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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| |
| char DisplayBuff[80]; |
| unsigned char DispPtr = 0; |
| |
| unsigned char MaxMenue = 16; |
| unsigned char MenuePunkt = 0; |
| unsigned char RemoteKeys = 0; |
| |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| |
| void Menu_Putchar(char c) |
| { |
| if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
| } |
| |
| void Menu(void) |
| { |
| unsigned char i; |
| if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
| if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
| LcdClear(); |
| if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
| else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
| |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c V4",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
| LCD_printfxy(0,2,"Setting:%d %s", ActiveParamSet,Mixer.Name); |
| |
| if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
| else |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(NC_ErrorCode) |
| { |
| LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
| _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
| } |
| else |
| #endif |
| if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
| else |
| if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #else |
| else |
| if(NC_ErrorCode) |
| { |
| LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
| } |
| #endif |
| // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
| else |
| if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
| break; |
| case 1: |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
| LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
| LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ACC_AltitudeControl) LCD_printfxy(17,3,"(A)",OCR0A); |
| #endif |
| } |
| else |
| { |
| LCD_printfxy(0,0,"Height control"); |
| LCD_printfxy(0,1,"DISABLED"); |
| //LCD_printfxy(0,2,"Height control"); |
| //LCD_printfxy(0,3,"DISABLED"); |
| } |
| |
| break; |
| case 2: |
| LCD_printfxy(0,0,"act. bearing"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Compass: %5i",ErsatzKompassInGrad); |
| break; |
| case 3: |
| for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
| LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
| LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
| } |
| else |
| if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
| } |
| else |
| if(PlatinenVersion == 13) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
| } |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
| LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Receiver"); |
| // LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
| LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
| LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Compass"); |
| LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
| LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
| LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert); |
| break; |
| case 10: |
| for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
| break; |
| case 11: |
| for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
| break; |
| case 12: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| /* case 13: |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
| break; |
| */ |
| case 13: |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| for(i=0;i<3;i++) |
| { |
| LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
| // if(i*4 >= RequiredMotors) break; |
| } |
| break; |
| case 14: |
| LCD_printfxy(0,0,"BL Temperature" ); |
| for(i=0;i<3;i++) |
| { |
| LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
| // if(4 + i * 4 >= RequiredMotors) break; |
| } |
| break; |
| case 15: |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
| LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
| LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
| if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
| if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
| if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
| break; |
| case 16: |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
| LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
| LCD_printfxy(13,3,"(reset)"); |
| if(RemoteKeys & KEY4) |
| { |
| FlugMinuten = 0; |
| SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
| } |
| break; |
| default: |
| if(MenuePunkt == MaxMenue) MaxMenue--; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |