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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
454	cascade	262	#if FCONLY
		263	// request data ever 100ms from FC;
		264	usart1_request_mk_data(0, 'd', 100);
		265	#else
		266	// request OSD Data from NC every 100ms
		267	usart1_request_mk_data(1, 'o', 100);
		268
		269	// and disable debug...
		270	usart1_request_mk_data(0, 'd', 0);
		271	#endif
346	cascade	272	config_menu_doclick(chosen, menu);
		273	break;
383	cascade	274	case 7: // disable debug data
346	cascade	275	// disable sending of debug data
		276	// may result in smoother ddata display
		277	usart1_request_mk_data(0, 'd', 0);
		278	config_menu_doclick(chosen, menu);
		279	break;
383	cascade	280	case 8: // exit
339	cascade	281	inmenu = 0;
		282	break;
326	cascade	283	}
339	cascade	284	_delay_ms(250);
326	cascade	285	}
		286	}
		287
		288	// clear screen up again
		289	clear();
		290
		291	// update flags to paint display again if needed
		292	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		293
		294	// enable interrupts again
		295	sei();
		296	}
		297
329	cascade	298	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	299	/* ##########################################################################
		300	* MAIN
		301	* ##########################################################################*/
		302	int main(void) {
339	cascade	303	// set up FLAGS, compiler should flatten this one
		304	COSD_FLAGS = (NTSC << 0);
		305	COSD_FLAGS \|= (HUD << 1);
		306	COSD_FLAGS \|= (ARTHORIZON << 2);
383	cascade	307	COSD_FLAGS \|= (BIGVARIO << 3);
		308	COSD_FLAGS \|= (STATS << 4);
		309	COSD_FLAGS \|= (WARNINGS << 5);
324	cascade	310
339	cascade	311	// set up Atmega162 Ports
321	cascade	312	DDRA \|= (1 << PA1); // PA1 output (/CS)
		313	MAX_CS_HIGH
		314	DDRA \|= (1 << PA2); // PA2 output (SDIN)
		315	MAX_SDIN_LOW
		316	DDRA \|= (1 << PA3); // PA3 output (SCLK)
		317	MAX_SCLK_LOW
		318	DDRA \|= (1 << PA5); // PA5 output (RESET)
		319	MAX_RESET_HIGH
		320
		321	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
		322	LED1_OFF
		323	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
		324	LED2_OFF
		325	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
		326	LED3_OFF
		327	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
		328	LED4_OFF
		329
		330	DDRC &= ~(1 << PC4); // PC4 input (MODE)
		331	PORTC \|= (1 << PC4); // pullup
		332	DDRC &= ~(1 << PC5); // PC5 input (SET)
		333	PORTC \|= (1 << PC5); // pullup
		334
339	cascade	335	// set up top and bottom lines
		336	if (COSD_FLAGS & COSD_FLAG_NTSC) {
		337	bottom_line = 12;
		338	} else {
		339	bottom_line = 14;
		340	}
326	cascade	341
339	cascade	342	// reset the MAX7456 to be sure any undefined states do no harm
321	cascade	343	MAX_RESET_LOW
		344	MAX_RESET_HIGH
		345
		346	// give the FC/NC and the maxim time to come up
		347	LED4_ON
		348	_delay_ms(2000);
		349
		350	LED4_OFF
		351
331	cascade	352
339	cascade	353	//Pushing NEW chars to the MAX7456
329	cascade	354	#if (WRITECHARS != -1)
339	cascade	355	// DISABLE display (VM0)
321	cascade	356	spi_send_byte(0x00, 0b00000000);
339	cascade	357	#include "characters.c"
321	cascade	358
331	cascade	359	#endif
321	cascade	360
339	cascade	361	// Setup Video Mode
		362	if (COSD_FLAGS & COSD_FLAG_NTSC) {
		363	// NTSC + enable display immediately (VM0)
		364	spi_send_byte(0x00, 0b00001000);
		365	} else {
		366	// PAL + enable display immediately (VM0)
		367	spi_send_byte(0x00, 0b01001000);
		368	}
321	cascade	369
404	cascade	370	/*// clear all display-mem (DMM)
403	cascade	371	spi_send_byte(0x04, 0b00000100);
		372
		373	// clearing takes 12uS according to maxim so lets wait longer
		374	_delay_us(120);
		375
321	cascade	376	// 8bit mode
404	cascade	377	spi_send_byte(0x04, 0b01000000);*/
321	cascade	378
404	cascade	379	// clear display memory and set to 8bit mode
321	cascade	380	clear();
		381
329	cascade	382	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	383	// init usart
		384	usart1_init();
		385
		386	// set up timer
		387	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64
385	cascade	388	OCR0 = 15; // preload
321	cascade	389	TIMSK \|= (1 << TOIE0); // enable overflow timer0
		390
326	cascade	391	// enable interrupts
321	cascade	392	sei();
		393	#endif
		394
		395	//write_ascii_string(2, 7, " CaScAdE ");
		396	//write_ascii_string(2, 8, "is TESTING his open source");
		397	//write_ascii_string(2, 9, " EPi OSD Firmware");
		398
		399	// we are ready
		400	LED3_ON
		401
329	cascade	402	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
321	cascade	403	clear();
		404	write_all_chars();
		405	#else
339	cascade	406	// clear serial screen
		407	//usart1_puts("\x1B[2J\x1B[H");
		408	//usart1_puts("hello world!\r\n");
321	cascade	409
454	cascade	410	#if FCONLY
346	cascade	411	// request data ever 100ms from FC;
454	cascade	412	usart1_request_mk_data(0, 'd', 100);
		413	#else
339	cascade	414	// request OSD Data from NC every 100ms
346	cascade	415	usart1_request_mk_data(1, 'o', 100);
		416
339	cascade	417	// and disable debug...
385	cascade	418	usart1_request_mk_data(0, 'd', 0);
454	cascade	419	#endif
321	cascade	420
339	cascade	421	// stats for after flight
		422	int16_t max_Altimeter = 0;
		423	uint16_t max_GroundSpeed = 0;
		424	int16_t max_Distance = 0;
		425	uint8_t min_UBat = 255;
		426	uint16_t max_FlyingTime = 0;
321	cascade	427
339	cascade	428	// flags from last round to check for changes
		429	uint8_t old_MKFlags = 0;
		430
321	cascade	431	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
377	cascade	432	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
321	cascade	433
		434	while (1) {
339	cascade	435	// write icons at init or after menu/mode-switch
		436	if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {
454	cascade	437	#if FCONLY
		438	// FC Mode ICONS
		439	write_char_xy(10, top_line, 0xCA); // RC-transmitter
		440	write_char_xy(27, top_line, 0xCC); // small meters m height
		441	write_char_xy(7, bottom_line, 0x9E); // small v
		442	#else
		443	// NAVI Mode ICONS
385	cascade	444	write_char_xy(5, top_line, 0xCB); // km/h
		445	write_char_xy(10, top_line, 0xCA); // RC-transmitter
		446	write_char_xy(16, top_line, 0xD0); // degree symbol
		447	write_char_xy(27, top_line, 0xCC); // small meters m height
		448	write_char_xy(20, top_line+1, 0xB0); // left circle
		449	write_char_xy(22, top_line+1, 0xB2); // right circle
		450	write_char_xy(27, top_line+1, 0xCC); // small meters m home
		451	write_char_xy(7, bottom_line, 0x9E); // small v
		452	write_char_xy(14, bottom_line, 0xD1); // on clock
407	cascade	453	write_char_xy(21, bottom_line, 0xD2); // fly clock
385	cascade	454	write_char_xy(26, bottom_line, 0xC8); // sat1
		455	write_char_xy(27, bottom_line, 0xC9); // sat2
339	cascade	456	COSD_FLAGS \|= COSD_ICONS_WRITTEN;
454	cascade	457	#endif
339	cascade	458	}
321	cascade	459	if (rxd_buffer_locked) {
339	cascade	460	if (COSD_FLAGS & COSD_FLAG_HUD) {
454	cascade	461	#if FCONLY
339	cascade	462	if (rxd_buffer[2] == 'D') { // FC Data
454	cascade	463	Decode64();
339	cascade	464	debugData = ((DebugOut_t) pRxData);
454	cascade	465	write_ascii_string(2, 2, "FCONLY MODE");
		466
		467	write_ndigit_number_u(7, top_line, debugData.Analog[10], 100, 0);
		468	if (debugData.Analog[10] <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
		469	for (uint8_t x = 0; x < 4; x++)
		470	write_char_att_xy(7 + x, top_line, BLINK);
		471	} else if (debugData.Analog[10] > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
		472	for (uint8_t x = 0; x < 4; x++)
		473	write_char_att_xy(7 + x, top_line, 0);
		474	}
		475	last_RC_Quality = debugData.Analog[10];
		476
		477
		478	if (debugData.Analog[5] > 300 \|\| debugData.Analog[5] < -300) {
		479	// above 10m only write full meters
		480	write_ndigit_number_s(23, top_line, debugData.Analog[5] / 30, 1000, 0);
		481	} else {
		482	// up to 10m write meters.dm
		483	write_ndigit_number_s_10th(23, top_line, debugData.Analog[5] / 3, 100, 0);
		484	}
		485
		486	draw_battery(2, bottom_line, min_voltage, debugData.Analog[9], max_voltage);
		487	write_ndigit_number_u_10th(3, bottom_line, debugData.Analog[9], 100, 0);
		488	if (debugData.Analog[9] <= min_voltage && last_UBat > min_voltage) {
		489	for (uint8_t x = 2; x < 8; x++)
		490	write_char_att_xy(x, bottom_line, BLINK);
		491	} else if (debugData.Analog[9] > min_voltage && last_UBat < min_voltage) {
		492	for (uint8_t x = 2; x < 8; x++)
		493	write_char_att_xy(x, bottom_line, 0);
		494	}
		495	// remember last values
		496	last_UBat = debugData.Analog[9];
		497
		498	/*
		499	debugData.Analog[0]); // AngleNick
		500	debugData.Analog[1]); // AngleRoll
		501	debugData.Analog[5]); // Height
		502	debugData.Analog[9]); // Voltage
		503	debugData.Analog[10]);// RC Signal
		504	debugData.Analog[11]);// Gyro compass
		505	*/
		506	seconds_since_last_data = 0;
		507	}
		508	#else
		509	if (rxd_buffer[2] == 'O') { // NC OSD Data
339	cascade	510	Decode64();
		511	naviData = ((NaviData_t) pRxData);
383	cascade	512
453	cascade	513	// init on first data retrival, distinguished by last battery :)
		514	// TODO: this is testing stuff, strings should go progmem and so on...
		515	if (last_UBat == 255) {
		516	clear();
		517	// fix for min_bat glitch caused by data only gathered during motors up
		518	min_UBat = naviData.UBat;
		519	write_ascii_string(2, 2, "C-OSD Initialisation");
		520	uint8_t cellnum = 0;
		521	if (CELL_NUM == -1) {
		522	write_ascii_string(2, 5, "Guessing Number of Cells");
		523	do {
		524	cellnum++;
		525	} while (naviData.UBat > ((cellnum * CELL_VOLT_MAX) + 10));
		526	} else {
		527	cellnum = CELL_NUM;
		528	}
		529	min_voltage = cellnum * CELL_VOLT_MIN;
		530	max_voltage = cellnum * CELL_VOLT_MAX;
		531	write_ascii_string(2, 7, "Number of Cells:");
		532	write_ndigit_number_u(21, 7, cellnum, 1, 0);
		533	write_ascii_string(2, 8, "Warn Voltage :");
		534	write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0);
		535	write_ascii_string(2, 9, "Max Voltage :");
		536	write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0);
		537	_delay_ms(200);
		538	clear();
		539	// update flags to paint display again because of clear
		540	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		541	}
		542
339	cascade	543	// first line
373	cascade	544	write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
321	cascade	545
349	cascade	546	write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);
339	cascade	547	if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
		548	for (uint8_t x = 0; x < 4; x++)
		549	write_char_att_xy(7 + x, top_line, BLINK);
		550	} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
		551	for (uint8_t x = 0; x < 4; x++)
		552	write_char_att_xy(7 + x, top_line, 0);
		553	}
407	cascade	554	last_RC_Quality = naviData.RC_Quality;
		555
		556	if (naviData.NCFlags & NC_FLAG_NOSERIALLINK) {
		557	write_char_xy(11, top_line, 0); // clear
		558	} else {
		559	write_char_xy(11, top_line, 0xC6); // PC icon
		560	}
321	cascade	561
349	cascade	562	write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);
321	cascade	563
339	cascade	564	write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
377	cascade	565
383	cascade	566	draw_variometer(21, top_line, naviData.Variometer);
321	cascade	567
339	cascade	568	//note:lephisto:according to several sources it's /30
349	cascade	569	if (naviData.Altimeter > 300 \|\| naviData.Altimeter < -300) {
339	cascade	570	// above 10m only write full meters
349	cascade	571	write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);
339	cascade	572	} else {
		573	// up to 10m write meters.dm
349	cascade	574	//write_number_u_10th(21, top_line, naviData.Altimeter / 3);
		575	write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);
339	cascade	576	}
321	cascade	577
339	cascade	578	// seccond line
		579	draw_compass(11, top_line + 1, naviData.CompassHeading);
321	cascade	580
339	cascade	581	// TODO: verify correctness
		582	uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
383	cascade	583	//write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
377	cascade	584	// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
383	cascade	585	write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
321	cascade	586
355	shaddi	587	write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);
321	cascade	588
339	cascade	589	// center
		590	if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
		591	if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
		592	clear();
		593	// update flags to paint display again if needed
		594	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		595	}
		596	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
		597	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
		598	}
407	cascade	599	// motors are on, assume we were/are flying
		600	COSD_FLAGS \|= COSD_WASFLYING;
339	cascade	601	} else {
336	cascade	602	// stats
407	cascade	603	if ((COSD_FLAGS & COSD_WASFLYING) && (COSD_FLAGS & COSD_FLAG_STATS)) {
412	cascade	604	write_ascii_string_pgm(2, 4, stats_item_pointers[0]); // max Altitude
		605	write_ndigit_number_s(18, 4, max_Altimeter / 30, 1000, 0);
		606	write_char_xy(22, 4, 204); // small meters m
		607	write_ascii_string_pgm(2, 5, stats_item_pointers[1]); // max Speed
		608	write_ndigit_number_u(19, 5, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
		609	write_char_xy(22, 5, 203); // km/h
		610	write_ascii_string_pgm(2, 6, stats_item_pointers[2]); // max Distance
		611	write_ndigit_number_u(19, 6, max_Distance / 10, 100, 0);
		612	write_char_xy(22, 6, 204); // small meters m
		613	write_ascii_string_pgm(2, 7, stats_item_pointers[3]); // min voltage
		614	write_ndigit_number_u_10th(18, 7, min_UBat, 100, 0);
		615	write_char_xy(22, 7, 0x9E); // small v
		616	write_ascii_string_pgm(2, 8, stats_item_pointers[4]); // max time
		617	write_time(16, 8, max_FlyingTime);
		618	write_char_xy(22, 8, 210); // fly clock
		619	write_ascii_string_pgm(2, 9, stats_item_pointers[5]); // longitude
		620	write_gps_pos(15, 9, naviData.CurrentPosition.Longitude);
		621	write_ascii_string_pgm(2, 10, stats_item_pointers[6]); // latitude
		622	write_gps_pos(15, 10, naviData.CurrentPosition.Latitude);
339	cascade	623	} else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
		624	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
		625	}
		626	}
383	cascade	627	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
		628	draw_big_variometer(27, 8, naviData.Variometer);
		629	}
321	cascade	630
339	cascade	631	// bottom line
453	cascade	632	draw_battery(2, bottom_line, min_voltage, naviData.UBat, max_voltage);
385	cascade	633	write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0);
453	cascade	634	if (naviData.UBat <= min_voltage && last_UBat > min_voltage) {
385	cascade	635	for (uint8_t x = 2; x < 8; x++)
339	cascade	636	write_char_att_xy(x, bottom_line, BLINK);
453	cascade	637	} else if (naviData.UBat > min_voltage && last_UBat < min_voltage) {
385	cascade	638	for (uint8_t x = 2; x < 8; x++)
339	cascade	639	write_char_att_xy(x, bottom_line, 0);
		640	}
453	cascade	641	// remember last values
		642	last_UBat = naviData.UBat;
321	cascade	643
339	cascade	644	write_time(8, bottom_line, uptime);
407	cascade	645	write_time(15, bottom_line, naviData.FlyingTime);
321	cascade	646
349	cascade	647	write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0);
321	cascade	648
407	cascade	649	if (naviData.NCFlags & NC_FLAG_MANUAL_CONTROL) {
		650	write_char_xy(23, bottom_line, 0xB3); // rc transmitter
		651	} else {
		652	write_char_xy(23, bottom_line, 0); // clear
		653	}
		654
339	cascade	655	if (naviData.NCFlags & NC_FLAG_CH) {
		656	write_char_xy(27, bottom_line, 231); // gps ch
		657	} else if (naviData.NCFlags & NC_FLAG_PH) {
		658	write_char_xy(27, bottom_line, 230); // gps ph
		659	} else { // (naviData.NCFlags & NC_FLAG_FREE)
		660	write_char_xy(27, bottom_line, 201); // sat2 (free)
		661	}
321	cascade	662
339	cascade	663	//write_number_s(8, 5, RxDataLen);
		664	//write_number_s(16, 5, setsReceived++);
321	cascade	665
410	shaddi	666	// remember statistics (only when engines running)
412	cascade	667	if (naviData.MKFlags & FLAG_MOTOR_RUN) {
		668	if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
		669	if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
		670	if (naviData.HomePositionDeviation.Distance > max_Distance) {
		671	max_Distance = naviData.HomePositionDeviation.Distance;
		672	}
		673	if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
		674	if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
		675	}
339	cascade	676
		677	old_MKFlags = naviData.MKFlags;
388	cascade	678	seconds_since_last_data = 0;
339	cascade	679	}
454	cascade	680	#endif
339	cascade	681	}
321	cascade	682	rxd_buffer_locked = 0;
		683	}
		684	// handle keypress
326	cascade	685	if (s1_pressed()) {
339	cascade	686	config_menu();
321	cascade	687	}
339	cascade	688	if (seconds_since_last_data > 2) {
454	cascade	689	#if FCONLY
		690	// request data ever 100ms from FC;
		691	usart1_request_mk_data(0, 'd', 100);
		692	#else
346	cascade	693	// request OSD Data from NC every 100ms
		694	usart1_request_mk_data(1, 'o', 100);
454	cascade	695
		696	// and disable debug...
		697	usart1_request_mk_data(0, 'd', 0);
		698	#endif
339	cascade	699	}
321	cascade	700	}
		701	#endif
		702	return 0;
		703	}

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(root)/C-OSD/trunk/main.c - Rev 454