Type Documentation

◆ max7456_osd_status_codes

enum max7456_osd_status_codes

Enumerator
OSD_UNINIT
OSD_INIT1
OSD_INIT2
OSD_INIT3
OSD_INIT4
OSD_READ_STATUS
OSD_IDLE
OSD_S_STEP1
OSD_S_STEP2
OSD_S_STEP3
OSD_FINISHED

Definition at line 145 of file max7456.c.

◆ osd_attributes

enum osd_attributes

Enumerator
BLINK
INVERT
L_JUST
R_JUST
C_JUST

Definition at line 159 of file max7456.c.

Function Documentation

◆ _osd_sprintf()

static bool _osd_sprintf	(	char *	buffer,
		char *	string,
		float	value
	)

static

Definition at line 548 of file max7456.c.

References osd_string, OSD_STRING_SIZE, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

◆ ascii_to_osd_c()

static char ascii_to_osd_c ( char c )

static

Definition at line 369 of file max7456.c.

References c(), and PRINT_CONFIG_MSG().

Referenced by osd_put_s().

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◆ calc_flight_time_left()

static void calc_flight_time_left ( void )

static

Definition at line 414 of file max7456.c.

References AMPS_LOW_PASS_FILTER_STRENGTH, autopilot, BAT_CAPACITY, Electrical::current, electrical, pprz_autopilot::launch, max_flyable_distance_left, SPEED_LOW_PASS_FILTER_STRENGTH, and stateGetHorizontalSpeedNorm_f().

Referenced by draw_osd().

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◆ draw_osd()

void draw_osd ( void )

static

Definition at line 667 of file max7456.c.

References altitude, AP_MODE_AUTO1, AP_MODE_AUTO2, ap_state, autopilot, BLINK, C_JUST, calc_flight_time_left(), GpsState::course, electrical, GpsState::fix, GetPosAlt, gps, gps_course_deg, GPS_FIX_3D, home_direction(), INVERT, L_JUST, LOW_BAT_LEVEL, mag_course_deg, max_flyable_distance_left, MAX_PPRZ, pprz_autopilot::mode, osd_put_s(), osd_sprintf, osd_string, GpsState::pdop, FloatEulers::phi, FloatEulers::psi, R_JUST, stabilization_cmd, STALL_AIRSPEED, stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), step, FloatEulers::theta, Electrical::vsupply, waypoint_get_x(), waypoint_get_y(), waypoints, point::x, EnuCoor_f::x, point::y, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by max7456_periodic().

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◆ home_direction()

static float home_direction ( void )

static

Definition at line 287 of file max7456.c.

References UtmCoor_f::alt, GpsState::fix, VECTOR::fx, MATRIX::fx1, MATRIX::fx2, MATRIX::fx3, VECTOR::fy, MATRIX::fy1, MATRIX::fy2, MATRIX::fy3, VECTOR::fz, MATRIX::fz1, MATRIX::fz2, MATRIX::fz3, GetAltRef, gps, GPS_FIX_3D, home_dir_deg, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetPositionUtm_f(), vMultiplyMatrixByVector(), vSubtractVectors(), waypoint_get_x(), waypoint_get_y(), WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by draw_osd(), and max7456_init().

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◆ max7456_event()

void max7456_event ( void )

Definition at line 1007 of file max7456.c.

References spi_transaction::input_buf, spi_transaction::input_length, max7456_osd_status, max7456_trans, osd_attr, OSD_AUTO_INCREMENT_MODE, osd_char_address, OSD_DMAL_REG, OSD_DMM_REG, osd_enable_val, OSD_FINISHED, OSD_IDLE, OSD_INIT1, OSD_INIT2, OSD_INIT3, OSD_INIT4, OSD_NVRAM_BUSY_FLAG, OSD_OSDBL_REG, OSD_READ_STATUS, OSD_RESET_BUSY_FLAG, OSD_S_STEP1, OSD_S_STEP2, OSD_S_STEP3, OSD_STAT_REG, osd_stat_reg, osd_string, OSD_VIDEO_MODE_PAL, OSD_VM0_REG, spi_transaction::output_buf, spi_transaction::output_length, spi_submit(), SPITransDone, SPITransSuccess, spi_transaction::status, and EnuCoor_f::x.

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◆ max7456_init()

void max7456_init ( void )

Definition at line 937 of file max7456.c.

References spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, spi_transaction::cpha, spi_transaction::cpol, DefaultPeriodic, spi_transaction::dss, home_direction(), spi_transaction::input_buf, spi_transaction::input_length, max7456_osd_status, max7456_trans, osd_enable, osd_enable_val, OSD_IMAGE_ENABLE, osd_spi_rx_buffer, osd_spi_tx_buffer, OSD_UNINIT, spi_transaction::output_buf, spi_transaction::output_length, register_periodic_telemetry(), spi_transaction::select, send_mag_heading(), spi_transaction::slave_idx, SPICphaEdge1, SPICpolIdleLow, SPIDiv64, SPIDss8bit, SPIMSBFirst, and SPISelectUnselect.

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◆ max7456_periodic()

void max7456_periodic ( void )

Definition at line 966 of file max7456.c.

References draw_osd(), spi_transaction::input_length, max7456_osd_status, max7456_trans, osd_enable, osd_enable_val, OSD_IDLE, OSD_INIT1, OSD_INIT2, OSD_INIT3, OSD_OSDBL_REG_R, OSD_RESET, OSD_UNINIT, OSD_VM0_REG, spi_transaction::output_buf, spi_transaction::output_length, spi_submit(), SPITransDone, spi_transaction::status, and step.

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◆ osd_put_s()

static void osd_put_s	(	char *	string,
		uint8_t	attributes,
		uint8_t	char_nb,
		uint8_t	row,
		uint8_t	column
	)

static

Definition at line 485 of file max7456.c.

References ascii_to_osd_c(), BLINK, C_JUST, idx, INVERT, max7456_osd_status, max7456_trans, osd_attr, osd_char_address, OSD_DMAH_REG, OSD_IDLE, OSD_S_STEP1, osd_string, OSD_STRING_SIZE, spi_transaction::output_buf, spi_transaction::output_length, R_JUST, spi_submit(), and Int32Vect3::x.

Referenced by draw_osd().

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◆ send_mag_heading()

static void send_mag_heading	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 252 of file max7456.c.

References dev, gps_course_deg, home_dir_deg, and mag_course_deg.

Referenced by max7456_init().

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◆ vMultiplyMatrixByVector()

static void vMultiplyMatrixByVector	(	VECTOR *	svA,
		MATRIX	smB,
		VECTOR	svC
	)

static

Definition at line 279 of file max7456.c.

References VECTOR::fx, MATRIX::fx1, MATRIX::fx2, MATRIX::fx3, VECTOR::fy, MATRIX::fy1, MATRIX::fy2, MATRIX::fy3, VECTOR::fz, MATRIX::fz1, MATRIX::fz2, and MATRIX::fz3.

Referenced by home_direction().

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◆ vSubtractVectors()

static void vSubtractVectors	(	VECTOR *	svA,
		VECTOR	svB,
		VECTOR	svC
	)

static

Definition at line 267 of file max7456.c.

References VECTOR::fx, VECTOR::fy, and VECTOR::fz.

Referenced by home_direction().

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Variable Documentation

◆ gps_course_deg

float gps_course_deg = 0

Definition at line 176 of file max7456.c.

Referenced by draw_osd(), and send_mag_heading().

◆ home_dir_deg

float home_dir_deg = 0

Definition at line 177 of file max7456.c.

Referenced by home_direction(), and send_mag_heading().

◆ mag_course_deg

float mag_course_deg = 0

Definition at line 174 of file max7456.c.

Referenced by draw_osd(), and send_mag_heading().

◆ mag_heading_rad

float mag_heading_rad = 0

Definition at line 175 of file max7456.c.

◆ max7456_osd_status

uint8_t max7456_osd_status = OSD_UNINIT

Definition at line 168 of file max7456.c.

Referenced by max7456_event(), max7456_init(), max7456_periodic(), and osd_put_s().

◆ max7456_trans

struct spi_transaction max7456_trans

Definition at line 134 of file max7456.c.

Referenced by max7456_event(), max7456_init(), max7456_periodic(), and osd_put_s().

◆ max_flyable_distance_left

uint32_t max_flyable_distance_left = 0

Definition at line 172 of file max7456.c.

Referenced by calc_flight_time_left(), and draw_osd().

◆ osd_attr

uint8_t osd_attr = false

Definition at line 143 of file max7456.c.

Referenced by max7456_event(), and osd_put_s().

◆ osd_char

char osd_char = ' '

Definition at line 140 of file max7456.c.

◆ osd_char_address

uint16_t osd_char_address = 0

Definition at line 142 of file max7456.c.

Referenced by max7456_event(), and osd_put_s().

◆ osd_enable

uint8_t osd_enable = true

Definition at line 169 of file max7456.c.

Referenced by max7456_init(), and max7456_periodic().

◆ osd_enable_val

uint8_t osd_enable_val = OSD_IMAGE_ENABLE

Definition at line 170 of file max7456.c.

Referenced by max7456_event(), max7456_init(), and max7456_periodic().

◆ osd_spi_rx_buffer

uint8_t osd_spi_rx_buffer[2]

Definition at line 137 of file max7456.c.

Referenced by max7456_init().

◆ osd_spi_tx_buffer

uint8_t osd_spi_tx_buffer[2]

Definition at line 136 of file max7456.c.

Referenced by max7456_init().

◆ osd_stat_reg

uint8_t osd_stat_reg = 0

Definition at line 171 of file max7456.c.

Referenced by max7456_event().

◆ osd_str_buf

char osd_str_buf[OSD_STRING_SIZE]

Definition at line 139 of file max7456.c.

◆ osd_string

char osd_string[OSD_STRING_SIZE]

Definition at line 138 of file max7456.c.

Referenced by _osd_sprintf(), draw_osd(), max7456_event(), and osd_put_s().

◆ step

uint8_t step = 0

Definition at line 141 of file max7456.c.

Referenced by draw_osd(), and max7456_periodic().

sw
airborne
modules
display
max7456.c
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