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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>
455 cascade 31
#include <avr/pgmspace.h>
346 cascade 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))
466 cascade 43
// data structs not needed for character flashing
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    :";
467 cascade 75
char stats_item_7[] PROGMEM = "max current :";
455 cascade 76
char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
467 cascade 77
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
346 cascade 78
 
79
// store more fixed strings in progmen
379 cascade 80
char ON[] PROGMEM = "ON ";
346 cascade 81
char OFF[] PROGMEM = "OFF";
82
 
329 cascade 83
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
326 cascade 84
 
85
// general PAL|NTSC distingiusch stuff
86
uint8_t top_line = 1;
87
uint8_t bottom_line = 14;
88
 
453 cascade 89
// battery voltages
90
uint8_t min_voltage = 0;
91
uint8_t max_voltage = 0;
92
 
326 cascade 93
// Flags
465 cascade 94
uint8_t COSD_FLAGS = 0, COSD_FLAGS2;
326 cascade 95
 
321 cascade 96
/* ##########################################################################
326 cascade 97
 * debounce buttons
98
 * ##########################################################################*/
99
int s1_pressed() {
455 cascade 100
    if (S1_PRESSED) {
101
        _delay_ms(25);
102
        if (S1_PRESSED) return 1;
103
    }
104
    return 0;
326 cascade 105
}
106
 
107
int s2_pressed() {
455 cascade 108
    if (S2_PRESSED) {
109
        _delay_ms(25);
110
        if (S2_PRESSED) return 1;
111
    }
112
    return 0;
326 cascade 113
}
114
 
389 cascade 115
/* ##########################################################################
116
 * Interrupt handler
117
 * ##########################################################################*/
455 cascade 118
 
321 cascade 119
/**
389 cascade 120
 * handler for undefined Interrupts
121
 * if not defined AVR will reset in case any unhandled interrupts occur
321 cascade 122
 */
389 cascade 123
ISR(__vector_default) {
455 cascade 124
    asm("nop");
389 cascade 125
}
321 cascade 126
 
389 cascade 127
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 128
/* ##########################################################################
129
 * timer stuff
130
 * ##########################################################################*/
455 cascade 131
 
465 cascade 132
 
133
/* ##########################################################################
134
 * STROM TEST
135
 * ##########################################################################*/
136
#define INT0_HIGH                       PORTD |=  (1 << PD2);
137
#define INT0_LOW                        PORTD &= ~(1 << PD2);
138
 
466 cascade 139
void SpiMasterInit(void) {
140
    volatile char IOReg;
141
    // set PB4(/SS), PB5(MOSI), PB7(SCK) as output
142
    DDRB = (1 << PB4) | (1 << PB5) | (1 << PB7);
143
    PORTB |= (1 << PB4); // pullup SS
144
    // enable SPI Interrupt and SPI in Master Mode with SCK = CK/128
145
    SPCR = (1 << SPIE) | (1 << SPE) | (1 << MSTR) | (1 << SPR0) | (1 << SPR1);
146
    IOReg = SPSR; // clear SPIF bit in SPSR
147
    IOReg = SPDR;
148
    //sei(); // we do it later
465 cascade 149
}
150
 
151
volatile size_t icnt = 0;
152
volatile unsigned char * iptr;
466 cascade 153
volatile unsigned char spi_cmd_buffer[5];
465 cascade 154
volatile uint8_t spi_ready = 1;
467 cascade 155
int16_t ampere = 0, max_ampere = 0;
465 cascade 156
 
466 cascade 157
/**
158
 * SPI interrupt handler
159
 */
160
ISR(SPI_STC_vect) {
161
    *iptr++ = SPDR; // safe received byte to buffer
162
    icnt--; // dec length
465 cascade 163
    if (icnt) {
466 cascade 164
        //SPDR = *iptr; // send next byte
165
        spi_ready = 1; // we _should_ send later because the slave needs more time
166
    } else {
167
        SPCR &= ~_BV(SPIE); // deactivate interrupt
168
        INT0_HIGH // transfer is done, slave does not need to listen
465 cascade 169
    }
170
}
171
 
466 cascade 172
/**
173
 * check if SPI transfer is still busy
174
 */
175
int TransferIsBusy(void) {
465 cascade 176
    return SPCR & _BV(SPIE);
177
}
178
 
466 cascade 179
/**
180
 * start a new transfer of <data> with length <len>
181
 */
182
void StartTransfer(unsigned char *data, size_t len) {
183
    INT0_LOW // /SS LOW ^= SS HIGH ^= slave should listen
184
 
185
    // set up pointer and length for interrupt handler
465 cascade 186
    iptr = data;
187
    icnt = len;
466 cascade 188
 
189
    SPCR |= _BV(SPIE); // enable spi interrupt
190
    SPDR = *iptr; // start transfer by first bye
465 cascade 191
}
192
 
193
 
194
/* ##########################################################################
195
 * / STROM TEST END
196
 * ##########################################################################*/
197
 
331 cascade 198
/**
199
 * timer kicks in every 1000uS ^= 1ms
321 cascade 200
 */
201
ISR(TIMER0_OVF_vect) {
385 cascade 202
    OCR0 = 15; // preload
321 cascade 203
    if (!timer--) {
204
        uptime++;
205
        timer = 999;
455 cascade 206
        seconds_since_last_data++;
321 cascade 207
    }
466 cascade 208
    // in case there is still some spi data to send do it now
209
    if (spi_ready && icnt) {
210
        SPDR = *iptr;
211
    }
321 cascade 212
}
213
 
214
/* ##########################################################################
326 cascade 215
 * A simple config menu for the flags
216
 * ##########################################################################*/
339 cascade 217
 
218
/**
219
 * helper function for menu updating
220
 */
221
void config_menu_drawings(uint8_t chosen) {
222
    // clear prevoius _cursor_
383 cascade 223
    write_ascii_string(3, (chosen + 5) % 8, " ");
339 cascade 224
    // draw current _cursor_
383 cascade 225
    write_ascii_string(3, chosen + 5, ">");
339 cascade 226
    if (COSD_FLAGS & COSD_FLAG_HUD) {
383 cascade 227
        write_ascii_string_pgm(23, 5, ON);
228
    } else {
455 cascade 229
        write_ascii_string_pgm(23, 5, OFF);
383 cascade 230
    }
231
    if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
346 cascade 232
        write_ascii_string_pgm(23, 6, ON);
339 cascade 233
    } else {
383 cascade 234
        write_ascii_string_pgm(23, 6, OFF);
339 cascade 235
    }
455 cascade 236
    if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
346 cascade 237
        write_ascii_string_pgm(23, 7, ON);
339 cascade 238
    } else {
455 cascade 239
        write_ascii_string_pgm(23, 7, OFF);
339 cascade 240
    }
455 cascade 241
    if (COSD_FLAGS & COSD_FLAG_STATS) {
346 cascade 242
        write_ascii_string_pgm(23, 8, ON);
339 cascade 243
    } else {
346 cascade 244
        write_ascii_string_pgm(23, 8, OFF);
339 cascade 245
    }
246
    if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
346 cascade 247
        write_ascii_string_pgm(23, 9, ON);
339 cascade 248
    } else {
346 cascade 249
        write_ascii_string_pgm(23, 9, OFF);
339 cascade 250
    }
251
}
252
 
253
/**
346 cascade 254
 * some sort of clicking response in the menu
255
 */
256
void config_menu_doclick(uint8_t chosen, char** menu) {
455 cascade 257
    write_ascii_string(4, chosen + 5, "DONE              ");
258
    _delay_ms(1000);
259
    write_ascii_string(4, chosen + 5, menu[chosen]);
346 cascade 260
}
261
 
262
/**
339 cascade 263
 * a simple config menu tryout
264
 */
326 cascade 265
void config_menu(void) {
455 cascade 266
    // disable interrupts (makes the menu more smoothely)
267
    cli();
321 cascade 268
 
455 cascade 269
    // clear screen
270
    clear();
326 cascade 271
 
455 cascade 272
    char* menu[9] = {"Full HUD",
273
        "Art.Horizon in HUD",
274
        "Big Vario bar",
275
        "Statistics",
276
        "Warnings", // TODO: do it!
277
        "Reset uptime",
278
        "Request OSD-data",
279
        "Disable Debug-data",
280
        "EXIT"};
326 cascade 281
 
455 cascade 282
    uint8_t inmenu = 1;
283
    uint8_t chosen = 0;
284
    write_ascii_string(6, 2, "C-OSD Config Menu");
326 cascade 285
 
455 cascade 286
    // wait a bit before doing stuff so user has chance to release button
287
    _delay_ms(250);
339 cascade 288
 
455 cascade 289
    write_ascii_string(4, 5, menu[0]);
290
    write_ascii_string(4, 6, menu[1]);
291
    write_ascii_string(4, 7, menu[2]);
292
    write_ascii_string(4, 8, menu[3]);
293
    write_ascii_string(4, 9, menu[4]);
294
    write_ascii_string(4, 10, menu[5]);
295
    write_ascii_string(4, 11, menu[6]);
296
    write_ascii_string(4, 12, menu[7]);
297
    write_ascii_string(4, 13, menu[8]);
339 cascade 298
 
455 cascade 299
    config_menu_drawings(chosen);
300
 
301
    while (inmenu) {
302
        if (s2_pressed()) {
303
            write_ascii_string(3, chosen + 5, " ");
304
            chosen = (chosen + 1) % 9;
305
            write_ascii_string(3, chosen + 5, ">");
306
            _delay_ms(500);
307
        } else if (s1_pressed()) {
308
            switch (chosen) {
309
                case 0: // full HUD
310
                    COSD_FLAGS ^= COSD_FLAG_HUD;
311
                    config_menu_drawings(chosen);
312
                    break;
313
                case 1: // art horizon
314
                    COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
315
                    config_menu_drawings(chosen);
316
                    break;
317
                case 2: // big vario
318
                    COSD_FLAGS ^= COSD_FLAG_BIGVARIO;
319
                    config_menu_drawings(chosen);
320
                    break;
321
                case 3: // statistics
322
                    COSD_FLAGS ^= COSD_FLAG_STATS;
323
                    config_menu_drawings(chosen);
324
                    break;
325
                case 4: // warnings
326
                    COSD_FLAGS ^= COSD_FLAG_WARNINGS;
327
                    config_menu_drawings(chosen);
328
                    break;
329
                case 5: // reset uptime
330
                    uptime = 0;
331
                    config_menu_doclick(chosen, menu);
332
                    break;
333
                case 6: // re-request OSD data
454 cascade 334
#if FCONLY
455 cascade 335
                    // request data ever 100ms from FC;
336
                    usart1_request_mk_data(0, 'd', 100);
454 cascade 337
#else
455 cascade 338
                    // request OSD Data from NC every 100ms
339
                    usart1_request_mk_data(1, 'o', 100);
454 cascade 340
 
455 cascade 341
                    // and disable debug...
342
                    usart1_request_mk_data(0, 'd', 0);
454 cascade 343
#endif
455 cascade 344
                    config_menu_doclick(chosen, menu);
345
                    break;
346
                case 7: // disable debug data
347
                    // disable sending of debug data
348
                    // may result in smoother ddata display
349
                    usart1_request_mk_data(0, 'd', 0);
350
                    config_menu_doclick(chosen, menu);
351
                    break;
352
                case 8: // exit
353
                    inmenu = 0;
354
                    break;
355
            }
356
            _delay_ms(250);
357
        }
358
    }
326 cascade 359
 
455 cascade 360
    // clear screen up again
361
    clear();
326 cascade 362
 
455 cascade 363
    // update flags to paint display again if needed
364
    COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
326 cascade 365
 
455 cascade 366
    // enable interrupts again
367
    sei();
326 cascade 368
}
369
 
455 cascade 370
/**
371
 * auto config some stuff on startup, currently only battery cells
372
 * TODO: this is testing stuff, strings should go progmem and so on...
373
 */
459 cascade 374
void auto_config(uint8_t UBat) {
455 cascade 375
    clear();
376
    write_ascii_string(2, 2, "C-OSD Initialisation");
377
#if FCONLY
378
    write_ascii_string(2, 3, "FC only Mode");
379
#else
380
    write_ascii_string(2, 3, "NaviCtrl Mode");
381
#endif
466 cascade 382
    write_ascii_string(2, 4, BUILDDATE);
455 cascade 383
    uint8_t cellnum = 0;
384
    if (CELL_NUM == -1) {
459 cascade 385
        write_ascii_string(2, 6, "Guessing Number of Cells");
455 cascade 386
        do {
387
            cellnum++;
466 cascade 388
        } while (UBat > ((cellnum * CELL_VOLT_MAX) + 23));
455 cascade 389
    } else {
390
        cellnum = CELL_NUM;
391
    }
392
    min_voltage = cellnum * CELL_VOLT_MIN;
393
    max_voltage = cellnum * CELL_VOLT_MAX;
394
    write_ascii_string(2, 7, "Number of Cells:");
395
    write_ndigit_number_u(21, 7, cellnum, 1, 0);
396
    write_ascii_string(2, 8, "Warn Voltage   :");
397
    write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0);
398
    write_ascii_string(2, 9, "Max Voltage    :");
399
    write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0);
400
    _delay_ms(200);
401
    clear();
402
    // update flags to paint display again because of clear
403
    COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
404
}
405
 
465 cascade 406
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
455 cascade 407
 
321 cascade 408
/* ##########################################################################
409
 * MAIN
410
 * ##########################################################################*/
411
int main(void) {
466 cascade 412
 
339 cascade 413
    // set up FLAGS, compiler should flatten this one
414
    COSD_FLAGS = (NTSC << 0);
415
    COSD_FLAGS |= (HUD << 1);
416
    COSD_FLAGS |= (ARTHORIZON << 2);
455 cascade 417
    COSD_FLAGS |= (BIGVARIO << 3);
418
    COSD_FLAGS |= (STATS << 4);
383 cascade 419
    COSD_FLAGS |= (WARNINGS << 5);
324 cascade 420
 
339 cascade 421
    // set up Atmega162 Ports
321 cascade 422
    DDRA |= (1 << PA1); // PA1 output (/CS)
423
    MAX_CS_HIGH
424
    DDRA |= (1 << PA2); // PA2 output (SDIN)
425
    MAX_SDIN_LOW
426
    DDRA |= (1 << PA3); // PA3 output (SCLK)
427
    MAX_SCLK_LOW
428
    DDRA |= (1 << PA5); // PA5 output (RESET)
429
    MAX_RESET_HIGH
430
 
431
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
432
    LED1_OFF
433
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
434
    LED2_OFF
435
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
436
    LED3_OFF
437
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
438
    LED4_OFF
439
 
440
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
441
    PORTC |= (1 << PC4); // pullup
442
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
443
    PORTC |= (1 << PC5); // pullup
444
 
339 cascade 445
    // set up top and bottom lines
446
    if (COSD_FLAGS & COSD_FLAG_NTSC) {
447
        bottom_line = 12;
448
    } else {
449
        bottom_line = 14;
450
    }
326 cascade 451
 
339 cascade 452
    // reset the MAX7456 to be sure any undefined states do no harm
321 cascade 453
    MAX_RESET_LOW
454
    MAX_RESET_HIGH
455
 
456
    // give the FC/NC and the maxim time to come up
457
    LED4_ON
458
    _delay_ms(2000);
459
 
460
    LED4_OFF
461
 
331 cascade 462
 
339 cascade 463
    //Pushing NEW chars to the MAX7456
329 cascade 464
#if (WRITECHARS != -1)
466 cascade 465
            // DISABLE display (VM0)
466
            spi_send_byte(0x00, 0b00000000);
467
#include "characters.c"
455 cascade 468
#endif
321 cascade 469
 
339 cascade 470
    // Setup Video Mode
471
    if (COSD_FLAGS & COSD_FLAG_NTSC) {
472
        // NTSC + enable display immediately (VM0)
473
        spi_send_byte(0x00, 0b00001000);
474
    } else {
475
        // PAL + enable display immediately (VM0)
476
        spi_send_byte(0x00, 0b01001000);
477
    }
321 cascade 478
 
404 cascade 479
    /*// clear all display-mem (DMM)
403 cascade 480
    spi_send_byte(0x04, 0b00000100);
481
 
482
    // clearing takes 12uS according to maxim so lets wait longer
483
    _delay_us(120);
484
 
321 cascade 485
    // 8bit mode
404 cascade 486
    spi_send_byte(0x04, 0b01000000);*/
321 cascade 487
 
404 cascade 488
    // clear display memory and set to 8bit mode
321 cascade 489
    clear();
490
 
329 cascade 491
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
321 cascade 492
    // init usart
493
    usart1_init();
494
 
495
    // set up timer
496
    TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
385 cascade 497
    OCR0 = 15; // preload
321 cascade 498
    TIMSK |= (1 << TOIE0); // enable overflow timer0
499
 
466 cascade 500
    DDRD |= (1 << PD2); // PD2 output (INT0)
501
    SpiMasterInit();
465 cascade 502
 
326 cascade 503
    // enable interrupts
321 cascade 504
    sei();
466 cascade 505
 
321 cascade 506
#endif
507
 
508
    //write_ascii_string(2,  7, "         CaScAdE          ");
509
    //write_ascii_string(2,  8, "is TESTING his open source");
510
    //write_ascii_string(2,  9, "    EPi OSD Firmware");
511
 
512
    // we are ready
513
    LED3_ON
514
 
329 cascade 515
#if ALLCHARSDEBUG | (WRITECHARS != -1)
466 cascade 516
            clear();
321 cascade 517
    write_all_chars();
518
#else
466 cascade 519
            // clear serial screen
520
            //usart1_puts("\x1B[2J\x1B[H");
521
            //usart1_puts("hello world!\r\n");
454 cascade 522
#if FCONLY
466 cascade 523
            // request data ever 100ms from FC;
524
            usart1_request_mk_data(0, 'd', 100);
454 cascade 525
#else
466 cascade 526
            // request OSD Data from NC every 100ms
527
            usart1_request_mk_data(1, 'o', 100);
346 cascade 528
 
339 cascade 529
    // and disable debug...
455 cascade 530
    usart1_request_mk_data(0, 'd', 0);
454 cascade 531
#endif
321 cascade 532
 
339 cascade 533
    // stats for after flight
534
    int16_t max_Altimeter = 0;
459 cascade 535
    uint8_t min_UBat = 255;
536
#if !(FCONLY)
466 cascade 537
    uint16_t max_GroundSpeed = 0;
339 cascade 538
    int16_t max_Distance = 0;
539
    uint16_t max_FlyingTime = 0;
321 cascade 540
 
339 cascade 541
    // flags from last round to check for changes
542
    uint8_t old_MKFlags = 0;
543
 
321 cascade 544
    char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
377 cascade 545
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
459 cascade 546
#endif
321 cascade 547
 
465 cascade 548
 
549
 
321 cascade 550
    while (1) {
466 cascade 551
        // in case SPI is ready and there is nothing to send right now
552
        if (!icnt && spi_ready) {
553
            // correct transfer ends with d (done)
554
            if (spi_cmd_buffer[0] == 'd') {
555
                ampere = spi_cmd_buffer[1] << 8;
556
                ampere |= spi_cmd_buffer[2];
467 cascade 557
                                // if this is the first receival we should print the small A
558
                                if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {
559
                                        COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
560
                                        // update this flag
561
                        COSD_FLAGS2 |= COSD_FLAG_STROMREC;
562
                                }
466 cascade 563
                //write_ascii_char(8+4*30, 'v'); // valid
564
            } else {
565
                // update flags
566
                COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
567
                //write_ascii_char(8+4*30, 'i'); // invalid
568
            }
569
            spi_cmd_buffer[0] = 'A';
570
            spi_cmd_buffer[1] = 'B';
571
            spi_cmd_buffer[2] = 'C';
572
            StartTransfer((unsigned char*) spi_cmd_buffer, 3);
573
        }
321 cascade 574
        if (rxd_buffer_locked) {
339 cascade 575
            if (COSD_FLAGS & COSD_FLAG_HUD) {
454 cascade 576
#if FCONLY
339 cascade 577
                if (rxd_buffer[2] == 'D') { // FC Data
454 cascade 578
                    Decode64();
339 cascade 579
                    debugData = *((DebugOut_t*) pRxData);
454 cascade 580
 
455 cascade 581
                    // init on first data retrival, distinguished by last battery :)
582
                    if (last_UBat == 255) {
466 cascade 583
                        // fix for min_UBat
584
                        min_UBat = debugData.Analog[9];
459 cascade 585
                        auto_config(debugData.Analog[9]);
455 cascade 586
                    }
466 cascade 587
                    #include "osd_fcmode_default.c"
454 cascade 588
                }
589
#else
466 cascade 590
                if (rxd_buffer[2] == 'O') { // NC OSD Data
591
                    Decode64();
592
                    naviData = *((NaviData_t*) pRxData);
453 cascade 593
 
466 cascade 594
                    // init on first data retrival, distinguished by last battery :)
595
                    if (last_UBat == 255) {
596
                        // fix for min_UBat
597
                        min_UBat = naviData.UBat;
598
                        auto_config(naviData.UBat);
599
                    }
600
                    #include "osd_ncmode_default.c"
601
                }
454 cascade 602
#endif
339 cascade 603
            }
321 cascade 604
            rxd_buffer_locked = 0;
605
        }
606
        // handle keypress
326 cascade 607
        if (s1_pressed()) {
339 cascade 608
            config_menu();
321 cascade 609
        }
339 cascade 610
        if (seconds_since_last_data > 2) {
454 cascade 611
#if FCONLY
455 cascade 612
            // request data ever 100ms from FC;
613
            usart1_request_mk_data(0, 'd', 100);
454 cascade 614
#else
455 cascade 615
            // request OSD Data from NC every 100ms
616
            usart1_request_mk_data(1, 'o', 100);
454 cascade 617
 
455 cascade 618
            // and disable debug...
619
            usart1_request_mk_data(0, 'd', 0);
454 cascade 620
#endif
339 cascade 621
        }
321 cascade 622
    }
623
#endif
624
    return 0;
625
}