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/****************************************************************************
 *   Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje                    *
 *   admiralcascade@gmail.com                                               *
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
 *                                                                          *
 *   This program is free software; you can redistribute it and/or modify   *
 *   it under the terms of the GNU General Public License as published by   *
 *   the Free Software Foundation; either version 2 of the License.         *
 *                                                                          *
 *   This program is distributed in the hope that it will be useful,        *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
 *   GNU General Public License for more details.                           *
 *                                                                          *
 *   You should have received a copy of the GNU General Public License      *
 *   along with this program; if not, write to the                          *
 *   Free Software Foundation, Inc.,                                        *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
 *                                                                          *
 *                                                                          *
 *   Credits to:                                                            *
 *   Holger Buss & Ingo Busker from mikrokopter.de for the MK project       *
 *   Gregor "killagreg" Stobrawa for making the MK code readable            *
 *   Klaus "akku" Buettner for the hardware                                 *
 *   Manuel "KeyOz" Schrape for explaining the MK protocol to me            *
 ****************************************************************************/


#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include "main.h"
#include "max7456_software_spi.h"
#include "usart1.h"
#include "osd_helpers.h"

/* TODO:
 * - verifiy correctness of values
 * - clean up code :)
 */


#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
// data structs not needed for character flashin
#include "mk-data-structs.h"

/* ##########################################################################
 * global definitions and global vars
 * ##########################################################################*/


volatile uint16_t setsReceived = 0;

volatile NaviData_t naviData;
volatile DebugOut_t debugData;

// cache old vars for blinking attribute, checkup is faster than full
// attribute write each time
volatile uint8_t last_UBat = 255;
volatile uint8_t last_RC_Quality = 255;

// 16bit should be enough, normal LiPos don't last that long
volatile uint16_t uptime = 0;
volatile uint16_t timer = 0;

// remember last time data was received
volatile uint8_t seconds_since_last_data = 0;

// store stats description in progmem to save space
char stats_item_0[] PROGMEM = "max Altitude:";
char stats_item_1[] PROGMEM = "max Speed   :";
char stats_item_2[] PROGMEM = "max Distance:";
char stats_item_3[] PROGMEM = "min voltage :";
char stats_item_4[] PROGMEM = "max time    :";
char stats_item_5[] PROGMEM = "longitude   :";
char stats_item_6[] PROGMEM = "latitude    :";
char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
    stats_item_3, stats_item_4, stats_item_5, stats_item_6};

// store more fixed strings in progmen
char ON[] PROGMEM = "ON ";
char OFF[] PROGMEM = "OFF";

#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))

// general PAL|NTSC distingiusch stuff
uint8_t top_line = 1;
uint8_t bottom_line = 14;

// battery voltages
uint8_t min_voltage = 0;
uint8_t max_voltage = 0;

// Flags
uint8_t COSD_FLAGS = 0;

/* ##########################################################################
 * debounce buttons
 * ##########################################################################*/

int s1_pressed() {
    if (S1_PRESSED) {
        _delay_ms(25);
        if (S1_PRESSED) return 1;
    }
    return 0;
}

int s2_pressed() {
    if (S2_PRESSED) {
        _delay_ms(25);
        if (S2_PRESSED) return 1;
    }
    return 0;
}

/* ##########################################################################
 * Interrupt handler
 * ##########################################################################*/


/**
 * handler for undefined Interrupts
 * if not defined AVR will reset in case any unhandled interrupts occur
 */

ISR(__vector_default) {
    asm("nop");
}

#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
/* ##########################################################################
 * timer stuff
 * ##########################################################################*/


/**
 * timer kicks in every 1000uS ^= 1ms
 */

ISR(TIMER0_OVF_vect) {
    OCR0 = 15; // preload
    if (!timer--) {
        uptime++;
        timer = 999;
        seconds_since_last_data++;
    }
}


/* ##########################################################################
 * A simple config menu for the flags
 * ##########################################################################*/


/**
 * helper function for menu updating
 */

void config_menu_drawings(uint8_t chosen) {
    // clear prevoius _cursor_
    write_ascii_string(3, (chosen + 5) % 8, " ");
    // draw current _cursor_
    write_ascii_string(3, chosen + 5, ">");
    if (COSD_FLAGS & COSD_FLAG_HUD) {
        write_ascii_string_pgm(23, 5, ON);
    } else {
        write_ascii_string_pgm(23, 5, OFF);
    }
    if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
        write_ascii_string_pgm(23, 6, ON);
    } else {
        write_ascii_string_pgm(23, 6, OFF);
    }
    if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
        write_ascii_string_pgm(23, 7, ON);
    } else {
        write_ascii_string_pgm(23, 7, OFF);
    }
    if (COSD_FLAGS & COSD_FLAG_STATS) {
        write_ascii_string_pgm(23, 8, ON);
    } else {
        write_ascii_string_pgm(23, 8, OFF);
    }
    if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
        write_ascii_string_pgm(23, 9, ON);
    } else {
        write_ascii_string_pgm(23, 9, OFF);
    }
}

/**
 * some sort of clicking response in the menu
 */

void config_menu_doclick(uint8_t chosen, char** menu) {
    write_ascii_string(4, chosen + 5, "DONE              ");
    _delay_ms(1000);
    write_ascii_string(4, chosen + 5, menu[chosen]);
}

/**
 * a simple config menu tryout
 */

void config_menu(void) {
    // disable interrupts (makes the menu more smoothely)
    cli();

    // clear screen
    clear();

    char* menu[9] = {"Full HUD",
        "Art.Horizon in HUD",
        "Big Vario bar",
        "Statistics",
        "Warnings", // TODO: do it!
        "Reset uptime",
        "Request OSD-data",
        "Disable Debug-data",
        "EXIT"};

    uint8_t inmenu = 1;
    uint8_t chosen = 0;
    write_ascii_string(6, 2, "C-OSD Config Menu");

    // wait a bit before doing stuff so user has chance to release button
    _delay_ms(250);

    write_ascii_string(4, 5, menu[0]);
    write_ascii_string(4, 6, menu[1]);
    write_ascii_string(4, 7, menu[2]);
    write_ascii_string(4, 8, menu[3]);
    write_ascii_string(4, 9, menu[4]);
    write_ascii_string(4, 10, menu[5]);
    write_ascii_string(4, 11, menu[6]);
    write_ascii_string(4, 12, menu[7]);
    write_ascii_string(4, 13, menu[8]);

    config_menu_drawings(chosen);

    while (inmenu) {
        if (s2_pressed()) {
            write_ascii_string(3, chosen + 5, " ");
            chosen = (chosen + 1) % 9;
            write_ascii_string(3, chosen + 5, ">");
            _delay_ms(500);
        } else if (s1_pressed()) {
            switch (chosen) {
                case 0: // full HUD
                    COSD_FLAGS ^= COSD_FLAG_HUD;
                    config_menu_drawings(chosen);
                    break;
                case 1: // art horizon
                    COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
                    config_menu_drawings(chosen);
                    break;
                case 2: // big vario
                    COSD_FLAGS ^= COSD_FLAG_BIGVARIO;
                    config_menu_drawings(chosen);
                    break;
                case 3: // statistics
                    COSD_FLAGS ^= COSD_FLAG_STATS;
                    config_menu_drawings(chosen);
                    break;
                case 4: // warnings
                    COSD_FLAGS ^= COSD_FLAG_WARNINGS;
                    config_menu_drawings(chosen);
                    break;
                case 5: // reset uptime
                    uptime = 0;
                    config_menu_doclick(chosen, menu);
                    break;
                case 6: // re-request OSD data
#if FCONLY
                    // request data ever 100ms from FC;
                    usart1_request_mk_data(0, 'd', 100);
#else
                    // request OSD Data from NC every 100ms
                    usart1_request_mk_data(1, 'o', 100);

                    // and disable debug...
                    usart1_request_mk_data(0, 'd', 0);
#endif
                    config_menu_doclick(chosen, menu);
                    break;
                case 7: // disable debug data
                    // disable sending of debug data
                    // may result in smoother ddata display
                    usart1_request_mk_data(0, 'd', 0);
                    config_menu_doclick(chosen, menu);
                    break;
                case 8: // exit
                    inmenu = 0;
                    break;
            }
            _delay_ms(250);
        }
    }

    // clear screen up again
    clear();

    // update flags to paint display again if needed
    COSD_FLAGS &= ~COSD_ICONS_WRITTEN;

    // enable interrupts again
    sei();
}

/**
 * auto config some stuff on startup, currently only battery cells
 * TODO: this is testing stuff, strings should go progmem and so on...
 */

void auto_config(uint8_t UBat, uint8_t* min_UBat) {
    clear();
    // fix for min_bat glitch caused by data only gathered during motors up
    *min_UBat = UBat;
    write_ascii_string(2, 2, "C-OSD Initialisation");
#if FCONLY
    write_ascii_string(2, 3, "FC only Mode");
#else
    write_ascii_string(2, 3, "NaviCtrl Mode");
#endif
    uint8_t cellnum = 0;
    if (CELL_NUM == -1) {
        write_ascii_string(2, 5, "Guessing Number of Cells");
        do {
            cellnum++;
        } while (UBat > ((cellnum * CELL_VOLT_MAX) + 10));
    } else {
        cellnum = CELL_NUM;
    }
    min_voltage = cellnum * CELL_VOLT_MIN;
    max_voltage = cellnum * CELL_VOLT_MAX;
    write_ascii_string(2, 7, "Number of Cells:");
    write_ndigit_number_u(21, 7, cellnum, 1, 0);
    write_ascii_string(2, 8, "Warn Voltage   :");
    write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0);
    write_ascii_string(2, 9, "Max Voltage    :");
    write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0);
    _delay_ms(200);
    clear();
    // update flags to paint display again because of clear
    COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
}

#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))

/* ##########################################################################
 * MAIN
 * ##########################################################################*/

int main(void) {
    // set up FLAGS, compiler should flatten this one
    COSD_FLAGS = (NTSC << 0);
    COSD_FLAGS |= (HUD << 1);
    COSD_FLAGS |= (ARTHORIZON << 2);
    COSD_FLAGS |= (BIGVARIO << 3);
    COSD_FLAGS |= (STATS << 4);
    COSD_FLAGS |= (WARNINGS << 5);

    // set up Atmega162 Ports
    DDRA |= (1 << PA1); // PA1 output (/CS)
    MAX_CS_HIGH
    DDRA |= (1 << PA2); // PA2 output (SDIN)
    MAX_SDIN_LOW
    DDRA |= (1 << PA3); // PA3 output (SCLK)
    MAX_SCLK_LOW
    DDRA |= (1 << PA5); // PA5 output (RESET)
    MAX_RESET_HIGH

    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
    LED1_OFF
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
    LED2_OFF
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
    LED3_OFF
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
    LED4_OFF

    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
    PORTC |= (1 << PC4); // pullup
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
    PORTC |= (1 << PC5); // pullup

    // set up top and bottom lines
    if (COSD_FLAGS & COSD_FLAG_NTSC) {
        bottom_line = 12;
    } else {
        bottom_line = 14;
    }

    // reset the MAX7456 to be sure any undefined states do no harm
    MAX_RESET_LOW
    MAX_RESET_HIGH

    // give the FC/NC and the maxim time to come up
    LED4_ON
    _delay_ms(2000);

    LED4_OFF


    //Pushing NEW chars to the MAX7456
#if (WRITECHARS != -1)
    // DISABLE display (VM0)
    spi_send_byte(0x00, 0b00000000);
    #include "characters.c"
#endif

    // Setup Video Mode
    if (COSD_FLAGS & COSD_FLAG_NTSC) {
        // NTSC + enable display immediately (VM0)
        spi_send_byte(0x00, 0b00001000);
    } else {
        // PAL + enable display immediately (VM0)
        spi_send_byte(0x00, 0b01001000);
    }

    /*// clear all display-mem (DMM)
    spi_send_byte(0x04, 0b00000100);

    // clearing takes 12uS according to maxim so lets wait longer
    _delay_us(120);

    // 8bit mode
    spi_send_byte(0x04, 0b01000000);*/


    // clear display memory and set to 8bit mode
    clear();

#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
    // init usart
    usart1_init();

    // set up timer
    TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
    OCR0 = 15; // preload
    TIMSK |= (1 << TOIE0); // enable overflow timer0

    // enable interrupts
    sei();
#endif

    //write_ascii_string(2,  7, "         CaScAdE          ");
    //write_ascii_string(2,  8, "is TESTING his open source");
    //write_ascii_string(2,  9, "    EPi OSD Firmware");

    // we are ready
    LED3_ON

#if ALLCHARSDEBUG | (WRITECHARS != -1)
    clear();
    write_all_chars();
#else
    // clear serial screen
    //usart1_puts("\x1B[2J\x1B[H");
    //usart1_puts("hello world!\r\n");
#if FCONLY
    // request data ever 100ms from FC;
    usart1_request_mk_data(0, 'd', 100);
#else
    // request OSD Data from NC every 100ms
    usart1_request_mk_data(1, 'o', 100);

    // and disable debug...
    usart1_request_mk_data(0, 'd', 0);
#endif

    // stats for after flight
    int16_t max_Altimeter = 0;
    uint16_t max_GroundSpeed = 0;
    int16_t max_Distance = 0;
    uint8_t min_UBat = 255;
    uint16_t max_FlyingTime = 0;

    // flags from last round to check for changes
    uint8_t old_MKFlags = 0;

    char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};

    while (1) {
        // write icons at init or after menu/mode-switch
        if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {
#if FCONLY
            // FC Mode ICONS
            write_char_xy(10, top_line, 0xCA); // RC-transmitter
            write_char_xy(27, top_line, 0xCC); // small meters m height
            write_char_xy(7, bottom_line, 0x9E); // small v
#else
            // NAVI Mode ICONS
            write_char_xy(5, top_line, 0xCB); // km/h
            write_char_xy(10, top_line, 0xCA); // RC-transmitter
            write_char_xy(16, top_line, 0xD0); // degree symbol
            write_char_xy(27, top_line, 0xCC); // small meters m height
            write_char_xy(20, top_line + 1, 0xB0); // left circle
            write_char_xy(22, top_line + 1, 0xB2); // right circle
            write_char_xy(27, top_line + 1, 0xCC); // small meters m home
            write_char_xy(7, bottom_line, 0x9E); // small v
            write_char_xy(14, bottom_line, 0xD1); // on clock
            write_char_xy(21, bottom_line, 0xD2); // fly clock
            write_char_xy(26, bottom_line, 0xC8); // sat1
            write_char_xy(27, bottom_line, 0xC9); // sat2
            COSD_FLAGS |= COSD_ICONS_WRITTEN;
#endif
        }
        if (rxd_buffer_locked) {
            if (COSD_FLAGS & COSD_FLAG_HUD) {
#if FCONLY
                if (rxd_buffer[2] == 'D') { // FC Data
                    Decode64();
                    debugData = *((DebugOut_t*) pRxData);

                    // init on first data retrival, distinguished by last battery :)
                    if (last_UBat == 255) {
                        auto_config(debugData.Analog[9], &min_UBat);
                    }

                    write_ndigit_number_u(7, top_line, debugData.Analog[10], 100, 0);
                    if (debugData.Analog[10] <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
                        for (uint8_t x = 0; x < 4; x++)
                            write_char_att_xy(7 + x, top_line, BLINK);
                    } else if (debugData.Analog[10] > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
                        for (uint8_t x = 0; x < 4; x++)
                            write_char_att_xy(7 + x, top_line, 0);
                    }
                    last_RC_Quality = debugData.Analog[10];


                    if (debugData.Analog[5] > 300 || debugData.Analog[5] < -300) {
                        // above 10m only write full meters
                        write_ndigit_number_s(23, top_line, debugData.Analog[5] / 30, 1000, 0);
                    } else {
                        // up to 10m write meters.dm
                        write_ndigit_number_s_10th(23, top_line, debugData.Analog[5] / 3, 100, 0);
                    }

                    if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
                        draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
                    }

                    draw_battery(2, bottom_line, min_voltage, debugData.Analog[9], max_voltage);
                    write_ndigit_number_u_10th(3, bottom_line, debugData.Analog[9], 100, 0);
                    if (debugData.Analog[9] <= min_voltage && last_UBat > min_voltage) {
                        for (uint8_t x = 2; x < 8; x++)
                            write_char_att_xy(x, bottom_line, BLINK);
                    } else if (debugData.Analog[9] > min_voltage && last_UBat < min_voltage) {
                        for (uint8_t x = 2; x < 8; x++)
                            write_char_att_xy(x, bottom_line, 0);
                    }
                    // remember last values
                    last_UBat = debugData.Analog[9];

                    /*
                    debugData.Analog[0]); // AngleNick
                    debugData.Analog[1]); // AngleRoll
                    debugData.Analog[5]); // Height
                    debugData.Analog[9]); // Voltage
                    debugData.Analog[10]);// RC Signal
                    debugData.Analog[11]);// Gyro compass
                     */

                    seconds_since_last_data = 0;
                }
#else
                if (rxd_buffer[2] == 'O') { // NC OSD Data
                    Decode64();
                    naviData = *((NaviData_t*) pRxData);

                    // init on first data retrival, distinguished by last battery :)
                    if (last_UBat == 255) {
                        auto_config(naviData.UBat, &min_UBat);
                    }

                    // first line
                    write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 100, 0);

                    write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);
                    if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
                        for (uint8_t x = 0; x < 4; x++)
                            write_char_att_xy(7 + x, top_line, BLINK);
                    } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
                        for (uint8_t x = 0; x < 4; x++)
                            write_char_att_xy(7 + x, top_line, 0);
                    }
                    last_RC_Quality = naviData.RC_Quality;

                    if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
                        write_char_xy(11, top_line, 0); // clear
                    } else {
                        write_char_xy(11, top_line, 0xC6); // PC icon
                    }

                    write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);

                    write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);

                    draw_variometer(21, top_line, naviData.Variometer);

                    //note:lephisto:according to several sources it's /30
                    if (naviData.Altimeter > 300 || naviData.Altimeter < -300) {
                        // above 10m only write full meters
                        write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);
                    } else {
                        // up to 10m write meters.dm
                        //write_number_u_10th(21, top_line, naviData.Altimeter / 3);
                        write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);
                    }

                    // seccond line
                    draw_compass(11, top_line + 1, naviData.CompassHeading);

                    // TODO: verify correctness
                    uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
                    //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
                    // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
                    write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));

                    write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);

                    // center
                    if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
                        if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
                            clear();
                            // update flags to paint display again if needed
                            COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
                        }
                        if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
                            draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
                        }
                        // motors are on, assume we were/are flying
                        COSD_FLAGS |= COSD_WASFLYING;
                    } else {
                        // stats
                        if ((COSD_FLAGS & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) {
                            write_ascii_string_pgm(2, 4, stats_item_pointers[0]); // max Altitude
                            write_ndigit_number_s(18, 4, max_Altimeter / 30, 1000, 0);
                            write_char_xy(22, 4, 204); // small meters m
                            write_ascii_string_pgm(2, 5, stats_item_pointers[1]); // max Speed
                            write_ndigit_number_u(19, 5, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 100, 0);
                            write_char_xy(22, 5, 203); // km/h
                            write_ascii_string_pgm(2, 6, stats_item_pointers[2]); // max Distance
                            write_ndigit_number_u(19, 6, max_Distance / 10, 100, 0);
                            write_char_xy(22, 6, 204); // small meters m
                            write_ascii_string_pgm(2, 7, stats_item_pointers[3]); // min voltage
                            write_ndigit_number_u_10th(18, 7, min_UBat, 100, 0);
                            write_char_xy(22, 7, 0x9E); // small v
                            write_ascii_string_pgm(2, 8, stats_item_pointers[4]); // max time
                            write_time(16, 8, max_FlyingTime);
                            write_char_xy(22, 8, 210); // fly clock
                            write_ascii_string_pgm(2, 9, stats_item_pointers[5]); // longitude
                            write_gps_pos(15, 9, naviData.CurrentPosition.Longitude);
                            write_ascii_string_pgm(2, 10, stats_item_pointers[6]); // latitude
                            write_gps_pos(15, 10, naviData.CurrentPosition.Latitude);
                        } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
                            draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
                        }
                    }
                    if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
                        draw_big_variometer(27, 8, naviData.Variometer);
                    }

                    // bottom line
                    draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
                    write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0);
                    if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
                        for (uint8_t x = 2; x < 8; x++)
                            write_char_att_xy(x, bottom_line, BLINK);
                    } else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
                        for (uint8_t x = 2; x < 8; x++)
                            write_char_att_xy(x, bottom_line, 0);
                    }
                    // remember last values
                    last_UBat = naviData.UBat;

                    write_time(8, bottom_line, uptime);
                    write_time(15, bottom_line, naviData.FlyingTime);

                    write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0);

                    if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
                        write_char_xy(23, bottom_line, 0xB3); // rc transmitter
                    } else {
                        write_char_xy(23, bottom_line, 0); // clear
                    }

                    if (naviData.NCFlags & NC_FLAG_CH) {
                        write_char_xy(27, bottom_line, 231); // gps ch
                    } else if (naviData.NCFlags & NC_FLAG_PH) {
                        write_char_xy(27, bottom_line, 230); // gps ph
                    } else { // (naviData.NCFlags & NC_FLAG_FREE)
                        write_char_xy(27, bottom_line, 201); // sat2 (free)
                    }

                    //write_number_s(8, 5, RxDataLen);
                    //write_number_s(16, 5, setsReceived++);

                    // remember statistics (only when engines running)
                    if (naviData.MKFlags & FLAG_MOTOR_RUN) {
                        if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
                        if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
                        if (naviData.HomePositionDeviation.Distance > max_Distance) {
                            max_Distance = naviData.HomePositionDeviation.Distance;
                        }
                        if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
                        if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
                    }

                    old_MKFlags = naviData.MKFlags;
                    seconds_since_last_data = 0;
                }
#endif
            }
            rxd_buffer_locked = 0;
        }
        // handle keypress
        if (s1_pressed()) {
            config_menu();
        }
        if (seconds_since_last_data > 2) {
#if FCONLY
            // request data ever 100ms from FC;
            usart1_request_mk_data(0, 'd', 100);
#else
            // request OSD Data from NC every 100ms
            usart1_request_mk_data(1, 'o', 100);

            // and disable debug...
            usart1_request_mk_data(0, 'd', 0);
#endif
        }
    }
#endif
    return 0;
}