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     osdConfig->canvas_cols = OSD_HD_COLS;
 406     osdConfig->canvas_rows = OSD_HD_ROWS;
 407 }
 408
 409 void pgResetFn_osdElementConfig(osdElementConfig_t *osdElementConfig)
 410 {
 411     // Position elements near centre of screen and disabled by default
 412     for (int i = 0; i < OSD_ITEM_COUNT; i++) {
 413         osdElementConfig->item_pos[i] = OSD_POS(10, 7);
 414     }
 415
 416     // Always enable warnings elements by default
 417     uint16_t profileFlags = 0;
 418     for (unsigned i = 1; i <= OSD_PROFILE_COUNT; i++) {
 419         profileFlags |= OSD_PROFILE_FLAG(i);
 420     }
 421     osdElementConfig->item_pos[OSD_WARNINGS] = OSD_POS(9, 10) | profileFlags;
 422
 423     // Default to old fixed positions for these elements
 424     osdElementConfig->item_pos[OSD_CROSSHAIRS]         = OSD_POS(13, 6);
 425     osdElementConfig->item_pos[OSD_ARTIFICIAL_HORIZON] = OSD_POS(14, 2);
 426     osdElementConfig->item_pos[OSD_HORIZON_SIDEBARS]   = OSD_POS(14, 6);
 427     osdElementConfig->item_pos[OSD_CAMERA_FRAME]       = OSD_POS(3, 1);
 428     osdElementConfig->item_pos[OSD_UP_DOWN_REFERENCE]  = OSD_POS(13, 6);
 429 }
 430
 431 static void osdDrawLogo(int x, int y)
 432 {
 433     // display logo and help
 434     int fontOffset = 160;
 435     for (int row = 0; row < OSD_LOGO_ROWS; row++) {
 436         for (int column = 0; column < OSD_LOGO_COLS; column++) {
 437             if (fontOffset <= SYM_END_OF_FONT)
 438                 displayWriteChar(osdDisplayPort, x + column, y + row, DISPLAYPORT_ATTR_NORMAL, fontOffset++);
 439         }
 440     }
 441 }
 442
 443 static void osdCompleteInitialization(void)
 444 {
 445     uint8_t midRow = osdDisplayPort->rows / 2;
 446     uint8_t midCol = osdDisplayPort->cols / 2;
 447
 448     armState = ARMING_FLAG(ARMED);
 449
 450     osdResetAlarms();
 451
 452     backgroundLayerSupported = displayLayerSupported(osdDisplayPort, DISPLAYPORT_LAYER_BACKGROUND);
 453     displayLayerSelect(osdDisplayPort, DISPLAYPORT_LAYER_FOREGROUND);
 454
 455     displayBeginTransaction(osdDisplayPort, DISPLAY_TRANSACTION_OPT_RESET_DRAWING);
 456     displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_WAIT);
 457
 458     osdDrawLogo(midCol - (OSD_LOGO_COLS) / 2, midRow - 5);
 459
 460     char string_buffer[30];
 461     tfp_sprintf(string_buffer, "V%s", FC_VERSION_STRING);
 462     displayWrite(osdDisplayPort, midCol + 5, midRow, DISPLAYPORT_ATTR_NORMAL, string_buffer);
 463 #ifdef USE_CMS
 464     displayWrite(osdDisplayPort, midCol - 8, midRow + 2,  DISPLAYPORT_ATTR_NORMAL, CMS_STARTUP_HELP_TEXT1);
 465     displayWrite(osdDisplayPort, midCol - 4, midRow + 3, DISPLAYPORT_ATTR_NORMAL, CMS_STARTUP_HELP_TEXT2);
 466     displayWrite(osdDisplayPort, midCol - 4, midRow + 4, DISPLAYPORT_ATTR_NORMAL, CMS_STARTUP_HELP_TEXT3);
 467 #endif
 468
 469 #ifdef USE_RTC_TIME
 470     char dateTimeBuffer[FORMATTED_DATE_TIME_BUFSIZE];
 471     if (osdFormatRtcDateTime(&dateTimeBuffer[0])) {
 472         displayWrite(osdDisplayPort, midCol - 10, midRow + 6, DISPLAYPORT_ATTR_NORMAL, dateTimeBuffer);
 473     }
 474 #endif
 475
 476     resumeRefreshAt = micros() + (4 * REFRESH_1S);
 477 #ifdef USE_OSD_PROFILES
 478     setOsdProfile(osdConfig()->osdProfileIndex);
 479 #endif
 480
 481     osdElementsInit(backgroundLayerSupported);
 482     osdAnalyzeActiveElements();
 483
 484     osdIsReady = true;
 485 }
 486
 487 void osdInit(displayPort_t *osdDisplayPortToUse, osdDisplayPortDevice_e displayPortDeviceType)
 488 {
 489     osdDisplayPortDeviceType = displayPortDeviceType;
 490
 491     if (!osdDisplayPortToUse) {
 492         return;
 493     }
 494
 495     osdDisplayPort = osdDisplayPortToUse;
 496 #ifdef USE_CMS
 497     cmsDisplayPortRegister(osdDisplayPort);
 498 #endif
 499
 500     // Ensure that all OSD elements are on the canvas
 501     for (int i = 0; i < OSD_ITEM_COUNT; i++) {
 502         uint16_t itemPos = osdElementConfig()->item_pos[i];
 503         uint8_t elemPosX = OSD_X(itemPos);
 504         uint8_t elemPosY = OSD_Y(itemPos);
 505         uint16_t elemProfileType = itemPos & (OSD_PROFILE_MASK | OSD_TYPE_MASK);
 506         bool pos_reset = false;
 507
 508         if (elemPosX >= osdDisplayPort->cols) {
 509             elemPosX = osdDisplayPort->cols - 1;
 510             pos_reset  = true;
 511         }
 512
 513         if (elemPosY >= osdDisplayPort->rows) {
 514             elemPosY = osdDisplayPort->rows - 1;
 515             pos_reset  = true;
 516         }
 517
 518         if (pos_reset) {
 519             osdElementConfigMutable()->item_pos[i] = elemProfileType | OSD_POS(elemPosX, elemPosY);
 520         }
 521     }
 522
 523 }
 524
 525 static void osdResetStats(void)
 526 {
 527     stats.max_current     = 0;
 528     stats.max_speed       = 0;
 529     stats.min_voltage     = 5000;
 530     stats.end_voltage     = 0;
 531     stats.min_rssi        = 99; // percent
 532     stats.max_altitude    = 0;
 533     stats.max_distance    = 0;
 534     stats.armed_time      = 0;
 535     stats.max_g_force     = 0;
 536     stats.max_esc_temp_ix = 0;
 537     stats.max_esc_temp    = 0;
 538     stats.max_esc_rpm     = 0;
 539     stats.min_link_quality = (linkQualitySource == LQ_SOURCE_NONE) ? 99 : 100; // percent
 540     stats.min_rssi_dbm = CRSF_RSSI_MAX;
 541     stats.min_rsnr = CRSF_SNR_MAX;
 542 }
 543
 544 #if defined(USE_ESC_SENSOR) || defined(USE_DSHOT_TELEMETRY)
 545 static int32_t getAverageEscRpm(void)
 546 {
 547 #ifdef USE_ESC_SENSOR
 548     if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
 549         return erpmToRpm(osdEscDataCombined->rpm);
 550     }
 551 #endif
 552 #ifdef USE_DSHOT_TELEMETRY
 553     if (motorConfig()->dev.useDshotTelemetry) {
 554         return getDshotAverageRpm();
 555     }
 556 #endif
 557     return 0;
 558 }
 559 #endif
 560
 561 static uint16_t getStatsVoltage(void)
 562 {
 563     return osdConfig()->stat_show_cell_value ? getBatteryAverageCellVoltage() : getBatteryVoltage();
 564 }
 565
 566 static void osdUpdateStats(void)
 567 {
 568     int16_t value = 0;
 569
 570 #ifdef USE_GPS
 571     if (gpsConfig()->gps_use_3d_speed) {
 572         value = gpsSol.speed3d;
 573     } else {
 574         value = gpsSol.groundSpeed;
 575     }
 576     if (stats.max_speed < value) {
 577         stats.max_speed = value;
 578     }
 579 #endif
 580
 581     value = getStatsVoltage();
 582     if (stats.min_voltage > value) {
 583         stats.min_voltage = value;
 584     }
 585
 586     value = getAmperage() / 100;
 587     if (stats.max_current < value) {
 588         stats.max_current = value;
 589     }
 590
 591     value = getRssiPercent();
 592     if (stats.min_rssi > value) {
 593         stats.min_rssi = value;
 594     }
 595
 596     int32_t altitudeCm = getEstimatedAltitudeCm();
 597     if (stats.max_altitude < altitudeCm) {
 598         stats.max_altitude = altitudeCm;
 599     }
 600
 601 #if defined(USE_ACC)
 602     if (stats.max_g_force < osdGForce) {
 603         stats.max_g_force = osdGForce;
 604     }
 605 #endif
 606
 607 #ifdef USE_RX_LINK_QUALITY_INFO
 608     value = rxGetLinkQualityPercent();
 609     if (stats.min_link_quality > value) {
 610         stats.min_link_quality = value;
 611     }
 612 #endif
 613
 614 #ifdef USE_RX_RSSI_DBM
 615     value = getRssiDbm();
 616     if (stats.min_rssi_dbm > value) {
 617         stats.min_rssi_dbm = value;
 618     }
 619 #endif
 620
 621 #ifdef USE_RX_RSNR
 622     value = getRsnr();
 623     if (stats.min_rsnr > value) {
 624         stats.min_rsnr = value;
 625     }
 626 #endif
 627
 628 #ifdef USE_GPS
 629     if (STATE(GPS_FIX) && STATE(GPS_FIX_HOME)) {
 630         if (stats.max_distance < GPS_distanceToHome) {
 631             stats.max_distance = GPS_distanceToHome;
 632         }
 633     }
 634 #endif
 635
 636 #if defined(USE_ESC_SENSOR)
 637     if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
 638         value = osdEscDataCombined->temperature;
 639         if (stats.max_esc_temp < value) {
 640             stats.max_esc_temp = value;
 641         }
 642     } else
 643 #endif
 644 #if defined(USE_DSHOT_TELEMETRY)
 645     {
 646         // Take max temp from dshot telemetry
 647         for (uint8_t k = 0; k < getMotorCount(); k++) {
 648             if (dshotTelemetryState.motorState[k].maxTemp > stats.max_esc_temp) {
 649                 stats.max_esc_temp_ix = k + 1;
 650                 stats.max_esc_temp = dshotTelemetryState.motorState[k].maxTemp;
 651             }
 652         }
 653     }
 654 #else
 655     {}
 656 #endif
 657
 658 #if defined(USE_ESC_SENSOR) || defined(USE_DSHOT_TELEMETRY)
 659     int32_t rpm = getAverageEscRpm();
 660     if (stats.max_esc_rpm < rpm) {
 661         stats.max_esc_rpm = rpm;
 662     }
 663 #endif
 664 }
 665
 666 #ifdef USE_BLACKBOX
 667
 668 static void osdGetBlackboxStatusString(char * buff)
 669 {
 670     bool storageDeviceIsWorking = isBlackboxDeviceWorking();
 671     uint32_t storageUsed = 0;
 672     uint32_t storageTotal = 0;
 673
 674     switch (blackboxConfig()->device) {
 675 #ifdef USE_SDCARD
 676     case BLACKBOX_DEVICE_SDCARD:
 677         if (storageDeviceIsWorking) {
 678             storageTotal = sdcard_getMetadata()->numBlocks / 2000;
 679             storageUsed = storageTotal - (afatfs_getContiguousFreeSpace() / 1024000);
 680         }
 681         break;
 682 #endif
 683
 684 #ifdef USE_FLASHFS
 685     case BLACKBOX_DEVICE_FLASH:
 686         if (storageDeviceIsWorking) {
 687
 688             const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
 689             const flashGeometry_t *flashGeometry = flashGetGeometry();
 690
 691             storageTotal = ((FLASH_PARTITION_SECTOR_COUNT(flashPartition) * flashGeometry->sectorSize) / 1024);
 692             storageUsed = flashfsGetOffset() / 1024;
 693         }
 694         break;
 695 #endif
 696
 697     default:
 698         break;
 699     }
 700
 701     if (storageDeviceIsWorking) {
 702         const uint16_t storageUsedPercent = (storageUsed * 100) / storageTotal;
 703         tfp_sprintf(buff, "%d%%", storageUsedPercent);
 704     } else {
 705         tfp_sprintf(buff, "FAULT");
 706     }
 707 }
 708 #endif
 709
 710 static void osdDisplayStatisticLabel(uint8_t x, uint8_t y, const char * text, const char * value)
 711 {
 712     displayWrite(osdDisplayPort, x - 13, y, DISPLAYPORT_ATTR_NORMAL, text);
 713     displayWrite(osdDisplayPort, x + 5, y, DISPLAYPORT_ATTR_NORMAL, ":");
 714     displayWrite(osdDisplayPort, x + 7, y, DISPLAYPORT_ATTR_NORMAL, value);
 715 }
 716
 717 /*
 718  * Test if there's some stat enabled
 719  */
 720 static bool isSomeStatEnabled(void)
 721 {
 722     return (osdConfig()->enabled_stats != 0);
 723 }
 724
 725 // *** IMPORTANT ***
 726 // The stats display order was previously required to match the enumeration definition so it matched
 727 // the order shown in the configurator. However, to allow reordering this screen without breaking the
 728 // compatibility, this requirement has been relaxed to a best effort approach. Reordering the elements
 729 // on the stats screen will have to be more beneficial than the hassle of not matching exactly to the
 730 // configurator list.
 731
 732 static bool osdDisplayStat(int statistic, uint8_t displayRow)
 733 {
 734     uint8_t midCol = osdDisplayPort->cols / 2;
 735     char buff[OSD_ELEMENT_BUFFER_LENGTH];
 736
 737     switch (statistic) {
 738     case OSD_STAT_RTC_DATE_TIME: {
 739         bool success = false;
 740 #ifdef USE_RTC_TIME
 741         success = osdFormatRtcDateTime(&buff[0]);
 742 #endif
 743         if (!success) {
 744             tfp_sprintf(buff, "NO RTC");
 745         }
 746
 747         displayWrite(osdDisplayPort, midCol - 13, displayRow, DISPLAYPORT_ATTR_NORMAL, buff);
 748         return true;
 749     }
 750
 751     case OSD_STAT_TIMER_1:
 752         osdFormatTimer(buff, false, (OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1]) == OSD_TIMER_SRC_ON ? false : true), OSD_TIMER_1);
 753         osdDisplayStatisticLabel(midCol, displayRow, osdTimerSourceNames[OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1])], buff);
 754         return true;
 755
 756     case OSD_STAT_TIMER_2:
 757         osdFormatTimer(buff, false, (OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_2]) == OSD_TIMER_SRC_ON ? false : true), OSD_TIMER_2);
 758         osdDisplayStatisticLabel(midCol, displayRow, osdTimerSourceNames[OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_2])], buff);
 759         return true;
 760
 761     case OSD_STAT_MAX_ALTITUDE: {
 762         osdPrintFloat(buff, SYM_NONE, osdGetMetersToSelectedUnit(stats.max_altitude) / 100.0f, "", 1, true, osdGetMetersToSelectedUnitSymbol());
 763         osdDisplayStatisticLabel(midCol, displayRow, "MAX ALTITUDE", buff);
 764         return true;
 765     }
 766
 767 #ifdef USE_GPS
 768     case OSD_STAT_MAX_SPEED:
 769         if (featureIsEnabled(FEATURE_GPS)) {
 770             tfp_sprintf(buff, "%d%c", osdGetSpeedToSelectedUnit(stats.max_speed), osdGetSpeedToSelectedUnitSymbol());
 771             osdDisplayStatisticLabel(midCol, displayRow, "MAX SPEED", buff);
 772             return true;
 773         }
 774         break;
 775
 776     case OSD_STAT_MAX_DISTANCE:
 777         if (featureIsEnabled(FEATURE_GPS)) {
 778             osdFormatDistanceString(buff, stats.max_distance, SYM_NONE);
 779             osdDisplayStatisticLabel(midCol, displayRow, "MAX DISTANCE", buff);
 780             return true;
 781         }
 782         break;
 783
 784     case OSD_STAT_FLIGHT_DISTANCE:
 785         if (featureIsEnabled(FEATURE_GPS)) {
 786             const int distanceFlown = GPS_distanceFlownInCm / 100;
 787             osdFormatDistanceString(buff, distanceFlown, SYM_NONE);
 788             osdDisplayStatisticLabel(midCol, displayRow, "FLIGHT DISTANCE", buff);
 789             return true;
 790         }
 791         break;
 792 #endif
 793
 794     case OSD_STAT_MIN_BATTERY:
 795         osdPrintFloat(buff, SYM_NONE, stats.min_voltage / 100.0f, "", 2, true, SYM_VOLT);
 796         osdDisplayStatisticLabel(midCol, displayRow, osdConfig()->stat_show_cell_value? "MIN AVG CELL" : "MIN BATTERY", buff);
 797         return true;
 798
 799     case OSD_STAT_END_BATTERY:
 800         osdPrintFloat(buff, SYM_NONE, stats.end_voltage / 100.0f, "", 2, true, SYM_VOLT);
 801         osdDisplayStatisticLabel(midCol, displayRow, osdConfig()->stat_show_cell_value ? "END AVG CELL" : "END BATTERY", buff);
 802         return true;
 803
 804     case OSD_STAT_BATTERY:
 805         {
 806             const uint16_t statsVoltage = getStatsVoltage();
 807             osdPrintFloat(buff, SYM_NONE, statsVoltage / 100.0f, "", 2, true, SYM_VOLT);
 808             osdDisplayStatisticLabel(midCol, displayRow, osdConfig()->stat_show_cell_value ? "AVG BATT CELL" : "BATTERY", buff);
 809             return true;
 810         }
 811         break;
 812
 813     case OSD_STAT_MIN_RSSI:
 814         itoa(stats.min_rssi, buff, 10);
 815         strcat(buff, "%");
 816         osdDisplayStatisticLabel(midCol, displayRow, "MIN RSSI", buff);
 817         return true;
 818
 819     case OSD_STAT_MAX_CURRENT:
 820         if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
 821             tfp_sprintf(buff, "%d%c", stats.max_current, SYM_AMP);
 822             osdDisplayStatisticLabel(midCol, displayRow, "MAX CURRENT", buff);
 823             return true;
 824         }
 825         break;
 826
 827     case OSD_STAT_USED_MAH:
 828         if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
 829             tfp_sprintf(buff, "%d%c", getMAhDrawn(), SYM_MAH);
 830             osdDisplayStatisticLabel(midCol, displayRow, "USED MAH", buff);
 831             return true;
 832         }
 833         break;
 834
 835     case OSD_STAT_WATT_HOURS_DRAWN:
 836         if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
 837             osdPrintFloat(buff, SYM_NONE, getWhDrawn(), "", 2, true, SYM_NONE);
 838             osdDisplayStatisticLabel(midCol, displayRow, "USED WATT HOURS", buff);
 839             return true;
 840         }
 841         break;
 842
 843 #ifdef USE_BLACKBOX
 844     case OSD_STAT_BLACKBOX:
 845         if (blackboxConfig()->device && blackboxConfig()->device != BLACKBOX_DEVICE_SERIAL) {
 846             osdGetBlackboxStatusString(buff);
 847             osdDisplayStatisticLabel(midCol, displayRow, "BLACKBOX", buff);
 848             return true;
 849         }
 850         break;
 851
 852     case OSD_STAT_BLACKBOX_NUMBER:
 853         {
 854             int32_t logNumber = blackboxGetLogNumber();
 855             if (logNumber >= 0) {
 856                 itoa(logNumber, buff, 10);
 857                 osdDisplayStatisticLabel(midCol, displayRow, "BB LOG NUM", buff);
 858                 return true;
 859             }
 860         }
 861         break;
 862 #endif
 863
 864 #if defined(USE_ACC)
 865     case OSD_STAT_MAX_G_FORCE:
 866         if (sensors(SENSOR_ACC)) {
 867             osdPrintFloat(buff, SYM_NONE, stats.max_g_force, "", 1, true, 'G');
 868             osdDisplayStatisticLabel(midCol, displayRow, "MAX G-FORCE", buff);
 869             return true;
 870         }
 871         break;
 872 #endif
 873
 874 #ifdef USE_ESC_SENSOR
 875     case OSD_STAT_MAX_ESC_TEMP:
 876     {
 877         uint16_t ix = 0;
 878         if (stats.max_esc_temp_ix > 0) {
 879             ix = tfp_sprintf(buff, "%d ", stats.max_esc_temp_ix);
 880         }
 881         tfp_sprintf(buff + ix, "%d%c", osdConvertTemperatureToSelectedUnit(stats.max_esc_temp), osdGetTemperatureSymbolForSelectedUnit());
 882         osdDisplayStatisticLabel(midCol, displayRow, "MAX ESC TEMP", buff);
 883         return true;
 884     }
 885 #endif
 886
 887 #if defined(USE_ESC_SENSOR) || defined(USE_DSHOT_TELEMETRY)
 888     case OSD_STAT_MAX_ESC_RPM:
 889         itoa(stats.max_esc_rpm, buff, 10);
 890         osdDisplayStatisticLabel(midCol, displayRow, "MAX ESC RPM", buff);
 891         return true;
 892 #endif
 893
 894 #ifdef USE_RX_LINK_QUALITY_INFO
 895     case OSD_STAT_MIN_LINK_QUALITY:
 896         tfp_sprintf(buff, "%d", stats.min_link_quality);
 897         strcat(buff, "%");
 898         osdDisplayStatisticLabel(midCol, displayRow, "MIN LINK", buff);
 899         return true;
 900 #endif
 901
 902 #if defined(USE_DYN_NOTCH_FILTER)
 903     case OSD_STAT_MAX_FFT:
 904         if (isDynNotchActive()) {
 905             int value = getMaxFFT();
 906             if (value > 0) {
 907                 tfp_sprintf(buff, "%dHZ", value);
 908                 osdDisplayStatisticLabel(midCol, displayRow, "PEAK FFT", buff);
 909             } else {
 910                 osdDisplayStatisticLabel(midCol, displayRow, "PEAK FFT", "THRT<20%");
 911             }
 912             return true;
 913         }
 914         break;
 915 #endif
 916
 917 #ifdef USE_RX_RSSI_DBM
 918     case OSD_STAT_MIN_RSSI_DBM:
 919         tfp_sprintf(buff, "%3d", stats.min_rssi_dbm);
 920         osdDisplayStatisticLabel(midCol, displayRow, "MIN RSSI DBM", buff);
 921         return true;
 922 #endif
 923
 924 #ifdef USE_RX_RSNR
 925     case OSD_STAT_MIN_RSNR:
 926         tfp_sprintf(buff, "%3d", stats.min_rsnr);
 927         osdDisplayStatisticLabel(midCol, displayRow, "MIN RSNR", buff);
 928         return true;
 929 #endif
 930
 931 #ifdef USE_PERSISTENT_STATS
 932     case OSD_STAT_TOTAL_FLIGHTS:
 933         itoa(statsConfig()->stats_total_flights, buff, 10);
 934         osdDisplayStatisticLabel(midCol, displayRow, "TOTAL FLIGHTS", buff);
 935         return true;
 936
 937     case OSD_STAT_TOTAL_TIME: {
 938         int minutes = statsConfig()->stats_total_time_s / 60;
 939         tfp_sprintf(buff, "%d:%02dH", minutes / 60, minutes % 60);
 940         osdDisplayStatisticLabel(midCol, displayRow, "TOTAL FLIGHT TIME", buff);
 941         return true;
 942     }
 943
 944     case OSD_STAT_TOTAL_DIST:
 945         #define METERS_PER_KILOMETER 1000
 946         #define METERS_PER_MILE      1609
 947         if (osdConfig()->units == UNIT_IMPERIAL) {
 948             tfp_sprintf(buff, "%d%c", statsConfig()->stats_total_dist_m / METERS_PER_MILE, SYM_MILES);
 949         } else {
 950             tfp_sprintf(buff, "%d%c", statsConfig()->stats_total_dist_m / METERS_PER_KILOMETER, SYM_KM);
 951         }
 952         osdDisplayStatisticLabel(midCol, displayRow, "TOTAL DISTANCE", buff);
 953         return true;
 954 #endif
 955     }
 956     return false;
 957 }
 958
 959 typedef struct osdStatsRenderingState_s {
 960     uint8_t row;
 961     uint8_t index;
 962     uint8_t rowCount;
 963 } osdStatsRenderingState_t;
 964
 965 static osdStatsRenderingState_t osdStatsRenderingState;
 966
 967 static void osdRenderStatsReset(void)
 968 {
 969     // reset to 0 so it will be recalculated on the next stats refresh
 970     osdStatsRenderingState.rowCount = 0;
 971 }
 972
 973 static void osdRenderStatsBegin(void)
 974 {
 975     osdStatsRenderingState.row = 0;
 976     osdStatsRenderingState.index = 0;
 977 }
 978
 979
 980 // call repeatedly until it returns true which indicates that all stats have been rendered.
 981 static bool osdRenderStatsContinue(void)
 982 {
 983     uint8_t midCol = osdDisplayPort->cols / 2;
 984
 985     if (osdStatsRenderingState.row == 0) {
 986
 987         bool displayLabel = false;
 988
 989         // if rowCount is 0 then we're running an initial analysis of the active stats items
 990         if (osdStatsRenderingState.rowCount > 0) {
 991             const int availableRows = osdDisplayPort->rows;
 992             int displayRows = MIN(osdStatsRenderingState.rowCount, availableRows);
 993             if (osdStatsRenderingState.rowCount < availableRows) {
 994                 displayLabel = true;
 995                 displayRows++;
 996             }
 997             osdStatsRenderingState.row = (availableRows - displayRows) / 2;  // center the stats vertically
 998         }
 999
1000         if (displayLabel) {
1001             displayWrite(osdDisplayPort, midCol - (strlen("--- STATS ---") / 2), osdStatsRenderingState.row++, DISPLAYPORT_ATTR_NORMAL, "--- STATS ---");
1002             return false;
1003         }
1004     }
1005
1006
1007     bool renderedStat = false;
1008
1009     while (osdStatsRenderingState.index < OSD_STAT_COUNT) {
1010         int index = osdStatsRenderingState.index;
1011
1012         // prepare for the next call to the method
1013         osdStatsRenderingState.index++;
1014
1015         // look for something to render
1016         if (osdStatGetState(osdStatsDisplayOrder[index])) {
1017             if (osdDisplayStat(osdStatsDisplayOrder[index], osdStatsRenderingState.row)) {
1018                 osdStatsRenderingState.row++;
1019                 renderedStat = true;
1020                 break;
1021             }
1022         }
1023     }
1024
1025     bool moreSpaceAvailable = osdStatsRenderingState.row < osdDisplayPort->rows;
1026
1027     if (renderedStat && moreSpaceAvailable) {
1028         return false;
1029     }
1030
1031     if (osdStatsRenderingState.rowCount == 0) {
1032         osdStatsRenderingState.rowCount = osdStatsRenderingState.row;
1033     }
1034
1035     return true;
1036 }
1037
1038 // returns true when all phases are complete
1039 static bool osdRefreshStats(void)
1040 {
1041     bool completed = false;
1042
1043     typedef enum {
1044         INITIAL_CLEAR_SCREEN = 0,
1045         COUNT_STATS,
1046         CLEAR_SCREEN,
1047         RENDER_STATS,
1048     } osdRefreshStatsPhase_e;
1049
1050     static osdRefreshStatsPhase_e phase = INITIAL_CLEAR_SCREEN;
1051
1052     switch (phase) {
1053     default:
1054     case INITIAL_CLEAR_SCREEN:
1055         osdRenderStatsBegin();
1056         if (osdStatsRenderingState.rowCount > 0) {
1057             phase = RENDER_STATS;
1058         } else {
1059             phase = COUNT_STATS;
1060         }
1061         displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1062         break;
1063     case COUNT_STATS:
1064         {
1065             // No stats row count has been set yet.
1066             // Go through the logic one time to determine how many stats are actually displayed.
1067             bool count_phase_complete = osdRenderStatsContinue();
1068             if (count_phase_complete) {
1069                 phase = CLEAR_SCREEN;
1070             }
1071             break;
1072         }
1073     case CLEAR_SCREEN:
1074         osdRenderStatsBegin();
1075         // Then clear the screen and commence with normal stats display which will
1076         // determine if the heading should be displayed and also center the content vertically.
1077         displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1078         phase = RENDER_STATS;
1079         break;
1080     case RENDER_STATS:
1081         completed = osdRenderStatsContinue();
1082         break;
1083     };
1084
1085     if (completed) {
1086         phase = INITIAL_CLEAR_SCREEN;
1087     }
1088
1089     return completed;
1090 }
1091
1092 static timeDelta_t osdShowArmed(void)
1093 {
1094     uint8_t midRow = osdDisplayPort->rows / 2;
1095     uint8_t midCol = osdDisplayPort->cols / 2;
1096     timeDelta_t ret;
1097
1098     displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_WAIT);
1099
1100     if ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_ON) || ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_FIRST) && !ARMING_FLAG(WAS_EVER_ARMED))) {
1101         uint8_t midRow = osdDisplayPort->rows / 2;
1102         uint8_t midCol = osdDisplayPort->cols / 2;
1103         osdDrawLogo(midCol - (OSD_LOGO_COLS) / 2, midRow - 5);
1104         ret = osdConfig()->logo_on_arming_duration * 1e5;
1105     } else {
1106         ret = (REFRESH_1S / 2);
1107     }
1108     displayWrite(osdDisplayPort, midCol - (strlen("ARMED") / 2), midRow, DISPLAYPORT_ATTR_NORMAL, "ARMED");
1109
1110     if (isFlipOverAfterCrashActive()) {
1111         displayWrite(osdDisplayPort, midCol - (strlen(CRASH_FLIP_WARNING) / 2), midRow + 1, DISPLAYPORT_ATTR_NORMAL, CRASH_FLIP_WARNING);
1112     }
1113
1114     return ret;
1115 }
1116
1117 static bool osdStatsVisible = false;
1118 static bool osdStatsEnabled = false;
1119
1120 STATIC_UNIT_TESTED bool osdProcessStats1(timeUs_t currentTimeUs)
1121 {
1122     static timeUs_t lastTimeUs = 0;
1123     static timeUs_t osdStatsRefreshTimeUs;
1124     static timeUs_t osdAuxRefreshTimeUs = 0;
1125
1126     bool refreshStatsRequired = false;
1127
1128     // detect arm/disarm
1129     if (armState != ARMING_FLAG(ARMED)) {
1130         if (ARMING_FLAG(ARMED)) {
1131             osdStatsEnabled = false;
1132             osdStatsVisible = false;
1133             osdResetStats();
1134             resumeRefreshAt = osdShowArmed() + currentTimeUs;
1135         } else if (isSomeStatEnabled()
1136                    && !suppressStatsDisplay
1137                    && !failsafeIsActive()
1138                    && (!(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))
1139                        || !VISIBLE(osdElementConfig()->item_pos[OSD_WARNINGS]))) { // suppress stats if runaway takeoff triggered disarm and WARNINGS element is visible
1140             osdStatsEnabled = true;
1141             resumeRefreshAt = currentTimeUs + (60 * REFRESH_1S);
1142             stats.end_voltage = getStatsVoltage();
1143             osdRenderStatsReset();
1144         }
1145
1146         armState = ARMING_FLAG(ARMED);
1147     }
1148
1149     if (ARMING_FLAG(ARMED)) {
1150         osdUpdateStats();
1151         timeUs_t deltaT = currentTimeUs - lastTimeUs;
1152         osdFlyTime += deltaT;
1153         stats.armed_time += deltaT;
1154     } else if (osdStatsEnabled) {  // handle showing/hiding stats based on OSD disable switch position
1155         if (displayIsGrabbed(osdDisplayPort)) {
1156             osdStatsEnabled = false;
1157             resumeRefreshAt = 0;
1158             stats.armed_time = 0;
1159         } else {
1160             if (IS_RC_MODE_ACTIVE(BOXOSD) && osdStatsVisible) {
1161                 osdStatsVisible = false;
1162                 displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1163             } else if (!IS_RC_MODE_ACTIVE(BOXOSD)) {
1164                 if (!osdStatsVisible) {
1165                     osdStatsVisible = true;
1166                     osdStatsRefreshTimeUs = 0;
1167                 }
1168                 if (currentTimeUs >= osdStatsRefreshTimeUs) {
1169                     osdStatsRefreshTimeUs = currentTimeUs + REFRESH_1S;
1170                     refreshStatsRequired = true;
1171                 }
1172             }
1173         }
1174     }
1175
1176     if (VISIBLE(osdElementConfig()->item_pos[OSD_AUX_VALUE])) {
1177         const uint8_t auxChannel = osdConfig()->aux_channel + NON_AUX_CHANNEL_COUNT - 1;
1178         if (currentTimeUs > osdAuxRefreshTimeUs) {
1179             // aux channel start after main channels
1180             osdAuxValue = (constrain(rcData[auxChannel], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * osdConfig()->aux_scale / PWM_RANGE;
1181             osdAuxRefreshTimeUs = currentTimeUs + REFRESH_1S;
1182         }
1183     }
1184
1185     lastTimeUs = currentTimeUs;
1186
1187     return refreshStatsRequired;
1188 }
1189
1190 void osdProcessStats2(timeUs_t currentTimeUs)
1191 {
1192     displayBeginTransaction(osdDisplayPort, DISPLAY_TRANSACTION_OPT_RESET_DRAWING);
1193
1194     if (resumeRefreshAt) {
1195         if (cmp32(currentTimeUs, resumeRefreshAt) < 0) {
1196             // in timeout period, check sticks for activity or CRASH FLIP switch to resume display.
1197             if (!ARMING_FLAG(ARMED) &&
1198                 (IS_HI(THROTTLE) || IS_HI(PITCH) || IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH))) {
1199                 resumeRefreshAt = currentTimeUs;
1200             }
1201             return;
1202         } else {
1203             displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1204             resumeRefreshAt = 0;
1205             osdStatsEnabled = false;
1206             stats.armed_time = 0;
1207         }
1208
1209         schedulerIgnoreTaskExecTime();
1210     }
1211 #ifdef USE_ESC_SENSOR
1212     if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
1213         osdEscDataCombined = getEscSensorData(ESC_SENSOR_COMBINED);
1214     }
1215 #endif
1216 }
1217
1218 void osdProcessStats3(void)
1219 {
1220 #if defined(USE_ACC)
1221     if (sensors(SENSOR_ACC)
1222        && (VISIBLE(osdElementConfig()->item_pos[OSD_G_FORCE]) || osdStatGetState(OSD_STAT_MAX_G_FORCE))) {
1223             // only calculate the G force if the element is visible or the stat is enabled
1224         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
1225             const float a = acc.accADC[axis];
1226             osdGForce += a * a;
1227         }
1228         osdGForce = sqrtf(osdGForce) * acc.dev.acc_1G_rec;
1229     }
1230 #endif
1231 }
1232
1233 typedef enum {
1234     OSD_STATE_INIT,
1235     OSD_STATE_IDLE,
1236     OSD_STATE_CHECK,
1237     OSD_STATE_PROCESS_STATS1,
1238     OSD_STATE_REFRESH_STATS,
1239     OSD_STATE_PROCESS_STATS2,
1240     OSD_STATE_PROCESS_STATS3,
1241     OSD_STATE_UPDATE_ALARMS,
1242     OSD_STATE_UPDATE_CANVAS,
1243     OSD_STATE_GROUP_ELEMENTS,
1244     OSD_STATE_UPDATE_ELEMENTS,
1245     OSD_STATE_UPDATE_HEARTBEAT,
1246     OSD_STATE_COMMIT,
1247     OSD_STATE_TRANSFER,
1248     OSD_STATE_COUNT
1249 } osdState_e;
1250
1251 osdState_e osdState = OSD_STATE_INIT;
1252
1253 #define OSD_UPDATE_INTERVAL_US (1000000 / osdConfig()->framerate_hz)
1254
1255 // Called periodically by the scheduler
1256 bool osdUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs)
1257 {
1258     UNUSED(currentDeltaTimeUs);
1259     static timeUs_t osdUpdateDueUs = 0;
1260
1261     if (osdState == OSD_STATE_IDLE) {
1262         // If the OSD is due a refresh, mark that as being the case
1263         if (cmpTimeUs(currentTimeUs, osdUpdateDueUs) > 0) {
1264             osdState = OSD_STATE_CHECK;
1265
1266             // Determine time of next update
1267             if (osdUpdateDueUs) {
1268                 osdUpdateDueUs += OSD_UPDATE_INTERVAL_US;
1269             } else {
1270                 osdUpdateDueUs = currentTimeUs + OSD_UPDATE_INTERVAL_US;
1271             }
1272         }
1273     }
1274
1275     return (osdState != OSD_STATE_IDLE);
1276 }
1277
1278 // Called when there is OSD update work to be done
1279 void osdUpdate(timeUs_t currentTimeUs)
1280 {
1281     static uint16_t osdStateDurationFractionUs[OSD_STATE_COUNT] = { 0 };
1282     static uint32_t osdElementDurationUs[OSD_ITEM_COUNT] = { 0 };
1283     static uint8_t osdElementGroupMemberships[OSD_ITEM_COUNT];
1284     static uint16_t osdElementGroupTargetFractionUs[OSD_GROUP_COUNT] = { 0 };
1285     static uint16_t osdElementGroupDurationFractionUs[OSD_GROUP_COUNT] = { 0 };
1286     static uint8_t osdElementGroup;
1287     static bool firstPass = true;
1288     uint8_t osdCurrentElementGroup = 0;
1289     timeUs_t executeTimeUs;
1290     osdState_e osdCurrentState = osdState;
1291
1292     if (osdState != OSD_STATE_UPDATE_CANVAS) {
1293         schedulerIgnoreTaskExecRate();
1294     }
1295
1296     switch (osdState) {
1297     case OSD_STATE_INIT:
1298         if (!displayCheckReady(osdDisplayPort, false)) {
1299             // Frsky osd need a display redraw after search for MAX7456 devices
1300             if (osdDisplayPortDeviceType == OSD_DISPLAYPORT_DEVICE_FRSKYOSD) {
1301                 displayRedraw(osdDisplayPort);
1302             } else {
1303                 schedulerIgnoreTaskExecTime();
1304             }
1305             return;
1306         }
1307
1308         osdCompleteInitialization();
1309         displayRedraw(osdDisplayPort);
1310         osdState = OSD_STATE_COMMIT;
1311
1312         break;
1313
1314     case OSD_STATE_CHECK:
1315         // don't touch buffers if DMA transaction is in progress
1316         if (displayIsTransferInProgress(osdDisplayPort)) {
1317             break;
1318         }
1319
1320         osdState = OSD_STATE_UPDATE_HEARTBEAT;
1321         break;
1322
1323     case OSD_STATE_UPDATE_HEARTBEAT:
1324         if (displayHeartbeat(osdDisplayPort)) {
1325             // Extraordinary action was taken, so return without allowing osdStateDurationFractionUs table to be updated
1326             return;
1327         }
1328
1329         osdState = OSD_STATE_PROCESS_STATS1;
1330         break;
1331
1332     case OSD_STATE_PROCESS_STATS1:
1333         {
1334             bool refreshStatsRequired = osdProcessStats1(currentTimeUs);
1335
1336             if (refreshStatsRequired) {
1337                 osdState = OSD_STATE_REFRESH_STATS;
1338             } else {
1339                 osdState = OSD_STATE_PROCESS_STATS2;
1340             }
1341             break;
1342         }
1343     case OSD_STATE_REFRESH_STATS:
1344         {
1345             bool completed = osdRefreshStats();
1346             if (completed) {
1347                 osdState = OSD_STATE_PROCESS_STATS2;
1348             }
1349             break;
1350         }
1351     case OSD_STATE_PROCESS_STATS2:
1352         osdProcessStats2(currentTimeUs);
1353
1354         osdState = OSD_STATE_PROCESS_STATS3;
1355         break;
1356     case OSD_STATE_PROCESS_STATS3:
1357         osdProcessStats3();
1358
1359 #ifdef USE_CMS
1360         if (!displayIsGrabbed(osdDisplayPort))
1361 #endif
1362         {
1363             osdState = OSD_STATE_UPDATE_ALARMS;
1364             break;
1365         }
1366
1367         osdState = OSD_STATE_COMMIT;
1368         break;
1369
1370     case OSD_STATE_UPDATE_ALARMS:
1371         osdUpdateAlarms();
1372
1373         if (resumeRefreshAt) {
1374             osdState = OSD_STATE_TRANSFER;
1375         } else {
1376             osdState = OSD_STATE_UPDATE_CANVAS;
1377         }
1378         break;
1379
1380     case OSD_STATE_UPDATE_CANVAS:
1381         // Hide OSD when OSDSW mode is active
1382         if (IS_RC_MODE_ACTIVE(BOXOSD)) {
1383             displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1384             osdState = OSD_STATE_COMMIT;
1385             break;
1386         }
1387
1388         if (backgroundLayerSupported) {
1389             // Background layer is supported, overlay it onto the foreground
1390             // so that we only need to draw the active parts of the elements.
1391             displayLayerCopy(osdDisplayPort, DISPLAYPORT_LAYER_FOREGROUND, DISPLAYPORT_LAYER_BACKGROUND);
1392         } else {
1393             // Background layer not supported, just clear the foreground in preparation
1394             // for drawing the elements including their backgrounds.
1395             displayClearScreen(osdDisplayPort, DISPLAY_CLEAR_NONE);
1396         }
1397
1398 #ifdef USE_GPS
1399         static bool lastGpsSensorState;
1400         // Handle the case that the GPS_SENSOR may be delayed in activation
1401         // or deactivate if communication is lost with the module.
1402         const bool currentGpsSensorState = sensors(SENSOR_GPS);
1403         if (lastGpsSensorState != currentGpsSensorState) {
1404             lastGpsSensorState = currentGpsSensorState;
1405             osdAnalyzeActiveElements();
1406         }
1407 #endif // USE_GPS
1408
1409         osdSyncBlink();
1410
1411         osdState = OSD_STATE_GROUP_ELEMENTS;
1412
1413         break;
1414
1415     case OSD_STATE_GROUP_ELEMENTS:
1416         {
1417             uint8_t elementGroup;
1418             uint8_t activeElements = osdGetActiveElementCount();
1419
1420             // Reset groupings
1421             for (elementGroup = 0; elementGroup < OSD_GROUP_COUNT; elementGroup++) {
1422                 if (osdElementGroupDurationFractionUs[elementGroup] > (OSD_ELEMENT_RENDER_TARGET << OSD_EXEC_TIME_SHIFT)) {
1423                     osdElementGroupDurationFractionUs[elementGroup] = 0;
1424                 }
1425                 osdElementGroupTargetFractionUs[elementGroup] = 0;
1426             }
1427
1428             elementGroup = 0;
1429
1430             // Based on the current element rendering, group to execute in approx 40us
1431             for (uint8_t curElement = 0; curElement < activeElements; curElement++) {
1432                 if ((osdElementGroupTargetFractionUs[elementGroup] == 0) ||
1433                     (osdElementGroupTargetFractionUs[elementGroup] + (osdElementDurationUs[curElement]) <= (OSD_ELEMENT_RENDER_TARGET << OSD_EXEC_TIME_SHIFT)) ||
1434                     (elementGroup == (OSD_GROUP_COUNT - 1))) {
1435                     osdElementGroupTargetFractionUs[elementGroup] += osdElementDurationUs[curElement];
1436                     // If group membership changes, reset the stats for the group
1437                     if (osdElementGroupMemberships[curElement] != elementGroup) {
1438                         osdElementGroupDurationFractionUs[elementGroup] = osdElementGroupTargetFractionUs[elementGroup] + (OSD_ELEMENT_RENDER_GROUP_MARGIN << OSD_EXEC_TIME_SHIFT);
1439                     }
1440                     osdElementGroupMemberships[curElement] = elementGroup;
1441                 } else {
1442                     elementGroup++;
1443                     // Try again for this element
1444                     curElement--;
1445                 }
1446             }
1447
1448             // Start with group 0
1449             osdElementGroup = 0;
1450
1451             if (activeElements > 0) {
1452                 osdState = OSD_STATE_UPDATE_ELEMENTS;
1453             } else {
1454                 osdState = OSD_STATE_COMMIT;
1455             }
1456         }
1457         break;
1458
1459     case OSD_STATE_UPDATE_ELEMENTS:
1460         {
1461             osdCurrentElementGroup = osdElementGroup;
1462             bool moreElements = true;
1463
1464             do {
1465                 timeUs_t startElementTime = micros();
1466                 uint8_t osdCurrentElement = osdGetActiveElement();
1467
1468                 // This element should be rendered in the next group
1469                 if (osdElementGroupMemberships[osdCurrentElement] != osdElementGroup) {
1470                     osdElementGroup++;
1471                     break;
1472                 }
1473
1474                 moreElements = osdDrawNextActiveElement(osdDisplayPort, currentTimeUs);
1475
1476                 executeTimeUs = micros() - startElementTime;
1477
1478                 if (executeTimeUs > (osdElementDurationUs[osdCurrentElement] >> OSD_EXEC_TIME_SHIFT)) {
1479                     osdElementDurationUs[osdCurrentElement] = executeTimeUs << OSD_EXEC_TIME_SHIFT;
1480                 } else if (osdElementDurationUs[osdCurrentElement] > 0) {
1481                     // Slowly decay the max time
1482                     osdElementDurationUs[osdCurrentElement]--;
1483                 }
1484             } while (moreElements);
1485
1486             if (moreElements) {
1487                 // There are more elements to draw
1488                 break;
1489             }
1490
1491             osdElementGroup = 0;
1492
1493             osdState = OSD_STATE_COMMIT;
1494         }
1495         break;
1496
1497     case OSD_STATE_COMMIT:
1498         displayCommitTransaction(osdDisplayPort);
1499
1500         if (resumeRefreshAt) {
1501             osdState = OSD_STATE_IDLE;
1502         } else {
1503             osdState = OSD_STATE_TRANSFER;
1504         }
1505         break;
1506
1507     case OSD_STATE_TRANSFER:
1508         // Wait for any current transfer to complete
1509         if (displayIsTransferInProgress(osdDisplayPort)) {
1510             break;
1511         }
1512
1513         // Transfer may be broken into many parts
1514         if (displayDrawScreen(osdDisplayPort)) {
1515             break;
1516         }
1517
1518         firstPass = false;
1519         osdState = OSD_STATE_IDLE;
1520
1521         break;
1522
1523     case OSD_STATE_IDLE:
1524     default:
1525         osdState = OSD_STATE_IDLE;
1526         break;
1527     }
1528
1529     if (!schedulerGetIgnoreTaskExecTime()) {
1530         executeTimeUs = micros() - currentTimeUs;
1531
1532
1533         // On the first pass no element groups will have been formed, so all elements will have been
1534         // rendered which is unrepresentative, so ignore
1535         if (!firstPass) {
1536             if (osdCurrentState == OSD_STATE_UPDATE_ELEMENTS) {
1537                 if (executeTimeUs > (osdElementGroupDurationFractionUs[osdCurrentElementGroup] >> OSD_EXEC_TIME_SHIFT)) {
1538                     osdElementGroupDurationFractionUs[osdCurrentElementGroup] = executeTimeUs << OSD_EXEC_TIME_SHIFT;
1539                 } else if (osdElementGroupDurationFractionUs[osdCurrentElementGroup] > 0) {
1540                     // Slowly decay the max time
1541                     osdElementGroupDurationFractionUs[osdCurrentElementGroup]--;
1542                 }
1543             }
1544
1545             if (executeTimeUs > (osdStateDurationFractionUs[osdCurrentState] >> OSD_EXEC_TIME_SHIFT)) {
1546                 osdStateDurationFractionUs[osdCurrentState] = executeTimeUs << OSD_EXEC_TIME_SHIFT;
1547             } else if (osdStateDurationFractionUs[osdCurrentState] > 0) {
1548                 // Slowly decay the max time
1549                 osdStateDurationFractionUs[osdCurrentState]--;
1550             }
1551         }
1552     }
1553
1554     if (osdState == OSD_STATE_UPDATE_ELEMENTS) {
1555         schedulerSetNextStateTime((osdElementGroupDurationFractionUs[osdElementGroup] >> OSD_EXEC_TIME_SHIFT) + OSD_ELEMENT_RENDER_GROUP_MARGIN);
1556     } else {
1557         if (osdState == OSD_STATE_IDLE) {
1558             schedulerSetNextStateTime((osdStateDurationFractionUs[OSD_STATE_CHECK] >> OSD_EXEC_TIME_SHIFT) + OSD_TASK_MARGIN);
1559         } else {
1560             schedulerSetNextStateTime((osdStateDurationFractionUs[osdState] >> OSD_EXEC_TIME_SHIFT) + OSD_TASK_MARGIN);
1561         }
1562     }
1563 }
1564
1565 void osdSuppressStats(bool flag)
1566 {
1567     suppressStatsDisplay = flag;
1568 }
1569
1570 #ifdef USE_OSD_PROFILES
1571 bool osdElementVisible(uint16_t value)
1572 {
1573     return (bool)((((value & OSD_PROFILE_MASK) >> OSD_PROFILE_BITS_POS) & osdProfile) != 0);
1574 }
1575 #endif
1576
1577 bool osdGetVisualBeeperState(void)
1578 {
1579     return showVisualBeeper;
1580 }
1581
1582 void osdSetVisualBeeperState(bool state)
1583 {
1584     showVisualBeeper = state;
1585 }
1586
1587 statistic_t *osdGetStats(void)
1588 {
1589     return &stats;
1590 }
1591
1592 #ifdef USE_ACC
1593 // Determine if there are any enabled stats that need
1594 // the ACC (currently only MAX_G_FORCE).
1595 static bool osdStatsNeedAccelerometer(void)
1596 {
1597     return osdStatGetState(OSD_STAT_MAX_G_FORCE);
1598 }
1599
1600 // Check if any enabled elements or stats need the ACC
1601 bool osdNeedsAccelerometer(void)
1602 {
1603     return osdStatsNeedAccelerometer() || osdElementsNeedAccelerometer();
1604 }
1605 #endif // USE_ACC
1606
1607 displayPort_t *osdGetDisplayPort(osdDisplayPortDevice_e *displayPortDeviceType)
1608 {
1609     if (displayPortDeviceType) {
1610         *displayPortDeviceType = osdDisplayPortDeviceType;
1611     }
1612     return osdDisplayPort;
1613 }
1614
1615 #endif // USE_OSD