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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
453	cascade	88	// battery voltages
		89	uint8_t min_voltage = 0;
		90	uint8_t max_voltage = 0;
		91
326	cascade	92	// Flags
		93	uint8_t COSD_FLAGS = 0;
		94
321	cascade	95	/* ##########################################################################
326	cascade	96	* debounce buttons
		97	* ##########################################################################*/
		98	int s1_pressed() {
		99	if (S1_PRESSED) {
		100	_delay_ms(25);
		101	if (S1_PRESSED) return 1;
		102	}
		103	return 0;
		104	}
		105
		106	int s2_pressed() {
		107	if (S2_PRESSED) {
		108	_delay_ms(25);
		109	if (S2_PRESSED) return 1;
		110	}
		111	return 0;
		112	}
		113
389	cascade	114	/* ##########################################################################
		115	* Interrupt handler
		116	* ##########################################################################*/
321	cascade	117	/**
389	cascade	118	* handler for undefined Interrupts
		119	* if not defined AVR will reset in case any unhandled interrupts occur
321	cascade	120	*/
389	cascade	121	ISR(__vector_default) {
		122	asm("nop");
		123	}
321	cascade	124
389	cascade	125	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	126	/* ##########################################################################
		127	* timer stuff
		128	* ##########################################################################*/
331	cascade	129	/**
		130	* timer kicks in every 1000uS ^= 1ms
321	cascade	131	*/
		132	ISR(TIMER0_OVF_vect) {
385	cascade	133	OCR0 = 15; // preload
321	cascade	134	if (!timer--) {
		135	uptime++;
		136	timer = 999;
331	cascade	137	seconds_since_last_data++;
321	cascade	138	}
		139	}
		140
		141
		142	/* ##########################################################################
326	cascade	143	* A simple config menu for the flags
		144	* ##########################################################################*/
339	cascade	145
		146	/**
		147	* helper function for menu updating
		148	*/
		149	void config_menu_drawings(uint8_t chosen) {
		150	// clear prevoius _cursor_
383	cascade	151	write_ascii_string(3, (chosen + 5) % 8, " ");
339	cascade	152	// draw current _cursor_
383	cascade	153	write_ascii_string(3, chosen + 5, ">");
339	cascade	154	if (COSD_FLAGS & COSD_FLAG_HUD) {
383	cascade	155	write_ascii_string_pgm(23, 5, ON);
		156	} else {
		157	write_ascii_string_pgm(23, 5, OFF);
		158	}
		159	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
346	cascade	160	write_ascii_string_pgm(23, 6, ON);
339	cascade	161	} else {
383	cascade	162	write_ascii_string_pgm(23, 6, OFF);
339	cascade	163	}
383	cascade	164	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
346	cascade	165	write_ascii_string_pgm(23, 7, ON);
339	cascade	166	} else {
383	cascade	167	write_ascii_string_pgm(23, 7, OFF);
339	cascade	168	}
		169	if (COSD_FLAGS & COSD_FLAG_STATS) {
346	cascade	170	write_ascii_string_pgm(23, 8, ON);
339	cascade	171	} else {
346	cascade	172	write_ascii_string_pgm(23, 8, OFF);
339	cascade	173	}
		174	if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
346	cascade	175	write_ascii_string_pgm(23, 9, ON);
339	cascade	176	} else {
346	cascade	177	write_ascii_string_pgm(23, 9, OFF);
339	cascade	178	}
		179	}
		180
		181	/**
346	cascade	182	* some sort of clicking response in the menu
		183	*/
		184	void config_menu_doclick(uint8_t chosen, char** menu) {
383	cascade	185	write_ascii_string(4, chosen + 5, "DONE ");
346	cascade	186	_delay_ms(1000);
383	cascade	187	write_ascii_string(4, chosen + 5, menu[chosen]);
346	cascade	188	}
		189
		190	/**
339	cascade	191	* a simple config menu tryout
		192	*/
326	cascade	193	void config_menu(void) {
		194	// disable interrupts (makes the menu more smoothely)
		195	cli();
321	cascade	196
326	cascade	197	// clear screen
		198	clear();
		199
383	cascade	200	char* menu[9] = {"Full HUD",
339	cascade	201	"Art.Horizon in HUD",
383	cascade	202	"Big Vario bar",
339	cascade	203	"Statistics",
		204	"Warnings", // TODO: do it!
346	cascade	205	"Reset uptime",
		206	"Request OSD-data",
		207	"Disable Debug-data",
339	cascade	208	"EXIT"};
326	cascade	209
		210	uint8_t inmenu = 1;
		211	uint8_t chosen = 0;
339	cascade	212	write_ascii_string(6, 2, "C-OSD Config Menu");
326	cascade	213
		214	// wait a bit before doing stuff so user has chance to release button
		215	_delay_ms(250);
		216
383	cascade	217	write_ascii_string(4, 5, menu[0]);
		218	write_ascii_string(4, 6, menu[1]);
		219	write_ascii_string(4, 7, menu[2]);
		220	write_ascii_string(4, 8, menu[3]);
		221	write_ascii_string(4, 9, menu[4]);
		222	write_ascii_string(4, 10, menu[5]);
		223	write_ascii_string(4, 11, menu[6]);
		224	write_ascii_string(4, 12, menu[7]);
		225	write_ascii_string(4, 13, menu[8]);
339	cascade	226
		227	config_menu_drawings(chosen);
		228
326	cascade	229	while (inmenu) {
		230	if (s2_pressed()) {
383	cascade	231	write_ascii_string(3, chosen+5, " ");
		232	chosen = (chosen + 1) % 9;
		233	write_ascii_string(3, chosen+5, ">");
326	cascade	234	_delay_ms(500);
		235	} else if (s1_pressed()) {
		236	switch (chosen) {
339	cascade	237	case 0: // full HUD
		238	COSD_FLAGS ^= COSD_FLAG_HUD;
		239	config_menu_drawings(chosen);
326	cascade	240	break;
339	cascade	241	case 1: // art horizon
		242	COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
		243	config_menu_drawings(chosen);
326	cascade	244	break;
383	cascade	245	case 2: // big vario
		246	COSD_FLAGS ^= COSD_FLAG_BIGVARIO;
		247	config_menu_drawings(chosen);
		248	break;
		249	case 3: // statistics
339	cascade	250	COSD_FLAGS ^= COSD_FLAG_STATS;
		251	config_menu_drawings(chosen);
326	cascade	252	break;
383	cascade	253	case 4: // warnings
339	cascade	254	COSD_FLAGS ^= COSD_FLAG_WARNINGS;
		255	config_menu_drawings(chosen);
		256	break;
383	cascade	257	case 5: // reset uptime
346	cascade	258	uptime = 0;
		259	config_menu_doclick(chosen, menu);
		260	break;
383	cascade	261	case 6: // re-request OSD data
346	cascade	262	// request OSD Data from NC every 100ms
		263	usart1_request_mk_data(1, 'o', 100);
		264	config_menu_doclick(chosen, menu);
		265	break;
383	cascade	266	case 7: // disable debug data
346	cascade	267	// disable sending of debug data
		268	// may result in smoother ddata display
		269	usart1_request_mk_data(0, 'd', 0);
		270	config_menu_doclick(chosen, menu);
		271	break;
383	cascade	272	case 8: // exit
339	cascade	273	inmenu = 0;
		274	break;
326	cascade	275	}
339	cascade	276	_delay_ms(250);
326	cascade	277	}
		278	}
		279
		280	// clear screen up again
		281	clear();
		282
		283	// update flags to paint display again if needed
		284	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		285
		286	// enable interrupts again
		287	sei();
		288	}
		289
329	cascade	290	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	291	/* ##########################################################################
		292	* MAIN
		293	* ##########################################################################*/
		294	int main(void) {
339	cascade	295	// set up FLAGS, compiler should flatten this one
		296	COSD_FLAGS = (NTSC << 0);
		297	COSD_FLAGS \|= (HUD << 1);
		298	COSD_FLAGS \|= (ARTHORIZON << 2);
383	cascade	299	COSD_FLAGS \|= (BIGVARIO << 3);
		300	COSD_FLAGS \|= (STATS << 4);
		301	COSD_FLAGS \|= (WARNINGS << 5);
324	cascade	302
339	cascade	303	// set up Atmega162 Ports
321	cascade	304	DDRA \|= (1 << PA1); // PA1 output (/CS)
		305	MAX_CS_HIGH
		306	DDRA \|= (1 << PA2); // PA2 output (SDIN)
		307	MAX_SDIN_LOW
		308	DDRA \|= (1 << PA3); // PA3 output (SCLK)
		309	MAX_SCLK_LOW
		310	DDRA \|= (1 << PA5); // PA5 output (RESET)
		311	MAX_RESET_HIGH
		312
		313	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
		314	LED1_OFF
		315	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
		316	LED2_OFF
		317	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
		318	LED3_OFF
		319	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
		320	LED4_OFF
		321
		322	DDRC &= ~(1 << PC4); // PC4 input (MODE)
		323	PORTC \|= (1 << PC4); // pullup
		324	DDRC &= ~(1 << PC5); // PC5 input (SET)
		325	PORTC \|= (1 << PC5); // pullup
		326
339	cascade	327	// set up top and bottom lines
		328	if (COSD_FLAGS & COSD_FLAG_NTSC) {
		329	bottom_line = 12;
		330	} else {
		331	bottom_line = 14;
		332	}
326	cascade	333
339	cascade	334	// reset the MAX7456 to be sure any undefined states do no harm
321	cascade	335	MAX_RESET_LOW
		336	MAX_RESET_HIGH
		337
		338	// give the FC/NC and the maxim time to come up
		339	LED4_ON
		340	_delay_ms(2000);
		341
		342	LED4_OFF
		343
331	cascade	344
339	cascade	345	//Pushing NEW chars to the MAX7456
329	cascade	346	#if (WRITECHARS != -1)
339	cascade	347	// DISABLE display (VM0)
321	cascade	348	spi_send_byte(0x00, 0b00000000);
339	cascade	349	#include "characters.c"
321	cascade	350
331	cascade	351	#endif
321	cascade	352
339	cascade	353	// Setup Video Mode
		354	if (COSD_FLAGS & COSD_FLAG_NTSC) {
		355	// NTSC + enable display immediately (VM0)
		356	spi_send_byte(0x00, 0b00001000);
		357	} else {
		358	// PAL + enable display immediately (VM0)
		359	spi_send_byte(0x00, 0b01001000);
		360	}
321	cascade	361
404	cascade	362	/*// clear all display-mem (DMM)
403	cascade	363	spi_send_byte(0x04, 0b00000100);
		364
		365	// clearing takes 12uS according to maxim so lets wait longer
		366	_delay_us(120);
		367
321	cascade	368	// 8bit mode
404	cascade	369	spi_send_byte(0x04, 0b01000000);*/
321	cascade	370
404	cascade	371	// clear display memory and set to 8bit mode
321	cascade	372	clear();
		373
329	cascade	374	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	375	// init usart
		376	usart1_init();
		377
		378	// set up timer
		379	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64
385	cascade	380	OCR0 = 15; // preload
321	cascade	381	TIMSK \|= (1 << TOIE0); // enable overflow timer0
		382
326	cascade	383	// enable interrupts
321	cascade	384	sei();
		385	#endif
		386
		387	//write_ascii_string(2, 7, " CaScAdE ");
		388	//write_ascii_string(2, 8, "is TESTING his open source");
		389	//write_ascii_string(2, 9, " EPi OSD Firmware");
		390
		391	// we are ready
		392	LED3_ON
		393
329	cascade	394	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
321	cascade	395	clear();
		396	write_all_chars();
		397	#else
339	cascade	398	// clear serial screen
		399	//usart1_puts("\x1B[2J\x1B[H");
		400	//usart1_puts("hello world!\r\n");
321	cascade	401
339	cascade	402
346	cascade	403	// request data ever 100ms from FC;
		404	//usart1_request_mk_data(0, 'd', 100);
339	cascade	405
		406	// request OSD Data from NC every 100ms
346	cascade	407	usart1_request_mk_data(1, 'o', 100);
		408
339	cascade	409	// and disable debug...
385	cascade	410	usart1_request_mk_data(0, 'd', 0);
321	cascade	411
339	cascade	412	// stats for after flight
		413	int16_t max_Altimeter = 0;
		414	uint16_t max_GroundSpeed = 0;
		415	int16_t max_Distance = 0;
		416	uint8_t min_UBat = 255;
		417	uint16_t max_FlyingTime = 0;
321	cascade	418
339	cascade	419	// flags from last round to check for changes
		420	uint8_t old_MKFlags = 0;
		421
321	cascade	422	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
377	cascade	423	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
321	cascade	424
		425	while (1) {
339	cascade	426	// write icons at init or after menu/mode-switch
		427	if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {
385	cascade	428	write_char_xy(5, top_line, 0xCB); // km/h
		429	write_char_xy(10, top_line, 0xCA); // RC-transmitter
		430	write_char_xy(16, top_line, 0xD0); // degree symbol
		431	write_char_xy(27, top_line, 0xCC); // small meters m height
		432	write_char_xy(20, top_line+1, 0xB0); // left circle
		433	write_char_xy(22, top_line+1, 0xB2); // right circle
		434	write_char_xy(27, top_line+1, 0xCC); // small meters m home
		435	write_char_xy(7, bottom_line, 0x9E); // small v
		436	write_char_xy(14, bottom_line, 0xD1); // on clock
407	cascade	437	write_char_xy(21, bottom_line, 0xD2); // fly clock
385	cascade	438	write_char_xy(26, bottom_line, 0xC8); // sat1
		439	write_char_xy(27, bottom_line, 0xC9); // sat2
339	cascade	440	COSD_FLAGS \|= COSD_ICONS_WRITTEN;
		441	}
321	cascade	442	if (rxd_buffer_locked) {
339	cascade	443	if (COSD_FLAGS & COSD_FLAG_HUD) {
		444	if (rxd_buffer[2] == 'D') { // FC Data
		445	/*Decode64();
		446	debugData = ((DebugOut_t) pRxData);
		447	write_number_s(12, 2, RxDataLen);
		448	write_number_s(20, 2, setsReceived++);
		449	write_number_s(12, 3, debugData.Analog[0]); // AngleNick
		450	write_number_s(12, 4, debugData.Analog[1]); // AngleRoll
336	cascade	451	write_number_s(12, 5, debugData.Analog[5]); // Height
339	cascade	452	write_number_s(12, 6, debugData.Analog[9]); // Voltage
		453	write_number_s(12, 7, debugData.Analog[10]);// RC Signal
388	cascade	454	write_number_s(12, 8, debugData.Analog[11]);// Gyro compass
		455	seconds_since_last_data = 0;*/
339	cascade	456	} else if (rxd_buffer[2] == 'O') { // NC OSD Data
		457	Decode64();
		458	naviData = ((NaviData_t) pRxData);
383	cascade	459
453	cascade	460	// init on first data retrival, distinguished by last battery :)
		461	// TODO: this is testing stuff, strings should go progmem and so on...
		462	if (last_UBat == 255) {
		463	clear();
		464	// fix for min_bat glitch caused by data only gathered during motors up
		465	min_UBat = naviData.UBat;
		466	write_ascii_string(2, 2, "C-OSD Initialisation");
		467	uint8_t cellnum = 0;
		468	if (CELL_NUM == -1) {
		469	write_ascii_string(2, 5, "Guessing Number of Cells");
		470	do {
		471	cellnum++;
		472	} while (naviData.UBat > ((cellnum * CELL_VOLT_MAX) + 10));
		473	} else {
		474	cellnum = CELL_NUM;
		475	}
		476	min_voltage = cellnum * CELL_VOLT_MIN;
		477	max_voltage = cellnum * CELL_VOLT_MAX;
		478	write_ascii_string(2, 7, "Number of Cells:");
		479	write_ndigit_number_u(21, 7, cellnum, 1, 0);
		480	write_ascii_string(2, 8, "Warn Voltage :");
		481	write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0);
		482	write_ascii_string(2, 9, "Max Voltage :");
		483	write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0);
		484	_delay_ms(200);
		485	clear();
		486	// update flags to paint display again because of clear
		487	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		488	}
		489
339	cascade	490	// first line
373	cascade	491	write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
321	cascade	492
349	cascade	493	write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);
339	cascade	494	if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
		495	for (uint8_t x = 0; x < 4; x++)
		496	write_char_att_xy(7 + x, top_line, BLINK);
		497	} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
		498	for (uint8_t x = 0; x < 4; x++)
		499	write_char_att_xy(7 + x, top_line, 0);
		500	}
407	cascade	501	last_RC_Quality = naviData.RC_Quality;
		502
		503	if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
		504	write_char_xy(11, top_line, 0); // clear
		505	} else {
		506	write_char_xy(11, top_line, 0xC6); // PC icon
		507	}
321	cascade	508
349	cascade	509	write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);
321	cascade	510
339	cascade	511	write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
377	cascade	512
383	cascade	513	draw_variometer(21, top_line, naviData.Variometer);
321	cascade	514
339	cascade	515	//note:lephisto:according to several sources it's /30
349	cascade	516	if (naviData.Altimeter > 300 \|\| naviData.Altimeter < -300) {
339	cascade	517	// above 10m only write full meters
349	cascade	518	write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);
339	cascade	519	} else {
		520	// up to 10m write meters.dm
349	cascade	521	//write_number_u_10th(21, top_line, naviData.Altimeter / 3);
		522	write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);
339	cascade	523	}
321	cascade	524
339	cascade	525	// seccond line
		526	draw_compass(11, top_line + 1, naviData.CompassHeading);
321	cascade	527
339	cascade	528	// TODO: verify correctness
		529	uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
383	cascade	530	//write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
377	cascade	531	// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
383	cascade	532	write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
321	cascade	533
355	shaddi	534	write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);
321	cascade	535
339	cascade	536	// center
		537	if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
		538	if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
		539	clear();
		540	// update flags to paint display again if needed
		541	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		542	}
		543	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
		544	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
		545	}
407	cascade	546	// motors are on, assume we were/are flying
		547	COSD_FLAGS \|= COSD_WASFLYING;
339	cascade	548	} else {
336	cascade	549	// stats
407	cascade	550	if ((COSD_FLAGS & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) {
412	cascade	551	write_ascii_string_pgm(2, 4, stats_item_pointers[0]); // max Altitude
		552	write_ndigit_number_s(18, 4, max_Altimeter / 30, 1000, 0);
		553	write_char_xy(22, 4, 204); // small meters m
		554	write_ascii_string_pgm(2, 5, stats_item_pointers[1]); // max Speed
		555	write_ndigit_number_u(19, 5, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
		556	write_char_xy(22, 5, 203); // km/h
		557	write_ascii_string_pgm(2, 6, stats_item_pointers[2]); // max Distance
		558	write_ndigit_number_u(19, 6, max_Distance / 10, 100, 0);
		559	write_char_xy(22, 6, 204); // small meters m
		560	write_ascii_string_pgm(2, 7, stats_item_pointers[3]); // min voltage
		561	write_ndigit_number_u_10th(18, 7, min_UBat, 100, 0);
		562	write_char_xy(22, 7, 0x9E); // small v
		563	write_ascii_string_pgm(2, 8, stats_item_pointers[4]); // max time
		564	write_time(16, 8, max_FlyingTime);
		565	write_char_xy(22, 8, 210); // fly clock
		566	write_ascii_string_pgm(2, 9, stats_item_pointers[5]); // longitude
		567	write_gps_pos(15, 9, naviData.CurrentPosition.Longitude);
		568	write_ascii_string_pgm(2, 10, stats_item_pointers[6]); // latitude
		569	write_gps_pos(15, 10, naviData.CurrentPosition.Latitude);
339	cascade	570	} else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
		571	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
		572	}
		573	}
383	cascade	574	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
		575	draw_big_variometer(27, 8, naviData.Variometer);
		576	}
321	cascade	577
339	cascade	578	// bottom line
453	cascade	579	draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
385	cascade	580	write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0);
453	cascade	581	if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
385	cascade	582	for (uint8_t x = 2; x < 8; x++)
339	cascade	583	write_char_att_xy(x, bottom_line, BLINK);
453	cascade	584	} else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
385	cascade	585	for (uint8_t x = 2; x < 8; x++)
339	cascade	586	write_char_att_xy(x, bottom_line, 0);
		587	}
453	cascade	588	// remember last values
		589	last_UBat = naviData.UBat;
321	cascade	590
339	cascade	591	write_time(8, bottom_line, uptime);
407	cascade	592	write_time(15, bottom_line, naviData.FlyingTime);
321	cascade	593
349	cascade	594	write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0);
321	cascade	595
407	cascade	596	if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
		597	write_char_xy(23, bottom_line, 0xB3); // rc transmitter
		598	} else {
		599	write_char_xy(23, bottom_line, 0); // clear
		600	}
		601
339	cascade	602	if (naviData.NCFlags & NC_FLAG_CH) {
		603	write_char_xy(27, bottom_line, 231); // gps ch
		604	} else if (naviData.NCFlags & NC_FLAG_PH) {
		605	write_char_xy(27, bottom_line, 230); // gps ph
		606	} else { // (naviData.NCFlags & NC_FLAG_FREE)
		607	write_char_xy(27, bottom_line, 201); // sat2 (free)
		608	}
321	cascade	609
339	cascade	610	//write_number_s(8, 5, RxDataLen);
		611	//write_number_s(16, 5, setsReceived++);
321	cascade	612
410	shaddi	613	// remember statistics (only when engines running)
412	cascade	614	if (naviData.MKFlags & FLAG_MOTOR_RUN) {
		615	if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
		616	if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
		617	if (naviData.HomePositionDeviation.Distance > max_Distance) {
		618	max_Distance = naviData.HomePositionDeviation.Distance;
		619	}
		620	if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
		621	if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
		622	}
339	cascade	623
		624	old_MKFlags = naviData.MKFlags;
388	cascade	625	seconds_since_last_data = 0;
339	cascade	626	}
		627	}
321	cascade	628	rxd_buffer_locked = 0;
		629	}
		630	// handle keypress
326	cascade	631	if (s1_pressed()) {
339	cascade	632	config_menu();
321	cascade	633	}
339	cascade	634	if (seconds_since_last_data > 2) {
346	cascade	635	// request OSD Data from NC every 100ms
		636	usart1_request_mk_data(1, 'o', 100);
389	cascade	637	seconds_since_last_data = 0;
339	cascade	638	}
321	cascade	639	}
		640	#endif
		641	return 0;
		642	}

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(root)/C-OSD/trunk/main.c - Rev 453