diff --git a/boards/omnibus/f4sd/init/rc.board_extras b/boards/omnibus/f4sd/init/rc.board_extras
new file mode 100644
index 0000000000000000000000000000000000000000..b35e2a6dbd982e4b10289f02815c7877c8914bdc
--- /dev/null
+++ b/boards/omnibus/f4sd/init/rc.board_extras
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# OmnibusF4SD specific board extras init
+#------------------------------------------------------------------------------
+
+if ! param compare OSD_ATXXXX_CFG 0
+then
+ atxxxx start
+fi
+
+
diff --git a/src/drivers/osd/CMakeLists.txt b/src/drivers/osd/CMakeLists.txt
index 89dc8a180874f17e331335061fc9a455224e62c7..ae43f71234941c311f2f440033fea90f157ecbf9 100644
--- a/src/drivers/osd/CMakeLists.txt
+++ b/src/drivers/osd/CMakeLists.txt
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (c) 2018 PX4 Development Team. All rights reserved.
+# Copyright (c) 2019 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
@@ -30,10 +30,5 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
-px4_add_module(
- MODULE drivers__osd
- MAIN osd
- SRCS
- osd.cpp
- )
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
\ No newline at end of file
+
+add_subdirectory(atxxxx)
diff --git a/src/drivers/osd/atxxxx/CMakeLists.txt b/src/drivers/osd/atxxxx/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..30dfaa6a0526732113d0ccf1d3a2a654be00e6b3
--- /dev/null
+++ b/src/drivers/osd/atxxxx/CMakeLists.txt
@@ -0,0 +1,38 @@
+############################################################################
+#
+# Copyright (c) 2018-2019 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.
+#
+############################################################################
+px4_add_module(
+ MODULE drivers__atxxxx
+ MAIN atxxxx
+ SRCS
+ atxxxx.cpp
+ )
diff --git a/src/drivers/osd/osd.cpp b/src/drivers/osd/atxxxx/atxxxx.cpp
similarity index 88%
rename from src/drivers/osd/osd.cpp
rename to src/drivers/osd/atxxxx/atxxxx.cpp
index f5fbbbc26b74adaa759168d22a98c4dc16c95024..d6c7e0296b9c4949171799c2eee33c009c59ecf4 100644
--- a/src/drivers/osd/osd.cpp
+++ b/src/drivers/osd/atxxxx/atxxxx.cpp
@@ -32,21 +32,20 @@
****************************************************************************/
/**
- * @file osd.cpp
+ * @file atxxxx.cpp
* @author Daniele Pettenuzzo
*
* Driver for the ATXXXX chip on the omnibus fcu connected via SPI.
*/
-#include "osd.h"
+#include "atxxxx.h"
-OSD::OSD(int bus) :
+OSDatxxxx::OSDatxxxx(int bus) :
SPI("OSD", OSD_DEVICE_PATH, bus, OSD_SPIDEV, SPIDEV_MODE0, OSD_SPI_BUS_SPEED),
_measure_ticks(0),
_sample_perf(perf_alloc(PC_ELAPSED, "osd_read")),
_comms_errors(perf_alloc(PC_COUNT, "osd_com_err")),
- _tx_mode(1),
_battery_sub(-1),
_local_position_sub(-1),
_vehicle_status_sub(-1),
@@ -58,18 +57,14 @@ OSD::OSD(int bus) :
_arming_state(1),
_arming_timestamp(0)
{
- // enable debug() calls
- _debug_enabled = false;
-
- // get params
- _p_tx_mode = param_find("OSD_TX_MODE");
- param_get(_p_tx_mode, (int32_t *)&_tx_mode);
+ _p_tx_mode = param_find("OSD_ATXXXX_CFG");
+ param_get(_p_tx_mode, &_tx_mode);
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
-OSD::~OSD()
+OSDatxxxx::~OSDatxxxx()
{
/* make sure we are truly inactive */
stop();
@@ -81,7 +76,7 @@ OSD::~OSD()
int
-OSD::init()
+OSDatxxxx::init()
{
/* do SPI init (and probe) first */
if (SPI::init() != PX4_OK) {
@@ -115,7 +110,7 @@ fail:
int
-OSD::probe()
+OSDatxxxx::probe()
{
uint8_t data = 0;
int ret = PX4_OK;
@@ -131,12 +126,12 @@ OSD::probe()
}
int
-OSD::init_osd()
+OSDatxxxx::init_osd()
{
int ret = PX4_OK;
uint8_t data = OSD_ZERO_BYTE;
- if (_tx_mode) {
+ if (_tx_mode == 2) {
data |= OSD_PAL_TX_MODE;
}
@@ -155,20 +150,20 @@ OSD::init_osd()
int
-OSD::ioctl(device::file_t *filp, int cmd, unsigned long arg)
+OSDatxxxx::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
return -1;
}
ssize_t
-OSD::read(device::file_t *filp, char *buffer, size_t buflen)
+OSDatxxxx::read(device::file_t *filp, char *buffer, size_t buflen)
{
return -1;
}
int
-OSD::readRegister(unsigned reg, uint8_t *data, unsigned count)
+OSDatxxxx::readRegister(unsigned reg, uint8_t *data, unsigned count)
{
uint8_t cmd[5]; // read up to 4 bytes
int ret;
@@ -191,7 +186,7 @@ OSD::readRegister(unsigned reg, uint8_t *data, unsigned count)
int
-OSD::writeRegister(unsigned reg, uint8_t data)
+OSDatxxxx::writeRegister(unsigned reg, uint8_t data)
{
uint8_t cmd[2]; // write 1 byte
int ret;
@@ -212,7 +207,7 @@ OSD::writeRegister(unsigned reg, uint8_t data)
}
int
-OSD::add_character_to_screen(char c, uint8_t pos_x, uint8_t pos_y)
+OSDatxxxx::add_character_to_screen(char c, uint8_t pos_x, uint8_t pos_y)
{
uint16_t position = (OSD_CHARS_PER_ROW * pos_y) + pos_x;
@@ -235,13 +230,13 @@ OSD::add_character_to_screen(char c, uint8_t pos_x, uint8_t pos_y)
}
int
-OSD::add_battery_symbol(uint8_t pos_x, uint8_t pos_y)
+OSDatxxxx::add_battery_symbol(uint8_t pos_x, uint8_t pos_y)
{
return add_character_to_screen(146, pos_x, pos_y);
}
int
-OSD::add_battery_info(uint8_t pos_x, uint8_t pos_y)
+OSDatxxxx::add_battery_info(uint8_t pos_x, uint8_t pos_y)
{
char buf[5];
int ret = PX4_OK;
@@ -268,13 +263,13 @@ OSD::add_battery_info(uint8_t pos_x, uint8_t pos_y)
}
int
-OSD::add_altitude_symbol(uint8_t pos_x, uint8_t pos_y)
+OSDatxxxx::add_altitude_symbol(uint8_t pos_x, uint8_t pos_y)
{
return add_character_to_screen(154, pos_x, pos_y);
}
int
-OSD::add_altitude(uint8_t pos_x, uint8_t pos_y)
+OSDatxxxx::add_altitude(uint8_t pos_x, uint8_t pos_y)
{
char buf[5];
int ret = PX4_OK;
@@ -291,13 +286,13 @@ OSD::add_altitude(uint8_t pos_x, uint8_t pos_y)
}
int
-OSD::add_flighttime_symbol(uint8_t pos_x, uint8_t pos_y)
+OSDatxxxx::add_flighttime_symbol(uint8_t pos_x, uint8_t pos_y)
{
return add_character_to_screen(112, pos_x, pos_y);
}
int
-OSD::add_flighttime(float flight_time, uint8_t pos_x, uint8_t pos_y)
+OSDatxxxx::add_flighttime(float flight_time, uint8_t pos_x, uint8_t pos_y)
{
char buf[6];
int ret = PX4_OK;
@@ -312,7 +307,7 @@ OSD::add_flighttime(float flight_time, uint8_t pos_x, uint8_t pos_y)
}
int
-OSD::enable_screen()
+OSDatxxxx::enable_screen()
{
uint8_t data;
int ret = PX4_OK;
@@ -324,7 +319,7 @@ OSD::enable_screen()
}
int
-OSD::disable_screen()
+OSDatxxxx::disable_screen()
{
uint8_t data;
int ret = PX4_OK;
@@ -337,7 +332,7 @@ OSD::disable_screen()
int
-OSD::update_topics()//TODO have an argument to choose what to update and return validity
+OSDatxxxx::update_topics()//TODO have an argument to choose what to update and return validity
{
struct battery_status_s battery = {};
// struct vehicle_local_position_s local_position = {};
@@ -419,7 +414,7 @@ OSD::update_topics()//TODO have an argument to choose what to update and return
int
-OSD::update_screen()
+OSDatxxxx::update_screen()
{
int ret = PX4_OK;
@@ -447,20 +442,20 @@ OSD::update_screen()
void
-OSD::start()
+OSDatxxxx::start()
{
/* schedule a cycle to start things */
- work_queue(LPWORK, &_work, (worker_t)&OSD::cycle_trampoline, this, USEC2TICK(OSD_US));
+ work_queue(LPWORK, &_work, (worker_t)&OSDatxxxx::cycle_trampoline, this, USEC2TICK(OSD_US));
}
void
-OSD::stop()
+OSDatxxxx::stop()
{
work_cancel(LPWORK, &_work);
}
int
-OSD::reset()
+OSDatxxxx::reset()
{
int ret = writeRegister(0x00, 0x02);
usleep(100);
@@ -469,15 +464,15 @@ OSD::reset()
}
void
-OSD::cycle_trampoline(void *arg)
+OSDatxxxx::cycle_trampoline(void *arg)
{
- OSD *dev = (OSD *)arg;
+ OSDatxxxx *dev = (OSDatxxxx *)arg;
dev->cycle();
}
void
-OSD::cycle()
+OSDatxxxx::cycle()
{
update_topics();
@@ -488,14 +483,14 @@ OSD::cycle()
/* schedule a fresh cycle call when the measurement is done */
work_queue(LPWORK,
&_work,
- (worker_t)&OSD::cycle_trampoline,
+ (worker_t)&OSDatxxxx::cycle_trampoline,
this,
USEC2TICK(OSD_UPDATE_RATE));
}
void
-OSD::print_info()
+OSDatxxxx::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
@@ -513,7 +508,7 @@ OSD::print_info()
namespace osd
{
-OSD *g_dev;
+OSDatxxxx *g_dev;
int start(int spi_bus);
int stop();
@@ -535,7 +530,7 @@ start(int spi_bus)
}
/* create the driver */
- g_dev = new OSD(spi_bus);
+ g_dev = new OSDatxxxx(spi_bus);
if (g_dev == nullptr) {
goto fail;
@@ -606,7 +601,7 @@ info()
*/
void usage()
{
- PX4_INFO("usage: osd {start|stop|status'}");
+ PX4_INFO("usage: atxxxx {start|stop|status'}");
PX4_INFO(" [-b SPI_BUS]");
}
@@ -614,7 +609,7 @@ void usage()
int
-osd_main(int argc, char *argv[])
+atxxxx_main(int argc, char *argv[])
{
if (argc < 2) {
osd::usage();
diff --git a/src/drivers/osd/osd.h b/src/drivers/osd/atxxxx/atxxxx.h
similarity index 96%
rename from src/drivers/osd/osd.h
rename to src/drivers/osd/atxxxx/atxxxx.h
index ba9c32a854db87e38a2845539e1d755afe7e67f0..90c9e2c49cef42e55d89d4e1fdff6e22d26ad701 100644
--- a/src/drivers/osd/osd.h
+++ b/src/drivers/osd/atxxxx/atxxxx.h
@@ -34,7 +34,7 @@
#pragma once
/**
- * @file osd.h
+ * @file atxxxx.h
* @author Daniele Pettenuzzo
*
* Driver for the ATXXXX chip on the omnibus fcu connected via SPI.
@@ -92,12 +92,12 @@
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
-class OSD : public device::SPI
+class OSDatxxxx : public device::SPI
{
public:
- OSD(int bus = OSD_BUS);
+ OSDatxxxx(int bus = OSD_BUS);
- virtual ~OSD();
+ virtual ~OSDatxxxx();
virtual int init();
@@ -196,4 +196,4 @@ private:
/*
* Driver 'main' command.
*/
-extern "C" __EXPORT int osd_main(int argc, char *argv[]);
+extern "C" __EXPORT int atxxxx_main(int argc, char *argv[]);
diff --git a/src/drivers/osd/osd_params.c b/src/drivers/osd/atxxxx/params.c
similarity index 84%
rename from src/drivers/osd/osd_params.c
rename to src/drivers/osd/atxxxx/params.c
index 5b6802cfd40f4486b8a1c58e42d1cd1c204092d5..9e67a7f58ffae1a32853bf6e6cd2ffcbffe7d1b7 100644
--- a/src/drivers/osd/osd_params.c
+++ b/src/drivers/osd/atxxxx/params.c
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2018-2019 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
@@ -32,14 +32,16 @@
****************************************************************************/
/**
-* ATXXX OSD Chip
+* Enable/Disable the ATXXX OSD Chip
*
-* Select Transmission Standard
+* Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and
+* select the transmission standard.
*
-* @value 0 NTSC
-* @value 1 PAL
+* @value 0 Disabled
+* @value 1 NTSC
+* @value 2 PAL
*
* @reboot_required true
*
*/
-PARAM_DEFINE_INT32(OSD_TX_MODE, 0);
+PARAM_DEFINE_INT32(OSD_ATXXXX_CFG, 0);