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Rev	Author	Line No.	Line
321	cascade	1	/****************************************************************************
		2	* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *
		3	* admiralcascade@gmail.com *
		4	* Project-URL: 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	* Credits to: *
		22	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project *
		23	* Gregor "killagreg" Stobrawa for making the MK code readable *
		24	* Klaus "akku" Buettner for the hardware *
		25	* Manuel "KeyOz" Schrape for explaining the MK protocol to me *
		26	****************************************************************************/
		27
		28	#include <avr/io.h>
		29	#include <avr/interrupt.h>
		30	#include <util/delay.h>
346	cascade	31	#include <avr/pgmspace.h>
		32	#include "main.h"
		33	#include "max7456_software_spi.h"
331	cascade	34	#include "usart1.h"
389	cascade	35	#include "osd_helpers.h"
321	cascade	36
		37	/* TODO:
		38	* - verifiy correctness of values
324	cascade	39	* - clean up code :)
321	cascade	40	*/
		41
329	cascade	42	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
346	cascade	43	// data structs not needed for character flashin
331	cascade	44	#include "mk-data-structs.h"
321	cascade	45
		46	/* ##########################################################################
		47	* global definitions and global vars
		48	* ##########################################################################*/
346	cascade	49
321	cascade	50	volatile uint16_t setsReceived = 0;
		51
		52	volatile NaviData_t naviData;
		53	volatile DebugOut_t debugData;
		54
		55	// cache old vars for blinking attribute, checkup is faster than full
		56	// attribute write each time
		57	volatile uint8_t last_UBat = 255;
		58	volatile uint8_t last_RC_Quality = 255;
		59
		60	// 16bit should be enough, normal LiPos don't last that long
		61	volatile uint16_t uptime = 0;
		62	volatile uint16_t timer = 0;
		63
331	cascade	64	// remember last time data was received
		65	volatile uint8_t seconds_since_last_data = 0;
		66
346	cascade	67	// store stats description in progmem to save space
		68	char stats_item_0[] PROGMEM = "max Altitude:";
		69	char stats_item_1[] PROGMEM = "max Speed :";
		70	char stats_item_2[] PROGMEM = "max Distance:";
		71	char stats_item_3[] PROGMEM = "min voltage :";
		72	char stats_item_4[] PROGMEM = "max time :";
412	cascade	73	char stats_item_5[] PROGMEM = "longitude :";
		74	char stats_item_6[] PROGMEM = "latitude :";
379	cascade	75	char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
412	cascade	76	stats_item_3, stats_item_4, stats_item_5, stats_item_6};
346	cascade	77
		78	// store more fixed strings in progmen
379	cascade	79	char ON[] PROGMEM = "ON ";
346	cascade	80	char OFF[] PROGMEM = "OFF";
		81
329	cascade	82	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
326	cascade	83
		84	// general PAL\|NTSC distingiusch stuff
		85	uint8_t top_line = 1;
		86	uint8_t bottom_line = 14;
		87
		88	// Flags
		89	uint8_t COSD_FLAGS = 0;
		90
321	cascade	91	/* ##########################################################################
326	cascade	92	* debounce buttons
		93	* ##########################################################################*/
		94	int s1_pressed() {
		95	if (S1_PRESSED) {
		96	_delay_ms(25);
		97	if (S1_PRESSED) return 1;
		98	}
		99	return 0;
		100	}
		101
		102	int s2_pressed() {
		103	if (S2_PRESSED) {
		104	_delay_ms(25);
		105	if (S2_PRESSED) return 1;
		106	}
		107	return 0;
		108	}
		109
389	cascade	110	/* ##########################################################################
		111	* Interrupt handler
		112	* ##########################################################################*/
321	cascade	113	/**
389	cascade	114	* handler for undefined Interrupts
		115	* if not defined AVR will reset in case any unhandled interrupts occur
321	cascade	116	*/
389	cascade	117	ISR(__vector_default) {
		118	asm("nop");
		119	}
321	cascade	120
389	cascade	121	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	122	/* ##########################################################################
		123	* timer stuff
		124	* ##########################################################################*/
331	cascade	125	/**
		126	* timer kicks in every 1000uS ^= 1ms
321	cascade	127	*/
		128	ISR(TIMER0_OVF_vect) {
385	cascade	129	OCR0 = 15; // preload
321	cascade	130	if (!timer--) {
		131	uptime++;
		132	timer = 999;
331	cascade	133	seconds_since_last_data++;
321	cascade	134	}
		135	}
		136
		137
		138	/* ##########################################################################
326	cascade	139	* A simple config menu for the flags
		140	* ##########################################################################*/
339	cascade	141
		142	/**
		143	* helper function for menu updating
		144	*/
		145	void config_menu_drawings(uint8_t chosen) {
		146	// clear prevoius _cursor_
383	cascade	147	write_ascii_string(3, (chosen + 5) % 8, " ");
339	cascade	148	// draw current _cursor_
383	cascade	149	write_ascii_string(3, chosen + 5, ">");
339	cascade	150	if (COSD_FLAGS & COSD_FLAG_HUD) {
383	cascade	151	write_ascii_string_pgm(23, 5, ON);
		152	} else {
		153	write_ascii_string_pgm(23, 5, OFF);
		154	}
		155	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
346	cascade	156	write_ascii_string_pgm(23, 6, ON);
339	cascade	157	} else {
383	cascade	158	write_ascii_string_pgm(23, 6, OFF);
339	cascade	159	}
383	cascade	160	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
346	cascade	161	write_ascii_string_pgm(23, 7, ON);
339	cascade	162	} else {
383	cascade	163	write_ascii_string_pgm(23, 7, OFF);
339	cascade	164	}
		165	if (COSD_FLAGS & COSD_FLAG_STATS) {
346	cascade	166	write_ascii_string_pgm(23, 8, ON);
339	cascade	167	} else {
346	cascade	168	write_ascii_string_pgm(23, 8, OFF);
339	cascade	169	}
		170	if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
346	cascade	171	write_ascii_string_pgm(23, 9, ON);
339	cascade	172	} else {
346	cascade	173	write_ascii_string_pgm(23, 9, OFF);
339	cascade	174	}
		175	}
		176
		177	/**
346	cascade	178	* some sort of clicking response in the menu
		179	*/
		180	void config_menu_doclick(uint8_t chosen, char** menu) {
383	cascade	181	write_ascii_string(4, chosen + 5, "DONE ");
346	cascade	182	_delay_ms(1000);
383	cascade	183	write_ascii_string(4, chosen + 5, menu[chosen]);
346	cascade	184	}
		185
		186	/**
339	cascade	187	* a simple config menu tryout
		188	*/
326	cascade	189	void config_menu(void) {
		190	// disable interrupts (makes the menu more smoothely)
		191	cli();
321	cascade	192
326	cascade	193	// clear screen
		194	clear();
		195
383	cascade	196	char* menu[9] = {"Full HUD",
339	cascade	197	"Art.Horizon in HUD",
383	cascade	198	"Big Vario bar",
339	cascade	199	"Statistics",
		200	"Warnings", // TODO: do it!
346	cascade	201	"Reset uptime",
		202	"Request OSD-data",
		203	"Disable Debug-data",
339	cascade	204	"EXIT"};
326	cascade	205
		206	uint8_t inmenu = 1;
		207	uint8_t chosen = 0;
339	cascade	208	write_ascii_string(6, 2, "C-OSD Config Menu");
326	cascade	209
		210	// wait a bit before doing stuff so user has chance to release button
		211	_delay_ms(250);
		212
383	cascade	213	write_ascii_string(4, 5, menu[0]);
		214	write_ascii_string(4, 6, menu[1]);
		215	write_ascii_string(4, 7, menu[2]);
		216	write_ascii_string(4, 8, menu[3]);
		217	write_ascii_string(4, 9, menu[4]);
		218	write_ascii_string(4, 10, menu[5]);
		219	write_ascii_string(4, 11, menu[6]);
		220	write_ascii_string(4, 12, menu[7]);
		221	write_ascii_string(4, 13, menu[8]);
339	cascade	222
		223	config_menu_drawings(chosen);
		224
326	cascade	225	while (inmenu) {
		226	if (s2_pressed()) {
383	cascade	227	write_ascii_string(3, chosen+5, " ");
		228	chosen = (chosen + 1) % 9;
		229	write_ascii_string(3, chosen+5, ">");
326	cascade	230	_delay_ms(500);
		231	} else if (s1_pressed()) {
		232	switch (chosen) {
339	cascade	233	case 0: // full HUD
		234	COSD_FLAGS ^= COSD_FLAG_HUD;
		235	config_menu_drawings(chosen);
326	cascade	236	break;
339	cascade	237	case 1: // art horizon
		238	COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
		239	config_menu_drawings(chosen);
326	cascade	240	break;
383	cascade	241	case 2: // big vario
		242	COSD_FLAGS ^= COSD_FLAG_BIGVARIO;
		243	config_menu_drawings(chosen);
		244	break;
		245	case 3: // statistics
339	cascade	246	COSD_FLAGS ^= COSD_FLAG_STATS;
		247	config_menu_drawings(chosen);
326	cascade	248	break;
383	cascade	249	case 4: // warnings
339	cascade	250	COSD_FLAGS ^= COSD_FLAG_WARNINGS;
		251	config_menu_drawings(chosen);
		252	break;
383	cascade	253	case 5: // reset uptime
346	cascade	254	uptime = 0;
		255	config_menu_doclick(chosen, menu);
		256	break;
383	cascade	257	case 6: // re-request OSD data
346	cascade	258	// request OSD Data from NC every 100ms
		259	usart1_request_mk_data(1, 'o', 100);
		260	config_menu_doclick(chosen, menu);
		261	break;
383	cascade	262	case 7: // disable debug data
346	cascade	263	// disable sending of debug data
		264	// may result in smoother ddata display
		265	usart1_request_mk_data(0, 'd', 0);
		266	config_menu_doclick(chosen, menu);
		267	break;
383	cascade	268	case 8: // exit
339	cascade	269	inmenu = 0;
		270	break;
326	cascade	271	}
339	cascade	272	_delay_ms(250);
326	cascade	273	}
		274	}
		275
		276	// clear screen up again
		277	clear();
		278
		279	// update flags to paint display again if needed
		280	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		281
		282	// enable interrupts again
		283	sei();
		284	}
		285
329	cascade	286	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	287	/* ##########################################################################
		288	* MAIN
		289	* ##########################################################################*/
		290	int main(void) {
339	cascade	291	// set up FLAGS, compiler should flatten this one
		292	COSD_FLAGS = (NTSC << 0);
		293	COSD_FLAGS \|= (HUD << 1);
		294	COSD_FLAGS \|= (ARTHORIZON << 2);
383	cascade	295	COSD_FLAGS \|= (BIGVARIO << 3);
		296	COSD_FLAGS \|= (STATS << 4);
		297	COSD_FLAGS \|= (WARNINGS << 5);
324	cascade	298
339	cascade	299	// set up Atmega162 Ports
321	cascade	300	DDRA \|= (1 << PA1); // PA1 output (/CS)
		301	MAX_CS_HIGH
		302	DDRA \|= (1 << PA2); // PA2 output (SDIN)
		303	MAX_SDIN_LOW
		304	DDRA \|= (1 << PA3); // PA3 output (SCLK)
		305	MAX_SCLK_LOW
		306	DDRA \|= (1 << PA5); // PA5 output (RESET)
		307	MAX_RESET_HIGH
		308
		309	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
		310	LED1_OFF
		311	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
		312	LED2_OFF
		313	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
		314	LED3_OFF
		315	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
		316	LED4_OFF
		317
		318	DDRC &= ~(1 << PC4); // PC4 input (MODE)
		319	PORTC \|= (1 << PC4); // pullup
		320	DDRC &= ~(1 << PC5); // PC5 input (SET)
		321	PORTC \|= (1 << PC5); // pullup
		322
339	cascade	323	// set up top and bottom lines
		324	if (COSD_FLAGS & COSD_FLAG_NTSC) {
		325	bottom_line = 12;
		326	} else {
		327	bottom_line = 14;
		328	}
326	cascade	329
339	cascade	330	// reset the MAX7456 to be sure any undefined states do no harm
321	cascade	331	MAX_RESET_LOW
		332	MAX_RESET_HIGH
		333
		334	// give the FC/NC and the maxim time to come up
		335	LED4_ON
		336	_delay_ms(2000);
		337
		338	LED4_OFF
		339
331	cascade	340
339	cascade	341	//Pushing NEW chars to the MAX7456
329	cascade	342	#if (WRITECHARS != -1)
339	cascade	343	// DISABLE display (VM0)
321	cascade	344	spi_send_byte(0x00, 0b00000000);
339	cascade	345	#include "characters.c"
321	cascade	346
331	cascade	347	#endif
321	cascade	348
339	cascade	349	// Setup Video Mode
		350	if (COSD_FLAGS & COSD_FLAG_NTSC) {
		351	// NTSC + enable display immediately (VM0)
		352	spi_send_byte(0x00, 0b00001000);
		353	} else {
		354	// PAL + enable display immediately (VM0)
		355	spi_send_byte(0x00, 0b01001000);
		356	}
321	cascade	357
404	cascade	358	/*// clear all display-mem (DMM)
403	cascade	359	spi_send_byte(0x04, 0b00000100);
		360
		361	// clearing takes 12uS according to maxim so lets wait longer
		362	_delay_us(120);
		363
321	cascade	364	// 8bit mode
404	cascade	365	spi_send_byte(0x04, 0b01000000);*/
321	cascade	366
404	cascade	367	// clear display memory and set to 8bit mode
321	cascade	368	clear();
		369
329	cascade	370	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	371	// init usart
		372	usart1_init();
		373
		374	// set up timer
		375	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64
385	cascade	376	OCR0 = 15; // preload
321	cascade	377	TIMSK \|= (1 << TOIE0); // enable overflow timer0
		378
326	cascade	379	// enable interrupts
321	cascade	380	sei();
		381	#endif
		382
		383	//write_ascii_string(2, 7, " CaScAdE ");
		384	//write_ascii_string(2, 8, "is TESTING his open source");
		385	//write_ascii_string(2, 9, " EPi OSD Firmware");
		386
		387	// we are ready
		388	LED3_ON
		389
329	cascade	390	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
321	cascade	391	clear();
		392	write_all_chars();
		393	#else
339	cascade	394	// clear serial screen
		395	//usart1_puts("\x1B[2J\x1B[H");
		396	//usart1_puts("hello world!\r\n");
321	cascade	397
339	cascade	398
346	cascade	399	// request data ever 100ms from FC;
		400	//usart1_request_mk_data(0, 'd', 100);
339	cascade	401
		402	// request OSD Data from NC every 100ms
346	cascade	403	usart1_request_mk_data(1, 'o', 100);
		404
339	cascade	405	// and disable debug...
385	cascade	406	usart1_request_mk_data(0, 'd', 0);
321	cascade	407
339	cascade	408	// stats for after flight
		409	int16_t max_Altimeter = 0;
		410	uint16_t max_GroundSpeed = 0;
		411	int16_t max_Distance = 0;
		412	uint8_t min_UBat = 255;
		413	uint16_t max_FlyingTime = 0;
321	cascade	414
339	cascade	415	// flags from last round to check for changes
		416	uint8_t old_MKFlags = 0;
		417
321	cascade	418	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
377	cascade	419	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
321	cascade	420
		421	while (1) {
339	cascade	422	// write icons at init or after menu/mode-switch
		423	if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {
385	cascade	424	write_char_xy(5, top_line, 0xCB); // km/h
		425	write_char_xy(10, top_line, 0xCA); // RC-transmitter
		426	write_char_xy(16, top_line, 0xD0); // degree symbol
		427	write_char_xy(27, top_line, 0xCC); // small meters m height
		428	write_char_xy(20, top_line+1, 0xB0); // left circle
		429	write_char_xy(22, top_line+1, 0xB2); // right circle
		430	write_char_xy(27, top_line+1, 0xCC); // small meters m home
		431	write_char_xy(7, bottom_line, 0x9E); // small v
		432	write_char_xy(14, bottom_line, 0xD1); // on clock
407	cascade	433	write_char_xy(21, bottom_line, 0xD2); // fly clock
385	cascade	434	write_char_xy(26, bottom_line, 0xC8); // sat1
		435	write_char_xy(27, bottom_line, 0xC9); // sat2
339	cascade	436	COSD_FLAGS \|= COSD_ICONS_WRITTEN;
		437	}
321	cascade	438	if (rxd_buffer_locked) {
339	cascade	439	if (COSD_FLAGS & COSD_FLAG_HUD) {
		440	if (rxd_buffer[2] == 'D') { // FC Data
		441	/*Decode64();
		442	debugData = ((DebugOut_t) pRxData);
		443	write_number_s(12, 2, RxDataLen);
		444	write_number_s(20, 2, setsReceived++);
		445	write_number_s(12, 3, debugData.Analog[0]); // AngleNick
		446	write_number_s(12, 4, debugData.Analog[1]); // AngleRoll
336	cascade	447	write_number_s(12, 5, debugData.Analog[5]); // Height
339	cascade	448	write_number_s(12, 6, debugData.Analog[9]); // Voltage
		449	write_number_s(12, 7, debugData.Analog[10]);// RC Signal
388	cascade	450	write_number_s(12, 8, debugData.Analog[11]);// Gyro compass
		451	seconds_since_last_data = 0;*/
339	cascade	452	} else if (rxd_buffer[2] == 'O') { // NC OSD Data
		453	Decode64();
		454	naviData = ((NaviData_t) pRxData);
383	cascade	455
339	cascade	456	// first line
373	cascade	457	write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
321	cascade	458
349	cascade	459	write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);
339	cascade	460	if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
		461	for (uint8_t x = 0; x < 4; x++)
		462	write_char_att_xy(7 + x, top_line, BLINK);
		463	} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
		464	for (uint8_t x = 0; x < 4; x++)
		465	write_char_att_xy(7 + x, top_line, 0);
		466	}
407	cascade	467	last_RC_Quality = naviData.RC_Quality;
		468
		469	if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
		470	write_char_xy(11, top_line, 0); // clear
		471	} else {
		472	write_char_xy(11, top_line, 0xC6); // PC icon
		473	}
321	cascade	474
349	cascade	475	write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);
321	cascade	476
339	cascade	477	write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
377	cascade	478
383	cascade	479	draw_variometer(21, top_line, naviData.Variometer);
321	cascade	480
339	cascade	481	//note:lephisto:according to several sources it's /30
349	cascade	482	if (naviData.Altimeter > 300 \|\| naviData.Altimeter < -300) {
339	cascade	483	// above 10m only write full meters
349	cascade	484	write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);
339	cascade	485	} else {
		486	// up to 10m write meters.dm
349	cascade	487	//write_number_u_10th(21, top_line, naviData.Altimeter / 3);
		488	write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);
339	cascade	489	}
321	cascade	490
339	cascade	491	// seccond line
		492	draw_compass(11, top_line + 1, naviData.CompassHeading);
321	cascade	493
339	cascade	494	// TODO: verify correctness
		495	uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
383	cascade	496	//write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
377	cascade	497	// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
383	cascade	498	write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
321	cascade	499
355	shaddi	500	write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);
321	cascade	501
339	cascade	502	// center
		503	if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
		504	if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
		505	clear();
		506	// update flags to paint display again if needed
		507	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		508	}
		509	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
		510	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
		511	}
407	cascade	512	// motors are on, assume we were/are flying
		513	COSD_FLAGS \|= COSD_WASFLYING;
339	cascade	514	} else {
336	cascade	515	// stats
407	cascade	516	if ((COSD_FLAGS & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) {
412	cascade	517	write_ascii_string_pgm(2, 4, stats_item_pointers[0]); // max Altitude
		518	write_ndigit_number_s(18, 4, max_Altimeter / 30, 1000, 0);
		519	write_char_xy(22, 4, 204); // small meters m
		520	write_ascii_string_pgm(2, 5, stats_item_pointers[1]); // max Speed
		521	write_ndigit_number_u(19, 5, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
		522	write_char_xy(22, 5, 203); // km/h
		523	write_ascii_string_pgm(2, 6, stats_item_pointers[2]); // max Distance
		524	write_ndigit_number_u(19, 6, max_Distance / 10, 100, 0);
		525	write_char_xy(22, 6, 204); // small meters m
		526	write_ascii_string_pgm(2, 7, stats_item_pointers[3]); // min voltage
		527	write_ndigit_number_u_10th(18, 7, min_UBat, 100, 0);
		528	write_char_xy(22, 7, 0x9E); // small v
		529	write_ascii_string_pgm(2, 8, stats_item_pointers[4]); // max time
		530	write_time(16, 8, max_FlyingTime);
		531	write_char_xy(22, 8, 210); // fly clock
		532	write_ascii_string_pgm(2, 9, stats_item_pointers[5]); // longitude
		533	write_gps_pos(15, 9, naviData.CurrentPosition.Longitude);
		534	write_ascii_string_pgm(2, 10, stats_item_pointers[6]); // latitude
		535	write_gps_pos(15, 10, naviData.CurrentPosition.Latitude);
339	cascade	536	} else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
		537	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
		538	}
		539	}
383	cascade	540	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
		541	draw_big_variometer(27, 8, naviData.Variometer);
		542	}
321	cascade	543
339	cascade	544	// bottom line
385	cascade	545	draw_battery(2, bottom_line, naviData.UBat);
		546	write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0);
339	cascade	547	if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {
385	cascade	548	for (uint8_t x = 2; x < 8; x++)
339	cascade	549	write_char_att_xy(x, bottom_line, BLINK);
		550	} else {
385	cascade	551	for (uint8_t x = 2; x < 8; x++)
339	cascade	552	write_char_att_xy(x, bottom_line, 0);
		553	}
385	cascade	554
321	cascade	555
339	cascade	556	write_time(8, bottom_line, uptime);
407	cascade	557	write_time(15, bottom_line, naviData.FlyingTime);
321	cascade	558
349	cascade	559	write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0);
321	cascade	560
407	cascade	561	if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
		562	write_char_xy(23, bottom_line, 0xB3); // rc transmitter
		563	} else {
		564	write_char_xy(23, bottom_line, 0); // clear
		565	}
		566
339	cascade	567	if (naviData.NCFlags & NC_FLAG_CH) {
		568	write_char_xy(27, bottom_line, 231); // gps ch
		569	} else if (naviData.NCFlags & NC_FLAG_PH) {
		570	write_char_xy(27, bottom_line, 230); // gps ph
		571	} else { // (naviData.NCFlags & NC_FLAG_FREE)
		572	write_char_xy(27, bottom_line, 201); // sat2 (free)
		573	}
321	cascade	574
339	cascade	575	//write_number_s(8, 5, RxDataLen);
		576	//write_number_s(16, 5, setsReceived++);
321	cascade	577
410	shaddi	578	// remember statistics (only when engines running)
412	cascade	579	if (naviData.MKFlags & FLAG_MOTOR_RUN) {
		580	if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
		581	if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
		582	if (naviData.HomePositionDeviation.Distance > max_Distance) {
		583	max_Distance = naviData.HomePositionDeviation.Distance;
		584	}
		585	if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
		586	if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
		587	}
339	cascade	588
		589	old_MKFlags = naviData.MKFlags;
388	cascade	590	seconds_since_last_data = 0;
339	cascade	591	}
		592	}
321	cascade	593	rxd_buffer_locked = 0;
		594	}
		595	// handle keypress
326	cascade	596	if (s1_pressed()) {
339	cascade	597	config_menu();
321	cascade	598	}
339	cascade	599	if (seconds_since_last_data > 2) {
346	cascade	600	// request OSD Data from NC every 100ms
		601	usart1_request_mk_data(1, 'o', 100);
389	cascade	602	seconds_since_last_data = 0;
339	cascade	603	}
321	cascade	604	}
		605	#endif
		606	return 0;
		607	}

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(root)/C-OSD/trunk/main.c @ 1563 - Rev 412