atxxxx.h

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 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
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 *    distribution.
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
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#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/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Subscription.hpp>
#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 device 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_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 ModuleBase<OSDatxxxx>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
    OSDatxxxx(int bus = OSD_BUS);

    ~OSDatxxxx();

    virtual int init();

    /**
     * @see ModuleBase::custom_command
     */
    static int custom_command(int argc, char *argv[]);

    /**
     * @see ModuleBase::print_usage
     */
    static int print_usage(const char *reason = nullptr);

    /**
     * @see ModuleBase::task_spawn
     */
    static int task_spawn(int argc, char *argv[]);

protected:
    virtual int probe();

private:
    void Run() override;

    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
    )
};