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Ignore whitespace Rev 338 → Rev 339

/C-OSD/trunk/main.c
47,13 → 47,14
#endif
 
#ifndef NTSC // if NTSC is not thet via makefile
#define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line
#define NTSC 1 // set to 1 for NTSC mode + lifts the bottom line
#endif
 
#define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon
#define NOOSD 0 // set to 1 to disable OSD completely
#define NOOSD_BUT_WRN 0 // set to 1 to disable OSD completely but show
// battery and receive signal warnings
#define HUD 1 // set to 0 to disable HUD by default
#define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon by default
#define STATS 1 // set to 1 to enable statistics during motor off by default
#define WARNINGS 1 // set to 1 to display battery+rc warning even if HUD is disabled
 
#define UBAT_WRN 94 // voltage for blinking warning, like FC settings
#define RCLVL_WRN 100 // make the RC level blink if below this number
 
64,10 → 65,11
* FLAGS usable during runtime
* ##########################################################################*/
#define COSD_FLAG_NTSC 1
#define COSD_FLAG_ARTHORIZON 2
#define COSD_FLAG_NOOSD 4
#define COSD_FLAG_NOOSD_BUT_WRN 8
#define COSD_ICONS_WRITTEN 16
#define COSD_FLAG_HUD 2
#define COSD_FLAG_ARTHORIZON 4
#define COSD_FLAG_STATS 8
#define COSD_FLAG_WARNINGS 16
#define COSD_ICONS_WRITTEN 32
 
/* ##########################################################################
* LED controll
292,6 → 294,40
/* ##########################################################################
* A simple config menu for the flags
* ##########################################################################*/
 
/**
* helper function for menu updating
*/
void config_menu_drawings(uint8_t chosen) {
// clear prevoius _cursor_
write_ascii_string(3, (chosen + 4) % 5, " ");
// draw current _cursor_
write_ascii_string(3, chosen + 6, ">");
if (COSD_FLAGS & COSD_FLAG_HUD) {
write_ascii_string(23, 6, "ON ");
} else {
write_ascii_string(23, 6, "OFF");
}
if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
write_ascii_string(23, 7, "ON ");
} else {
write_ascii_string(23, 7, "OFF");
}
if (COSD_FLAGS & COSD_FLAG_STATS) {
write_ascii_string(23, 8, "ON ");
} else {
write_ascii_string(23, 8, "OFF");
}
if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
write_ascii_string(23, 9, "ON ");
} else {
write_ascii_string(23, 9, "OFF");
}
}
 
/**
* a simple config menu tryout
*/
void config_menu(void) {
// disable interrupts (makes the menu more smoothely)
cli();
299,42 → 335,56
// clear screen
clear();
char* menu[4] = {"Normal OSD ",
"Art.Horizon ",
"NO OSD ",
"NO OSD but WRN "};
char* menu[5] = {"Full HUD",
"Art.Horizon in HUD",
"Statistics",
"Warnings", // TODO: do it!
"EXIT"};
 
uint8_t inmenu = 1;
uint8_t chosen = 0;
write_ascii_string(10, 4, "Config Menu");
// clear all mode flags
COSD_FLAGS &= ~(COSD_FLAG_ARTHORIZON | COSD_FLAG_NOOSD | COSD_FLAG_NOOSD_BUT_WRN);
write_ascii_string(6, 2, "C-OSD Config Menu");
 
// wait a bit before doing stuff so user has chance to release button
_delay_ms(250);
 
write_ascii_string(4, 6, menu[0]);
write_ascii_string(4, 7, menu[1]);
write_ascii_string(4, 8, menu[2]);
write_ascii_string(4, 9, menu[3]);
write_ascii_string(4, 10, menu[4]);
 
config_menu_drawings(chosen);
 
while (inmenu) {
write_ascii_string(2, 7, menu[chosen]);
if (s2_pressed()) {
chosen = (chosen + 1) % 4;
write_ascii_string(3, chosen+6, " ");
chosen = (chosen + 1) % 5;
write_ascii_string(3, chosen+6, ">");
_delay_ms(500);
} else if (s1_pressed()) {
switch (chosen) {
case 1: // artificial horizon
COSD_FLAGS |= COSD_FLAG_ARTHORIZON;
case 0: // full HUD
COSD_FLAGS ^= COSD_FLAG_HUD;
config_menu_drawings(chosen);
break;
case 2: // everything off
COSD_FLAGS |= COSD_FLAG_NOOSD;
case 1: // art horizon
COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
config_menu_drawings(chosen);
break;
case 3: // only warning
COSD_FLAGS |= COSD_FLAG_NOOSD_BUT_WRN;
case 2: // statistics
COSD_FLAGS ^= COSD_FLAG_STATS;
config_menu_drawings(chosen);
break;
//default: // normal OSD, so let the flags cleared
case 3: // warnings
COSD_FLAGS ^= COSD_FLAG_WARNINGS;
config_menu_drawings(chosen);
break;
case 4: // exit
inmenu = 0;
break;
}
// leave menu
inmenu = 0;
_delay_ms(500);
_delay_ms(250);
}
}
 
349,18 → 399,18
}
 
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
/* ##########################################################################
* MAIN
* ##########################################################################*/
int main(void) {
// set up FLAGS, compiler should flatten this one
COSD_FLAGS = (NTSC << (COSD_FLAG_NTSC - 1));
COSD_FLAGS |= (ARTHORIZON << (COSD_FLAG_ARTHORIZON - 1));
COSD_FLAGS |= (NOOSD << (COSD_FLAG_NOOSD - 1));
COSD_FLAGS |= (NOOSD_BUT_WRN << (COSD_FLAG_NOOSD_BUT_WRN - 1));
// set up FLAGS, compiler should flatten this one
COSD_FLAGS = (NTSC << 0);
COSD_FLAGS |= (HUD << 1);
COSD_FLAGS |= (ARTHORIZON << 2);
COSD_FLAGS |= (STATS << 3);
COSD_FLAGS |= (WARNINGS << 4);
 
// set up Atmega162 Ports
// set up Atmega162 Ports
DDRA |= (1 << PA1); // PA1 output (/CS)
MAX_CS_HIGH
DDRA |= (1 << PA2); // PA2 output (SDIN)
384,23 → 434,17
DDRC &= ~(1 << PC5); // PC5 input (SET)
PORTC |= (1 << PC5); // pullup
 
// set up top and bottom lines
if (COSD_FLAGS & COSD_FLAG_NTSC) {
bottom_line = 12;
} else {
bottom_line = 14;
}
// set up top and bottom lines
if (COSD_FLAGS & COSD_FLAG_NTSC) {
bottom_line = 12;
} else {
bottom_line = 14;
}
 
// reset the MAX7456 to be sure any undefined states do no harm
// reset the MAX7456 to be sure any undefined states do no harm
MAX_RESET_LOW
MAX_RESET_HIGH
 
// check for keypress at startup
if (s2_pressed()) { // togle COSD_FLAG_ARTHORIZON
COSD_FLAGS ^= (1 << (COSD_FLAG_ARTHORIZON - 1));
_delay_ms(100);
}
 
// give the FC/NC and the maxim time to come up
LED4_ON
_delay_ms(2000);
408,22 → 452,22
LED4_OFF
 
 
//Pushing NEW chars to the MAX7456
//Pushing NEW chars to the MAX7456
#if (WRITECHARS != -1)
// DISABLE display (VM0)
// DISABLE display (VM0)
spi_send_byte(0x00, 0b00000000);
#include "characters.c"
 
#include "characters.c"
#endif
 
// Setup Video Mode
if (COSD_FLAGS & COSD_FLAG_NTSC) {
// NTSC + enable display immediately (VM0)
spi_send_byte(0x00, 0b00001000);
} else {
// PAL + enable display immediately (VM0)
spi_send_byte(0x00, 0b01001000);
}
// Setup Video Mode
if (COSD_FLAGS & COSD_FLAG_NTSC) {
// NTSC + enable display immediately (VM0)
spi_send_byte(0x00, 0b00001000);
} else {
// PAL + enable display immediately (VM0)
spi_send_byte(0x00, 0b01001000);
}
 
// clear all display-mem (DMM)
spi_send_byte(0x04, 0b00000100);
481,218 → 525,218
clear();
write_all_chars();
#else
// clear serial screen
//usart1_puts("\x1B[2J\x1B[H");
//usart1_puts("hello world!\r\n");
// clear serial screen
//usart1_puts("\x1B[2J\x1B[H");
//usart1_puts("hello world!\r\n");
 
// request data ever 100ms from FC
 
// request data ever 100ms from FC
//unsigned char ms = 10;
//sendMKData('d', 0, &ms, 1);
// request OSD Data from NC every 100ms
 
// request OSD Data from NC every 100ms
unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
// and disable debug...
//ms = 0;
//sendMKData('d', 0, &ms, 1);
// and disable debug...
//ms = 0;
//sendMKData('d', 0, &ms, 1);
 
// disable TXD-pin
usart1_DisableTXD();
// disable TXD-pin
usart1_DisableTXD();
 
// stats for after flight
int16_t max_Altimeter = 0;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
uint8_t min_UBat = 255;
uint16_t max_FlyingTime = 0;
// stats for after flight
int16_t max_Altimeter = 0;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
uint8_t min_UBat = 255;
uint16_t max_FlyingTime = 0;
 
// flags from last round to check for changes
uint8_t old_MKFlags = 0;
// flags from last round to check for changes
uint8_t old_MKFlags = 0;
 
char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
char arrowdir[8] = { 218, 217, 224, 223, 222, 221, 220, 219};
char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
 
while (1) {
// write icons at init or after menu/mode-switch
if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && !(COSD_FLAGS & COSD_FLAG_NOOSD)) {
write_char_xy(5, top_line, 203); // km/h
write_char_xy(10, top_line, 202); // RC-transmitter
write_char_xy(16, top_line, 208); // degree symbol
write_char_xy(27, top_line, 204); // small meters m
write_ascii_string(6, bottom_line, "V"); // voltage
write_char_xy(14, bottom_line, 209); // on clock
write_char_xy(22, bottom_line, 210); // fly clock
write_char_xy(26, bottom_line, 200); // sat1
write_char_xy(27, bottom_line, 201); // sat2
COSD_FLAGS |= COSD_ICONS_WRITTEN;
}
// write icons at init or after menu/mode-switch
if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {
write_char_xy(5, top_line, 203); // km/h
write_char_xy(10, top_line, 202); // RC-transmitter
write_char_xy(16, top_line, 208); // degree symbol
write_char_xy(27, top_line, 204); // small meters m
write_ascii_string(6, bottom_line, "V"); // voltage
write_char_xy(14, bottom_line, 209); // on clock
write_char_xy(22, bottom_line, 210); // fly clock
write_char_xy(26, bottom_line, 200); // sat1
write_char_xy(27, bottom_line, 201); // sat2
COSD_FLAGS |= COSD_ICONS_WRITTEN;
}
if (rxd_buffer_locked) {
if (!(COSD_FLAGS & COSD_FLAG_NOOSD)) {
if (rxd_buffer[2] == 'D') { // FC Data
/*Decode64();
debugData = *((DebugOut_t*) pRxData);
write_number_s(12, 2, RxDataLen);
write_number_s(20, 2, setsReceived++);
write_number_s(12, 3, debugData.Analog[0]); // AngleNick
write_number_s(12, 4, debugData.Analog[1]); // AngleRoll
if (COSD_FLAGS & COSD_FLAG_HUD) {
if (rxd_buffer[2] == 'D') { // FC Data
/*Decode64();
debugData = *((DebugOut_t*) pRxData);
write_number_s(12, 2, RxDataLen);
write_number_s(20, 2, setsReceived++);
write_number_s(12, 3, debugData.Analog[0]); // AngleNick
write_number_s(12, 4, debugData.Analog[1]); // AngleRoll
write_number_s(12, 5, debugData.Analog[5]); // Height
write_number_s(12, 6, debugData.Analog[9]); // Voltage
write_number_s(12, 7, debugData.Analog[10]);// RC Signal
write_number_s(12, 6, debugData.Analog[9]); // Voltage
write_number_s(12, 7, debugData.Analog[10]);// RC Signal
write_number_s(12, 8, debugData.Analog[11]);// Gyro compass*/
} else if (rxd_buffer[2] == 'O') { // NC OSD Data
Decode64();
naviData = *((NaviData_t*) pRxData);
} else if (rxd_buffer[2] == 'O') { // NC OSD Data
Decode64();
naviData = *((NaviData_t*) pRxData);
 
// first line
write_3digit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed*36)/1000));
// first line
write_3digit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * 36) / 1000));
 
write_3digit_number_u(7, top_line, naviData.RC_Quality);
if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
for (uint8_t x = 0; x < 4; x++)
write_char_att_xy(7 + x, top_line, BLINK);
} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
for (uint8_t x = 0; x < 4; x++)
write_char_att_xy(7 + x, top_line, 0);
}
last_RC_Quality = naviData.RC_Quality;
write_3digit_number_u(7, top_line, naviData.RC_Quality);
if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
for (uint8_t x = 0; x < 4; x++)
write_char_att_xy(7 + x, top_line, BLINK);
} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
for (uint8_t x = 0; x < 4; x++)
write_char_att_xy(7 + x, top_line, 0);
}
last_RC_Quality = naviData.RC_Quality;
 
write_3digit_number_u(13, top_line, naviData.CompassHeading);
write_3digit_number_u(13, top_line, naviData.CompassHeading);
 
write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
 
if (naviData.Variometer == 0) {
write_char_xy(20, top_line, 206); // plain line
} else if (naviData.Variometer > 0 && naviData.Variometer <= 10) {
write_char_xy(20, top_line, 234); // small arrow up
} else if (naviData.Variometer > 10) {
write_char_xy(20, top_line, 235); // big arrow up
} else if (naviData.Variometer < 0 && naviData.Variometer >= -10) {
write_char_xy(20, top_line, 232); // small arrow down
} else {
write_char_xy(20, top_line, 233); //big arrow down
}
if (naviData.Variometer == 0) {
write_char_xy(20, top_line, 206); // plain line
} else if (naviData.Variometer > 0 && naviData.Variometer <= 10) {
write_char_xy(20, top_line, 234); // small arrow up
} else if (naviData.Variometer > 10) {
write_char_xy(20, top_line, 235); // big arrow up
} else if (naviData.Variometer < 0 && naviData.Variometer >= -10) {
write_char_xy(20, top_line, 232); // small arrow down
} else {
write_char_xy(20, top_line, 233); //big arrow down
}
 
// TODO: is this really dm?
//note:lephisto:according to several sources it's /30
//write_number_s(22, top_line, naviData.Altimeter/30);
if (naviData.Altimeter > 300) {
// above 10m only write full meters
write_number_s(22, top_line, naviData.Altimeter/30);
} else {
// up to 10m write meters.dm
write_number_u_10th(21, top_line, naviData.Altimeter/3);
}
//note:lephisto:according to several sources it's /30
if (naviData.Altimeter > 300) {
// above 10m only write full meters
write_number_s(22, top_line, naviData.Altimeter / 30);
} else {
// up to 10m write meters.dm
write_number_u_10th(21, top_line, naviData.Altimeter / 3);
}
 
// seccond line
draw_compass(11, top_line + 1, naviData.CompassHeading);
// seccond line
draw_compass(11, top_line + 1, naviData.CompassHeading);
 
// TODO: verify correctness
uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]);
// TODO: verify correctness
uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]);
 
write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance/100);
write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance / 100);
 
// center
if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
clear();
// update flags to paint display again if needed
COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
}
if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
}
} else {
// center
if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
clear();
// update flags to paint display again if needed
COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
}
if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
}
} else {
// stats
write_ascii_string(2, 5, "max Altitude:");
write_number_s(17, 5, max_Altimeter/30);
write_char_xy(22, 5, 204); // small meters m
write_ascii_string(2, 6, "max Speed :");
write_3digit_number_u(19, 6, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000));
write_char_xy(22, 6, 203); // km/h
write_ascii_string(2, 7, "max Distance:");
write_number_s(17, 7, max_Distance/100);
write_char_xy(22, 7, 204); // small meters m
write_ascii_string(2, 8, "min voltage :");
//write_number_s(17, 8, min_UBat/10);
write_number_u_10th(16, 8, min_UBat);
write_ascii_string(22, 8, "V"); // voltage
write_ascii_string(2, 9, "max time :");
write_time(16, 9, max_FlyingTime);
write_char_xy(22, 9, 210); // fly clock
}
if (COSD_FLAGS & COSD_FLAG_STATS) {
write_ascii_string(2, 5, "max Altitude:");
write_number_s(17, 5, max_Altimeter / 30);
write_char_xy(22, 5, 204); // small meters m
write_ascii_string(2, 6, "max Speed :");
write_3digit_number_u(19, 6, (uint16_t) (((uint32_t) max_GroundSpeed * 36) / 1000));
write_char_xy(22, 6, 203); // km/h
write_ascii_string(2, 7, "max Distance:");
write_number_s(17, 7, max_Distance / 100);
write_char_xy(22, 7, 204); // small meters m
write_ascii_string(2, 8, "min voltage :");
write_number_u_10th(16, 8, min_UBat);
write_ascii_string(22, 8, "V"); // voltage
write_ascii_string(2, 9, "max time :");
write_time(16, 9, max_FlyingTime);
write_char_xy(22, 9, 210); // fly clock
} else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
}
}
 
// bottom line
write_number_u_10th(0, bottom_line, naviData.UBat);
if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {
for (uint8_t x = 0; x < 7; x++)
write_char_att_xy(x, bottom_line, BLINK);
} else {
for (uint8_t x = 0; x < 7; x++)
write_char_att_xy(x, bottom_line, 0);
}
// bottom line
write_number_u_10th(0, bottom_line, naviData.UBat);
if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {
for (uint8_t x = 0; x < 7; x++)
write_char_att_xy(x, bottom_line, BLINK);
} else {
for (uint8_t x = 0; x < 7; x++)
write_char_att_xy(x, bottom_line, 0);
}
 
write_time(8, bottom_line, uptime);
write_time(16, bottom_line, naviData.FlyingTime);
write_time(8, bottom_line, uptime);
write_time(16, bottom_line, naviData.FlyingTime);
 
write_3digit_number_u(23, bottom_line, naviData.SatsInUse);
write_3digit_number_u(23, bottom_line, naviData.SatsInUse);
 
if (naviData.NCFlags & NC_FLAG_CH) {
write_char_xy(27, bottom_line, 231); // gps ch
} else if (naviData.NCFlags & NC_FLAG_PH) {
write_char_xy(27, bottom_line, 230); // gps ph
} else { // (naviData.NCFlags & NC_FLAG_FREE)
write_char_xy(27, bottom_line, 201); // sat2 (free)
}
if (naviData.NCFlags & NC_FLAG_CH) {
write_char_xy(27, bottom_line, 231); // gps ch
} else if (naviData.NCFlags & NC_FLAG_PH) {
write_char_xy(27, bottom_line, 230); // gps ph
} else { // (naviData.NCFlags & NC_FLAG_FREE)
write_char_xy(27, bottom_line, 201); // sat2 (free)
}
 
//write_number_s(8, 5, RxDataLen);
//write_number_s(16, 5, setsReceived++);
//write_number_s(8, 5, RxDataLen);
//write_number_s(16, 5, setsReceived++);
 
// remember statistics
if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
if (naviData.HomePositionDeviation.Distance > max_Distance) {
max_Distance = naviData.HomePositionDeviation.Distance;
}
if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
old_MKFlags = naviData.MKFlags;
} // (!(COSD_FLAGS & COSD_FLAG_NOOSD))
}
seconds_since_last_data = 0;
// remember statistics
if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
if (naviData.HomePositionDeviation.Distance > max_Distance) {
max_Distance = naviData.HomePositionDeviation.Distance;
}
if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
 
old_MKFlags = naviData.MKFlags;
}
}
seconds_since_last_data = 0;
rxd_buffer_locked = 0;
}
// handle keypress
if (s1_pressed()) {
//sendMKData('d', 1, (unsigned char*) 0, 1);
//sendMKData('d', 1, (unsigned char*) 0, 1);
// request OSD Data from NC every 100ms
/*unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
_delay_ms(500);*/
config_menu();
/*unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
_delay_ms(500);*/
config_menu();
}
if (s2_pressed()) {
if (s2_pressed()) {
uptime = 0;
_delay_ms(100);
}
if (seconds_since_last_data > 2) {
// re-request OSD Data from NC
// re-enable TXD pin
usart1_EnableTXD();
// every 100ms
unsigned char ms = 10;
if (seconds_since_last_data > 2) {
// re-request OSD Data from NC
 
// re-enable TXD pin
usart1_EnableTXD();
 
// every 100ms
unsigned char ms = 10;
sendMKData('o', 1, &ms, 1);
// disable TXD pin again
usart1_DisableTXD();
 
seconds_since_last_data = 0;
}
// disable TXD pin again
usart1_DisableTXD();
 
seconds_since_last_data = 0;
}
}
#endif
return 0;