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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 "max7456_software_spi.c"

#include "usart1.h"

/* TODO:

 * - verifiy correctness of values

 * - clean up code :)

 */

/* ##########################################################################

 * Debugging and general purpose definitions

 * ##########################################################################*/

#define ALLCHARSDEBUG 0		// set to 1 and flash firmware to see all chars

#ifndef WRITECHARS			// if WRITECHARS not set via makefile

#define WRITECHARS -1		// set to 2XX and flash firmware to write new char

							// enables the allchars as well to see results

#endif

#ifndef NTSC				// if NTSC is not thet via makefile

#define NTSC 0				// set to 1 for NTSC mode + lifts the bottom line

#endif

#define ARTHORIZON 0		// set to 1 to enable roll&nick artificial horizon

#define NOOSD 0				// set to 1 to disable OSD completely

#define NOOSD_BUT_WRN 0		// set to 1 to disable OSD completely but show

							// battery and receive signal warnings

#define UBAT_WRN 94			// voltage for blinking warning, like FC settings

#define RCLVL_WRN 100		// make the RC level blink if below this number

// ### read datasheet before changing stuff below this line :)

#define BLINK	0b01001111	// attribute byte for blinking chars

/* ##########################################################################

 * FLAGS usable during runtime

 * ##########################################################################*/

#define COSD_FLAG_NTSC			 1

#define COSD_FLAG_ARTHORIZON	 2

#define COSD_FLAG_NOOSD			 4

#define COSD_FLAG_NOOSD_BUT_WRN	 8

#define COSD_ICONS_WRITTEN		16

/* ##########################################################################

 * LED controll

 * ##########################################################################*/

#define LED1_ON			PORTC |=  (1 << PC0);

#define LED1_OFF		PORTC &= ~(1 << PC0);

#define LED2_ON			PORTC |=  (1 << PC1);

#define LED2_OFF		PORTC &= ~(1 << PC1);

#define LED3_ON			PORTC |=  (1 << PC2);

#define LED3_OFF		PORTC &= ~(1 << PC2);

#define LED4_ON			PORTC |=  (1 << PC3);

#define LED4_OFF		PORTC &= ~(1 << PC3);

/* ##########################################################################

 * switch controll

 * ##########################################################################*/

#define S1_PRESSED		!(PINC & (1<<PC5))

#define S2_PRESSED		!(PINC & (1<<PC4))

#if !(ALLCHARSDEBUG|(WRITECHARS != -1))

// data structs

#include "mk-data-structs.h"

/* ##########################################################################

 * global definitions and global vars

 * ##########################################################################*/

volatile uint8_t rxd_buffer_locked = 0;

volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];

volatile uint8_t txd_buffer[TXD_BUFFER_LEN];

volatile uint8_t ReceivedBytes = 0;

volatile uint8_t *pRxData = 0;

volatile uint8_t RxDataLen = 0;

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;

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

// general PAL|NTSC distingiusch stuff

uint8_t top_line = 1;

uint8_t bottom_line = 14;

// 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;

}

#if !(ALLCHARSDEBUG|(WRITECHARS != -1))

/**

 * serial support

 */

#include "usart1.c"

/* ##########################################################################

 * timer stuff

 * ##########################################################################*/

/**

 * timer kicks in every 1000uS ^= 1ms

 */

ISR(TIMER0_OVF_vect) {

    OCR0 = 6; // preload

    if (!timer--) {

        uptime++;

        timer = 999;

		seconds_since_last_data++;

    }

}

/* ##########################################################################

 * compass stuff

 * ##########################################################################*/

/**

 * convert the <heading> gotton from NC into an index

 */

uint8_t heading_conv(uint16_t heading) {

    if (heading > 23 && heading < 68) {

        //direction = "NE";

        return 0;

    } else if (heading > 67 && heading < 113) {

        //direction = "E ";

        return 1;

    } else if (heading > 112 && heading < 158) {

        //direction = "SE";

        return 2;

    } else if (heading > 157 && heading < 203) {

        //direction = "S ";

        return 3;

    } else if (heading > 202 && heading < 248) {

        //direction = "SW";

        return 4;

    } else if (heading > 247 && heading < 293) {

        //direction = "W ";

        return 5;

    } else if (heading > 292 && heading < 338) {

        //direction = "NW";

        return 6;

    }

    //direction = "N ";

    return 7;

}

/**

 * draw a compass rose at <x>/<y> for <heading>

 */

void draw_compass(uint8_t x, uint8_t y, uint16_t heading) {

    //char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W";

    char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212,

                    216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213,

                    216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211,

                    216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214};

	// the center is char 19 (north), we add the current heading in 8th

	// which would be 22.5 degrees, but float would bloat up the code

	// and *10 / 225 would take ages... so we take the uncorrect way

    uint8_t front = 19 + (heading / 22);

    for (uint8_t i = 0; i < 9; i++) {

		write_char_xy(x++, y, rose[front - 4 + i]);

    }

}

/* ##########################################################################

 * artificial horizon

 * ##########################################################################*/

// remember last time displayed values

int8_t old_af_x = -1, old_af_y = -1;

/**

 * draw roll und nick indicators (could be enhanced to full artificial horizon)

 * from line <firstline> to <listlines> for given <nick> and <roll> values

 */

void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) {

	char noodle[5] = {225, 225, 226, 227, 227};

	uint8_t center_x = 15;

	uint8_t center_y = lastline - firstline;

	center_y = 7;

	write_char_xy(center_x,center_y,228);

	uint8_t cpos, nicky, rollx;

	// which line

	int8_t ypos =  nick / 20;

	// which character from the array?

	if (nick < 0) {

		cpos = -1*((nick - (ypos * 20))/4);

		ypos--;

	} else cpos = 4-((nick - (ypos * 20))/4);

	if (cpos > 4) cpos = 4;

	nicky = center_y - ypos;

	if (nicky > lastline) nicky = lastline;

	else if (nicky < firstline) nicky = firstline;

	// ensure roll-borders

	rollx = (roll / 8)+15;

	if (rollx < 2) rollx = 2;

	else if (rollx > 28) rollx = 28;

	// clear roll

	if (old_af_x != rollx && old_af_x >= 0) {

		write_char_xy(old_af_x,13,0);

	}

	// clear nick

	if (old_af_y != nicky && old_af_y >= 0) {

		write_char_xy(center_x-1,old_af_y,0);

		write_char_xy(center_x+1,old_af_y,0);

	}

	// draw nick

	write_char_xy(center_x-1,nicky,noodle[cpos]);

	write_char_xy(center_x+1,nicky,noodle[cpos]);

	// draw roll

	write_char_xy(rollx,lastline,229);

	// update old vars

	old_af_x = rollx;

	old_af_y = nicky;

	// debug numbers

	//write_3digit_number_u(20,6,cpos);

	//write_number_s(20,7,ypos);

	//write_number_s(0,7,nick);

	//write_number_s(18,11,roll);

}

/* ##########################################################################

 * A simple config menu for the flags

 * ##########################################################################*/

void config_menu(void) {

	// disable interrupts (makes the menu more smoothely)

	cli();

	// clear screen

	clear();

	char* menu[4] = {"Normal OSD      ",

					 "Art.Horizon     ",

					 "NO OSD          ",

					 "NO OSD but WRN  "};

	uint8_t inmenu = 1;

	uint8_t chosen = 0;

	write_ascii_string(10,  4, "Config Menu");

	// clear all mode flags

	COSD_FLAGS &= ~(COSD_FLAG_ARTHORIZON | COSD_FLAG_NOOSD | COSD_FLAG_NOOSD_BUT_WRN);

	// wait a bit before doing stuff so user has chance to release button

	_delay_ms(250);

	while (inmenu) {

	   		write_ascii_string(2,  7, menu[chosen]);

			if (s2_pressed()) {

				chosen = (chosen + 1) % 4;

				_delay_ms(500);

			} else if (s1_pressed()) {

				switch (chosen) {

					case 1:		// artificial horizon

						COSD_FLAGS |= COSD_FLAG_ARTHORIZON;

						break;

					case 2:		// everything off

						COSD_FLAGS |= COSD_FLAG_NOOSD;

						break;

					case 3:		// only warning

						COSD_FLAGS |= COSD_FLAG_NOOSD_BUT_WRN;

						break;

					//default:	// normal OSD, so let the flags cleared

				}

				// leave menu

				inmenu = 0;

				_delay_ms(500);

			}

	}

	// clear screen up again

	clear();

	// update flags to paint display again if needed

	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;

	// enable interrupts again

	sei();

}

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

/* ##########################################################################

 * MAIN

 * ##########################################################################*/

int main(void) {

	// set up FLAGS, compiler should flatten this one

	COSD_FLAGS = (NTSC << (COSD_FLAG_NTSC - 1));

	COSD_FLAGS |= (ARTHORIZON << (COSD_FLAG_ARTHORIZON - 1));

	COSD_FLAGS |= (NOOSD << (COSD_FLAG_NOOSD - 1));

	COSD_FLAGS |= (NOOSD_BUT_WRN << (COSD_FLAG_NOOSD_BUT_WRN - 1));

	// 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

	// check for keypress at startup

	if (s2_pressed()) { // togle COSD_FLAG_ARTHORIZON

			COSD_FLAGS ^= (1 << (COSD_FLAG_ARTHORIZON - 1));

			_delay_ms(100);

    }

    // 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);

    // write blank chars to whole screen

    clear();

#if !(ALLCHARSDEBUG|(WRITECHARS != -1))

    // init usart

    usart1_init();

    // set up timer

    TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64

    OCR0 = 6; // 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");

    // custom char preview

    /*write_char_xy( 2, 7, 200);

    write_char_xy( 3, 7, 201);

    write_char_xy( 4, 7, 202);

    write_char_xy( 5, 7, 203);

    write_char_xy( 6, 7, 204);

    write_char_xy( 7, 7, 205);

    write_char_xy( 8, 7, 206);

    write_char_xy( 9, 7, 207);

    write_char_xy(10, 7, 208);

    write_char_xy(11, 7, 209);

    write_char_xy(12, 7, 210);

    write_char_xy(13, 7, 211);

    write_char_xy(14, 7, 212);

    write_char_xy(15, 7, 213);

    write_char_xy(16, 7, 214);

    write_char_xy(17, 7, 215);*/

    // 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");

    // request data ever 100ms from FC

	//unsigned char ms = 10;

	//sendMKData('d', 0, &ms, 1);

    // request OSD Data from NC every 100ms

	unsigned char ms = 10;

    sendMKData('o', 1, &ms, 1);

	// and disable debug...

	//ms = 0;

	//sendMKData('d', 0, &ms, 1);

	// disable TXD-pin

	usart1_DisableTXD();

	// 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_NOOSD)) {

			    write_char_xy(5, top_line, 203); // km/h

			    write_char_xy(10, top_line, 202); // RC-transmitter

			    write_char_xy(16, top_line, 208); // degree symbol

			    write_char_xy(27, top_line, 204); // small meters m

			    write_ascii_string(6, bottom_line, "V"); // voltage

			    write_char_xy(14, bottom_line, 209); // on clock

			    write_char_xy(22, bottom_line, 210); // fly clock

			    write_char_xy(26, bottom_line, 200); // sat1

			    write_char_xy(27, bottom_line, 201); // sat2

				COSD_FLAGS |= COSD_ICONS_WRITTEN;

		}

        if (rxd_buffer_locked) {

		if (!(COSD_FLAGS & COSD_FLAG_NOOSD)) {

	            if (rxd_buffer[2] == 'D') { // FC Data

	                /*Decode64();

	                debugData = *((DebugOut_t*) pRxData);

	                write_number_s(12, 2, RxDataLen);

	                write_number_s(20, 2, setsReceived++);

	                write_number_s(12, 3, debugData.Analog[0]); // AngleNick

	                write_number_s(12, 4, debugData.Analog[1]); // AngleRoll

					write_number_s(12, 5, debugData.Analog[5]); // Height

	                write_number_s(12, 6, debugData.Analog[9]); // Voltage

	                write_number_s(12, 7, debugData.Analog[10]);// RC Signal

					write_number_s(12, 8, debugData.Analog[11]);// Gyro compass*/

	            } else if (rxd_buffer[2] == 'O') { // NC OSD Data

	                Decode64();

	                naviData = *((NaviData_t*) pRxData);

					// first line

					write_3digit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed*36)/1000));

	                write_3digit_number_u(7, top_line, naviData.RC_Quality);

	                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;

	                write_3digit_number_u(13, top_line, naviData.CompassHeading);

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

					if (naviData.Variometer == 0) {

						write_char_xy(20, top_line, 206); // plain line

					} else if (naviData.Variometer > 0 && naviData.Variometer <= 10) {

						write_char_xy(20, top_line, 234); // small arrow up

					} else if (naviData.Variometer > 10) {

						write_char_xy(20, top_line, 235); // big arrow up

					} else if (naviData.Variometer < 0 && naviData.Variometer >= -10) {

						write_char_xy(20, top_line, 232); // small arrow down

					} else {

						write_char_xy(20, top_line, 233); //big arrow down

					}

					// TODO: is this really dm?

					//note:lephisto:according to several sources it's /30

	                //write_number_s(22, top_line, naviData.Altimeter/30);

					if (naviData.Altimeter > 300) {

						// above 10m only write full meters

	  					write_number_s(22, top_line, naviData.Altimeter/30);

					} else {

						// up to 10m write meters.dm

	  					write_number_u_10th(21, top_line, naviData.Altimeter/3);

	  				}

					// 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(27, top_line + 1, arrowdir[heading_conv(heading_home)]);

					write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance/100);

					// 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);

					}

					} else {

						// stats

						write_ascii_string(2, 5, "max Altitude:");

						write_number_s(17, 5, max_Altimeter/30);

						write_char_xy(22, 5, 204); // small meters m

						write_ascii_string(2, 6, "max Speed   :");

						write_3digit_number_u(19, 6, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000));

						write_char_xy(22, 6, 203); // km/h

						write_ascii_string(2, 7, "max Distance:");

						write_number_s(17, 7, max_Distance/100);

						write_char_xy(22, 7, 204); // small meters m

						write_ascii_string(2, 8, "min voltage :");

						//write_number_s(17, 8, min_UBat/10);

						write_number_u_10th(16, 8, min_UBat);

						write_ascii_string(22, 8, "V"); // voltage

						write_ascii_string(2, 9, "max time    :");

						write_time(16, 9, max_FlyingTime);

						write_char_xy(22, 9, 210); // fly clock

					}

					// bottom line

	                write_number_u_10th(0, bottom_line, naviData.UBat);

	                if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {

	                    for (uint8_t x = 0; x < 7; x++)

	                        write_char_att_xy(x, bottom_line, BLINK);

	                } else {

	                    for (uint8_t x = 0; x < 7; x++)

	                        write_char_att_xy(x, bottom_line, 0);

	                }

	                write_time(8, bottom_line, uptime);

	                write_time(16, bottom_line, naviData.FlyingTime);

	                write_3digit_number_u(23, bottom_line, naviData.SatsInUse);

					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

					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;

	            } // (!(COSD_FLAGS & COSD_FLAG_NOOSD))

			}

			seconds_since_last_data = 0;

            rxd_buffer_locked = 0;

        }

        // handle keypress

        if (s1_pressed()) {

			//sendMKData('d', 1, (unsigned char*) 0, 1);

            // request OSD Data from NC every 100ms

			/*unsigned char ms = 10;

            sendMKData('o', 1, &ms, 1);

            _delay_ms(500);*/

			config_menu();

        }

		if (s2_pressed()) {

            uptime = 0;

            _delay_ms(100);

        }

		if (seconds_since_last_data > 2) {

			// re-request OSD Data from NC

			// re-enable TXD pin

			usart1_EnableTXD();

			// every 100ms

			unsigned char ms = 10;

            sendMKData('o', 1, &ms, 1);

			// disable TXD pin again

			usart1_DisableTXD();

			seconds_since_last_data = 0;

		}

    }

#endif

    return 0;

}