src/main/osd/osd.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the 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 software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 /*
  22  Created by Marcin Baliniak
  23  some functions based on MinimOSD
  24
  25  OSD-CMS separation by jflyper
  26  */
  27
  28 #include <stdbool.h>
  29 #include <stdint.h>
  30 #include <stdlib.h>
  31 #include <string.h>
  32 #include <ctype.h>
  33 #include <math.h>
  34
  35 #include "platform.h"
  36
  37 #ifdef USE_OSD
  38
  39 #include "blackbox/blackbox.h"
  40 #include "blackbox/blackbox_io.h"
  41
  42 #include "build/build_config.h"
  43 #include "build/version.h"
  44
  45 #include "cms/cms.h"
  46
  47 #include "common/axis.h"
  48 #include "common/maths.h"
  49 #include "common/printf.h"
  50 #include "common/typeconversion.h"
  51 #include "common/utils.h"
  52 #include "common/unit.h"
  53
  54 #include "config/feature.h"
  55
  56 #include "drivers/display.h"
  57 #include "drivers/dshot.h"
  58 #include "drivers/flash.h"
  59 #include "drivers/osd_symbols.h"
  60 #include "drivers/sdcard.h"
  61 #include "drivers/time.h"
  62
  63 #include "fc/core.h"
  64 #include "fc/rc_controls.h"
  65 #include "fc/rc_modes.h"
  66 #include "fc/runtime_config.h"
  67
  68 #if defined(USE_DYN_NOTCH_FILTER)
  69 #include "flight/dyn_notch_filter.h"
  70 #endif
  71 #include "flight/failsafe.h"
  72 #include "flight/imu.h"
  73 #include "flight/mixer.h"
  74 #include "flight/position.h"
  75
  76 #include "io/asyncfatfs/asyncfatfs.h"
  77 #include "io/beeper.h"
  78 #include "io/flashfs.h"
  79 #include "io/gps.h"
  80
  81 #include "osd/osd.h"
  82 #include "osd/osd_elements.h"
  83 #include "osd/osd_warnings.h"
  84
  85 #include "pg/motor.h"
  86 #include "pg/pg.h"
  87 #include "pg/pg_ids.h"
  88 #include "pg/stats.h"
  89
  90 #include "rx/crsf.h"
  91 #include "rx/rx.h"
  92
  93 #include "scheduler/scheduler.h"
  94
  95 #include "sensors/acceleration.h"
  96 #include "sensors/battery.h"
  97 #include "sensors/sensors.h"
  98
  99 #ifdef USE_HARDWARE_REVISION_DETECTION
 100 #include "hardware_revision.h"
 101 #endif
 102
 103 typedef enum {
 104     OSD_LOGO_ARMING_OFF,
 105     OSD_LOGO_ARMING_ON,
 106     OSD_LOGO_ARMING_FIRST
 107 } osd_logo_on_arming_e;
 108
 109 const char * const osdTimerSourceNames[] = {
 110     "ON TIME  ",
 111     "TOTAL ARM",
 112     "LAST ARM ",
 113     "ON/ARM   "
 114 };
 115
 116 #define OSD_LOGO_ROWS 4
 117 #define OSD_LOGO_COLS 24
 118
 119 // Things in both OSD and CMS
 120
 121 #define IS_HI(X)  (rcData[X] > 1750)
 122 #define IS_LO(X)  (rcData[X] < 1250)
 123 #define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
 124
 125 timeUs_t osdFlyTime = 0;
 126 #if defined(USE_ACC)
 127 float osdGForce = 0;
 128 #endif
 129 uint16_t osdAuxValue = 0;
 130
 131 static bool showVisualBeeper = false;
 132
 133 static statistic_t stats;
 134 timeUs_t resumeRefreshAt = 0;
 135 #define REFRESH_1S    1000 * 1000
 136
 137 static uint8_t armState;
 138 #ifdef USE_OSD_PROFILES
 139 static uint8_t osdProfile = 1;
 140 #endif
 141 static displayPort_t *osdDisplayPort;
 142 static osdDisplayPortDevice_e osdDisplayPortDeviceType;
 143 static bool osdIsReady;
 144
 145 static bool suppressStatsDisplay = false;
 146
 147 static bool backgroundLayerSupported = false;
 148
 149 #ifdef USE_ESC_SENSOR
 150 escSensorData_t *osdEscDataCombined;
 151 #endif
 152
 153 STATIC_ASSERT(OSD_POS_MAX == OSD_POS(63,31), OSD_POS_MAX_incorrect);
 154
 155 PG_REGISTER_WITH_RESET_FN(osdConfig_t, osdConfig, PG_OSD_CONFIG, 12);
 156
 157 PG_REGISTER_WITH_RESET_FN(osdElementConfig_t, osdElementConfig, PG_OSD_ELEMENT_CONFIG, 1);
 158
 159 // Controls the display order of the OSD post-flight statistics.
 160 // Adjust the ordering here to control how the post-flight stats are presented.
 161 // Every entry in osd_stats_e should be represented. Any that are missing will not
 162 // be shown on the the post-flight statistics page.
 163 // If you reorder the stats it's likely that you'll need to make likewise updates
 164 // to the unit tests.
 165
 166 // If adding new stats, please add to the osdStatsNeedAccelerometer() function
 167 // if the statistic utilizes the accelerometer.
 168 //
 169 const osd_stats_e osdStatsDisplayOrder[OSD_STAT_COUNT] = {
 170     OSD_STAT_RTC_DATE_TIME,
 171     OSD_STAT_TIMER_1,
 172     OSD_STAT_TIMER_2,
 173     OSD_STAT_MAX_ALTITUDE,
 174     OSD_STAT_MAX_SPEED,
 175     OSD_STAT_MAX_DISTANCE,
 176     OSD_STAT_FLIGHT_DISTANCE,
 177     OSD_STAT_MIN_BATTERY,
 178     OSD_STAT_END_BATTERY,
 179     OSD_STAT_BATTERY,
 180     OSD_STAT_MIN_RSSI,
 181     OSD_STAT_MAX_CURRENT,
 182     OSD_STAT_USED_MAH,
 183     OSD_STAT_BLACKBOX,
 184     OSD_STAT_BLACKBOX_NUMBER,
 185     OSD_STAT_MAX_G_FORCE,
 186     OSD_STAT_MAX_ESC_TEMP,
 187     OSD_STAT_MAX_ESC_RPM,
 188     OSD_STAT_MIN_LINK_QUALITY,
 189     OSD_STAT_MAX_FFT,
 190     OSD_STAT_MIN_RSSI_DBM,
 191     OSD_STAT_MIN_RSNR,
 192     OSD_STAT_TOTAL_FLIGHTS,
 193     OSD_STAT_TOTAL_TIME,
 194     OSD_STAT_TOTAL_DIST,
 195     OSD_STAT_WATT_HOURS_DRAWN,
 196 };
 197
 198 // Group elements in a number of groups to reduce task scheduling overhead
 199 #define OSD_GROUP_COUNT                 OSD_ITEM_COUNT
 200 // Aim to render a group of elements within a target time
 201 #define OSD_ELEMENT_RENDER_TARGET       30
 202 // Allow a margin by which a group render can exceed that of the sum of the elements before declaring insane
 203 // This will most likely be violated by a USB interrupt whilst using the CLI
 204 #if defined(STM32F411xE)
 205 #define OSD_ELEMENT_RENDER_GROUP_MARGIN 7
 206 #else
 207 #define OSD_ELEMENT_RENDER_GROUP_MARGIN 2
 208 #endif
 209 #define OSD_TASK_MARGIN                 1
 210 // Decay the estimated max task duration by 1/(1 << OSD_EXEC_TIME_SHIFT) on every invocation
 211 #define OSD_EXEC_TIME_SHIFT             8
 212
 213 // Format a float to the specified number of decimal places with optional rounding.
 214 // OSD symbols can optionally be placed before and after the formatted number (use SYM_NONE for no symbol).
 215 // The formatString can be used for customized formatting of the integer part. Follow the printf style.
 216 // Pass an empty formatString for default.
 217 int osdPrintFloat(char *buffer, char leadingSymbol, float value, char *formatString, unsigned decimalPlaces, bool round, char trailingSymbol)
 218 {
 219     char mask[7];
 220     int pos = 0;
 221     int multiplier = 1;
 222     for (unsigned i = 0; i < decimalPlaces; i++) {
 223         multiplier *= 10;
 224     }
 225
 226     value *= multiplier;
 227     const int scaledValueAbs = abs(round ? (int)lrintf(value) : (int)value);
 228     const int integerPart = scaledValueAbs / multiplier;
 229     const int fractionalPart = scaledValueAbs % multiplier;
 230
 231     if (leadingSymbol != SYM_NONE) {
 232         buffer[pos++] = leadingSymbol;
 233     }
 234     if (value < 0 && (integerPart || fractionalPart)) {
 235         buffer[pos++] = '-';
 236     }
 237
 238     pos += tfp_sprintf(buffer + pos, (strlen(formatString) ? formatString : "%01u"), integerPart);
 239     if (decimalPlaces) {
 240         tfp_sprintf((char *)&mask, ".%%0%uu", decimalPlaces); // builds up the format string to be like ".%03u" for decimalPlaces == 3 as an example
 241         pos += tfp_sprintf(buffer + pos, mask, fractionalPart);
 242     }
 243
 244     if (trailingSymbol != SYM_NONE) {
 245         buffer[pos++] = trailingSymbol;
 246     }
 247     buffer[pos] = '\0';
 248
 249     return pos;
 250 }
 251
 252 void osdStatSetState(uint8_t statIndex, bool enabled)
 253 {
 254     if (enabled) {
 255         osdConfigMutable()->enabled_stats |= (1 << statIndex);
 256     } else {
 257         osdConfigMutable()->enabled_stats &= ~(1 << statIndex);
 258     }
 259 }
 260
 261 bool osdStatGetState(uint8_t statIndex)
 262 {
 263     return osdConfig()->enabled_stats & (1 << statIndex);
 264 }
 265
 266 void osdWarnSetState(uint8_t warningIndex, bool enabled)
 267 {
 268     if (enabled) {
 269         osdConfigMutable()->enabledWarnings |= (1 << warningIndex);
 270     } else {
 271         osdConfigMutable()->enabledWarnings &= ~(1 << warningIndex);
 272     }
 273 }
 274
 275 bool osdWarnGetState(uint8_t warningIndex)
 276 {
 277     return osdConfig()->enabledWarnings & (1 << warningIndex);
 278 }
 279
 280 #ifdef USE_OSD_PROFILES
 281 void setOsdProfile(uint8_t value)
 282 {
 283     // 1 ->> 001
 284     // 2 ->> 010
 285     // 3 ->> 100
 286     if (value <= OSD_PROFILE_COUNT) {
 287         if (value == 0) {
 288             osdProfile = 1;
 289         } else {
 290             osdProfile = 1 << (value - 1);
 291         }
 292     }
 293  }
 294
 295 uint8_t getCurrentOsdProfileIndex(void)
 296 {
 297     return osdConfig()->osdProfileIndex;
 298 }
 299
 300 void changeOsdProfileIndex(uint8_t profileIndex)
 301 {
 302     if (profileIndex <= OSD_PROFILE_COUNT) {
 303         osdConfigMutable()->osdProfileIndex = profileIndex;
 304         setOsdProfile(profileIndex);
 305         osdAnalyzeActiveElements();
 306     }
 307 }
 308 #endif
 309
 310 void osdAnalyzeActiveElements(void)
 311 {
 312     /* This code results in a total RX task RX_STATE_MODES state time of ~68us on an F411 overclocked to 108MHz
 313      * This upsets the scheduler task duration estimation and will break SPI RX communication. This can
 314      * occur in flight, e.g. when the OSD profile is changed by switch so can be ignored, or GPS sensor comms
 315      * is lost - only causing one late task instance.
 316      */
 317     schedulerIgnoreTaskExecTime();
 318
 319     osdAddActiveElements();
 320     osdDrawActiveElementsBackground(osdDisplayPort);
 321 }
 322
 323 const uint16_t osdTimerDefault[OSD_TIMER_COUNT] = {
 324         OSD_TIMER(OSD_TIMER_SRC_ON, OSD_TIMER_PREC_SECOND, 10),
 325         OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_SECOND, 10)
 326 };
 327
 328 void pgResetFn_osdConfig(osdConfig_t *osdConfig)
 329 {
 330     // Enable the default stats
 331     osdConfig->enabled_stats = 0; // reset all to off and enable only a few initially
 332     osdStatSetState(OSD_STAT_MAX_SPEED, true);
 333     osdStatSetState(OSD_STAT_MIN_BATTERY, true);
 334     osdStatSetState(OSD_STAT_MIN_RSSI, true);
 335     osdStatSetState(OSD_STAT_MAX_CURRENT, true);
 336     osdStatSetState(OSD_STAT_USED_MAH, true);
 337     osdStatSetState(OSD_STAT_BLACKBOX, true);
 338     osdStatSetState(OSD_STAT_BLACKBOX_NUMBER, true);
 339     osdStatSetState(OSD_STAT_TIMER_2, true);
 340
 341     osdConfig->units = UNIT_METRIC;
 342
 343     // Enable all warnings by default
 344     for (int i=0; i < OSD_WARNING_COUNT; i++) {
 345         osdWarnSetState(i, true);
 346     }
 347     // turn off RSSI & Link Quality warnings by default
 348     osdWarnSetState(OSD_WARNING_RSSI, false);
 349     osdWarnSetState(OSD_WARNING_LINK_QUALITY, false);
 350     osdWarnSetState(OSD_WARNING_RSSI_DBM, false);
 351     osdWarnSetState(OSD_WARNING_RSNR, false);
 352     // turn off the over mah capacity warning
 353     osdWarnSetState(OSD_WARNING_OVER_CAP, false);
 354
 355     osdConfig->timers[OSD_TIMER_1] = osdTimerDefault[OSD_TIMER_1];
 356     osdConfig->timers[OSD_TIMER_2] = osdTimerDefault[OSD_TIMER_2];
 357
 358     osdConfig->overlay_radio_mode = 2;
 359
 360     osdConfig->rssi_alarm = 20;
 361     osdConfig->link_quality_alarm = 80;
 362     osdConfig->cap_alarm  = 2200;
 363     osdConfig->alt_alarm  = 100; // meters or feet depend on configuration
 364     osdConfig->esc_temp_alarm = ESC_TEMP_ALARM_OFF; // off by default
 365     osdConfig->esc_rpm_alarm = ESC_RPM_ALARM_OFF; // off by default
 366     osdConfig->esc_current_alarm = ESC_CURRENT_ALARM_OFF; // off by default
 367     osdConfig->core_temp_alarm = 70; // a temperature above 70C should produce a warning, lockups have been reported above 80C
 368
 369     osdConfig->ahMaxPitch = 20; // 20 degrees
 370     osdConfig->ahMaxRoll = 40; // 40 degrees
 371
 372     osdConfig->osdProfileIndex = 1;
 373     osdConfig->ahInvert = false;
 374     for (int i=0; i < OSD_PROFILE_COUNT; i++) {
 375         osdConfig->profile[i][0] = '\0';
 376     }
 377     osdConfig->rssi_dbm_alarm = -60;
 378     osdConfig->rsnr_alarm = 4;
 379     osdConfig->gps_sats_show_hdop = false;
 380
 381     for (int i = 0; i < OSD_RCCHANNELS_COUNT; i++) {
 382         osdConfig->rcChannels[i] = -1;
 383     }
 384
 385     osdConfig->displayPortDevice = OSD_DISPLAYPORT_DEVICE_AUTO;
 386
 387     osdConfig->distance_alarm = 0;
 388     osdConfig->logo_on_arming = OSD_LOGO_ARMING_OFF;
 389     osdConfig->logo_on_arming_duration = 5;  // 0.5 seconds
 390
 391     osdConfig->camera_frame_width = 24;
 392     osdConfig->camera_frame_height = 11;
 393
 394     osdConfig->stat_show_cell_value = false;
 395     osdConfig->framerate_hz = OSD_FRAMERATE_DEFAULT_HZ;
 396     osdConfig->cms_background_type = DISPLAY_BACKGROUND_TRANSPARENT;
 397     #ifdef USE_CRAFTNAME_MSGS
 398     osdConfig->osd_craftname_msgs = false;   // Insert LQ/RSSI-dBm and warnings into CraftName
 399     #endif //USE_CRAFTNAME_MSGS
 400
 401     osdConfig->aux_channel = 1;
 402     osdConfig->aux_scale = 200;
 403     osdConfig->aux_symbol = 'A';
 404
 405     // Make it obvious on the configurator that the FC doesn't support HD
 406 #ifdef USE_OSD_HD
 407     osdConfig->canvas_cols = OSD_HD_COLS;
 408     osdConfig->canvas_rows = OSD_HD_ROWS;
 409 #else
 410     osdConfig->canvas_cols = OSD_SD_COLS;
 411     osdConfig->canvas_rows = OSD_SD_ROWS;
 412 #endif
 413 }
 414
 415 void pgResetFn_osdElementConfig(osdElementConfig_t *osdElementConfig)
 416 {
 417 #ifdef USE_OSD_SD
 418     uint8_t midRow = 7;
 419     uint8_t midCol = 15;
 420 #else
 421     uint8_t midRow = 10;
 422     uint8_t midCol = 26;
 423 #endif
 424
 425     // Position elements near centre of screen and disabled by default
 426     for (int i = 0; i < OSD_ITEM_COUNT; i++) {
 427         osdElementConfig->item_pos[i] = OSD_POS((midCol - 5), midRow);
 428     }
 429
 430     // Always enable warnings elements by default
 431     uint16_t profileFlags = 0;
 432     for (unsigned i = 1; i <= OSD_PROFILE_COUNT; i++) {
 433         profileFlags |= OSD_PROFILE_FLAG(i);
 434     }
 435     osdElementConfig->item_pos[OSD_WARNINGS] = OSD_POS((midCol - 6), (midRow + 3)) | profileFlags;
 436
 437     // Default to old fixed positions for these elements
 438     osdElementConfig->item_pos[OSD_CROSSHAIRS]         = OSD_POS((midCol - 2), (midRow - 1));
 439     osdElementConfig->item_pos[OSD_ARTIFICIAL_HORIZON] = OSD_POS((midCol - 1), (midRow - 5));
 440     osdElementConfig->item_pos[OSD_HORIZON_SIDEBARS]   = OSD_POS((midCol - 1), (midRow - 1));
 441     osdElementConfig->item_pos[OSD_CAMERA_FRAME]       = OSD_POS((midCol - 12), (midRow - 6));
 442     osdElementConfig->item_pos[OSD_UP_DOWN_REFERENCE]  = OSD_POS((midCol - 2), (midRow - 1));
 443 }
 444
 445 static void osdDrawLogo(int x, int y)
 446 {
 447     // display logo and help
 448     int fontOffset = 160;
 449     for (int row = 0; row < OSD_LOGO_ROWS; row++) {
 450         for (int column = 0; column < OSD_LOGO_COLS; column++) {
 451             if (fontOffset <= SYM_END_OF_FONT)
 452                 displayWriteChar(osdDisplayPort, x + column, y + row, DISPLAYPORT_ATTR_NORMAL, fontOffset++);
 453         }
 454     }
 455 }
 456
 457 static void osdCompleteInitialization(void)
 458 {
 459     uint8_t midRow = osdDisplayPort->rows / 2;
 460     uint8_t midCol = osdDisplayPort->cols / 2;
 461
 462     armState = ARMING_FLAG(ARMED);
 463
 464     osdResetAlarms();
 465
 466     backgroundLayerSupported = displayLayerSupported(osdDisplayPort, DISPLAYPORT_LAYER_BACKGROUND);
 467     displayLayerSelect(osdDisplayPort, DISPLAYPORT_LAYER_FOREGROUND);
 468
 469     displayBeginTransaction(osdDisplayPort, DISPLAY_TRANSACTION_OPT_RESET_DRAWING);
 470     displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_WAIT);
 471
 472     osdDrawLogo(midCol - (OSD_LOGO_COLS) / 2, midRow - 5);
 473
 474     char string_buffer[30];
 475     tfp_sprintf(string_buffer, "V%s", FC_VERSION_STRING);
 476     displayWrite(osdDisplayPort, midCol + 5, midRow, DISPLAYPORT_ATTR_NORMAL, string_buffer);
 477 #ifdef USE_CMS
 478     displayWrite(osdDisplayPort, midCol - 8, midRow + 2,  DISPLAYPORT_ATTR_NORMAL, CMS_STARTUP_HELP_TEXT1);
 479     displayWrite(osdDisplayPort, midCol - 4, midRow + 3, DISPLAYPORT_ATTR_NORMAL, CMS_STARTUP_HELP_TEXT2);
 480     displayWrite(osdDisplayPort, midCol - 4, midRow + 4, DISPLAYPORT_ATTR_NORMAL, CMS_STARTUP_HELP_TEXT3);
 481 #endif
 482
 483 #ifdef USE_RTC_TIME
 484     char dateTimeBuffer[FORMATTED_DATE_TIME_BUFSIZE];
 485     if (osdFormatRtcDateTime(&dateTimeBuffer[0])) {
 486         displayWrite(osdDisplayPort, midCol - 10, midRow + 6, DISPLAYPORT_ATTR_NORMAL, dateTimeBuffer);
 487     }
 488 #endif
 489
 490     resumeRefreshAt = micros() + (4 * REFRESH_1S);
 491 #ifdef USE_OSD_PROFILES
 492     setOsdProfile(osdConfig()->osdProfileIndex);
 493 #endif
 494
 495     osdElementsInit(backgroundLayerSupported);
 496     osdAnalyzeActiveElements();
 497
 498     osdIsReady = true;
 499 }
 500
 501 void osdInit(displayPort_t *osdDisplayPortToUse, osdDisplayPortDevice_e displayPortDeviceType)
 502 {
 503     osdDisplayPortDeviceType = displayPortDeviceType;
 504
 505     if (!osdDisplayPortToUse) {
 506         return;
 507     }
 508
 509     osdDisplayPort = osdDisplayPortToUse;
 510 #ifdef USE_CMS
 511     cmsDisplayPortRegister(osdDisplayPort);
 512 #endif
 513
 514     if (osdDisplayPort->cols && osdDisplayPort->rows) {
 515         // Ensure that all OSD elements are on the canvas once number of row/columns is known
 516         for (int i = 0; i < OSD_ITEM_COUNT; i++) {
 517             uint16_t itemPos = osdElementConfig()->item_pos[i];
 518             uint8_t elemPosX = OSD_X(itemPos);
 519             uint8_t elemPosY = OSD_Y(itemPos);
 520             uint16_t elemProfileType = itemPos & (OSD_PROFILE_MASK | OSD_TYPE_MASK);
 521             bool pos_reset = false;
 522
 523             if (elemPosX >= osdDisplayPort->cols) {
 524                 elemPosX = osdDisplayPort->cols - 1;
 525                 pos_reset  = true;
 526             }
 527
 528             if (elemPosY >= osdDisplayPort->rows) {
 529                 elemPosY = osdDisplayPort->rows - 1;
 530                 pos_reset  = true;
 531             }
 532
 533             if (pos_reset) {
 534                 osdElementConfigMutable()->item_pos[i] = elemProfileType | OSD_POS(elemPosX, elemPosY);
 535             }
 536         }
 537     }
 538 }
 539
 540 static void osdResetStats(void)
 541 {
 542     stats.max_current     = 0;
 543     stats.max_speed       = 0;
 544     stats.min_voltage     = 5000;
 545     stats.end_voltage     = 0;
 546     stats.min_rssi        = 99; // percent
 547     stats.max_altitude    = 0;
 548     stats.max_distance    = 0;
 549     stats.armed_time      = 0;
 550     stats.max_g_force     = 0;
 551     stats.max_esc_temp_ix = 0;
 552     stats.max_esc_temp    = 0;
 553     stats.max_esc_rpm     = 0;
 554     stats.min_link_quality = (linkQualitySource == LQ_SOURCE_NONE) ? 99 : 100; // percent
 555     stats.min_rssi_dbm = CRSF_RSSI_MAX;
 556     stats.min_rsnr = CRSF_SNR_MAX;
 557 }
 558
 559 #if defined(USE_ESC_SENSOR) || defined(USE_DSHOT_TELEMETRY)
 560 static int32_t getAverageEscRpm(void)
 561 {
 562 #ifdef USE_ESC_SENSOR
 563     if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
 564         return erpmToRpm(osdEscDataCombined->rpm);
 565     }
 566 #endif
 567 #ifdef USE_DSHOT_TELEMETRY
 568     if (motorConfig()->dev.useDshotTelemetry) {
 569         return getDshotAverageRpm();
 570     }
 571 #endif
 572     return 0;
 573 }
 574 #endif
 575
 576 static uint16_t getStatsVoltage(void)
 577 {
 578     return osdConfig()->stat_show_cell_value ? getBatteryAverageCellVoltage() : getBatteryVoltage();
 579 }
 580
 581 static void osdUpdateStats(void)
 582 {
 583     int16_t value = 0;
 584
 585 #ifdef USE_GPS
 586     if (gpsConfig()->gps_use_3d_speed) {
 587         value = gpsSol.speed3d;
 588     } else {
 589         value = gpsSol.groundSpeed;
 590     }
 591     if (stats.max_speed < value) {
 592         stats.max_speed = value;
 593     }
 594 #endif
 595
 596     value = getStatsVoltage();
 597     if (stats.min_voltage > value) {
 598         stats.min_voltage = value;
 599     }
 600
 601     value = getAmperage() / 100;
 602     if (stats.max_current < value) {
 603         stats.max_current = value;
 604     }
 605
 606     value = getRssiPercent();
 607     if (stats.min_rssi > value) {
 608         stats.min_rssi = value;
 609     }
 610
 611     int32_t altitudeCm = getEstimatedAltitudeCm();
 612     if (stats.max_altitude < altitudeCm) {
 613         stats.max_altitude = altitudeCm;
 614     }
 615
 616 #if defined(USE_ACC)
 617     if (stats.max_g_force < osdGForce) {
 618         stats.max_g_force = osdGForce;
 619     }
 620 #endif
 621
 622 #ifdef USE_RX_LINK_QUALITY_INFO
 623     value = rxGetLinkQualityPercent();
 624     if (stats.min_link_quality > value) {
 625         stats.min_link_quality = value;
 626     }
 627 #endif
 628
 629 #ifdef USE_RX_RSSI_DBM
 630     value = getRssiDbm();
 631     if (stats.min_rssi_dbm > value) {
 632         stats.min_rssi_dbm = value;
 633     }
 634 #endif
 635
 636 #ifdef USE_RX_RSNR
 637     value = getRsnr();
 638     if (stats.min_rsnr > value) {
 639         stats.min_rsnr = value;
 640     }
 641 #endif
 642
 643 #ifdef USE_GPS
 644     if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
 645         if (stats.max_distance < GPS_distanceToHome) {
 646             stats.max_distance = GPS_distanceToHome;
 647         }
 648     }
 649 #endif
 650
 651 #if defined(USE_ESC_SENSOR)
 652     if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
 653         value = osdEscDataCombined->temperature;
 654         if (stats.max_esc_temp < value) {
 655             stats.max_esc_temp = value;
 656         }
 657     } else
 658 #endif
 659 #if defined(USE_DSHOT_TELEMETRY)
 660     {
 661         // Take max temp from dshot telemetry
 662         for (uint8_t k = 0; k < getMotorCount(); k++) {
 663             if (dshotTelemetryState.motorState[k].maxTemp > stats.max_esc_temp) {
 664                 stats.max_esc_temp_ix = k + 1;
 665                 stats.max_esc_temp = dshotTelemetryState.motorState[k].maxTemp;
 666             }
 667         }
 668     }
 669 #else
 670     {}
 671 #endif
 672
 673 #if defined(USE_ESC_SENSOR) || defined(USE_DSHOT_TELEMETRY)
 674     int32_t rpm = getAverageEscRpm();
 675     if (stats.max_esc_rpm < rpm) {
 676         stats.max_esc_rpm = rpm;
 677     }
 678 #endif
 679 }
 680
 681 #ifdef USE_BLACKBOX
 682
 683 static void osdGetBlackboxStatusString(char * buff)
 684 {
 685     bool storageDeviceIsWorking = isBlackboxDeviceWorking();
 686     uint32_t storageUsed = 0;
 687     uint32_t storageTotal = 0;
 688
 689     switch (blackboxConfig()->device) {
 690 #ifdef USE_SDCARD
 691     case BLACKBOX_DEVICE_SDCARD:
 692         if (storageDeviceIsWorking) {
 693             storageTotal = sdcard_getMetadata()->numBlocks / 2000;
 694             storageUsed = storageTotal - (afatfs_getContiguousFreeSpace() / 1024000);
 695         }
 696         break;
 697 #endif
 698
 699 #ifdef USE_FLASHFS
 700     case BLACKBOX_DEVICE_FLASH:
 701         if (storageDeviceIsWorking) {
 702
 703             const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
 704             const flashGeometry_t *flashGeometry = flashGetGeometry();
 705
 706             storageTotal = ((FLASH_PARTITION_SECTOR_COUNT(flashPartition) * flashGeometry->sectorSize) / 1024);
 707             storageUsed = flashfsGetOffset() / 1024;
 708         }
 709         break;
 710 #endif
 711
 712     default:
 713         break;
 714     }
 715
 716     if (storageDeviceIsWorking) {
 717         const uint16_t storageUsedPercent = (storageUsed * 100) / storageTotal;
 718         tfp_sprintf(buff, "%d%%", storageUsedPercent);
 719     } else {
 720         tfp_sprintf(buff, "FAULT");
 721     }
 722 }
 723 #endif
 724
 725 static void osdDisplayStatisticLabel(uint8_t x, uint8_t y, const char * text, const char * value)
 726 {
 727     displayWrite(osdDisplayPort, x - 13, y, DISPLAYPORT_ATTR_NORMAL, text);
 728     displayWrite(osdDisplayPort, x + 5, y, DISPLAYPORT_ATTR_NORMAL, ":");
 729     displayWrite(osdDisplayPort, x + 7, y, DISPLAYPORT_ATTR_NORMAL, value);
 730 }
 731
 732 /*
 733  * Test if there's some stat enabled
 734  */
 735 static bool isSomeStatEnabled(void)
 736 {
 737     return (osdConfig()->enabled_stats != 0);
 738 }
 739
 740 // *** IMPORTANT ***
 741 // The stats display order was previously required to match the enumeration definition so it matched
 742 // the order shown in the configurator. However, to allow reordering this screen without breaking the
 743 // compatibility, this requirement has been relaxed to a best effort approach. Reordering the elements
 744 // on the stats screen will have to be more beneficial than the hassle of not matching exactly to the
 745 // configurator list.
 746
 747 static bool osdDisplayStat(int statistic, uint8_t displayRow)
 748 {
 749     uint8_t midCol = osdDisplayPort->cols / 2;
 750     char buff[OSD_ELEMENT_BUFFER_LENGTH];
 751
 752     switch (statistic) {
 753     case OSD_STAT_RTC_DATE_TIME: {
 754         bool success = false;
 755 #ifdef USE_RTC_TIME
 756         success = osdFormatRtcDateTime(&buff[0]);
 757 #endif
 758         if (!success) {
 759             tfp_sprintf(buff, "NO RTC");
 760         }
 761
 762         displayWrite(osdDisplayPort, midCol - 13, displayRow, DISPLAYPORT_ATTR_NORMAL, buff);
 763         return true;
 764     }
 765
 766     case OSD_STAT_TIMER_1:
 767         osdFormatTimer(buff, false, (OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1]) == OSD_TIMER_SRC_ON ? false : true), OSD_TIMER_1);
 768         osdDisplayStatisticLabel(midCol, displayRow, osdTimerSourceNames[OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1])], buff);
 769         return true;
 770
 771     case OSD_STAT_TIMER_2:
 772         osdFormatTimer(buff, false, (OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_2]) == OSD_TIMER_SRC_ON ? false : true), OSD_TIMER_2);
 773         osdDisplayStatisticLabel(midCol, displayRow, osdTimerSourceNames[OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_2])], buff);
 774         return true;
 775
 776     case OSD_STAT_MAX_ALTITUDE: {
 777         osdPrintFloat(buff, SYM_NONE, osdGetMetersToSelectedUnit(stats.max_altitude) / 100.0f, "", 1, true, osdGetMetersToSelectedUnitSymbol());
 778         osdDisplayStatisticLabel(midCol, displayRow, "MAX ALTITUDE", buff);
 779         return true;
 780     }
 781
 782 #ifdef USE_GPS
 783     case OSD_STAT_MAX_SPEED:
 784         if (featureIsEnabled(FEATURE_GPS)) {
 785             tfp_sprintf(buff, "%d%c", osdGetSpeedToSelectedUnit(stats.max_speed), osdGetSpeedToSelectedUnitSymbol());
 786             osdDisplayStatisticLabel(midCol, displayRow, "MAX SPEED", buff);
 787             return true;
 788         }
 789         break;
 790
 791     case OSD_STAT_MAX_DISTANCE:
 792         if (featureIsEnabled(FEATURE_GPS)) {
 793             osdFormatDistanceString(buff, stats.max_distance, SYM_NONE);
 794             osdDisplayStatisticLabel(midCol, displayRow, "MAX DISTANCE", buff);
 795             return true;
 796         }
 797         break;
 798
 799     case OSD_STAT_FLIGHT_DISTANCE:
 800         if (featureIsEnabled(FEATURE_GPS)) {
 801             const int distanceFlown = GPS_distanceFlownInCm / 100;
 802             osdFormatDistanceString(buff, distanceFlown, SYM_NONE);
 803             osdDisplayStatisticLabel(midCol, displayRow, "FLIGHT DISTANCE", buff);
 804             return true;
 805         }
 806         break;
 807 #endif
 808
 809     case OSD_STAT_MIN_BATTERY:
 810         osdPrintFloat(buff, SYM_NONE, stats.min_voltage / 100.0f, "", 2, true, SYM_VOLT);
 811         osdDisplayStatisticLabel(midCol, displayRow, osdConfig()->stat_show_cell_value? "MIN AVG CELL" : "MIN BATTERY", buff);
 812         return true;
 813
 814     case OSD_STAT_END_BATTERY:
 815         osdPrintFloat(buff, SYM_NONE, stats.end_voltage / 100.0f, "", 2, true, SYM_VOLT);
 816         osdDisplayStatisticLabel(midCol, displayRow, osdConfig()->stat_show_cell_value ? "END AVG CELL" : "END BATTERY", buff);
 817         return true;
 818
 819     case OSD_STAT_BATTERY:
 820         {
 821             const uint16_t statsVoltage = getStatsVoltage();
 822             osdPrintFloat(buff, SYM_NONE, statsVoltage / 100.0f, "", 2, true, SYM_VOLT);
 823             osdDisplayStatisticLabel(midCol, displayRow, osdConfig()->stat_show_cell_value ? "AVG BATT CELL" : "BATTERY", buff);
 824             return true;
 825         }
 826         break;
 827
 828     case OSD_STAT_MIN_RSSI:
 829         itoa(stats.min_rssi, buff, 10);
 830         strcat(buff, "%");
 831         osdDisplayStatisticLabel(midCol, displayRow, "MIN RSSI", buff);
 832         return true;
 833
 834     case OSD_STAT_MAX_CURRENT:
 835         if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
 836             tfp_sprintf(buff, "%d%c", stats.max_current, SYM_AMP);
 837             osdDisplayStatisticLabel(midCol, displayRow, "MAX CURRENT", buff);
 838             return true;
 839         }
 840         break;
 841
 842     case OSD_STAT_USED_MAH:
 843         if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
 844             tfp_sprintf(buff, "%d%c", getMAhDrawn(), SYM_MAH);
 845             osdDisplayStatisticLabel(midCol, displayRow, "USED MAH", buff);
 846             return true;
 847         }
 848         break;
 849
 850     case OSD_STAT_WATT_HOURS_DRAWN:
 851         if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
 852             osdPrintFloat(buff, SYM_NONE, getWhDrawn(), "", 2, true, SYM_NONE);
 853             osdDisplayStatisticLabel(midCol, displayRow, "USED WATT HOURS", buff);
 854             return true;
 855         }
 856         break;
 857
 858 #ifdef USE_BLACKBOX
 859     case OSD_STAT_BLACKBOX:
 860         if (blackboxConfig()->device && blackboxConfig()->device != BLACKBOX_DEVICE_SERIAL) {
 861             osdGetBlackboxStatusString(buff);
 862             osdDisplayStatisticLabel(midCol, displayRow, "BLACKBOX", buff);
 863             return true;
 864         }
 865         break;
 866
 867     case OSD_STAT_BLACKBOX_NUMBER:
 868         {
 869             int32_t logNumber = blackboxGetLogNumber();
 870             if (logNumber >= 0) {
 871                 itoa(logNumber, buff, 10);
 872                 osdDisplayStatisticLabel(midCol, displayRow, "BB LOG NUM", buff);
 873                 return true;
 874             }
 875         }
 876         break;
 877 #endif
 878
 879 #if defined(USE_ACC)
 880     case OSD_STAT_MAX_G_FORCE:
 881         if (sensors(SENSOR_ACC)) {
 882             osdPrintFloat(buff, SYM_NONE, stats.max_g_force, "", 1, true, 'G');
 883             osdDisplayStatisticLabel(midCol, displayRow, "MAX G-FORCE", buff);
 884             return true;
 885         }
 886         break;
 887 #endif
 888
 889 #ifdef USE_ESC_SENSOR
 890     case OSD_STAT_MAX_ESC_TEMP:
 891     {
 892         uint16_t ix = 0;
 893         if (stats.max_esc_temp_ix > 0) {
 894             ix = tfp_sprintf(buff, "%d ", stats.max_esc_temp_ix);
 895         }
 896         tfp_sprintf(buff + ix, "%d%c", osdConvertTemperatureToSelectedUnit(stats.max_esc_temp), osdGetTemperatureSymbolForSelectedUnit());
 897         osdDisplayStatisticLabel(midCol, displayRow, "MAX ESC TEMP", buff);
 898         return true;
 899     }
 900 #endif
 901
 902 #if defined(USE_ESC_SENSOR) || defined(USE_DSHOT_TELEMETRY)
 903     case OSD_STAT_MAX_ESC_RPM:
 904         itoa(stats.max_esc_rpm, buff, 10);
 905         osdDisplayStatisticLabel(midCol, displayRow, "MAX ESC RPM", buff);
 906         return true;
 907 #endif
 908
 909 #ifdef USE_RX_LINK_QUALITY_INFO
 910     case OSD_STAT_MIN_LINK_QUALITY:
 911         tfp_sprintf(buff, "%d", stats.min_link_quality);
 912         strcat(buff, "%");
 913         osdDisplayStatisticLabel(midCol, displayRow, "MIN LINK", buff);
 914         return true;
 915 #endif
 916
 917 #if defined(USE_DYN_NOTCH_FILTER)
 918     case OSD_STAT_MAX_FFT:
 919         if (isDynNotchActive()) {
 920             int value = getMaxFFT();
 921             if (value > 0) {
 922                 tfp_sprintf(buff, "%dHZ", value);
 923                 osdDisplayStatisticLabel(midCol, displayRow, "PEAK FFT", buff);
 924             } else {
 925                 osdDisplayStatisticLabel(midCol, displayRow, "PEAK FFT", "THRT<20%");
 926             }
 927             return true;
 928         }
 929         break;
 930 #endif
 931
 932 #ifdef USE_RX_RSSI_DBM
 933     case OSD_STAT_MIN_RSSI_DBM:
 934         tfp_sprintf(buff, "%3d", stats.min_rssi_dbm);
 935         osdDisplayStatisticLabel(midCol, displayRow, "MIN RSSI DBM", buff);
 936         return true;
 937 #endif
 938
 939 #ifdef USE_RX_RSNR
 940     case OSD_STAT_MIN_RSNR:
 941         tfp_sprintf(buff, "%3d", stats.min_rsnr);
 942         osdDisplayStatisticLabel(midCol, displayRow, "MIN RSNR", buff);
 943         return true;
 944 #endif
 945
 946 #ifdef USE_PERSISTENT_STATS
 947     case OSD_STAT_TOTAL_FLIGHTS:
 948         itoa(statsConfig()->stats_total_flights, buff, 10);
 949         osdDisplayStatisticLabel(midCol, displayRow, "TOTAL FLIGHTS", buff);
 950         return true;
 951
 952     case OSD_STAT_TOTAL_TIME: {
 953         int minutes = statsConfig()->stats_total_time_s / 60;
 954         tfp_sprintf(buff, "%d:%02dH", minutes / 60, minutes % 60);
 955         osdDisplayStatisticLabel(midCol, displayRow, "TOTAL FLIGHT TIME", buff);
 956         return true;
 957     }
 958
 959     case OSD_STAT_TOTAL_DIST:
 960         #define METERS_PER_KILOMETER 1000
 961         #define METERS_PER_MILE      1609
 962         if (osdConfig()->units == UNIT_IMPERIAL) {
 963             tfp_sprintf(buff, "%d%c", statsConfig()->stats_total_dist_m / METERS_PER_MILE, SYM_MILES);
 964         } else {
 965             tfp_sprintf(buff, "%d%c", statsConfig()->stats_total_dist_m / METERS_PER_KILOMETER, SYM_KM);
 966         }
 967         osdDisplayStatisticLabel(midCol, displayRow, "TOTAL DISTANCE", buff);
 968         return true;
 969 #endif
 970     }
 971     return false;
 972 }
 973
 974 typedef struct osdStatsRenderingState_s {
 975     uint8_t row;
 976     uint8_t index;
 977     uint8_t rowCount;
 978 } osdStatsRenderingState_t;
 979
 980 static osdStatsRenderingState_t osdStatsRenderingState;
 981
 982 static void osdRenderStatsReset(void)
 983 {
 984     // reset to 0 so it will be recalculated on the next stats refresh
 985     osdStatsRenderingState.rowCount = 0;
 986 }
 987
 988 static void osdRenderStatsBegin(void)
 989 {
 990     osdStatsRenderingState.row = 0;
 991     osdStatsRenderingState.index = 0;
 992 }
 993
 994
 995 // call repeatedly until it returns true which indicates that all stats have been rendered.
 996 static bool osdRenderStatsContinue(void)
 997 {
 998     uint8_t midCol = osdDisplayPort->cols / 2;
 999
1000     if (osdStatsRenderingState.row == 0) {
1001
1002         bool displayLabel = false;
1003
1004         // if rowCount is 0 then we're running an initial analysis of the active stats items
1005         if (osdStatsRenderingState.rowCount > 0) {
1006             const int availableRows = osdDisplayPort->rows;
1007             int displayRows = MIN(osdStatsRenderingState.rowCount, availableRows);
1008             if (osdStatsRenderingState.rowCount < availableRows) {
1009                 displayLabel = true;
1010                 displayRows++;
1011             }
1012             osdStatsRenderingState.row = (availableRows - displayRows) / 2;  // center the stats vertically
1013         }
1014
1015         if (displayLabel) {
1016             displayWrite(osdDisplayPort, midCol - (strlen("--- STATS ---") / 2), osdStatsRenderingState.row++, DISPLAYPORT_ATTR_NORMAL, "--- STATS ---");
1017             return false;
1018         }
1019     }
1020
1021
1022     bool renderedStat = false;
1023
1024     while (osdStatsRenderingState.index < OSD_STAT_COUNT) {
1025         int index = osdStatsRenderingState.index;
1026
1027         // prepare for the next call to the method
1028         osdStatsRenderingState.index++;
1029
1030         // look for something to render
1031         if (osdStatGetState(osdStatsDisplayOrder[index])) {
1032             if (osdDisplayStat(osdStatsDisplayOrder[index], osdStatsRenderingState.row)) {
1033                 osdStatsRenderingState.row++;
1034                 renderedStat = true;
1035                 break;
1036             }
1037         }
1038     }
1039
1040     bool moreSpaceAvailable = osdStatsRenderingState.row < osdDisplayPort->rows;
1041
1042     if (renderedStat && moreSpaceAvailable) {
1043         return false;
1044     }
1045
1046     if (osdStatsRenderingState.rowCount == 0) {
1047         osdStatsRenderingState.rowCount = osdStatsRenderingState.row;
1048     }
1049
1050     return true;
1051 }
1052
1053 // returns true when all phases are complete
1054 static bool osdRefreshStats(void)
1055 {
1056     bool completed = false;
1057
1058     typedef enum {
1059         INITIAL_CLEAR_SCREEN = 0,
1060         COUNT_STATS,
1061         CLEAR_SCREEN,
1062         RENDER_STATS,
1063     } osdRefreshStatsPhase_e;
1064
1065     static osdRefreshStatsPhase_e phase = INITIAL_CLEAR_SCREEN;
1066
1067     switch (phase) {
1068     default:
1069     case INITIAL_CLEAR_SCREEN:
1070         osdRenderStatsBegin();
1071         if (osdStatsRenderingState.rowCount > 0) {
1072             phase = RENDER_STATS;
1073         } else {
1074             phase = COUNT_STATS;
1075         }
1076         displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1077         break;
1078     case COUNT_STATS:
1079         {
1080             // No stats row count has been set yet.
1081             // Go through the logic one time to determine how many stats are actually displayed.
1082             bool count_phase_complete = osdRenderStatsContinue();
1083             if (count_phase_complete) {
1084                 phase = CLEAR_SCREEN;
1085             }
1086             break;
1087         }
1088     case CLEAR_SCREEN:
1089         osdRenderStatsBegin();
1090         // Then clear the screen and commence with normal stats display which will
1091         // determine if the heading should be displayed and also center the content vertically.
1092         displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1093         phase = RENDER_STATS;
1094         break;
1095     case RENDER_STATS:
1096         completed = osdRenderStatsContinue();
1097         break;
1098     };
1099
1100     if (completed) {
1101         phase = INITIAL_CLEAR_SCREEN;
1102     }
1103
1104     return completed;
1105 }
1106
1107 static timeDelta_t osdShowArmed(void)
1108 {
1109     uint8_t midRow = osdDisplayPort->rows / 2;
1110     uint8_t midCol = osdDisplayPort->cols / 2;
1111     timeDelta_t ret;
1112
1113     displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_WAIT);
1114
1115     if ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_ON) || ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_FIRST) && !ARMING_FLAG(WAS_EVER_ARMED))) {
1116         uint8_t midRow = osdDisplayPort->rows / 2;
1117         uint8_t midCol = osdDisplayPort->cols / 2;
1118         osdDrawLogo(midCol - (OSD_LOGO_COLS) / 2, midRow - 5);
1119         ret = osdConfig()->logo_on_arming_duration * 1e5;
1120     } else {
1121         ret = (REFRESH_1S / 2);
1122     }
1123     displayWrite(osdDisplayPort, midCol - (strlen("ARMED") / 2), midRow, DISPLAYPORT_ATTR_NORMAL, "ARMED");
1124
1125     if (isFlipOverAfterCrashActive()) {
1126         displayWrite(osdDisplayPort, midCol - (strlen(CRASH_FLIP_WARNING) / 2), midRow + 1, DISPLAYPORT_ATTR_NORMAL, CRASH_FLIP_WARNING);
1127     }
1128
1129     return ret;
1130 }
1131
1132 static bool osdStatsVisible = false;
1133 static bool osdStatsEnabled = false;
1134
1135 STATIC_UNIT_TESTED bool osdProcessStats1(timeUs_t currentTimeUs)
1136 {
1137     static timeUs_t lastTimeUs = 0;
1138     static timeUs_t osdStatsRefreshTimeUs;
1139     static timeUs_t osdAuxRefreshTimeUs = 0;
1140
1141     bool refreshStatsRequired = false;
1142
1143     // detect arm/disarm
1144     if (armState != ARMING_FLAG(ARMED)) {
1145         if (ARMING_FLAG(ARMED)) {
1146             osdStatsEnabled = false;
1147             osdStatsVisible = false;
1148             osdResetStats();
1149             resumeRefreshAt = osdShowArmed() + currentTimeUs;
1150         } else if (isSomeStatEnabled()
1151                    && !suppressStatsDisplay
1152                    && !failsafeIsActive()
1153                    && (!(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))
1154                        || !VISIBLE(osdElementConfig()->item_pos[OSD_WARNINGS]))) { // suppress stats if runaway takeoff triggered disarm and WARNINGS element is visible
1155             osdStatsEnabled = true;
1156             resumeRefreshAt = currentTimeUs + (60 * REFRESH_1S);
1157             stats.end_voltage = getStatsVoltage();
1158             osdRenderStatsReset();
1159         }
1160
1161         armState = ARMING_FLAG(ARMED);
1162     }
1163
1164     if (ARMING_FLAG(ARMED)) {
1165         osdUpdateStats();
1166         timeUs_t deltaT = currentTimeUs - lastTimeUs;
1167         osdFlyTime += deltaT;
1168         stats.armed_time += deltaT;
1169     } else if (osdStatsEnabled) {  // handle showing/hiding stats based on OSD disable switch position
1170         if (displayIsGrabbed(osdDisplayPort)) {
1171             osdStatsEnabled = false;
1172             resumeRefreshAt = 0;
1173             stats.armed_time = 0;
1174         } else {
1175             if (IS_RC_MODE_ACTIVE(BOXOSD) && osdStatsVisible) {
1176                 osdStatsVisible = false;
1177                 displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1178             } else if (!IS_RC_MODE_ACTIVE(BOXOSD)) {
1179                 if (!osdStatsVisible) {
1180                     osdStatsVisible = true;
1181                     osdStatsRefreshTimeUs = 0;
1182                 }
1183                 if (currentTimeUs >= osdStatsRefreshTimeUs) {
1184                     osdStatsRefreshTimeUs = currentTimeUs + REFRESH_1S;
1185                     refreshStatsRequired = true;
1186                 }
1187             }
1188         }
1189     }
1190
1191     if (VISIBLE(osdElementConfig()->item_pos[OSD_AUX_VALUE])) {
1192         const uint8_t auxChannel = osdConfig()->aux_channel + NON_AUX_CHANNEL_COUNT - 1;
1193         if (currentTimeUs > osdAuxRefreshTimeUs) {
1194             // aux channel start after main channels
1195             osdAuxValue = (constrain(rcData[auxChannel], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * osdConfig()->aux_scale / PWM_RANGE;
1196             osdAuxRefreshTimeUs = currentTimeUs + REFRESH_1S;
1197         }
1198     }
1199
1200     lastTimeUs = currentTimeUs;
1201
1202     return refreshStatsRequired;
1203 }
1204
1205 void osdProcessStats2(timeUs_t currentTimeUs)
1206 {
1207     displayBeginTransaction(osdDisplayPort, DISPLAY_TRANSACTION_OPT_RESET_DRAWING);
1208
1209     if (resumeRefreshAt) {
1210         if (cmp32(currentTimeUs, resumeRefreshAt) < 0) {
1211             // in timeout period, check sticks for activity or CRASH FLIP switch to resume display.
1212             if (!ARMING_FLAG(ARMED) &&
1213                 (IS_HI(THROTTLE) || IS_HI(PITCH) || IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH))) {
1214                 resumeRefreshAt = currentTimeUs;
1215             }
1216             return;
1217         } else {
1218             displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1219             resumeRefreshAt = 0;
1220             osdStatsEnabled = false;
1221             stats.armed_time = 0;
1222         }
1223
1224         schedulerIgnoreTaskExecTime();
1225     }
1226 #ifdef USE_ESC_SENSOR
1227     if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
1228         osdEscDataCombined = getEscSensorData(ESC_SENSOR_COMBINED);
1229     }
1230 #endif
1231 }
1232
1233 void osdProcessStats3(void)
1234 {
1235 #if defined(USE_ACC)
1236     if (sensors(SENSOR_ACC)
1237        && (VISIBLE(osdElementConfig()->item_pos[OSD_G_FORCE]) || osdStatGetState(OSD_STAT_MAX_G_FORCE))) {
1238             // only calculate the G force if the element is visible or the stat is enabled
1239         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
1240             const float a = acc.accADC[axis];
1241             osdGForce += a * a;
1242         }
1243         osdGForce = sqrtf(osdGForce) * acc.dev.acc_1G_rec;
1244     }
1245 #endif
1246 }
1247
1248 typedef enum {
1249     OSD_STATE_INIT,
1250     OSD_STATE_IDLE,
1251     OSD_STATE_CHECK,
1252     OSD_STATE_PROCESS_STATS1,
1253     OSD_STATE_REFRESH_STATS,
1254     OSD_STATE_PROCESS_STATS2,
1255     OSD_STATE_PROCESS_STATS3,
1256     OSD_STATE_UPDATE_ALARMS,
1257     OSD_STATE_UPDATE_CANVAS,
1258     OSD_STATE_GROUP_ELEMENTS,
1259     OSD_STATE_UPDATE_ELEMENTS,
1260     OSD_STATE_UPDATE_HEARTBEAT,
1261     OSD_STATE_COMMIT,
1262     OSD_STATE_TRANSFER,
1263     OSD_STATE_COUNT
1264 } osdState_e;
1265
1266 osdState_e osdState = OSD_STATE_INIT;
1267
1268 #define OSD_UPDATE_INTERVAL_US (1000000 / osdConfig()->framerate_hz)
1269
1270 // Called periodically by the scheduler
1271 bool osdUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs)
1272 {
1273     UNUSED(currentDeltaTimeUs);
1274     static timeUs_t osdUpdateDueUs = 0;
1275
1276     if (osdState == OSD_STATE_IDLE) {
1277         // If the OSD is due a refresh, mark that as being the case
1278         if (cmpTimeUs(currentTimeUs, osdUpdateDueUs) > 0) {
1279             osdState = OSD_STATE_CHECK;
1280
1281             // Determine time of next update
1282             if (osdUpdateDueUs) {
1283                 osdUpdateDueUs += OSD_UPDATE_INTERVAL_US;
1284             } else {
1285                 osdUpdateDueUs = currentTimeUs + OSD_UPDATE_INTERVAL_US;
1286             }
1287         }
1288     }
1289
1290     return (osdState != OSD_STATE_IDLE);
1291 }
1292
1293 // Called when there is OSD update work to be done
1294 void osdUpdate(timeUs_t currentTimeUs)
1295 {
1296     static uint16_t osdStateDurationFractionUs[OSD_STATE_COUNT] = { 0 };
1297     static uint32_t osdElementDurationUs[OSD_ITEM_COUNT] = { 0 };
1298     static uint8_t osdElementGroupMemberships[OSD_ITEM_COUNT];
1299     static uint16_t osdElementGroupTargetFractionUs[OSD_GROUP_COUNT] = { 0 };
1300     static uint16_t osdElementGroupDurationFractionUs[OSD_GROUP_COUNT] = { 0 };
1301     static uint8_t osdElementGroup;
1302     static bool firstPass = true;
1303     uint8_t osdCurrentElementGroup = 0;
1304     timeUs_t executeTimeUs;
1305     osdState_e osdCurrentState = osdState;
1306
1307     if (osdState != OSD_STATE_UPDATE_CANVAS) {
1308         schedulerIgnoreTaskExecRate();
1309     }
1310
1311     switch (osdState) {
1312     case OSD_STATE_INIT:
1313         if (!displayCheckReady(osdDisplayPort, false)) {
1314             // Frsky osd need a display redraw after search for MAX7456 devices
1315             if (osdDisplayPortDeviceType == OSD_DISPLAYPORT_DEVICE_FRSKYOSD) {
1316                 displayRedraw(osdDisplayPort);
1317             } else {
1318                 schedulerIgnoreTaskExecTime();
1319             }
1320             return;
1321         }
1322
1323         osdCompleteInitialization();
1324         displayRedraw(osdDisplayPort);
1325         osdState = OSD_STATE_COMMIT;
1326
1327         break;
1328
1329     case OSD_STATE_CHECK:
1330         // don't touch buffers if DMA transaction is in progress
1331         if (displayIsTransferInProgress(osdDisplayPort)) {
1332             break;
1333         }
1334
1335         osdState = OSD_STATE_UPDATE_HEARTBEAT;
1336         break;
1337
1338     case OSD_STATE_UPDATE_HEARTBEAT:
1339         if (displayHeartbeat(osdDisplayPort)) {
1340             // Extraordinary action was taken, so return without allowing osdStateDurationFractionUs table to be updated
1341             return;
1342         }
1343
1344         osdState = OSD_STATE_PROCESS_STATS1;
1345         break;
1346
1347     case OSD_STATE_PROCESS_STATS1:
1348         {
1349             bool refreshStatsRequired = osdProcessStats1(currentTimeUs);
1350
1351             if (refreshStatsRequired) {
1352                 osdState = OSD_STATE_REFRESH_STATS;
1353             } else {
1354                 osdState = OSD_STATE_PROCESS_STATS2;
1355             }
1356             break;
1357         }
1358     case OSD_STATE_REFRESH_STATS:
1359         {
1360             bool completed = osdRefreshStats();
1361             if (completed) {
1362                 osdState = OSD_STATE_PROCESS_STATS2;
1363             }
1364             break;
1365         }
1366     case OSD_STATE_PROCESS_STATS2:
1367         osdProcessStats2(currentTimeUs);
1368
1369         osdState = OSD_STATE_PROCESS_STATS3;
1370         break;
1371     case OSD_STATE_PROCESS_STATS3:
1372         osdProcessStats3();
1373
1374 #ifdef USE_CMS
1375         if (!displayIsGrabbed(osdDisplayPort))
1376 #endif
1377         {
1378             osdState = OSD_STATE_UPDATE_ALARMS;
1379             break;
1380         }
1381
1382         osdState = OSD_STATE_COMMIT;
1383         break;
1384
1385     case OSD_STATE_UPDATE_ALARMS:
1386         osdUpdateAlarms();
1387
1388         if (resumeRefreshAt) {
1389             osdState = OSD_STATE_TRANSFER;
1390         } else {
1391             osdState = OSD_STATE_UPDATE_CANVAS;
1392         }
1393         break;
1394
1395     case OSD_STATE_UPDATE_CANVAS:
1396         // Hide OSD when OSDSW mode is active
1397         if (IS_RC_MODE_ACTIVE(BOXOSD)) {
1398             displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1399             osdState = OSD_STATE_COMMIT;
1400             break;
1401         }
1402
1403         if (backgroundLayerSupported) {
1404             // Background layer is supported, overlay it onto the foreground
1405             // so that we only need to draw the active parts of the elements.
1406             displayLayerCopy(osdDisplayPort, DISPLAYPORT_LAYER_FOREGROUND, DISPLAYPORT_LAYER_BACKGROUND);
1407         } else {
1408             // Background layer not supported, just clear the foreground in preparation
1409             // for drawing the elements including their backgrounds.
1410             displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1411         }
1412
1413 #ifdef USE_GPS
1414         static bool lastGpsSensorState;
1415         // Handle the case that the GPS_SENSOR may be delayed in activation
1416         // or deactivate if communication is lost with the module.
1417         const bool currentGpsSensorState = sensors(SENSOR_GPS);
1418         if (lastGpsSensorState != currentGpsSensorState) {
1419             lastGpsSensorState = currentGpsSensorState;
1420             osdAnalyzeActiveElements();
1421         }
1422 #endif // USE_GPS
1423
1424         osdSyncBlink();
1425
1426         osdState = OSD_STATE_GROUP_ELEMENTS;
1427
1428         break;
1429
1430     case OSD_STATE_GROUP_ELEMENTS:
1431         {
1432             uint8_t elementGroup;
1433             uint8_t activeElements = osdGetActiveElementCount();
1434
1435             // Reset groupings
1436             for (elementGroup = 0; elementGroup < OSD_GROUP_COUNT; elementGroup++) {
1437                 if (osdElementGroupDurationFractionUs[elementGroup] > (OSD_ELEMENT_RENDER_TARGET << OSD_EXEC_TIME_SHIFT)) {
1438                     osdElementGroupDurationFractionUs[elementGroup] = 0;
1439                 }
1440                 osdElementGroupTargetFractionUs[elementGroup] = 0;
1441             }
1442
1443             elementGroup = 0;
1444
1445             // Based on the current element rendering, group to execute in approx 40us
1446             for (uint8_t curElement = 0; curElement < activeElements; curElement++) {
1447                 if ((osdElementGroupTargetFractionUs[elementGroup] == 0) ||
1448                     (osdElementGroupTargetFractionUs[elementGroup] + (osdElementDurationUs[curElement]) <= (OSD_ELEMENT_RENDER_TARGET << OSD_EXEC_TIME_SHIFT)) ||
1449                     (elementGroup == (OSD_GROUP_COUNT - 1))) {
1450                     osdElementGroupTargetFractionUs[elementGroup] += osdElementDurationUs[curElement];
1451                     // If group membership changes, reset the stats for the group
1452                     if (osdElementGroupMemberships[curElement] != elementGroup) {
1453                         osdElementGroupDurationFractionUs[elementGroup] = osdElementGroupTargetFractionUs[elementGroup] + (OSD_ELEMENT_RENDER_GROUP_MARGIN << OSD_EXEC_TIME_SHIFT);
1454                     }
1455                     osdElementGroupMemberships[curElement] = elementGroup;
1456                 } else {
1457                     elementGroup++;
1458                     // Try again for this element
1459                     curElement--;
1460                 }
1461             }
1462
1463             // Start with group 0
1464             osdElementGroup = 0;
1465
1466             if (activeElements > 0) {
1467                 osdState = OSD_STATE_UPDATE_ELEMENTS;
1468             } else {
1469                 osdState = OSD_STATE_COMMIT;
1470             }
1471         }
1472         break;
1473
1474     case OSD_STATE_UPDATE_ELEMENTS:
1475         {
1476             osdCurrentElementGroup = osdElementGroup;
1477             bool moreElements = true;
1478
1479             do {
1480                 timeUs_t startElementTime = micros();
1481                 uint8_t osdCurrentElement = osdGetActiveElement();
1482
1483                 // This element should be rendered in the next group
1484                 if (osdElementGroupMemberships[osdCurrentElement] != osdElementGroup) {
1485                     osdElementGroup++;
1486                     break;
1487                 }
1488
1489                 moreElements = osdDrawNextActiveElement(osdDisplayPort, currentTimeUs);
1490
1491                 executeTimeUs = micros() - startElementTime;
1492
1493                 if (executeTimeUs > (osdElementDurationUs[osdCurrentElement] >> OSD_EXEC_TIME_SHIFT)) {
1494                     osdElementDurationUs[osdCurrentElement] = executeTimeUs << OSD_EXEC_TIME_SHIFT;
1495                 } else if (osdElementDurationUs[osdCurrentElement] > 0) {
1496                     // Slowly decay the max time
1497                     osdElementDurationUs[osdCurrentElement]--;
1498                 }
1499             } while (moreElements);
1500
1501             if (moreElements) {
1502                 // There are more elements to draw
1503                 break;
1504             }
1505
1506             osdElementGroup = 0;
1507
1508             osdState = OSD_STATE_COMMIT;
1509         }
1510         break;
1511
1512     case OSD_STATE_COMMIT:
1513         displayCommitTransaction(osdDisplayPort);
1514
1515         if (resumeRefreshAt) {
1516             osdState = OSD_STATE_IDLE;
1517         } else {
1518             osdState = OSD_STATE_TRANSFER;
1519         }
1520         break;
1521
1522     case OSD_STATE_TRANSFER:
1523         // Wait for any current transfer to complete
1524         if (displayIsTransferInProgress(osdDisplayPort)) {
1525             break;
1526         }
1527
1528         // Transfer may be broken into many parts
1529         if (displayDrawScreen(osdDisplayPort)) {
1530             break;
1531         }
1532
1533         firstPass = false;
1534         osdState = OSD_STATE_IDLE;
1535
1536         break;
1537
1538     case OSD_STATE_IDLE:
1539     default:
1540         osdState = OSD_STATE_IDLE;
1541         break;
1542     }
1543
1544     if (!schedulerGetIgnoreTaskExecTime()) {
1545         executeTimeUs = micros() - currentTimeUs;
1546
1547
1548         // On the first pass no element groups will have been formed, so all elements will have been
1549         // rendered which is unrepresentative, so ignore
1550         if (!firstPass) {
1551             if (osdCurrentState == OSD_STATE_UPDATE_ELEMENTS) {
1552                 if (executeTimeUs > (osdElementGroupDurationFractionUs[osdCurrentElementGroup] >> OSD_EXEC_TIME_SHIFT)) {
1553                     osdElementGroupDurationFractionUs[osdCurrentElementGroup] = executeTimeUs << OSD_EXEC_TIME_SHIFT;
1554                 } else if (osdElementGroupDurationFractionUs[osdCurrentElementGroup] > 0) {
1555                     // Slowly decay the max time
1556                     osdElementGroupDurationFractionUs[osdCurrentElementGroup]--;
1557                 }
1558             }
1559
1560             if (executeTimeUs > (osdStateDurationFractionUs[osdCurrentState] >> OSD_EXEC_TIME_SHIFT)) {
1561                 osdStateDurationFractionUs[osdCurrentState] = executeTimeUs << OSD_EXEC_TIME_SHIFT;
1562             } else if (osdStateDurationFractionUs[osdCurrentState] > 0) {
1563                 // Slowly decay the max time
1564                 osdStateDurationFractionUs[osdCurrentState]--;
1565             }
1566         }
1567     }
1568
1569     if (osdState == OSD_STATE_UPDATE_ELEMENTS) {
1570         schedulerSetNextStateTime((osdElementGroupDurationFractionUs[osdElementGroup] >> OSD_EXEC_TIME_SHIFT) + OSD_ELEMENT_RENDER_GROUP_MARGIN);
1571     } else {
1572         if (osdState == OSD_STATE_IDLE) {
1573             schedulerSetNextStateTime((osdStateDurationFractionUs[OSD_STATE_CHECK] >> OSD_EXEC_TIME_SHIFT) + OSD_TASK_MARGIN);
1574         } else {
1575             schedulerSetNextStateTime((osdStateDurationFractionUs[osdState] >> OSD_EXEC_TIME_SHIFT) + OSD_TASK_MARGIN);
1576         }
1577     }
1578 }
1579
1580 void osdSuppressStats(bool flag)
1581 {
1582     suppressStatsDisplay = flag;
1583 }
1584
1585 #ifdef USE_OSD_PROFILES
1586 bool osdElementVisible(uint16_t value)
1587 {
1588     return (bool)((((value & OSD_PROFILE_MASK) >> OSD_PROFILE_BITS_POS) & osdProfile) != 0);
1589 }
1590 #endif
1591
1592 bool osdGetVisualBeeperState(void)
1593 {
1594     return showVisualBeeper;
1595 }
1596
1597 void osdSetVisualBeeperState(bool state)
1598 {
1599     showVisualBeeper = state;
1600 }
1601
1602 statistic_t *osdGetStats(void)
1603 {
1604     return &stats;
1605 }
1606
1607 #ifdef USE_ACC
1608 // Determine if there are any enabled stats that need
1609 // the ACC (currently only MAX_G_FORCE).
1610 static bool osdStatsNeedAccelerometer(void)
1611 {
1612     return osdStatGetState(OSD_STAT_MAX_G_FORCE);
1613 }
1614
1615 // Check if any enabled elements or stats need the ACC
1616 bool osdNeedsAccelerometer(void)
1617 {
1618     return osdStatsNeedAccelerometer() || osdElementsNeedAccelerometer();
1619 }
1620 #endif // USE_ACC
1621
1622 displayPort_t *osdGetDisplayPort(osdDisplayPortDevice_e *displayPortDeviceType)
1623 {
1624     if (displayPortDeviceType) {
1625         *displayPortDeviceType = osdDisplayPortDeviceType;
1626     }
1627     return osdDisplayPort;
1628 }
1629
1630 #endif // USE_OSD