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Rev	Author	Line No.	Line
1159	-	1	/*****************************************************************************
		2	* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
		3	* based on the C-OSD code from CaScAdE *
		4	* http://www.mylifesucks.de/oss/c-osd/ *
		5	* *
		6	* This program is free software; you can redistribute it and/or modify *
		7	* it under the terms of the GNU General Public License as published by *
		8	* the Free Software Foundation; either version 2 of the License. *
		9	* *
		10	* This program is distributed in the hope that it will be useful, *
		11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
		12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
		13	* GNU General Public License for more details. *
		14	* *
		15	* You should have received a copy of the GNU General Public License *
		16	* along with this program; if not, write to the *
		17	* Free Software Foundation, Inc., *
		18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
		19	* *
		20	*****************************************************************************/
		21
		22	#include <avr/io.h>
		23	#include <inttypes.h>
		24	#include <stdlib.h>
		25	#include <avr/pgmspace.h>
		26
		27	#include "main.h"
		28	#include "osd.h"
		29	#include "lcd.h"
		30	#include "timer.h"
		31	#include "usart.h"
		32	#include "eeprom.h"
		33
		34	#include "mk-data-structs.h"
		35
		36	#define COSD_WASFLYING 4
		37
		38	/* ##########################################################################
		39	* global definitions and global vars
		40	* ##########################################################################*/
		41	NaviData_t *naviData;
		42
		43	// stats for after flight
		44	int16_t max_Altimeter = 0;
		45	uint16_t max_GroundSpeed = 0;
		46	int16_t max_Distance = 0;
		47	uint8_t min_UBat = 255;
		48	uint16_t max_FlyingTime = 0;
		49	uint16_t max_Current = 0;
		50	uint16_t max_Capacity = 0;
		51
		52	// cache old vars for blinking attribute, checkup is faster than full
		53	// attribute write each time
		54	volatile uint8_t last_UBat = 255;
		55	volatile uint8_t last_RC_Quality = 255;
		56
		57	volatile uint16_t ftimer = 0;
		58
		59	// store stats description in progmem to save space
		60	const char stats_item_0[] PROGMEM = "max Altitude:";
		61	const char stats_item_1[] PROGMEM = "max Speed :";
		62	const char stats_item_2[] PROGMEM = "max Distance:";
		63	const char stats_item_3[] PROGMEM = "min Voltage :";
		64	const char stats_item_4[] PROGMEM = "max Time :";
		65	#if 1
		66	const char stats_item_5[] PROGMEM = "max Current :";
		67	const char stats_item_6[] PROGMEM = "UsedCapacity:";
		68	#else
		69	const char stats_item_5[] PROGMEM = "Long. :";
		70	const char stats_item_6[] PROGMEM = "Lat. :";
		71	#endif
		72	const char *stats_item_pointers[] PROGMEM = {
		73	stats_item_0,
		74	stats_item_1,
		75	stats_item_2,
		76	stats_item_3,
		77	stats_item_4,
		78	stats_item_5,
		79	stats_item_6
		80	};
		81
		82	//char* rose = "-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W";
		83	const char rose[48] PROGMEM = {
		84	0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S',
		85	0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O',
		86	0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N',
		87	0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W'};
		88	// the center is char 19 (north), we add the current heading in 8th
		89	// which would be 22.5 degrees, but float would bloat up the code
		90	// and *10 / 225 would take ages... so we take the uncorrect way
		91
		92
		93	const char str_NE[] PROGMEM = "NE";
		94	const char str_E[] PROGMEM = "E ";
		95	const char str_SE[] PROGMEM = "SE";
		96	const char str_S[] PROGMEM = "S ";
		97	const char str_SW[] PROGMEM = "SW";
		98	const char str_W[] PROGMEM = "W ";
		99	const char str_NW[] PROGMEM = "NW";
		100	const char str_N[] PROGMEM = "N ";
		101	const char *directions_p[8] PROGMEM = {
		102	str_NE,
		103	str_E,
		104	str_SE,
		105	str_S,
		106	str_SW,
		107	str_W,
		108	str_NW,
		109	str_N
		110	};
		111
		112	// Flags
		113	uint8_t COSD_FLAGS2 = 0;
		114
		115
		116
		117	GPS_Pos_t last5pos[7];
		118	uint8_t error = 0;
		119
		120
		121	/**
		122	* convert the <heading> gotton from NC into an index
		123	*/
		124	uint8_t heading_conv (uint16_t heading)
		125	{
		126	if (heading > 23 && heading < 68)
		127	{
		128	return 0; //direction = "NE";
		129	}
		130	else if (heading > 67 && heading < 113)
		131	{
		132	return 1; //direction = "E ";
		133	}
		134	else if (heading > 112 && heading < 158)
		135	{
		136	return 2; //direction = "SE";
		137	}
		138	else if (heading > 157 && heading < 203)
		139	{
		140	return 3; //direction = "S ";
		141	}
		142	else if (heading > 202 && heading < 248)
		143	{
		144	return 4; //direction = "SW";
		145	}
		146	else if (heading > 247 && heading < 293)
		147	{
		148	return 5; //direction = "W ";
		149	}
		150	else if (heading > 292 && heading < 338)
		151	{
		152	return 6; //direction = "NW";
		153	}
		154	return 7; //direction = "N ";
		155	}
		156
		157	/**
		158	* draw a compass rose at <x>/<y> for <heading>
		159	*/
		160	void draw_compass (uint8_t x, uint8_t y, uint16_t heading)
		161	{
		162	uint8_t front = 19 + (heading / 22);
		163	for (uint8_t i = 0; i < 9; i++)
		164	{
		165	lcd_putc (x++, y, pgm_read_byte(&rose[front - 4 + i]), 0);
		166	}
		167	}
		168
		169	void D_Position(void)
		170	{
		171	return;
		172
		173	}
		174
		175
		176
		177	/* ##########################################################################
		178	* variometer
		179	* ##########################################################################*/
		180	/**
		181	* draw variometer arrows at <x>/<y> according to <variometer>
		182	*/
		183	void draw_variometer (uint8_t x, uint8_t y, uint8_t width_x, uint8_t width_y, int16_t variometer)
		184	{
		185	lcd_rect (x, y - ((width_y - 1) / 2), width_x, width_y, 1);
		186	lcd_frect (x + 1, y - ((width_y - 1) / 2) + 1, width_x - 2, width_y - 2, 0);
		187	lcd_line (x, y, x + width_x, y, 1);
		188
		189	if (variometer > 0)
		190	{ // gain height
		191	switch (variometer / 5)
		192	{
		193	case 0:
		194	lcd_frect (x + 3, y - 1, 3, 1, 1);
		195	break;
		196	case 1:
		197	lcd_frect (x + 2, y - 3, 5, 3, 1);
		198	break;
		199	case 2:
		200	lcd_frect (x + 2, y - 4, 5, 4, 1);
		201	break;
		202	default:
		203	lcd_frect (x + 1, y - 5, 7, 5, 1);
		204	break;
		205	}
		206	}
		207	else
		208	{ // sink
		209	switch (variometer / -5)
		210	{
		211	case 0:
		212	lcd_frect (x + 3, y, 3, 1, 1);
		213	break;
		214	case 1:
		215	lcd_frect (x + 2, y, 5, 3, 1);
		216	break;
		217	case 2:
		218	lcd_frect (x + 2, y, 5, 4, 1);
		219	break;
		220	default:
		221	lcd_frect (x + 1, y, 7, 5, 1);
		222	break;
		223	}
		224	}
		225	}
		226
		227
		228	#define TIMEOUT 200 // 2 sec
		229
		230	void print_statistics (void)
		231	{
		232	uint8_t line = 0;
		233	lcd_cls ();
		234
		235	// max Altitude
		236	lcd_printpns_at (0, line, stats_item_pointers[0], 0);
		237	write_ndigit_number_s (13, line, max_Altimeter / 30, 4, 0);
		238	lcd_putc (17, line, 'm', 0);
		239
		240	// max Speed
		241	lcd_printpns_at (0, ++line, stats_item_pointers[1], 0);
		242	write_ndigit_number_u (14, line, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
		243	lcd_printpns_at(17, line, PSTR("km/h"), 0);
		244
		245	// max Distance
		246	lcd_printpns_at (0, ++line, stats_item_pointers[2], 0);
		247	write_ndigit_number_u (14, line, max_Distance / 10, 3, 0);
		248	lcd_putc (17, line, 'm', 0);
		249
		250	// max time
		251	lcd_printpns_at (0, ++line, stats_item_pointers[4], 0);
		252	write_time (13, line, max_FlyingTime);
		253
		254	// min voltage
		255	lcd_printpns_at (0, ++line, stats_item_pointers[3], 0);
		256	write_ndigit_number_u_10th (13, line, min_UBat, 3, 0);
		257	lcd_putc (17, line, 'V', 0);
		258
		259	#if 1
		260	// max Current
		261	lcd_printpns_at (0, ++line, stats_item_pointers[5], 0);
		262	write_ndigit_number_u_10th (13, line, max_Current, 3, 0);
		263	lcd_putc (17, line, 'A', 0);
		264
		265	// Used Capacity
		266	lcd_printpns_at (0, ++line, stats_item_pointers[6], 0);
		267	write_ndigit_number_u (13, line, max_Capacity, 4, 0);
		268	lcd_printpns_at(17, line, PSTR("mAh"), 0);
		269	#else
		270	// longitude
		271	lcd_printpns_at (0, ++line, stats_item_pointers[5], 0);
		272	write_gps_pos (8, line, naviData->CurrentPosition.Longitude);
		273
		274	// latitude
		275	lcd_printpns_at (0, ++line, stats_item_pointers[6], 0);
		276	write_gps_pos (8, line, naviData->CurrentPosition.Latitude);
		277	#endif
		278	while (!get_key_press (1 << KEY_ESC))
		279	timer = TIMEOUT;
		280	COSD_FLAGS2 &= ~COSD_WASFLYING;
		281	get_key_press(KEY_ALL);
		282	lcd_cls();
		283	}
		284
		285	void print_position (void)
		286	{
		287	lcd_cls ();
		288
		289
		290	uint8_t ij =0;
		291
		292	for(ij=0;ij<7;ij++)
		293	{
		294
		295	uint32_t lon = last5pos[ij].Longitude;
		296	write_ndigit_number_u (0, ij+1, (uint16_t)(lon/10000000), 3, 0);
		297	lcd_printp_at (3,ij+1, PSTR("."), 0);
		298	write_ndigit_number_u (4, ij+1, (uint16_t)((lon/1000) % 10000), 4, 1);
		299	write_ndigit_number_u (8, ij+1, (uint16_t)((lon/10) % 100), 2, 1);
		300
		301	uint32_t lat = last5pos[ij].Latitude;
		302	write_ndigit_number_u (10, ij+1, (uint16_t)(lat/10000000), 3, 0);
		303	lcd_printp_at (13,ij+1, PSTR("."), 0);
		304	write_ndigit_number_u (14, ij+1, (uint16_t)((lat/1000) % 10000), 4, 1);
		305	write_ndigit_number_u (18, ij+1, (uint16_t)((lat/10) % 100), 2, 1);
		306	}
		307
		308
		309
		310	while (!get_key_press (1 << KEY_MINUS) && !get_key_press (1 << KEY_ESC) && !get_key_press (1 << KEY_ENTER))
		311	timer = TIMEOUT;
		312	get_key_press(KEY_ALL);
		313	lcd_cls();
		314	}
		315
		316	void osd (uint8_t ShowMode)
		317	{
		318	uint8_t flag;
		319	uint8_t tmp_dat;
		320	uint8_t OSD_Mode;
		321
		322	// Clear statistics
		323	max_Altimeter = 0;
		324	max_GroundSpeed = 0;
		325	max_Distance = 0;
		326	min_UBat = 255;
		327	max_FlyingTime = 0;
		328
		329	// flags from last round to check for changes
		330	uint8_t old_FCFlags = 0;
		331
		332	uint16_t old_hh = 0;
		333	uint8_t old_AngleNick = 0;
		334	uint8_t old_AngleRoll = 0;
		335
		336	OSD_Mode = ShowMode;
		337	if(error == 0) lcd_cls();
		338	if(error == 1) lcd_printp_at (0, 0, PSTR(" "), 0);
		339
		340
		341	if (hardware == FC)
		342	{
		343	lcd_printp_at(0, 3, PSTR("Only with NC !"), 0);
		344	timer = 100;
		345	while (timer > 0);
		346	return;
		347	}
		348
		349	SwitchToNC();
		350
		351	mode = 'O';
		352
		353	// disable debug...
		354	// RS232_request_mk_data (0, 'd', 0);
		355	tmp_dat = 0;
		356	SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
		357
		358	// request OSD Data from NC every 100ms
		359	// RS232_request_mk_data (1, 'o', 100);
		360	tmp_dat = 10;
		361	SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
		362
		363	flag = 0;
		364	timer = TIMEOUT;
		365	abo_timer = ABO_TIMEOUT;
		366
		367
		368	do
		369	{
		370	if (rxd_buffer_locked)
		371	{
		372	timer = TIMEOUT;
		373	Decode64 ();
		374	naviData = (NaviData_t *) pRxData;
		375
		376	if(error == 1) lcd_cls();
		377	error = 0;
		378
		379
		380
		381	GPS_Pos_t currpos;
		382	currpos.Latitude = naviData->CurrentPosition.Latitude;
		383	currpos.Longitude = naviData->CurrentPosition.Longitude;
		384
		385	if((currpos.Latitude != last5pos[0].Latitude)&&(currpos.Longitude != last5pos[0].Longitude))
		386	{
		387	last5pos[6] = last5pos[5];
		388	last5pos[5] = last5pos[4];
		389	last5pos[4] = last5pos[3];
		390	last5pos[3] = last5pos[2];
		391	last5pos[2] = last5pos[1];
		392	last5pos[1] = last5pos[0];
		393	last5pos[0] = currpos;
		394	}
		395
		396	flag = 1;
		397	if (OSD_Mode == 1)
		398	{
		399	if (naviData->FCFlags & FCFLAG_MOTOR_RUN)
		400	{ // should be engines running
		401	// motors are on, assume we were/are flying
		402	COSD_FLAGS2 \|= COSD_WASFLYING;
		403	}
		404	else
		405	{ // stats
		406	// if ((COSD_FLAGS2 & COSD_WASFLYING) \|\| (get_key_press (1 << KEY_ENTER)))
		407	if (get_key_press (1 << KEY_ENTER))
		408	{
		409	print_statistics ();
		410	}
		411	if (get_key_press (1 << KEY_PLUS))
		412	{
		413	print_position ();
		414	}
		415	}
		416
		417	// lcd_printpns_at (0, 3, PSTR("012345678901234567890"), 0);
		418	lcd_ecircle(22, 35, 16, 1);
		419
		420	// Ground Speed
		421	write_ndigit_number_u (1, 0, (uint16_t) (((uint32_t) naviData->GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
		422	lcd_printpns_at(4, 0, PSTR("km/h"), 0);
		423
		424
		425
		426
		427	// Compass
		428	write_ndigit_number_u (14, 0, naviData->CompassHeading, 3, 0);
		429	lcd_putc (17, 0, 0x1E, 0); // degree symbol
		430	lcd_printpns_at (18, 0, (const char *) (pgm_read_word ( &(directions_p[heading_conv(naviData->CompassHeading)]))), 0);
		431
		432	draw_compass (12, 1, naviData->CompassHeading);
		433
		434
		435
		436	// Altitude
		437	//note:lephisto:according to several sources it's /30
		438	if (naviData->Altimeter > 300 \|\| naviData->Altimeter < -300)
		439	{
		440	// above 10m only write full meters
		441	write_ndigit_number_s (0, 1, naviData->Altimeter / 30, 4, 0);
		442	}
		443	else
		444	{
		445	// up to 10m write meters.dm
		446	write_ndigit_number_s_10th (0, 1, naviData->Altimeter / 3, 3, 0);
		447	}
		448	lcd_putc (4, 1, 'm', 0);
		449
		450	draw_variometer (55, 7, 9, 13, naviData->Variometer);
		451
		452	// TODO: verify correctness
		453	uint16_t heading_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
		454	lcd_ecirc_line (22, 35, 15, old_hh, 0);
		455	old_hh = heading_home;
		456	lcd_ecirc_line (22, 35, 15, heading_home, 1);
		457
		458	write_ndigit_number_u (7, 3, heading_home, 3, 0);
		459	lcd_putc (10, 3, 0x1e, 0); // degree symbol
		460
		461	write_ndigit_number_u (7, 2, naviData->HomePositionDeviation.Distance / 10, 3, 0);
		462	lcd_putc (10, 2, 'm', 0);
		463
		464	// Sats in use
		465	lcd_printp_at(10, 4, PSTR("Sats"), 0);
		466	write_ndigit_number_u (8, 4, naviData->SatsInUse, 2, 0);
		467
		468	if (naviData->NCFlags & NC_FLAG_MANUAL_CONTROL)
		469	{
		470	lcd_putc (19, 4, 'M', 0); // rc transmitter
		471	}
		472	else
		473	{
		474	lcd_putc (19, 4, 'X', 0); // clear
		475	}
		476	#if 0
		477	lcd_printp_at(11, 5, PSTR("Mode:"), 0);
		478	if (naviData->NCFlags & NC_FLAG_CH)
		479	{
		480	lcd_printpns_at (17, 5, PSTR("CH "), 0);
		481	}
		482	else if (naviData->NCFlags & NC_FLAG_PH)
		483	{
		484	lcd_printpns_at (17, 5, PSTR("PH "), 0);
		485	}
		486	else
		487	{ // (naviData->NCFlags & NC_FLAG_FREE)
		488	lcd_printpns_at (17, 5, PSTR("Free"), 0); // sat2 (free)
		489	}
		490	#endif
		491	if (naviData->NCFlags & NC_FLAG_CH)
		492	{
		493	lcd_printpns_at (10, 5, PSTR("Coming Home"), 0);
		494	}
		495	else if (naviData->NCFlags & NC_FLAG_PH)
		496	{
		497	lcd_printpns_at (10, 5, PSTR("Pos. Hold "), 0);
		498	}
		499	else
		500	{ // (naviData->NCFlags & NC_FLAG_FREE)
		501	lcd_printpns_at (10, 5, PSTR("Free "), 0);
		502	}
		503
		504	// Flying time
		505	write_time (7, 6, naviData->FlyingTime);
		506	// lcd_printp_at (7, 6, PSTR("Fly"), 0);
		507
		508	// RC
		509	write_ndigit_number_u (15, 6, naviData->RC_Quality, 3, 0);
		510	lcd_putc (18, 6, 0x1F, 0); // RC-transmitter
		511	if (naviData->NCFlags & NC_FLAG_NOSERIALLINK)
		512	{
		513	lcd_printpns_at(19, 6, PSTR(" "), 0); // clear
		514	}
		515	else
		516	{
		517	lcd_printpns_at(19, 6, PSTR("PC"), 0);
		518	}
		519
		520	// Battery level
		521	write_ndigit_number_u_10th (0, 7, naviData->UBat, 3, 0);
		522	lcd_putc (4, 7, 'V', 0);
		523	// Akku Warnung
		524	if (naviData->UBat < MK_LowBat)
		525	{ //Beeper ein
		526
		527	#ifdef HWVERSION1_2
		528	PORTC &= ~(1<<PORTC7);
		529	#endif
		530	#ifdef HWVERSION1_3
		531	PORTC &= ~(1<<PORTC7);
		532	#endif
		533	#ifdef HWVERSION3_1
		534	set_BEEP();
		535
		536	#endif
		537
		538	}
		539
		540
		541	if (naviData->UBat > MK_LowBat+2) //bei kurzzeitigen Schwankungen Beeper erst wieder aus wenn UBat 0,2 V höher als Warnschwelle
		542	{//Beeper aus
		543
		544	#ifdef HWVERSION1_2
		545	PORTC \|= (1<<PORTC7);
		546	#endif
		547	#ifdef HWVERSION1_3
		548	PORTC \|= (1<<PORTC7);
		549	#endif
		550	#ifdef HWVERSION3_1
		551	clr_BEEP();
		552	#endif
		553	}
		554	// Akku Warnung Ende
		555	// Current
		556	write_ndigit_number_u_10th (7, 7, naviData->Current, 3, 0);
		557	lcd_putc (11, 7, 'A', 0);
		558
		559	// Capacity
		560	write_ndigit_number_u (14, 7, naviData->UsedCapacity, 4, 0);
		561	lcd_printpns_at(18, 7, PSTR("mAh"), 0);
		562
		563	// remember statistics (only when engines running)
		564	if (naviData->FCFlags & FCFLAG_MOTOR_RUN)
		565	{
		566	if (naviData->Altimeter > max_Altimeter) max_Altimeter = naviData->Altimeter;
		567	if (naviData->GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData->GroundSpeed;
		568	if (naviData->HomePositionDeviation.Distance > max_Distance) max_Distance = naviData->HomePositionDeviation.Distance;
		569	if (naviData->UBat < min_UBat) min_UBat = naviData->UBat;
		570	if (naviData->FlyingTime > max_FlyingTime) max_FlyingTime = naviData->FlyingTime;
		571	if (naviData->Current > max_Current) max_Current = naviData->Current;
		572	if (naviData->UsedCapacity > max_Capacity) max_Capacity = naviData->UsedCapacity;
		573	}
		574
		575	// remember last values
		576	last_RC_Quality = naviData->RC_Quality;
		577	last_UBat = naviData->UBat;
		578	old_FCFlags = naviData->FCFlags;
		579
		580	rxd_buffer_locked = FALSE;
		581	}
		582
		583	else
		584	{
		585	lcd_printpns_at(0, 0, PSTR("N:"), 0);
		586	lcd_printpns_at(0, 1, PSTR("R:"), 0);
		587	write_ndigit_number_s (2, 0, naviData->AngleNick, 3, 0);
		588	write_ndigit_number_s (2, 1, naviData->AngleRoll, 3, 0);
		589
		590
		591	lcd_line(0,32,128,32,1);
		592	lcd_line(64,0,64,64,1);
		593
		594	uint8_t Nick = ((naviData->AngleNick/2)+32);
		595	uint8_t Roll = -naviData->AngleRoll+64;
		596	uint16_t head_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
		597	write_ndigit_number_s (2, 2,head_home, 5, 0);
		598	lcd_printpns_at(0, 2, PSTR("K:"), 0);
		599	lcd_ecircle(old_AngleRoll,old_AngleNick, 10, 0);
		600	lcd_ecirc_line (old_AngleRoll, old_AngleNick, 9, old_hh, 0);
		601
		602	lcd_ecircle(Roll, Nick, 10, 1);
		603	lcd_ecirc_line (Roll, Nick, 9, head_home, 1);
		604
		605
		606	old_hh = head_home;
		607	old_AngleNick = Nick;
		608	old_AngleRoll = Roll;
		609	// remember last values
		610	last_RC_Quality = naviData->RC_Quality;
		611	last_UBat = naviData->UBat;
		612	old_FCFlags = naviData->FCFlags;
		613	rxd_buffer_locked = FALSE;
		614	}
		615
		616	if (!abo_timer)
		617	{ // renew abo every 3 sec
		618	// request OSD Data from NC every 100ms
		619	// RS232_request_mk_data (1, 'o', 100);
		620	tmp_dat = 10;
		621	SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
		622
		623	abo_timer = ABO_TIMEOUT;
		624	}
		625	}
		626	}
		627	while (!get_key_press (1 << KEY_ESC) && timer);
		628
		629	// Falls Spannungswarnung an war Beeper aus//
		630
		631	#ifdef HWVERSION1_2
		632	PORTC \|= (1<<PORTC7);
		633	#endif
		634	#ifdef HWVERSION1_3
		635	PORTC \|= (1<<PORTC7);
		636	#endif
		637	#ifdef HWVERSION3_1
		638	clr_BEEP();
		639	#endif
		640
		641
		642
		643
		644	// disable OSD Data from NC
		645	// RS232_request_mk_data (1, 'o', 0);
		646	tmp_dat = 0;
		647	SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
		648
		649	mode = 0;
		650	rxd_buffer_locked = FALSE;
		651
		652	if (!timer)
		653	{ // timeout occured
		654	if (flag)
		655	{
		656	lcd_cls ();
		657	}
		658
		659	error = 1;
		660
		661	uint8_t ij =0;
		662
		663	for(ij=0;ij<7;ij++)
		664	{
		665
		666	uint32_t lon = last5pos[ij].Longitude;
		667	write_ndigit_number_u (0, ij+1, (uint16_t)(lon/10000000), 3, 0);
		668	lcd_printp_at (3,ij+1, PSTR("."), 0);
		669	write_ndigit_number_u (4, ij+1, (uint16_t)((lon/1000) % 10000), 4, 1);
		670	write_ndigit_number_u (8, ij+1, (uint16_t)((lon/10) % 100), 2, 1);
		671
		672	uint32_t lat = last5pos[ij].Latitude;
		673	write_ndigit_number_u (10, ij+1, (uint16_t)(lat/10000000), 3, 0);
		674	lcd_printp_at (13,ij+1, PSTR("."), 0);
		675	write_ndigit_number_u (14, ij+1, (uint16_t)((lat/1000) % 10000), 4, 1);
		676	write_ndigit_number_u (18, ij+1, (uint16_t)((lat/10) % 100), 2, 1);
		677	}
		678
		679
		680	lcd_printp_at (0, 0, PSTR("ERROR: no data"), 0);
		681
		682	timer = 100;
		683	while (timer > 0);
		684	if (get_key_press (1 << KEY_PLUS))
		685	{
		686	print_position ();
		687	}
		688	osd(OSD_Mode);
		689	}
		690	}

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(root)/Transportables_Koptertool/tags/V3.x/osd.c @ 1323 - Rev