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

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(root)/C-OSD/trunk/main.c @ 515 - Rev 407