MSP_OSD code changes to support OpenIPC, DJI O3/O4 OSD rendering (#24695)

* Change MSP_OSD message content and rendering process

* Finish MSP_OSD battery message construct

* Finish MSP_OSD `display message` construct

	HOL|DSAM|N

* Finish MSP_FC_VARIANT(0x02) message

	BTFL

* Finish MSP_OSD RSSI message
	📶10%

* Finish MSP_OSD GPS message
	🛰 10
	🌐000.000000
	🌐00.000000

* Finish MSP_OSD PITCH ROLL  message
        🔃-10.5
	🔁13.2

* Change struct filed name

* Change OSD message postion

* Finish MSP_OSD PITCH Altitude  message
	🔝15.2

* Finish MSP_OSD distanceToHome  message
	🏠5000

* Add Hide/Show option for ALT and homeDist

* Format the code by `make format`

* Clean up stray text

* Remove other commented out dead code

* Change `sprintf()` to `snprintf()`

* Add msg field comment in `display_message` construct

* Init str buffer to 0, Change refresh rate back to 100ms

* Explicit conversion float to double

---------

Co-authored-by: Li.Tianming <Li.Tianming@example.com>
Co-authored-by: Li.Tianming <Li.Tianming>

Author: Li-Tianming

boards/hkust/nxt-dual/default.px4board

@@ -17,6 +17,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y

src/drivers/osd/msp_osd/MessageDisplay/MessageDisplay.cpp

@@ -56,6 +56,13 @@ void MessageDisplay::set(const MessageDisplayType mode, const char *string)
 		if (strcmp(flight_mode_msg, string) != 0) {
 			flight_mode_msg[MSG_BUFFER_SIZE - 1] = '\0';
 			strncpy(flight_mode_msg, string, MSG_BUFFER_SIZE - 1);
+
+			for (int i = 0; i < (MSG_BUFFER_SIZE - 1); ++i) {
+				if (flight_mode_msg[i] >= 'a' && flight_mode_msg[i] <= 'z') {
+					flight_mode_msg[i] = flight_mode_msg[i] - 32; // toupper
+				}
+			}
+
 			updated_ = true;
 		}
 

src/drivers/osd/msp_osd/MspV1.cpp

@@ -107,7 +107,32 @@ bool MspV1::Send(const uint8_t message_id, const void *payload)
 
 	packet[0] = '$';
 	packet[1] = 'M';
-	packet[2] = '<';
+	packet[2] = '>';
+	packet[3] = payload_size;
+	packet[4] = message_id;
+
+	crc = payload_size ^ message_id;
+
+	memcpy(packet + MSP_FRAME_START_SIZE, payload, payload_size);
+
+	for (uint32_t i = 0; i < payload_size; i ++) {
+		crc ^= packet[MSP_FRAME_START_SIZE + i];
+	}
+
+	packet[MSP_FRAME_START_SIZE + payload_size] = crc;
+
+	int packet_size =  MSP_FRAME_START_SIZE + payload_size + MSP_CRC_SIZE;
+	return  write(_fd, packet, packet_size) == packet_size;
+}
+
+bool MspV1::Send(const uint8_t message_id, const void *payload, uint32_t payload_size)
+{
+	uint8_t packet[MSP_FRAME_START_SIZE + payload_size + MSP_CRC_SIZE];
+	uint8_t crc;
+
+	packet[0] = '$';
+	packet[1] = 'M';
+	packet[2] = '>';
 	packet[3] = payload_size;
 	packet[4] = message_id;
 

src/drivers/osd/msp_osd/MspV1.hpp

@@ -39,6 +39,7 @@ class MspV1
 	MspV1(int fd);
 	int GetMessageSize(int message_type);
 	bool Send(const uint8_t message_id, const void *payload);
+	bool Send(const uint8_t message_id, const void *payload, uint32_t payload_size);
 
 private:
 	int _fd{-1};

src/drivers/osd/msp_osd/msp_defines.h

@@ -111,6 +111,7 @@
 #define MSP_MODE_TURNASSIST  27
 #define MSP_MODE_NAVLAUNCH   28
 #define MSP_MODE_AUTOTRIM    29
+#define MSP_CMD_DISPLAYPORT 182
 
 struct msp_esc_sensor_data_t {
 	uint8_t motor_count;
@@ -288,6 +289,25 @@ struct msp_attitude_t {
 	int16_t yaw;
 } __attribute__((packed));
 
+struct msp_rendor_pitch_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x15; //PITCH icon
+
+	char str[6]; // -00.0
+} __attribute__((packed));
+
+struct msp_rendor_roll_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x14; //ROLL icon
+
+	char str[6]; // -00.0
+} __attribute__((packed));
 
 // MSP_ALTITUDE reply
 struct msp_altitude_t {
@@ -297,6 +317,17 @@ struct msp_altitude_t {
 } __attribute__((packed));
 
 
+struct msp_rendor_altitude_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x7F; //ALT icon
+
+	char str[8]; // -0000.0 // 9999.9 meter
+} __attribute__((packed));
+
+
 // MSP_SONAR_ALTITUDE reply
 struct msp_sonar_altitude_t {
 	int32_t altitude;
@@ -311,6 +342,16 @@ struct msp_analog_t {
 	int16_t  amperage; // send amperage in 0.01 A steps, range is -320A to 320A
 } __attribute__((packed));
 
+struct msp_rendor_rssi_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x01; //RSSI icon
+
+	char str[4]; // 100%
+} __attribute__((packed));
+
 
 // MSP_ARMING_CONFIG reply
 struct msp_arming_config_t {
@@ -392,6 +433,38 @@ struct msp_raw_gps_t {
 	uint16_t hdop;
 } __attribute__((packed));
 
+struct msp_rendor_latitude_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x89; //LAT icon
+
+	char str[11]; // -00.0000000
+} __attribute__((packed));
+
+
+struct msp_rendor_longitude_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x98; //LON icon
+
+	char str[12]; // -000.0000000
+} __attribute__((packed));
+
+struct msp_rendor_satellites_used_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00;
+	uint8_t iconIndex = 0x1E; //satellites icon
+	uint8_t iconIndex2 = 0x1F; //satellites icon
+
+	char str[2]; // 99
+} __attribute__((packed));
+
 
 // MSP_COMP_GPS reply
 struct msp_comp_gps_t {
@@ -400,6 +473,16 @@ struct msp_comp_gps_t {
 	uint8_t  heartbeat;       // toggles 0 and 1 for each change
 } __attribute__((packed));
 
+struct msp_rendor_distanceToHome_t {
+	uint8_t subCommand = 0x03; // 0x03 subcommand write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs = 0x00; //
+	uint8_t iconIndex = 0x71; //distanceToHome icon
+
+	char str[6]; // 65536
+} __attribute__((packed));
+
 
 // values for msp_nav_status_t.mode
 #define MSP_NAV_STATUS_MODE_NONE   0
@@ -788,6 +871,15 @@ struct msp_battery_state_t {
 	uint16_t batteryVoltage;
 } __attribute__((packed));
 
+struct msp_rendor_battery_state_t {
+	uint8_t subCommand; // 0x03 write string. fixed
+	uint8_t screenYPosition;
+	uint8_t screenXPosition;
+	uint8_t iconAttrs;
+	uint8_t iconIndex;
+	char str[5];
+} __attribute__((packed));
+
 // MSP_STATUS reply customized for BF/DJI
 struct msp_status_BF_t {
 	uint16_t task_delta_time;