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Ignore whitespace Rev 1114 → Rev 1115

/NGVideo5_8/tags/v1.11/Hexfiles/NGVideo_MEGA644.hex
0,0 → 1,1630
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/NGVideo5_8/tags/v1.11/Hexfiles
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/NGVideo5_8/tags/v1.11/KurzanleitungFW.pdf
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/NGVideo5_8/tags/v1.11/KurzanleitungFW.pdf
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/NGVideo5_8/tags/v1.11/NGVideo_5_8GHz.pnproj
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<Project name="NGVideo_5_8GHz"><File path="makefile"></File><File path="main.c"></File><File path="dogm.c"></File><File path="dogm.h"></File><File path="config.h"></File><File path="keys.c"></File><File path="servo.c"></File><File path="servo.h"></File><File path="ngvideo.h"></File><File path="keys.h"></File><File path="usart.c"></File><File path="usart.h"></File><File path="tracking.c"></File><File path="ngvideo.c"></File><File path="menue.c"></File><File path="messages.c"></File><File path="messages.h"></File><File path="menue.h"></File></Project>
/NGVideo5_8/tags/v1.11/NGVideo_5_8GHz.pnps
0,0 → 1,0
<pd><ViewState><e p="NGVideo_5_8GHz" x="true"></e></ViewState></pd>
/NGVideo5_8/tags/v1.11/config.h
0,0 → 1,149
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#ifndef CONFIG_H_
#define CONFIG_H_
 
/* PINA */
#define VBAT 7 // ADC
#define RSSI1 6 // ADC
#define RSSI0 5 // ADC
#define MUX_IN 4 // OUT
#define MUX_EN 3 // OUT
#define CHANNel_12 2 // OUT
#define CHANNel_11 1 // OUT
#define CHANNel_10 0 // OUT
 
/* PINB */
#define LCD_BACKLIGHT 7 // OUT
#define BEEPER 4 // OUT
#define POWER 3 // OUT
#define CHANNel_02 2 // OUT
#define CHANNel_01 1 // OUT
#define CHANNel_00 0 // OUT
 
/* PINC */
#define KEY_MINUS 7 // IN
#define KEY_PLUS 6 // IN
#define LCD_ENABLE 5 // OUT
#define LCD_REGSELECT 4 // OUT
#define LCD_DATA7 3 // OUT
#define LCD_DATA6 2 // OUT
#define LCD_DATA5 1 // OUT
#define LCD_DATA4 0 // OUT
 
/* PIND */
#define KEY_ENTER 7 // IN
#define HSYNC 6 // IN
#define SERVO1 5 // OUT PWM
#define SERVO2 4 // OUT PWM
#define VSYNC1 3 // IN Int1
#define VSYNC0 2 // IN Int0
#define TX 1 // OUT USART
#define RX 0 // IN USART
/* PORT - DDR */
/* LCD */
#define LCD_BACKLIGHT_PORT PORTB
#define LCD_BACKLIGHT_DDR DDRB
#define LCD_E_PORT PORTC
#define LCD_E_DDR DDRC
#define LCD_RS_PORT PORTC
#define LCD_RS_DDR DDRC
#define LCD_DATA_PORT PORTC
#define LCD_DATA_DDR DDRC
#define LCD_DATA_PIN PINC
 
#define LCD_LINES 3
#define LCD_COLS 16
 
/* SWITCH */
#define KEY_MP_DDR DDRC
#define KEY_MP_PORT PORTC
#define KEY_MP_PIN PINC
#define KEY_ENTER_DDR DDRD
#define KEY_ENTER_PORT PORTD
#define KEY_ENTER_PIN PIND
 
#define SW_MINUS 7
#define SW_PLUS 6
#define SW_ENTER 5
#define REPEAT_MASK (1<<SW_MINUS | 1<<SW_PLUS | 1<<SW_ENTER)
 
/* zusätzliche Timer in Abhängikeit vom Interrupttimer 0 - Keys */
#define TIMER0_1 50 // x * 10ms für Anzeige UBat
#define TIMER0_2 20 // x * 10ms für Bargraph und Diversity
#define TIMER0_3 2 // x * 10ms für RSSI Diversity
#define TIMER0_4 10 // x * 10ms für wi232 Nachführung Antenne
#define TIMER0_5 1000 // x * 10ms Hintergrundbeleuchtung 10 sekunden Schritte
#define BLINK_PERIOD 12 // abhängig von Tracking_GPS() in Task_0_4(void)
/* initiale Anfangswerte der Einstellungen */
#define EEP_INITB 75 // irgend ein Wert um beschriebenen EEPROM zu erkennen
#define VERSION "1.10"
#define CONTRAST3V 16 // 16 bei LCD 3,3V Bias 1/5 default Wert
#define CONTRAST5V 12 // 12 bei LCD 5V Bias 1/4
#define CONTRAST_MIN 0
#define CONTRAST_MAX 30
#define BACKGR_LIGHT 31 // Hintergrundbeleuchtung immer an
#define BACKGR_LIGHT_MIN 0 // Hintergrundbeleuchtung immer aus
#define BACKGR_LIGHT_MAX 31 // Hintergrundbeleuchtung immer an, z.Z.: Max = 5 Minuten
#define U_OFFSET 85 // um type float o. double zu vermeiden *100
#define U_OFFSET_MIN 0
#define U_OFFSET_MAX 200
#define U_MIN 960 // um type float o. double zu vermeiden *100
#define U_MIN_MIN 550 // auch für Lipo 2s
#define U_MIN_MAX 1400
#define CHANNEL 1 // default Wert
#define CHANNEL_MIN 1
#define CHANNEL_MAX 7
#define AV_SOURCE 0 // av1, av2, diversity
#define AV_SOURCE_MIN 0
#define AV_SOURCE_MAX 2
/* Toleranzen bei den RSSI-Spannungen ausgleichen */
#define UDBM_MIN 460 // RSSI geringste Feldstärke
#define UDBM_MAX 75 // RSSI größte Feldstärke
#define UDBM_KORR_FA 128 // Korrekturfaktor 1 * 128 RSSI1 korrigieren
/* Servokalibrierungen derzeit zu SERVO_STEPS = 255 skaliert */
#define SERVO_PAN 0
#define SERVO_TILT 1
#define SERVO_NUM_CHANNELS 2 // Anzahl der angeschlossen Servos max. 2!!!
#define SERVO_PERIODE 20 // default Angabe in ms
//prescaler 256
#define SERVO_I0_RIGHT 45 // default Wert, ca. 0,9ms
#define SERVO_I0_RIGHT_MIN 0 // Servokalibrierung Grenze der linken Position
#define SERVO_I0_RIGHT_MAX 100 // SERVO_MIN + SERVO_RIGHT
#define SERVO_I0_LEFT 45 // default Wert, ca. 2,1ms
#define SERVO_I0_LEFT_MIN 0 // Servokalibrierung ,Grenze der rechten Position
#define SERVO_I0_LEFT_MAX 100 // SERVO_MAX - SERVO_LEFT
#define SERVO_I0_MIDDLE SERVO_STEPS/2
#define SERVO_I0_MIDDLE_MIN SERVO_STEPS/2 - 25
#define SERVO_I0_MIDDLE_MAX SERVO_STEPS/2 + 25
//prescaler 64
#define SERVO_I1_RIGHT 180 // default Wert, ca. 0,9ms
#define SERVO_I1_RIGHT_MIN 0 // Servokalibrierung Grenze der linken Position
#define SERVO_I1_RIGHT_MAX 400 // SERVO_MIN + SERVO_RIGHT
#define SERVO_I1_LEFT 180 // default Wert, ca. 2,1ms
#define SERVO_I1_LEFT_MIN 0 // Servokalibrierung ,Grenze der rechten Position
#define SERVO_I1_LEFT_MAX 400 // SERVO_MAX - SERVO_LEFT
#define SERVO_I1_MIDDLE ((SERVO_STEPS + 1) * 4 - 1)/2
#define SERVO_I1_MIDDLE_MIN ((SERVO_STEPS + 1) * 4 - 1)/2 - 100
#define SERVO_I1_MIDDLE_MAX ((SERVO_STEPS + 1) * 4 - 1)/2 + 100
 
#define SERVO_REV 0 // kein Reverse
/* Antennen-Nachführung */
#define TRACKING_MIN 0 // aus, TRACKING_RSSI, TRACKING_GPS, TRACKING_MKCOCKPIT
#define TRACKING_MAX 3
/* Antennen-Nachführung per RSSI */
#define TRACKING_HYSTERESE 40 // Hysterese bevor Tracking bei Richtungswechsel anspricht
#define TRACKING_HYST_MIN 0
#define TRACKING_HYST_MAX 100
 
 
#endif /* CONFIG_H_ */
/NGVideo5_8/tags/v1.11/dogm.c
0,0 → 1,247
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/* using DOGM-Library 1.0. */
/* Copyright (C) 2010-averyfarwaydate Luca Bertoncello */
/* Hartigstrasse, 12 - 01127 Dresden Deutschland */
/* E-Mail: lucabert@lucabert.de, lucabert@lucabert.com */
/* http://www.lucabert.de/ http://www.lucabert.com/ */
/****************************************************************/
 
#include <util/delay.h>
 
#include "config.h"
#include "dogm.h"
#include <avr/pgmspace.h>
 
// Instruktionen mit ST7036 4 Bit Mode im "Extension mode"
#define CLEAR_DISPLAY 0b00000001
#define FUNCTION_SET_INIT_0 0b00110011 // 0x30 & 0x30 als nibble
#define FUNCTION_SET_INIT_1 0b00110010 // 0x30 & 0x20 als nibble
#define FUNCTION_SET_INIT_2 0b00101001 // 0x29 4-bit, 2 Zeilen, kein DoubleHeight, InstructionTable1
#define INSTRUCTION_Table_0 0b00101000 // Instruction table 0
#define INSTRUCTION_Table_1 0b00101001 // Instruction table 1
#define SET_CGRAM 0b01000000 // für user defined Char
#define BIAS_SET 0b00010101 // table 1 DB3=Bias 1/4, DB0=3 Zeilen 0b00011101
#define FOLLOWER_CONTROL 0b01101110 // nach Datenblattbsp. 3,3V DOGM bei 5V 0b01101100
#define CONTRAST_SET 0b01110000 // Kontrastwert Bit3 bis Bit0
#define POWER_CONTRAST 0b01010100 // Bit1 und Bit0 entspricht Kontrastwert Bit5 und Bit4 3,3V 0b0101 0100 5V 0b0101 0000
#define DISPLAY_ON 0b00001100
#define ENTRY_MODE 0b00000110 // Cursor Auto-Increment
#define SET_DDRAM_ADDR 0b10000000 // Bit7 bis Bit0 Adresse
#define BS 3 // 0 - 1/5 bias // 1 - 1/4 bias
#define RAB1 1 // select follower amplified ratio
#define BON 2 // set booster circuit on/off bei Power_Contrast
 
#define lcdSetEnable() LCD_E_PORT |= (1<<LCD_ENABLE);
#define lcdClearEnable() LCD_E_PORT &= ~(1<<LCD_ENABLE);
#define lcdSetRegSelect() LCD_RS_PORT |= (1<<LCD_REGSELECT)
#define lcdClearRegSelect() LCD_RS_PORT &= ~(1<<LCD_REGSELECT)
 
 
 
/************************************************************************/
/* Definieren eines Sonderzeichen */
/* Parameter: */
/* uint8_t lcd_addr : Adresse, 1.Adresse 0 */
/* char *lcd_zeichen: Zeiger auf das 1. Byte der Zeichendefinition */
/* */
/************************************************************************/
void lcdWriteCGRAM(uint8_t lcd_addr, char *lcdChr)
{ int8_t i;
 
lcdSendInstruction(INSTRUCTION_Table_0);
for(i = 0; i < 8; i++)
{
lcdSendInstruction(SET_CGRAM | (lcd_addr * 8 + i)); // CG RAM Adresse
//lcdPutc(lcdChr[i]); // Data Write 8x Pixelzeile
lcdPutc(pgm_read_byte(&lcdChr[i])); // array im Flash
}
lcdSendInstruction(INSTRUCTION_Table_1);
}
 
/************************************************************************/
/* Definieren von n <= 8 Sonderzeichen */
/* Parameter: */
/* SpecialChr_t lcdChr : Array mit Sonderzeichen */
/* uint8_t quantity : Anzahl der zu übertragenen Sonderzeichen */
/* */
/************************************************************************/
void lcdWriteCGRAM_Array(SpecialChr_t lcdChr, uint8_t quantity)
{
for (uint8_t i = 0; i < quantity; i++)
lcdWriteCGRAM(i, lcdChr[i]); // Sonderzeichen in CGRAM der LCD schreiben
}
 
/************************************************************************************/
/* sendet ein Nibble (4 Bit) zum LCD-Controller */
/* Parameter: */
/* char data :Byte */
/* */
/************************************************************************************/
void lcdSendNibble(char data)
{
LCD_DATA_PORT |= (data & 0x0f);
LCD_DATA_PORT &= (data | 0xf0);
lcdSetEnable();
_delay_us(2);
lcdClearEnable();
_delay_us(30); // nach Datenblatt > 26,3µs
}
 
/************************************************************************************/
/* sendet 8 Bit (2 Nibble) zum LCD-Controller */
/* Parameter: */
/* char data :Byte */
/* */
/************************************************************************************/
void lcdSendByte(char data)
{
lcdSendNibble(data>>4);
lcdSendNibble(data);
}
 
/************************************************************************************/
/* sendet instruction zum LCD-Controller */
/* Parameter: */
/* char instruction :Byte */
/* */
/************************************************************************************/
void lcdSendInstruction(char instruction)
{
lcdClearRegSelect(); // LCD-RS für Instruktionen
lcdSendByte(instruction);
}
 
/************************************************************************************/
/* sendet ein Zeichen zum LCD-Display */
/* Parameter: */
/* char c :Zeichen */
/* */
/************************************************************************************/
void lcdPutc(char c)
{
lcdSetRegSelect(); // LCD-RS für Daten
lcdSendByte(c);
}
 
/************************************************************************************/
/* sendet einen String zum LCD-Display */
/* Parameter: */
/* char *str :Zeichenkette */
/* */
/************************************************************************************/
void lcdPuts(char *str)
{
uint8_t l;
uint8_t pos = 0;
 
for(l = 0; str[l] != 0; l++)
// funtioniert nur von Zeile 0 an, da aktuelle Zeile nicht bekannt! Kein read!
// man könnte pos bei lcdSendByte, lcdGotoXY und lcdClear abhängig von Steuerung mitzählen
if(str[l] == '\n')
{
if (pos >= LCD_LINES)
pos = 0;
else
pos++;
lcdGotoXY(0, pos);
}
else
lcdPutc(str[l]);
}
 
/************************************************************************************/
/* Löscht Inhalt auf LCD-Display */
/* */
/************************************************************************************/
void lcdClear()
{
lcdSendInstruction(CLEAR_DISPLAY);
_delay_ms(2);
}
 
/************************************************************************************/
/* Setzt Kontrast auf LCD-Display */
/* Parameter: */
/* uint8_t contrast :Wert vo 0 bis max 63 */
/* */
/************************************************************************************/
void lcdContrast(uint8_t dogm, uint8_t contrast)
{ uint8_t power_contrast = POWER_CONTRAST;
 
if(dogm == DOGM5V) {
power_contrast &= ~(1<<BON);
}
lcdSendInstruction(INSTRUCTION_Table_1);
lcdSendInstruction(CONTRAST_SET | (contrast & 0x0F));
lcdSendInstruction(power_contrast | ((contrast>>4) & 0x03));
}
 
//***********************************************************************************/
/* Setzt setzt den Cursor zur Position x/y */
/* Parameter: */
/* uint8_t x, :Position Spalte */
/* uint8_t y, :Position Zeile */
/* */
/************************************************************************************/
void lcdGotoXY(uint8_t x, uint8_t y)
{ uint8_t pos;
 
if(x > LCD_COLS) x = 0;
if(y > LCD_LINES) y = 0;
pos = y * LCD_COLS + x;
lcdSendInstruction(SET_DDRAM_ADDR | pos);
}
 
/************************************************************************************/
/* Initialisiert den LCD-Controller und der Atmega-Ausgänge */
/* Parameter: */
/* uint8_t dogm :0=3,3V oder 1=5V DOGM */
/* uint8_t contrast :Wert vo 0 bis max 63 */
/* uint8_t cursor :Darstellung des Cursors ein oder 0 aus */
/* uint8_t blink :Cursor blinken, 0 kein blinken */
/* */
/************************************************************************************/
void lcdInit(uint8_t dogm, uint8_t contrast, uint8_t cursor, uint8_t blink)
{ uint8_t bias_set = BIAS_SET;
uint8_t follower_ctrl = FOLLOWER_CONTROL;
uint8_t power_contrast = POWER_CONTRAST;
 
LCD_BACKLIGHT_DDR |= (1<<LCD_BACKLIGHT);
LCD_E_DDR |= (1<<LCD_ENABLE);
LCD_RS_DDR |= (1<<LCD_REGSELECT);
LCD_DATA_DDR |= (1<<LCD_DATA7) | (1<<LCD_DATA6) | (1<<LCD_DATA5) | (1<<LCD_DATA4);
 
lcdClearEnable();
_delay_ms(40); // lt. Datenblatt muss > 40ms nach Power On or ext. Reset
 
if(dogm == DOGM5V) {
follower_ctrl &= ~(1<<RAB1);
bias_set |= (1 << BS);
power_contrast &= ~(1<<BON);
}
 
//Initialisierung für DOGM (mit ST7036) 4 Bit Mode
lcdClearRegSelect(); // LCD-RS für Instruktionen
lcdSendNibble(FUNCTION_SET_INIT_0>>4);
_delay_ms(2); // lt. Datenblatt muss > 1,6ms Pause nach ersten Nibble
lcdSendNibble(FUNCTION_SET_INIT_0);
lcdSendInstruction(FUNCTION_SET_INIT_1);
lcdSendInstruction(FUNCTION_SET_INIT_2);
lcdSendInstruction(bias_set);
lcdSendInstruction(CONTRAST_SET | (contrast & 0x0F));
lcdSendInstruction(power_contrast | ((contrast>>4) & 0x03));
lcdSendInstruction(follower_ctrl);
lcdSendInstruction(INSTRUCTION_Table_0);
lcdSendInstruction(DISPLAY_ON | (cursor & 0x01) << 1 | (blink & 0x01));
lcdClear();
lcdSendInstruction(ENTRY_MODE);
}
/NGVideo5_8/tags/v1.11/dogm.h
0,0 → 1,42
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/* using DOGM-Library 1.0. */
/* Copyright (C) 2010-averyfarwaydate Luca Bertoncello */
/* Hartigstrasse, 12 - 01127 Dresden Deutschland */
/* E-Mail: lucabert@lucabert.de, lucabert@lucabert.com */
/* http://www.lucabert.de/ http://www.lucabert.com/ */
/****************************************************************/
 
#ifndef DOGM_H_
#define DOGM_H_
 
#include <avr/io.h>
 
#define DOGM3V 0 // 3,3V DOGM
#define DOGM5V 1 // 5V DOGM
 
typedef char SpecialChr_t[6][8];
 
void lcdWriteCGRAM(uint8_t lcd_addr, char *lcdChr); // write a char string to CGRAM
void lcdWriteCGRAM_Array(SpecialChr_t lcdChr, uint8_t quantity); // write a array of char string to CGRAM
void lcdSendByte(char data);
void lcdSendInstruction(char instruction);
void lcdPutc(char c);
void lcdPuts(char *str);
void lcdClear(void);
void lcdContrast(uint8_t dogm, uint8_t contrast);
void lcdGotoXY(uint8_t x, uint8_t y);
void lcdInit(uint8_t dogm, uint8_t contrast, uint8_t cursor, uint8_t blink);
 
#define lcdBacklightOn() LCD_BACKLIGHT_PORT |= (1<<LCD_BACKLIGHT);
#define lcdBacklightOff() LCD_BACKLIGHT_PORT &= ~(1<<LCD_BACKLIGHT);
 
#endif /* DOGM_H_ */
/NGVideo5_8/tags/v1.11/keys.c
0,0 → 1,135
 
/************************************************************************/
/* */
/* Debouncing 8 Keys */
/* Sampling 4 Times */
/* With Repeat Function */
/* */
/* Author: Peter Dannegger */
/* danni@specs.de */
/* */
/* ergänzt: gebad, beschschleunigende Tastenwiederholung */
/* */
/************************************************************************/
 
#include <stdint.h>
#include <avr/io.h>
#include <avr/interrupt.h>
 
#include "keys.h"
#include "config.h"
 
ISR( TIMER0_OVF_vect ) // every 10ms
{
static uint8_t ct0, ct1, rpt, timer0_1, timer0_2, timer0_3, timer0_4;
static uint16_t timer0_5 = TIMER0_5;
uint8_t i, key_pin;
 
TCNT0 = (uint8_t)(int16_t)-(F_CPU / 1024 * 10e-3 + 0.5); // preload for 10ms
 
key_pin = (KEY_MP_PIN & ( (1<<KEY_MINUS) | (1<<KEY_PLUS)));
key_pin |= (KEY_ENTER_PIN & (1<<KEY_ENTER)) >> 2;// move enter bit to sw_enter bit
i = key_state ^ ~key_pin; // key changed ?
ct0 = ~( ct0 & i ); // reset or count ct0
ct1 = ct0 ^ (ct1 & i); // reset or count ct1
i &= ct0 & ct1; // count until roll over ?
key_state ^= i; // then toggle debounced state
key_press |= key_state & i; // 0->1: key press detect
if (key_press & REPEAT_MASK) { // da bei mir alle Tasten in REPEAT_MASK
light_count = 0; // wenn keine Taste gedrückt beginnt Zähler für Hintergrundbeleuchtung aus
timer0_5 = TIMER0_5;
}
if( (key_state & REPEAT_MASK) == 0 ) { // check repeat function
rpt = REPEAT_START; // start delay
key_repeat_next = REPEAT_NEXT; // Wert bestimmt Tasten-Beschleunigung/-Wiederholrate beginnt, mit 200ms
key_counter = REPEAT_ACC_N; // wenn V_REPEAT, nach dem angegebenen Zeichen beschleunigen
}
if( --rpt == 0 ){
rpt = key_repeat_next; // repeat delay
key_rpt |= key_state & REPEAT_MASK;
}
if ( --timer0_1 == 0) {
timer0_1 = TIMER0_1;
task_timer0_1 = 1;
}
if ( --timer0_2 == 0) {
timer0_2 = TIMER0_2;
task_timer0_2 = 1;
}
if ( --timer0_3 == 0) {
timer0_3 = TIMER0_3;
task_timer0_3 = 1;
}
if ( --timer0_4 == 0) {
timer0_4 = TIMER0_4;
task_timer0_4 = 1;
}
if ( --timer0_5 == 0) {
timer0_5 = TIMER0_5;
task_timer0_5 = 1;
}
}
 
///////////////////////////////////////////////////////////////////
//
// check if a key has been pressed. Each pressed key is reported
// only once
//
uint8_t Get_Key_Press( uint8_t key_mask )
{
cli(); // read and clear atomic !
key_mask &= key_press; // read key(s)
key_press ^= key_mask; // clear key(s)
sei();
return key_mask;
}
 
///////////////////////////////////////////////////////////////////
//
// check if a key has been pressed long enough such that the
// key repeat functionality kicks in. After a small setup delay
// the key is reported beeing pressed in subsequent calls
// to this function. This simulates the user repeatedly
// pressing and releasing the key.
//
uint8_t Get_Key_Rpt( uint8_t key_mask )
{
cli(); // read and clear atomic !
key_mask &= key_rpt; // read key(s)
key_rpt ^= key_mask; // clear key(s)
sei();
return key_mask;
}
 
///////////////////////////////////////////////////////////////////
//
uint8_t Get_Key_Short( uint8_t key_mask )
{
cli(); // read key state and key press atomic !
return Get_Key_Press( ~key_state & key_mask );
}
 
///////////////////////////////////////////////////////////////////
//
uint8_t Get_Key_Long( uint8_t key_mask )
{
return Get_Key_Press( Get_Key_Rpt( key_mask ));
}
 
void Key_Speedup_rpt( uint8_t speedup )
{
if (speedup) {
if (key_counter > 0) { // nach x Zeichen wird Wiederholrate kontinuierlich erhöht
cli();
key_counter--;
sei();
}
else {
if (key_repeat_next > 3) { // Wert bestimmt die max. Beschleunigung/Wiederholrate
cli(); // kann jedoch nicht kleiner 10ms sein
key_repeat_next -= 2;
sei();
}
}
}
}
/NGVideo5_8/tags/v1.11/keys.h
0,0 → 1,43
 
/************************************************************************/
/* */
/* Debouncing 8 Keys */
/* Sampling 4 Times */
/* With Repeat Function */
/* */
/* Author: Peter Dannegger */
/* danni@specs.de */
/* */
/* ergänzt: gebad, beschschleunigende Tastenwiederholung */
/* */
/************************************************************************/
 
#ifndef KEYS_H_
#define KEYS_H_
 
#define REPEAT_START 50 // after 500ms
#define REPEAT_NEXT 20 // every 200ms
#define REPEAT_ACC_N 6 // wenn V_REPEAT, nach dem angegebenen Zeichen beschleunigen
 
volatile uint8_t key_state; // debounced and inverted key state:
// bit = 1: key pressed
volatile uint8_t key_press; // key press detect
volatile uint8_t key_rpt; // key long press and repeat
volatile uint8_t key_repeat_next;
volatile uint8_t key_counter;
 
volatile uint8_t task_timer0_1;
volatile uint8_t task_timer0_2;
volatile uint8_t task_timer0_3;
volatile uint8_t task_timer0_4;
volatile uint8_t task_timer0_5;
 
uint8_t Get_Key_Press( uint8_t key_mask );
uint8_t Get_Key_Rpt( uint8_t key_mask );
uint8_t Get_Key_Short( uint8_t key_mask );
uint8_t Get_Key_Long( uint8_t key_mask );
void Key_Speedup_rpt( uint8_t speedup );
 
volatile uint16_t light_count; // muss bei jeden Tastendruck auf 0 gesetzt werdwn
 
#endif /* KEYS_H_ */
/NGVideo5_8/tags/v1.11/main.c
0,0 → 1,118
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#include <string.h>
#include <avr/interrupt.h>
 
#include "servo.h"
#include "config.h"
#include "dogm.h"
#include "keys.h"
#include "ngvideo.c"
#include "menue.c"
#include "usart.h"
 
 
int main(void)
{ uint8_t ep_reset = 1;
uint8_t val;
// LCD selbst definierte Sonderzeichen, RSSI-Balken und wi232 Empfang Daten im Flash
// deshalb in dogm.c lcdPutc(pgm_read_byte(&lcdChr[i]));
static SpecialChr_t lcdSpecialChr PROGMEM = {{32,32,16,16,16,16,32,32},\
{32,32,24,24,24,24,32,32},\
{32,32,28,28,28,28,32,32},\
{32,32,30,30,30,30,32,32},\
{32,32,31,31,31,31,32,32},\
{6,8,20,19,20,8,6,32}};
 
 
_delay_ms(100); // Einschaltstörungen unterdrücken
 
DDRB |= (1<<POWER);
PORTB &= ~(1<<POWER); //NOT(SHDN) LT1776
 
// switch init
KEY_MP_DDR &= ~((1<<KEY_MINUS) | (1<<KEY_PLUS));
KEY_ENTER_DDR &= ~((1<<KEY_ENTER));
// auf default rücksetzen - Tasten direkt lesen, da noch kein Interrupt
if( !(KEY_MP_PIN & ((1<<KEY_MINUS) | (1<<KEY_PLUS))))
--ep_reset;
 
Init_EEPROM(ep_reset);
 
// auf DOGM 5V/3,3V rück-/setzen - Tasten direkt lesen, da noch kein Interrupt
if(!((KEY_ENTER_PIN & (1<<KEY_ENTER)) || (KEY_MP_PIN & (1<<KEY_PLUS))))
Set_DOGM_Version();
 
DDRA |= (1<<CHANNel_12) | (1<<CHANNel_11) | (1<<CHANNel_10) | (1<<MUX_IN) | (1<<MUX_EN);
DDRB |= (1<<BEEPER) | (1<<CHANNel_02) | (1<<CHANNel_01) | (1<<CHANNel_00);
Set_Channel(channel);
ch_stored = channel;
PORTA &= ~(1<<MUX_EN); // MUX enable
 
ADC_Init();
// Timer 0 für Tasten und Anzeigen(Task's)
TCCR0B = (1<<CS02)|(1<<CS00); // divide by 1024
TIMSK0 |= 1<<TOIE0; // 8 bit Timer/Counter0 Overflow Interrupt aktiviert
 
// Timer 2 für Diversity vSync und GPS-Tracking MK Datensatz senden
TCCR2B = (1<<CS21) | (1<<CS20); // divide by 64
TIMSK2 |= 1<<TOIE2; // 8 bit Timer/Counter2 Overflow Interrupt aktiviert
 
// Interrupt für sync - RX-Umschaltung bei Diversity
DDRD &= ~((1<<VSYNC1) | (1<<VSYNC0));
//EICRA |= (1<<ISC11) | (1<<ISC10) | (1<<ISC01) | (1<<ISC00);// interrupt on INT0 and INT1 pin rising edge
EICRA |= (1<<ISC11) | (1<<ISC01);// interrupt on INT0 and INT1 pin falling edge
Set_AV_Source(av_source); // MUX auf av-x setzen; EIMSK Int0 und Int1 für Sync-Diversity ein
 
DDRD |= (1<<SERVO1) | (1<<SERVO2); // Servoports als Ausgang
if (tracking > TRACKING_MIN) // Servos sind nur bei Tracking und Servokalibrierung zugeschaltet
servoInit();
 
// LCD init
lcdInit(dogm_vers, contrast, 0, 0);
lcd_BackgrLight_On();
lcdWriteCGRAM_Array(lcdSpecialChr, 6);
 
Displ_Version();
Double_Beep(DBEEPVERS, DBEEPVERSP);
 
sei();
 
if (language == NO_LANGUAGE) {
language = GERMAN; // Beim Einschalten pmenu[] vordefiniert mit "0"
Menu_Language();
}
pmenu[0] = '\0'; // falls GPS-Antennennachführung ==> Empfang blinken
 
Displ_Main_Disp();
 
while(1)
{
Task_0_1();
Task_0_2();
Tasks_unvisible();
if (bat_low != 0) {
if (Get_Key_Short( 1<<SW_ENTER )) {
m_pkt = 1; // 0 wäre "zurück", so aber ins Untermenü immer erster Menüpunkt
Menu_Main();
}
val = Change_Value_plmi(channel, CHANNEL_MIN, CHANNEL_MAX, 0, 0, Displ_Channels, 1, C_REPEAT);
if (val != channel) { // nicht bei jeden Schleifendurchlauf Set_Channel()
channel = val;
Set_Channel(channel);
}
}
}
}
/NGVideo5_8/tags/v1.11/makefile
0,0 → 1,411
# WinAVR Sample makefile written by Eric B. Weddington, Jörg Wunsch, et al.
# Released to the Public Domain
# Please read the make user manual!
#
# Additional material for this makefile was submitted by:
# Tim Henigan
# Peter Fleury
# Reiner Patommel
# Sander Pool
# Frederik Rouleau
# Markus Pfaff
#
# On command line:
#
# make all = Make software.
#
# make clean = Clean out built project files.
#
# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB).
#
# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio
# 4.07 or greater).
#
# make program = Download the hex file to the device, using avrdude. Please
# customize the avrdude settings below first!
#
# make filename.s = Just compile filename.c into the assembler code only
#
# To rebuild project do "make clean" then "make all".
#
 
# MCU name
MCU = atmega644
 
## 16500000 is for attiny45/85/461/861 only (RC+PLL mode)
#CLK = 12000000UL
#CLK = 15000000UL
#CLK = 16000000UL
#CLK = 16500000UL
CLK = 20000000UL
#CLK = 18432000UL
 
#Fuse settings for ATmega644
ifeq ($(MCU), atmega644)
FUSE_BITS = -u -U lfuse:w:0xef:m -U hfuse:w:0xd9:m -U efuse:w:0xfd:m
HEX_FILE_NAME = MEGA644
endif
 
# Output format. (can be srec, ihex, binary)
FORMAT = ihex
 
# Target file name (without extension).
TARGET = Hexfiles/NGVideo_$(HEX_FILE_NAME)
 
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s
 
# If there is more than one source file, append them above, or modify and
# uncomment the following:
SRC = main.c dogm.c keys.c servo.c usart.c
 
 
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC =
 
 
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
EXTRAINCDIRS =
 
 
# Optional compiler flags.
# -g: generate debugging information (for GDB, or for COFF conversion)
# -O*: optimization level
# -f...: tuning, see gcc manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create assembler listing
CFLAGS = -g -O$(OPT) \
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
-Wall -Wstrict-prototypes \
-Wa,-adhlns=$(<:.c=.lst) \
$(patsubst %,-I%,$(EXTRAINCDIRS))
 
 
# Set a "language standard" compiler flag.
# Unremark just one line below to set the language standard to use.
# gnu99 = C99 + GNU extensions. See GCC manual for more information.
#CFLAGS += -std=c89
#CFLAGS += -std=gnu89
#CFLAGS += -std=c99
CFLAGS += -std=gnu99
 
 
 
# Optional assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create listing
# -gstabs: have the assembler create line number information; note that
# for use in COFF files, additional information about filenames
# and function names needs to be present in the assembler source
# files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
 
 
 
# Optional linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
 
 
 
# Additional libraries
 
# Minimalistic printf version
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
 
# Floating point printf version (requires -lm below)
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
 
# -lm = math library
LDFLAGS += -lm
 
 
 
 
# Programming support using avrdude. Settings and variables.
 
# Programming hardware: alf avr910 avrisp bascom bsd
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
#
# Type: avrdude -c ?
# to get a full listing.
#
 
#AVRDUDE_PROGRAMMER = AVR910
#AVRDUDE_PROGRAMMER = stk200
AVRDUDE_PROGRAMMER = USBasp
 
AVRDUDE_PORT = usb # programmer connected to USB port
#AVRDUDE_PORT = com1 # programmer connected to serial device
#AVRDUDE_PORT = lpt1 # programmer connected to parallel port
 
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_BITS)
AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
 
#AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -b 115200 -c $(AVRDUDE_PROGRAMMER)
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
 
# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
# see avrdude manual.
#AVRDUDE_ERASE += -y
 
# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
#AVRDUDE_FLAGS += -V
 
# Increase verbosity level. Please use this when submitting bug
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
# to submit bug reports.
#AVRDUDE_FLAGS += -v -v
 
 
 
 
# ---------------------------------------------------------------------------
 
# Define directories, if needed.
DIRAVR = c:/WinAVR-20090313
DIRAVRBIN = $(DIRAVR)/bin
DIRAVRUTILS = $(DIRAVR)/utils/bin
DIRINC = .
DIRLIB = $(DIRAVR)/avr/lib
 
 
# Define programs and commands.
SHELL = sh
 
CC = avr-gcc
 
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
 
 
# Programming support using avrdude.
AVRDUDE = avrdude
 
 
REMOVE = rm -f
COPY = cp
 
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) -A $(TARGET).elf
 
 
 
# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = -------- begin --------
MSG_END = -------- end --------
MSG_SIZE_BEFORE = Size before:
MSG_SIZE_AFTER = Size after:
MSG_COFF = Converting to AVR COFF:
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:
 
 
 
 
# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
 
# Define all listing files.
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
 
# Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(CLK) -I. $(CFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
 
 
 
# Default target.
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
$(TARGET).lss $(TARGET).sym sizeafter finished end
 
 
# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
@echo
@echo $(MSG_BEGIN)
 
finished:
@echo $(MSG_ERRORS_NONE)
 
end:
@echo $(MSG_END)
@echo
 
 
# Display size of file.
sizebefore:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
 
sizeafter:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
 
 
 
# Display compiler version information.
gccversion :
@$(CC) --version
 
 
 
 
# Convert ELF to COFF for use in debugging / simulating in
# AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
--change-section-address .data-0x800000 \
--change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
--change-section-address .eeprom-0x810000
 
 
coff: $(TARGET).elf
@echo
@echo $(MSG_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
 
 
extcoff: $(TARGET).elf
@echo
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
 
 
 
 
# Program the device.
program: $(TARGET).hex $(TARGET).eep
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
 
 
 
 
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
@echo
@echo $(MSG_FLASH) $@
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
%.eep: %.elf
@echo
@echo $(MSG_EEPROM) $@
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
# Create extended listing file from ELF output file.
%.lss: %.elf
@echo
@echo $(MSG_EXTENDED_LISTING) $@
$(OBJDUMP) -h -S $< > $@
 
# Create a symbol table from ELF output file.
%.sym: %.elf
@echo
@echo $(MSG_SYMBOL_TABLE) $@
avr-nm -n $< > $@
 
 
 
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
@echo
@echo $(MSG_LINKING) $@
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
 
 
# Compile: create object files from C source files.
%.o : %.c
@echo
@echo $(MSG_COMPILING) $<
$(CC) -c $(ALL_CFLAGS) $< -o $@
 
 
# Compile: create assembler files from C source files.
%.s : %.c
$(CC) -S $(ALL_CFLAGS) $< -o $@
 
 
# Assemble: create object files from assembler source files.
%.o : %.S
@echo
@echo $(MSG_ASSEMBLING) $<
$(CC) -c $(ALL_ASFLAGS) $< -o $@
 
 
 
 
 
 
# Target: clean project.
clean: begin clean_list finished end
 
clean_list :
@echo
@echo $(MSG_CLEANING)
# $(REMOVE) $(TARGET).hex
$(REMOVE) $(TARGET).eep
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).cof
$(REMOVE) $(TARGET).elf
$(REMOVE) $(TARGET).map
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).a90
$(REMOVE) $(TARGET).sym
$(REMOVE) $(TARGET).lnk
$(REMOVE) $(TARGET).lss
$(REMOVE) $(OBJ)
$(REMOVE) $(LST)
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) $(SRC:.c=.d)
 
 
# Automatically generate C source code dependencies.
# (Code originally taken from the GNU make user manual and modified
# (See README.txt Credits).)
#
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
# (see the SHELL variable defined above).
# This may not work with other shells or other seds.
#
%.d: %.c
set -e; $(CC) -MM $(ALL_CFLAGS) $< \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
[ -s $@ ] || rm -f $@
 
 
# Remove the '-' if you want to see the dependency files generated.
-include $(SRC:.c=.d)
 
 
 
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
clean clean_list program
 
/NGVideo5_8/tags/v1.11/menue.c
0,0 → 1,1275
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#include <util/delay.h>
 
#include "config.h"
#include "ngvideo.h"
#include "keys.h"
#include "menue.h"
#include "servo.h"
#include "messages.c"
 
typedef uint8_t scr_menu_t[SCROLL_MAIN_MAX + 3]; // einmal, da Index mit 0 beginnt plus Vergrößerung für 2 zusätzlich eingeblendete Punkte
uint8_t m_pkt; // um bei Rücksprung auf ursprünglichen Arrayeintrag(Menüpunkt), Scroll_Menu zeigen
uint8_t servo_nr; // zwischen Servo 1 und 2 wird nur mit global servo_nr unterschieden
 
// Menügliederung im Flash belassen
const char cmdStr0[] PROGMEM = "0";
const char cmdStr01[] PROGMEM = "01";
const char cmdStr02[] PROGMEM = "02";
const char cmdStr03[] PROGMEM = "03";
const char cmdStr031[] PROGMEM = "031";
const char cmdStr032[] PROGMEM = "032";
const char cmdStr04[] PROGMEM = "04";
const char cmdStr05[] PROGMEM = "05";
const char cmdStr051[] PROGMEM = "051";
const char cmdStr052[] PROGMEM = "052"; // zwischen Servo 1 und 2 wird danach
const char cmdStr0521[] PROGMEM = "0521"; // mit global servo_nr unterschieden
const char cmdStr0522[] PROGMEM = "0522";
const char cmdStr0523[] PROGMEM = "0523";
const char cmdStr0524[] PROGMEM = "0524";
const char cmdStr053[] PROGMEM = "053";
const char cmdStr0531[] PROGMEM = "0531";
const char cmdStr0532[] PROGMEM = "0532";
const char cmdStr0533[] PROGMEM = "0533";
const char cmdStr0534[] PROGMEM = "0534";
const char cmdStr06[] PROGMEM = "06";
const char cmdStr061[] PROGMEM = "061";
const char cmdStr062[] PROGMEM = "062";
const char cmdStr07[] PROGMEM = "07";
const char cmdStr071[] PROGMEM = "071";
const char cmdStr072[] PROGMEM = "072";
const char cmdStr08[] PROGMEM = "08";
const char cmdStr09[] PROGMEM = "09"; // wird nur bei Tracking RSSI oder GPS eingeblendet - SCROLL_MAIN_MAX wird geändert
const char cmdStr0d[] PROGMEM = "0:"; // wird nur bei Tracking GPS eingeblendet - SCROLL_MAIN_MAX wird geändert
const char cmdStr0d1[] PROGMEM = "0:1"; // nach '9' (0x39) folgt ':' (0x3a)
const char cmdStr0d2[] PROGMEM = "0:2";
const char cmdStr0d3[] PROGMEM = "0:3";
const char cmdStr0d4[] PROGMEM = "0:4";
 
command_table_t command_table[] PROGMEM = // Befehls-Tabelle
{
{cmdStr0, Menu_Main},
{cmdStr01, Menu_AV_Source},
{cmdStr02, Menu_RX_Channel},
{cmdStr03, Menu_RSSI_Calibr},
{cmdStr031, Menu_RSSI_min},
{cmdStr032, Menu_RSSI_max},
{cmdStr04, Menu_Language},
{cmdStr05, Menu_Servo_Calibr},
{cmdStr051, Menu_Servo_Steps},
{cmdStr052, Menu_Servo1}, // zwischen Servo 1 und 2 wird danach
{cmdStr0521, Menu_Servo1_rev}, // mit global servo_nr unterschieden
{cmdStr0522, Menu_Servo1_left},
{cmdStr0523, Menu_Servo1_right},
{cmdStr0524, Menu_Servo1_middle},
{cmdStr053, Menu_Servo2},
{cmdStr0531, Menu_Servo2_rev},
{cmdStr0532, Menu_Servo2_left},
{cmdStr0533, Menu_Servo2_right},
{cmdStr0534, Menu_Servo2_middle},
{cmdStr06, Menu_lcd},
{cmdStr061, Menu_lcd_Contrast},
{cmdStr062, Menu_lcd_Backgr_Light},
{cmdStr07, Menu_Battery},
{cmdStr071, Menu_Low_U_Setup},
{cmdStr072, Menu_U_Offset},
{cmdStr08, Menu_Tracking_Ant},
{cmdStr09, Menu_Tracking_Option}, // wird nur bei Tracking RSSI oder GPS eingeblendet - SCROLL_MAIN_MAX wird geändert
{cmdStr0d, Menu_GPS_Display}, // wird nur bei Tracking GPS eingeblendet - SCROLL_MAIN_MAX wird geändert
{cmdStr0d1, Menu_GPS_Display_FLAG}, // nach '9' (0x39) folgt ':' (0x3a)
{cmdStr0d2, Menu_GPS_Display_FLAG},
{cmdStr0d3, Menu_GPS_Display_FLAG},
{cmdStr0d4, Menu_GPS_Displ_RX_Time}
};
 
 
typedef void (*Displ_Fnct_t)( uint32_t );
uint32_t Change_Value(uint32_t val, uint32_t min_val, uint32_t max_val, uint8_t pos, Displ_Fnct_t Displ_Fnct, uint8_t vrepeat);
void Displ_AV_Source(uint32_t q);
void Displ_Channels(uint32_t k);
void Displ_Set_Contrast(uint32_t val);
void Displ_Backgr_Light(uint32_t val);
void Displ_U_2Nk(uint32_t u);
void Displ_Off_On(uint32_t val);
void Displ_Language(uint32_t q);
void Displ_Servo_Steps(uint32_t val);
void Displ_Servo_Min(uint32_t val);
void Displ_Servo_Max(uint32_t val);
void Displ_Servo_Mid(uint32_t val);
void Displ_Format_Int(uint32_t val);
void Displ_sel_Tracking(uint32_t q);
void Displ_track_TX(uint32_t q);
void Displ_Baudrate(uint32_t q);
 
 
/**************************************************************/
/* */
/* Steuerung der Menüs */
/* */
/**************************************************************/
 
/************************************************************************************/
/* sucht nach übergebenen String in der Kommandotabelle und springt zum daneben */
/* stehenden Menü-Programm */
/* Parameter: */
/* char *pmenu :zu suchender String in Kommandotabelle */
/* */
/************************************************************************************/
void Jump_Menu(char *pmenu)
{ uint8_t i;
void (*func)(void);
 
if (pmenu[0] != '\0'){
for (i=0; i < sizeof(command_table) / sizeof(command_table_t); i++) {
// Ist das der gesuchte String?
if (!(strcmp_P(pmenu, (char*)pgm_read_word(&(command_table[i].menu_nr))))) {
func = (void(*)(void))pgm_read_word(&(command_table[i].fp));
func();
break;
}
}
}
}
 
/************************************************************************************/
/* */
/* Abfrage Short- oder Long-Enter */
/* verbleibt in Abfrage bis Enter betätigt; Rückgabe => Short-Enter True/False */
/* */
/************************************************************************************/
void Long_Enter(void)
{
Tasks_unvisible();
// falls Akku leer ==> Menü verlassen und Anzeige __ACCU_LOW
U_Messen_cmp(DISABLE_BTIMER);
if ((Get_Key_Long( 1<<SW_ENTER )) || (bat_low == 0)) pmenu[0] ='\0'; // direkt in das Hauptprogramm
}
 
uint8_t Short_Enter(void)
{
// bis Short- oder Long-Enter, auch Akku leer
while( !Get_Key_Short( 1<<SW_ENTER ) && (pmenu[0] !='\0')) {
Long_Enter();
}
lcdClear();
if (pmenu[0] == '\0') Displ_Main_Disp(); else Beep(BEEPENTER); // bei ShortEnter Beep
return(pmenu[0] != '\0'); // ShortEnter bringt 1 zurück
}
 
/************************************************************************************/
/* */
/* Unterprogramm vom Scroll_Menu(...) stellt Menüpunkte dar */
/* Parameter: */
/* scr_menu_t scr_menu : Array mit Strings der Menüanzeige */
/* uint8_t scr_idx : ausgewählter Menüpunkt */
/* uint8_t scroll_max: scrollen bis Wert */
/* */
/************************************************************************************/
void Displ_Scroll_Menu(scr_menu_t scr_menu, uint8_t scr_idx, uint8_t scroll_max)
{
uint8_t i;
const uint8_t p = 2; // LCD Beginn x-Position
if (scr_idx > 0) scr_idx--; else scr_idx = scroll_max;
for (i = 0; i < LCD_LINES; i++) {
lcdGotoXY(p, i);
lcdPuts(Msg(scr_menu[scr_idx]));
// ab Stringende bis zum Zeilenende löschen; LCD löschen flackert sonst zu sehr
for (int8_t n = LCD_COLS - strlen(Msg(scr_menu[scr_idx])) - p; n > 0; n--)
lcdPutc(' ');
if (scr_idx < scroll_max) scr_idx++; else scr_idx = 0;
}
}
 
/************************************************************************************/
/* */
/* Unterprogramm vom Scroll_Menu(...) und Change_Value(...) */
/* bei Rücksprung auf ursprünglichen Menüpunkt zeigen */
/* Parameter: */
/* uint8_t l : Strinlänge von pmenue */
/* */
/************************************************************************************/
void return_m_pkt(uint8_t l)
{
if (l > 0) {
l--;
m_pkt = pmenu[l] - '0'; // um bei Rücksprung auf ursprünglichen Arrayeintrag(Menüpunkt) zeigen
pmenu[l] ='\0'; // auf letztes Zeichen Stringende schreiben
}
if (l == 0) Displ_Main_Disp();
}
 
/************************************************************************************/
/* */
/* scrollt Menü über Mehrzeilige LCD */
/* */
/* Taste<Enter> lang springt in Hauptanzeige, kurz geht in den angewälten Menüpunkt*/
/* Taste<+> eine Zeile nach oben */
/* Taste<-> eine Zeile nach unten */
/* Parameter: */
/* scr_menu_t scr_menu : Array mit Strings der Menüanzeige */
/* uint8_t scroll_max: scrollen bis Wert */
/* uint8_t scr_idx : Index für array von Displ_Scroll_Menu(...) */
/* */
/************************************************************************************/
void Scroll_Menu(scr_menu_t scr_menu, uint8_t scroll_max, uint8_t scr_idx)
{ uint8_t l;
 
// pmenu[1] == '\0' entspricht <wenn Hauptmenue>, da jetzt nur noch Servo x für Scrollemenue (rev,min,max,mid)
if ((pmenu[1] == '\0') && ((tracking == TRACKING_RSSI) || (tracking == TRACKING_GPS) || (tracking == TRACKING_MKCOCKPIT))) {
++scroll_max;
if (tracking == TRACKING_RSSI) scr_menu[scroll_max] = MSG_TRACK_SERVO_HYTERESE;
if (tracking == TRACKING_GPS) {
scr_menu[scroll_max] = MSG_TRACK_TX_OSD_DATA;
++scroll_max; // zusätzliche Anzeige zu GPS
}
if (tracking == TRACKING_MKCOCKPIT) scr_menu[scroll_max] = MSG_COM;
}
lcdClear();
lcdGotoXY(0, 1);
lcdPutc(MARKER_SELECT); // '>>'
Displ_Scroll_Menu(scr_menu, scr_idx, scroll_max);
// bis Menueeingabe bestätigt oder zum vorherigen Menue
while( !Get_Key_Short( 1<<SW_ENTER ) && (pmenu[0] !='\0'))
{
// >> Menueauswahl nach oben
if( Get_Key_Press( 1<<SW_PLUS ) || Get_Key_Rpt( 1<<SW_PLUS ))
{
if (scr_idx > 0) scr_idx--; else scr_idx = scroll_max;
Displ_Scroll_Menu(scr_menu, scr_idx, scroll_max);
}
// >> Menueauswahl nach unten
if( Get_Key_Press( 1<<SW_MINUS ) || Get_Key_Rpt( 1<<SW_MINUS ))
{
if (scr_idx < scroll_max) scr_idx++; else scr_idx = 0;
Displ_Scroll_Menu(scr_menu, scr_idx, scroll_max);
}
Long_Enter();
}
lcdClear();
if ((pmenu[0] !='\0')) {
l = strlen(pmenu);
if (scr_idx > 0) {
m_pkt = 1; // 0 wäre "zurück", so aber ins Untermenü immer erster Menüpunkt
pmenu[l] = scr_idx + '0'; // nächsten MenueIndex anhängen 1 oder 2 oder ...
pmenu[l + 1] ='\0';
Beep(BEEPENTER);
}
else {
return_m_pkt(l); // um bei Rücksprung auf ursprünglichen Menüpunkt zeigen oder Displ_Main_Disp()
}
}
else
Displ_Main_Disp();
}
 
/************************************************************************************/
/* */
/* Ändern der Werte mit Tasten +,- und Anzeige */
/* z.B. für U-Offset, Batterie leer Eingabe ... */
/* */
/* Parameter: */
/* uint32_t val :zu ändernter Wert */
/* uint32_t min_val, max_val :min, max Grenze Wert ändern darf */
/* uint8_t posX, posY :Darstellung Wert xPos, YPos auf LCD */
/* Displ_Fnct_t Displ_Fnct :Index um variable Display Funktion aufzurufen */
/* uint8_t cycle :0 begrenzt Anzeige bei man_val, bzw. max_val */
/* :1 springt nach max_val auf min_val und umgedreht */
/* uint8_t vrepeat :beschleunigte Repeat-Funktion aus/ein */
/* uint32_t Change_Value_plmi(...) :Rückgabe geänderter Wert */
/* */
/************************************************************************************/
uint32_t Change_Value_plmi(uint32_t val, uint32_t min_val, uint32_t max_val, uint8_t posX, uint8_t posY, \
Displ_Fnct_t Displ_Fnct, uint8_t cycle, uint8_t vrepeat)
{
// >> Menueauswahl nach oben
if( Get_Key_Press( 1<<SW_PLUS ) || Get_Key_Rpt( 1<<SW_PLUS )){
if (val < max_val) {
val++;
Key_Speedup_rpt(vrepeat); // beschleunigte Repeat-Funktion
}
else
if (cycle) {
val = min_val;
}
lcdGotoXY(posX, posY); // lcd Position Wert
Displ_Fnct(val); // geänderten Wert darstellen, je nach Menüpunkt
}
// >> Menueauswahl nach unten
if( Get_Key_Press( 1<<SW_MINUS ) || Get_Key_Rpt( 1<<SW_MINUS )) {
if (val > min_val) {
val--;
Key_Speedup_rpt(vrepeat); // beschleunigte Repeat-Funktion
}
else
if (cycle) {
val = max_val;
}
lcdGotoXY(posX, posY); // noch einmal lcd Position, sonst zum Teil + und - gleichzeitig, Anzeige verrutscht
Displ_Fnct(val); // geänderten Wert darstellen, je nach Menüpunkt
}
return(val);
}
 
/************************************************************************************/
/* */
/* Ändern der Werte mit Tasten +,- repetierend; (long)Entertaste und Anzeige */
/* z.B. für U-Offset, Batterie leer Eingabe ... */
/* */
/* Parameter: */
/* uint32_t val :zu ändernter Wert */
/* uint32_t min_val, max_val :min, max Grenze Wert ändern darf */
/* uint8_t pos :Darstellung Wert xPos auf LCD */
/* Displ_Fnct_t Displ_Fnct :Index um variable Display Funktion aufzurufen */
/* uint8_t vrepeat :beschleunigte Repeat-Funktion aus/ein */
/* uint32_t Change_Value(...) :Rückgabe geänderter Wert */
/* */
/************************************************************************************/
uint32_t Change_Value(uint32_t val, uint32_t min_val, uint32_t max_val, uint8_t pos, Displ_Fnct_t Displ_Fnct, \
uint8_t vrepeat)
{
lcdGotoXY(pos, ZLE_VAL); // Position Wert
Displ_Fnct(val); // initiale Wertdarstellung, je nach Menüpunkt
// bis Menueeingabe bestätigt oder zum vorherigen Menue
while( !Get_Key_Short( 1<<SW_ENTER ) && (pmenu[0] !='\0'))
{
val = Change_Value_plmi(val, min_val, max_val, pos, ZLE_VAL, Displ_Fnct, 0, vrepeat);
Long_Enter();
}
lcdClear();
return_m_pkt(strlen(pmenu)); // um bei Rücksprung auf ursprünglichen Menüpunkt zeigen oder Displ_Main_Disp()
return(val);
}
 
 
/**************************************************************/
/* */
/* LCD-Darstellungen der Menüs */
/* Zur Unterstützung der Auswahl werden einige Einstellungen */
/* sofort ausgeführt. Z.B.: Kontrast, Servo-Endausschlag */
/* */
/**************************************************************/
 
/************************************************************************************/
/* stellt eine String mittig auf Display dar */
/* Parameter: */
/* char *str : darzustellende Zeichenkette */
/* uint8_t zle : Display-Zeile */
/* */
/************************************************************************************/
void Displ_Str_mid(char *str, uint8_t zle)
{ int8_t x;
 
lcdGotoXY(0,zle);
for (x = 0; x < LCD_COLS; x++) lcdPutc(' '); // Zeile löschen
x = (LCD_COLS - strlen(str))/2; // Array-String mittig schreiben
lcdGotoXY(x,zle);
lcdPuts(str);
}
 
/************************************************************************************/
/* zeigt Menü- * Überschrift * auf erste Zeile mittig auf Display an */
/* Parameter: */
/* uint8_t message : index (MSG_) der darzustellenden Zeichenkette */
/* */
/************************************************************************************/
void Displ_Title(uint8_t message)
{ uint8_t l;
uint8_t x = 0;
 
l = strlen(Msg(message));
if ( LCD_COLS > l) x = (LCD_COLS - l)/2;
if (x > 1) {
lcdGotoXY(x - 2, 0);
lcdPuts("* ");
lcdPuts(Msg(message));
lcdPutc(' ');
}
else {
lcdGotoXY(0, 0);
lcdPutc('*');
lcdGotoXY(x, 0);
lcdPuts(Msg(message));
lcdGotoXY(LCD_COLS - 1, 0);
}
lcdPutc('*');
}
 
/************************************************************************************/
/* zeigt bei Programmstart Firmware- und DOGM-Version auf Display an */
/* */
/************************************************************************************/
void Displ_Version(void)
{
lcdGotoXY(0, 0);
lcdPuts(Msg(MSG_VERSION1));
if (dogm_vers == DOGM3V)
lcdPuts(Msg(MSG_UHW33V));
else
lcdPuts(Msg(MSG_UHW5V));
lcdPuts(Msg(MSG_VERSION2));
for ( uint8_t i=0; i<=30;i++)
_delay_ms(100);
lcdClear();
}
 
/************************************************************************************/
/* zeigt auszuwählenden/-gewählten Kanal und Frequenz auf Display an */
/* Parameter: */
/* uint32_t k :Index anzuzeigender Wert = Kanal + 0x30 als Char, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Channels(uint32_t k)
{ char *channels[] = {"5740", "5760","5780", "5800", "5820", "5840", "5860"};
 
lcdPutc(k+0x30);
lcdPuts(": ");
lcdPuts(channels[k-1]);
lcdPuts("MHz");
}
 
/************************************************************************************/
/* zeigt Source AV1, AV2 oder Diversity zur Auswahl auf Display an */
/* Parameter: */
/* uint32_t q :Index anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_AV_Source(uint32_t q)
{ uint8_t av_src_table[] = {MSG_AV1, MSG_AV2, MSG_DIVERSITY};
 
Displ_Str_mid(Msg(av_src_table[q]), ZLE_VAL);
}
 
/************************************************************************************/
/* zeigt Tracking-Varianten zur Auswahl auf Display an */
/* Parameter: */
/* uint32_t q :Index anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_sel_Tracking(uint32_t q)
{ uint8_t track_sel_table[] = {MSG_OFF, MSG_TRACK_RSSI, MSG_TRACK_GPS, MSG_TRACK_MKCOCKPIT};
 
Displ_Str_mid(Msg(track_sel_table[q]), ZLE_VAL);
}
 
/************************************************************************************/
/* zeigt Senden der OSD-Daten Anforderung zur Auswahl auf Display an */
/* Parameter: */
/* uint32_t q :Index anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_track_TX(uint32_t q)
{ uint8_t track_TX_table[] = {MSG_OFF, MSG_TRACK_TX_ON};
 
Displ_Str_mid(Msg(track_TX_table[q]), ZLE_VAL);
}
 
/************************************************************************************/
/* zeigt einen max. 3-stelligen Integerwert auf Display an */
/* Parameter: */
/* uint32_t val :anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Format_Int(uint32_t val)
{
lcdPuts(my_itoa(val, 0, 3, 0, 0));
}
 
/************************************************************************************/
/* zeigt den Kontrastwert auf Display an mit sofortiger Änderung */
/* Parameter: */
/* uint32_t val :anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Set_Contrast(uint32_t val)
{
Displ_Format_Int(val);
lcdContrast(dogm_vers, val);
}
 
/************************************************************************************/
/* zeigt die Zeit zur Abschaltung der LCD-Hintergrundbeleuchtung an */
/* Parameter: */
/* uint32_t val :anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Backgr_Light(uint32_t val)
{ char str[5];
uint8_t l;
l = strlen(Msg(MSG_LIGHT)); // etwas Aufwand um Zeilenende sauber zu löschen
switch(val) {
case BACKGR_LIGHT_MIN : l += strlen(Msg(MSG_LIGHT_OFF));
lcdPuts(Msg(MSG_LIGHT_OFF));
break;
case BACKGR_LIGHT_MAX : l += strlen(Msg(MSG_LIGHT_ON));
lcdPuts(Msg(MSG_LIGHT_ON));
break;
default : itoa (val * 10, str, 10);
lcdPutc(' ');
lcdPuts(str);
lcdPuts(Msg(MSG_SEC));
l += 1 + strlen(str) + strlen(Msg(MSG_SEC));
}
l = LCD_COLS - l;
for (uint8_t x = 0; x < l; x++) lcdPutc(' '); // Zeilenende löschen
}
 
/************************************************************************************/
/* zeigt ein oder aus zur Auswahl auf Display an */
/* Parameter: */
/* uint32_t val :0 = aus oder 1 = ein, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Off_On(uint32_t val)
{
if (val == 0) lcdPuts(Msg(MSG_OFF)); else lcdPuts(Msg(MSG_ON));
}
 
/************************************************************************************/
/* zeigt Servoschritte zur Auswahl auf Display an */
/* Parameter: */
/* uint32_t val :0 = 255 oder 1 = 1023, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Servo_Steps(uint32_t val)
{ uint8_t servo_step_table[] = {MSG_STEPS_255, MSG_STEPS_1023};
 
Displ_Str_mid(Msg(servo_step_table[val]), ZLE_VAL);
}
 
/************************************************************************************/
/* zeigt Servo-Anschlagposition links auf Display an */
/* mit sofortiger Wirkung auf Servo */
/* Parameter: */
/* uint32_t val :anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Servo_Min(uint32_t val)
{ uint16_t steps = 0;
 
Displ_Format_Int(val);
servoSet_min(servo_nr, val); // Wert setzen damit nachfolgend die
if (servo[servo_nr].rev) steps = ServoSteps();
servoSetPosition(servo_nr, steps); // Änderung direkt am Servo sichtbar ist
}
 
/************************************************************************************/
/* zeigt Servo-Anschlagposition rechts auf Display an */
/* mit sofortiger Wirkung auf Servo */
/* Parameter: */
/* uint32_t val :anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Servo_Max(uint32_t val)
{ uint16_t steps = ServoSteps();
 
Displ_Format_Int(val);
servoSet_max(servo_nr, val); // Wert setzen damit nachfolgend die
if (servo[servo_nr].rev) steps = 0;
servoSetPosition(servo_nr, steps); // Änderung direkt am Servo sichtbar ist
}
 
/************************************************************************************/
/* zeigt Servo-Anschlagposition Mitte auf Display an */
/* mit sofortiger Wirkung auf Servo */
/* Parameter: */
/* uint32_t val :anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Servo_Mid(uint32_t val)
{ int16_t mid_val;
mid_val = val - ServoSteps()/2;
lcdPuts(my_itoa(mid_val, 1, 3, 0, 0));
servoSet_mid(servo_nr, val); // Wert setzen damit nachfolgend die
servoSetPosition(servo_nr, ServoSteps()/2);// Änderung direkt am Servo sichtbar ist
}
 
/************************************************************************************/
/* zeigt Baudrate für COM bei MKCockpit zur Auswahl auf Display an */
/* Parameter: */
/* uint32_t q :Index anzuzeigender Wert, */
/* unint32_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Baudrate(uint32_t q)
{ char str[7];
 
ltoa(baud[q], str, 10);
Displ_Str_mid(str, ZLE_VAL);
}
 
/************************************************************************************/
/* zeigt Benutzung(Zeit) der beiden Empfänger auf Display an */
/* */
/************************************************************************************/
 
uint32_t TimeBase60(char *str, uint32_t time, uint8_t pos)
{ uint32_t tmp;
tmp = time % 60;
time /= 60;
for (int8_t i = pos; i >= (pos - 1); i--) {
str[i] = (tmp % 10) + '0';
tmp /= 10;
}
return(time);
}
 
void Displ_TimeHMS(uint32_t time)
{ char str[9];
 
time /= 4000; // Rechenfehler? Zähler aller 500µs
str[8] = '\0';
time = TimeBase60(str, time, 7);
time = TimeBase60(str, time, 4);
TimeBase60(str, time, 1);
str[2] = ':';
str[5] = ':';
lcdPuts(str);
}
 
void Displ_RX_Time(void)
{
lcdGotoXY(6, 1);
Displ_TimeHMS(rxcount0);
lcdGotoXY(6, 2);
Displ_TimeHMS(rxcount1);
}
 
/************************************************************************************/
/* zeigt den Marker in Hauptdarstellung auf selektierten RX an */
/* d Diversity, << fester RX */
/* Parameter: */
/* uint8_t p :x-Position des Markers */
/* uint8_t marker :Markerzeichen z.B.:'' oder 'd' oder 's' */
/* */
/************************************************************************************/
void Displ_AV_Mark(uint8_t p, char marker)
{
if (p < 2) {
lcdGotoXY(15,2 - p); // da p immer neue Position 0 oder 1
lcdPutc(' '); // bisherigen AVx-, Diversity-Marker löschen
lcdGotoXY(15,p + 1); // an neuer Positon
lcdPutc(marker); // übergebenes Markerzeichen darstellen
}
else { // falls beim Einschalten Diversity auf aktiv, keine Marker
lcdGotoXY(15,1);
lcdPutc(' ');
lcdGotoXY(15,2);
lcdPutc(' ');
}
}
 
/************************************************************************************/
/* Hauptanzeige unter Berücksichtigung von VBat */
/* */
/************************************************************************************/
void Displ_Main_Disp(void)
{ char marker;
 
lcdClear();
if (bat_low != 0) {
lcdClear();
Displ_Channels(channel);
lcdGotoXY(LCD_COLS - 1, 0);
lcdPuts("V\n1\n2");
if (av_source < DIVERSITY)
marker = MARKER_AV; // wird nur bei gesetzten Diversity überschrieben
else
marker = MARKER_RSSI; // nur Schönheit, damit man sofort Umschaltung sieht
Displ_AV_Mark(sw_avx, marker);
Displ_VBat(); // muss zuletzt stehen
}
else {
Displ_Str_mid(Msg(MSG_ACCU_LOW), 0);
}
}
 
 
 
/**************************************************************/
/* */
/* Menüs */
/* */
/**************************************************************/
 
/**************************/
/* */
/* Haupmenü */
/* */
/**************************/
void Menu_Main(void)
{ scr_menu_t scr_main_menu = {MSG_RETURN, MSG_AV_SOURCE, MSG_RX_CHANNEL, MSG_RSSI_CALIBR, MSG_LANGUAGE, MSG_SERVO_CALIBR, \
MSG_LCD , MSG_BATTERY, MSG_TRACKING, 0, MSG_GPS_DISPLAY};
 
strcpy(pmenu, "0");
Scroll_Menu(scr_main_menu, SCROLL_MAIN_MAX, m_pkt); // pmenu global
Jump_Menu(pmenu); //gewähltes Untermenü anspringen oder nur Return
}
 
/**************************/
/* */
/* AV-Quelle */
/* */
/**************************/
void Menu_AV_Source(void)
{ char marker;
uint32_t eep_val;
 
Displ_Title(MSG_AV_SOURCE);
eep_val = Change_Value(av_source, AV_SOURCE_MIN, AV_SOURCE_MAX, 3, Displ_AV_Source, C_REPEAT); // pmenu global
if (eep_val != av_source) {
cli();
av_source = eep_val;
eeprom_write_byte(&ep_av_source, av_source);
Double_Beep(DBEEPWR, DBEEPWRP);
sw_avx = Set_AV_Source(av_source);
if (pmenu[0] == '\0') { // sonst ist AV-Source marker im Hauptdisplay nicht aktuallisiert
if (av_source < DIVERSITY)
marker = MARKER_AV; // wird nur bei gesetzten Diversity überschrieben
else
marker = MARKER_RSSI; // nur Schönheit, damit man sofort Umschaltung sieht
Displ_AV_Mark(sw_avx, marker);// da erst jetzt die Variable für main_display geändert ist!
}
sei();
}
Jump_Menu(pmenu);
}
 
/**************************/
/* */
/* Kanal */
/* */
/**************************/
void Menu_RX_Channel(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_RX_CHANNEL);
eep_val = Change_Value(channel, CHANNEL_MIN, CHANNEL_MAX, 3, Displ_Channels, C_REPEAT); // pmenu global
if ((eep_val != channel) || (eep_val != ch_stored)) { // oder Channel wurde im Hauptdisplay geändert
channel = eep_val;
ch_stored = eep_val;
eeprom_write_byte(&ep_channel, channel);
Double_Beep(DBEEPWR, DBEEPWRP);
Set_Channel(channel);
if (pmenu[0] == '\0') { // sonst ist channel im Hauptdisplay nicht aktuallisiert
lcdGotoXY(0,0);
Displ_Channels(channel); // da erst jetzt die Variable für main_display geändert ist!
}
}
Jump_Menu(pmenu);
}
 
/**************************/
/* */
/* RSSI */
/* */
/**************************/
void Menu_RSSI_Calibr(void)
{ uint8_t scr_sub_menu[3] = {MSG_RETURN, MSG_RSSI_MIN, MSG_RSSI_MAX};
 
Scroll_Menu(scr_sub_menu, 2, m_pkt); // pmenu global
Jump_Menu(pmenu);
}
 
void Menu_RSSI_min(void)
{ char str[20];
 
Displ_Title(MSG_RSSI_MIN);
strcpy(str, Msg(MSG_TX));
strcat(str, Msg(MSG_TX_OFF));
Displ_Str_mid(str, 1);
Displ_Str_mid(Msg(MSG_CONTINUE), 2);
if (Short_Enter()) { // pmenu global
RSSI_Min_Calibrate(pudbm);
pmenu[0] = '\0'; // zur Hauptdarstellung
Displ_Main_Disp(); // da erst jetzt die Variable für main_display geändert ist!
}
else
Jump_Menu(pmenu);
}
 
void Menu_RSSI_max(void)
{ char str[20];
 
Displ_Title(MSG_RSSI_MAX);
strcpy(str, Msg(MSG_TX));
strcat(str, Msg(MSG_TX_ON));
Displ_Str_mid(str, 1);
Displ_Str_mid(Msg(MSG_CONTINUE), 2);
if (Short_Enter()) { // pmenu global
RSSI_Max_Calibrate(pudbm);
pmenu[0] = '\0'; // zur Hauptdarstellung
Displ_Main_Disp(); // da erst jetzt die Variable für main_display geändert ist!
}
else
Jump_Menu(pmenu);
}
 
/**************************/
/* */
/* Sprache */
/* */
/**************************/
void Displ_Language(uint32_t i)
{ uint8_t lanuage_table[3] = {MSG_GERMAN, MSG_ENGLISH, MSG_FRENCH};
 
Displ_Str_mid(Msg(lanuage_table[i]), ZLE_VAL);
}
 
void Menu_Language(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_LANGUAGE);
eep_val = Change_Value(language, GERMAN, LAST_LANG, 3, Displ_Language, C_REPEAT); // pmenu global
language = eeprom_read_byte(&ep_language); // damit bei Erstinbetriebnahme Sprache gespeichert wird NO_LANGUAGE
if (eep_val != language) {
language = eep_val;
eeprom_write_byte(&ep_language, language);
Double_Beep(DBEEPWR, DBEEPWRP);
}
Jump_Menu(pmenu);
}
 
/**************************/
/* */
/* Servos */
/* */
/**************************/
void Menu_Servo_Calibr(void)
{ uint8_t scr_sub_menu[4] = {MSG_RETURN, MSG_SERVO_STEPS, MSG_SERVO1, MSG_SERVO2};
 
Scroll_Menu(scr_sub_menu, 3, m_pkt); // pmenu global
Jump_Menu(pmenu);
}
 
void Servo_NewValues(uint8_t idx_presc)
{
for (uint8_t i = 0; i < SERVO_NUM_CHANNELS; i++) {
if (idx_presc == STEPS_255) { // Werte umrechnen für Prescaler = 256
servo[i].min /= 4;
servo[i].max /= 4;
servo[i].mid /= 4;
}
else { // Werte umrechnen für Prescaler = 64
servo[i].min *= 4;
servo[i].max *= 4;
servo[i].mid = (servo[i].mid + 1) * 4 - 1;
}
servoSet_min(i, servo[i].min);
servoSet_max(i, servo[i].max);
servoSet_mid(i, servo[i].mid);
eeprom_write_block(&servo[i],&ep_servo[i],sizeof(servo_t));
}
// Vorberechnung von ServoChannels[channel].duty
servoSetDefaultPos(); // Ausgangsstellung beider Servos
}
 
void Menu_Servo_Steps(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_SERVO_STEPS);
lcdGotoXY(8, ZLE_VAL);
eep_val = Change_Value(sIdxSteps, STEPS_255, STEPS_1023, 5, Displ_Servo_Steps, C_REPEAT); // pmenu global
if (eep_val != sIdxSteps) {
cli();
sIdxSteps = eep_val;
eeprom_write_byte(&ep_sIdxSteps, sIdxSteps);
Servo_NewValues(sIdxSteps); // hier ist der neue Index anzugeben!
servoInit();
sei();
Double_Beep(DBEEPWR, DBEEPWRP);
}
Jump_Menu(pmenu);
}
 
void Menu_Servo1(void)
{ uint8_t scr_servo_menu[5] = {MSG_RETURN, MSG_SERVO1_REVERSE, MSG_CALIB1_LEFT, MSG_CALIB1_RIGHT, MSG_CALIB1_MIDDLE};
Scroll_Menu(scr_servo_menu, SCROLL_SERVO_MAX, m_pkt); // pmenu global
servo_nr = 0;
Jump_Menu(pmenu);
}
 
void Menu_Servo2(void)
{ uint8_t scr_servo_menu[5] = {MSG_RETURN, MSG_SERVO2_REVERSE, MSG_CALIB2_LEFT, MSG_CALIB2_RIGHT, MSG_CALIB2_MIDDLE};
Scroll_Menu(scr_servo_menu, SCROLL_SERVO_MAX, m_pkt); // pmenu global
servo_nr = 1;
Jump_Menu(pmenu);
}
 
uint8_t Servo_tmp_on(void)
{ uint8_t tmp_tracking = tracking;
 
tracking = 0; // Servopositionierung durch tracking abschalten
if (tracking == TRACKING_MIN) servoInit(); // falls aus, Servos einschalten
lcdGotoXY(0, 0); // lcd Cursor vorpositionieren
return(tmp_tracking);
}
 
void Servo_tmp_Original(uint8_t track)
{ uint16_t steps;
 
if (servo_nr == SERVO_PAN)
steps = ServoSteps()/2; // PAN auf Mittelstellung
else
steps = 0; // Tilt auf Endausschlag
servoSetPosition(servo_nr, steps); // Bei PAN auf ServoSteps/2 und bei Tilt auf 0 oder ServoSteps NICHT!!! reverse beachten
tracking = track; // ursprünglicher Wert Tracking aus, RSSI oder GPS
if (tracking == TRACKING_MIN) {
for (uint8_t i = 0; i < 2; i++)
_delay_ms(200); // sonst werden Impulse bereits vor erreichen der Servo-default-Stellung abgeschaltet
servoOff(); // Servos sind nur zum Tracking oder bei Kalibrierung eingeschaltet
}
Jump_Menu(pmenu);
}
 
void Menu_Servo_rev(void)
{ uint32_t eep_val;
uint8_t tmp_tracking;
 
tmp_tracking = Servo_tmp_on();
eep_val = Change_Value(servo[servo_nr].rev, 0, 1, 6, Displ_Off_On, C_REPEAT); // pmenu global; reverse gibt es nur 0=off, 1=on
if (eep_val != servo[servo_nr].rev) {
servo[servo_nr].rev = eep_val;
servoSet_rev(servo_nr, eep_val);
eeprom_write_block(&servo[servo_nr],&ep_servo[servo_nr],sizeof(servo_t));
Double_Beep(DBEEPWR, DBEEPWRP);
}
Servo_tmp_Original(tmp_tracking);
}
 
void Menu_Servo1_rev(void)
{
Displ_Title(MSG_SERVO1_REVERSE);
Menu_Servo_rev();
}
 
void Menu_Servo2_rev(void)
{
Displ_Title(MSG_SERVO2_REVERSE);
Menu_Servo_rev();
}
 
void Menu_Servo_left(void)
{ uint32_t eep_val;
uint8_t tmp_tracking;
 
tmp_tracking = Servo_tmp_on();
servoSetPosition(servo_nr, ServoSteps()); // Linkssanschlag um Kalibrierung am Servo zu sehen
eep_val = Change_Value(servo[servo_nr].max, servo_limit[sIdxSteps][LEFT].min, servo_limit[sIdxSteps][LEFT].max, 6, Displ_Servo_Max, V_REPEAT); // pmenu global
if (eep_val != servo[servo_nr].max) {
servo[servo_nr].max = eep_val;
eeprom_write_block(&servo[servo_nr],&ep_servo[servo_nr],sizeof(servo_t));
servoSet_mid(servo_nr, servo[servo_nr].mid); // Mittelposition muss sich bei Ausschlagsänderung verschieben
Double_Beep(DBEEPWR, DBEEPWRP);
}
Servo_tmp_Original(tmp_tracking);
}
 
void Menu_Servo1_left(void)
{
Displ_Title(MSG_CALIB1_LEFT);
Menu_Servo_left();
}
 
void Menu_Servo2_left(void)
{
Displ_Title(MSG_CALIB2_LEFT);
Menu_Servo_left();
}
 
void Menu_Servo_right(void)
{ uint32_t eep_val;
uint8_t tmp_tracking;
 
tmp_tracking = Servo_tmp_on();
servoSetPosition(servo_nr, 0); // Rechtsanschlag um Kalibrierung am Servo zu sehen
eep_val = Change_Value(servo[servo_nr].min, servo_limit[sIdxSteps][RIGHT].min, servo_limit[sIdxSteps][RIGHT].max, 6, Displ_Servo_Min, V_REPEAT); // pmenu global
if (eep_val != servo[servo_nr].min) {
servo[servo_nr].min = eep_val;
eeprom_write_block(&servo[servo_nr],&ep_servo[servo_nr],sizeof(servo_t));
servoSet_mid(servo_nr, servo[servo_nr].mid); // Mittelposition muss sich bei Ausschlagsänderung verschieben
Double_Beep(DBEEPWR, DBEEPWRP);
}
Servo_tmp_Original(tmp_tracking);
}
 
void Menu_Servo1_right(void)
{
Displ_Title(MSG_CALIB1_RIGHT);
Menu_Servo_right();
}
 
void Menu_Servo2_right(void)
{
Displ_Title(MSG_CALIB2_RIGHT);
Menu_Servo_right();
}
 
void Menu_Servo_middle(void)
{ uint32_t eep_val;
uint8_t tmp_tracking;
 
tmp_tracking = Servo_tmp_on();
servoSetPosition(servo_nr, ServoSteps()/2); // Mittelposition um Kalibrierung am Servo zu sehen
eep_val = Change_Value(servo[servo_nr].mid, servo_limit[sIdxSteps][MIDDLE].min, servo_limit[sIdxSteps][MIDDLE].max, 5, Displ_Servo_Mid, V_REPEAT); // pmenu global
if (eep_val != servo[servo_nr].mid) {
servo[servo_nr].mid = eep_val;
eeprom_write_block(&servo[servo_nr], &ep_servo[servo_nr], sizeof(servo_t));
Double_Beep(DBEEPWR, DBEEPWRP);
}
Servo_tmp_Original(tmp_tracking);
}
 
void Menu_Servo1_middle(void)
{
Displ_Title(MSG_CALIB1_MIDDLE);
Menu_Servo_middle();
}
 
void Menu_Servo2_middle(void)
{
Displ_Title(MSG_CALIB2_MIDDLE);
Menu_Servo_middle();
}
 
/**************************/
/* */
/* LCD */
/* */
/**************************/
void Menu_lcd(void)
{ uint8_t scr_sub_menu[3] = {MSG_RETURN, MSG_CONTRAST, MSG_BACKGR_LIGHT};
 
Scroll_Menu(scr_sub_menu, 2, m_pkt); // pmenu global
Jump_Menu(pmenu);
}
 
void Menu_lcd_Contrast(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_LCD);
lcdGotoXY(2, ZLE_VAL);
lcdPuts(Msg(MSG_CONTRAST));
lcdPuts(": ");
eep_val = Change_Value(contrast, CONTRAST_MIN, CONTRAST_MAX, 11, Displ_Set_Contrast, C_REPEAT); // pmenu global
if (eep_val != contrast) {
contrast = eep_val;
eeprom_write_byte(&ep_contrast, contrast);
Double_Beep(DBEEPWR, DBEEPWRP);
}
Jump_Menu(pmenu);
}
 
void Menu_lcd_Backgr_Light(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_BACKGR_LIGHT);
lcdGotoXY(0, ZLE_VAL);
lcdPuts(Msg(MSG_LIGHT));
eep_val = Change_Value(light_time, BACKGR_LIGHT_MIN, BACKGR_LIGHT_MAX, 6, Displ_Backgr_Light, V_REPEAT); // pmenu global
if (eep_val != light_time) {
light_time = eep_val;
eeprom_write_byte(&ep_light_time, light_time);
Double_Beep(DBEEPWR, DBEEPWRP);
if (light_time == BACKGR_LIGHT_MIN) lcdSet_BackgrLight_Off(); // Hintergrundbeleuchtung immer aus ==> sofort schalten
}
Jump_Menu(pmenu);
}
 
/**************************/
/* */
/* Batterie */
/* */
/**************************/
void Menu_Battery(void)
{ uint8_t scr_sub_menu[3] = {MSG_RETURN, MSG_U_SETUP, MSG_U_OFFSET};
 
Scroll_Menu(scr_sub_menu, 2, m_pkt); // pmenu global
Jump_Menu(pmenu);
}
 
void Menu_Low_U_Setup(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_U_MIN);
eep_val = Change_Value(u_min, U_MIN_MIN, U_MIN_MAX, 4, Displ_U_2Nk, V_REPEAT); // pmenu global
if (eep_val != u_min) {
u_min = eep_val;
eeprom_write_dword(&ep_u_min, u_min);
hyst_u_min = u_min;
Double_Beep(DBEEPWR, DBEEPWRP);
}
Jump_Menu(pmenu);
}
 
void Menu_U_Offset(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_U_OFFSET);
eep_val = Change_Value(u_offset, U_OFFSET_MIN, U_OFFSET_MAX, 4, Displ_U_2Nk, V_REPEAT); // pmenu global
if (eep_val != u_offset) {
u_offset = eep_val;
eeprom_write_byte(&ep_u_offset, u_offset);
Double_Beep(DBEEPWR, DBEEPWRP);
}
Jump_Menu(pmenu);
}
 
/**************************/
/* */
/* Antennennachführung */
/* */
/**************************/
void Menu_Tracking_Ant(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_TRACKING);
eep_val = Change_Value(tracking, TRACKING_MIN, TRACKING_MAX, 3, Displ_sel_Tracking, C_REPEAT); // pmenu global
if (eep_val != tracking) {
cli();
tracking = eep_val;
sei();
eeprom_write_byte(&ep_tracking, tracking);
Double_Beep(DBEEPWR, DBEEPWRP);
USART_RX_Mode(tracking); // Unterschied Datenempfang GPS/MKCockpit
coldstart = 1;
rxcount0 = 0;
rxcount1 = 0;
servoSetDefaultPos(); // Ausgangsstellung beider Servos
if (tracking > TRACKING_MIN)
servoInit();
else {
for (uint8_t i = 0; i < 2; i++)
_delay_ms(200); // sonst wird Impuls bereits vor erreichen der Mittelstellung abgeschaltet
servoOff();
}
USART_Init_Baudrate();
}
Jump_Menu(pmenu);
}
 
/**************************/
/* Optionen */
/* Antennennachführung */
/* */
/**************************/
void Menu_Tracking_HYST(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_HYSTERESE);
eep_val = Change_Value(track_hyst, TRACKING_HYST_MIN, TRACKING_HYST_MAX, 7, Displ_Format_Int, V_REPEAT); // pmenu gloabal
if (eep_val != track_hyst) {
track_hyst = eep_val;
eeprom_write_byte(&ep_track_hyst, track_hyst);
Double_Beep(DBEEPWR, DBEEPWRP);
}
Jump_Menu(pmenu);
}
 
void Menu_Tracking_TXOSD(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_TRACK_TX_OSD_DATA);
eep_val = Change_Value(track_tx, 0, 1, 3, Displ_track_TX, C_REPEAT); // pmenu global; Senden gibt es nur 0=off, 1=on
if (eep_val != track_tx) {
track_tx = eep_val;
eeprom_write_byte(&ep_track_tx, track_tx);
Double_Beep(DBEEPWR, DBEEPWRP);
}
Jump_Menu(pmenu);
}
 
void Menu_Baudrate(void)
{ uint32_t eep_val;
 
Displ_Title(MSG_BAUDRATE);
eep_val = Change_Value(baudrate, BAUDRATE_MIN, BAUDRATE_MAX, 3, Displ_Baudrate, C_REPEAT); // pmenu global; Senden gibt es nur 0=off, 1=on
if (eep_val != baudrate) {
baudrate = eep_val;
eeprom_write_byte(&ep_baudrate, baudrate);
Double_Beep(DBEEPWR, DBEEPWRP);
USART_Init(baud[baudrate]);
}
Jump_Menu(pmenu);
}
 
void Menu_Tracking_Option(void)
{ // im Menü ist dies der gleiche Gliederungspunkt aber mit geänderter Auswahl
switch(tracking) {
case TRACKING_RSSI: Menu_Tracking_HYST();
break;
case TRACKING_GPS: Menu_Tracking_TXOSD();
break;
case TRACKING_MKCOCKPIT: Menu_Baudrate();
}
}
 
/**************************/
/* */
/* Anzeige GPS */
/* */
/**************************/
void Menu_GPS_Display(void)
{ uint8_t scr_sub_menu[5] = {MSG_RETURN, MSG_GPS_CALCULATE, MSG_GPS_CURRENT, MSG_GPS_HOME, MSG_RX_TIME};
 
Scroll_Menu(scr_sub_menu, 4, m_pkt); // pmenu global
Jump_Menu(pmenu);
}
 
void Menu_GPS_Display_FLAG(void) // ist Flag in tracking.c Tracking_GPS(void)
{ uint8_t slen;
slen = strlen(pmenu) - 1;
gps_display = pmenu[slen] - '0'; // char to byte 1 bis 3 im String enthalten
m_pkt = gps_display;
gps_disp_clear = 1; // damit Text "...keine Daten empf..." nach Datenempfang gelöscht wird
lcdPuts(Msg(MSG_GPS_NO_DATA));
if (Short_Enter()) // pmenu global
pmenu[slen] = '\0'; // Menüpunkt zurück
gps_display = GPS_DISP_NONE; // nach Tastaturabfrage keine Anzeige GPS, sondern normales Menü
Jump_Menu(pmenu);
}
 
void Menu_GPS_Displ_RX_Time(void)
{
Displ_Title(MSG_RX_TIME);
lcdGotoXY(0, 1);
lcdPuts(Msg(MSG_RX1));
lcdGotoXY(0, 2);
lcdPuts(Msg(MSG_RX2));
Displ_RX_Time();
gps_display = GPS_RX_COUNT;
m_pkt = gps_display;
if (Short_Enter()) // pmenu global
pmenu[strlen(pmenu) - 1] = '\0';// Menüpunkt zurück
gps_display = GPS_DISP_NONE; // nach Tastaturabfrage keine Anzeige GPS, sondern normales Menü
Jump_Menu(pmenu);
}
/NGVideo5_8/tags/v1.11/menue.h
0,0 → 1,89
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#ifndef _MENUE_H_
#define _MENUE_H_
 
#define SCROLL_MAIN_MAX 8 // index array Scroll_Menu scr_main_menu[] = {....} Anzahl-1, da Beginn bei 0
#define SCROLL_SERVO_MAX 4 // index array Scroll_Menu scr_servo_menu[] = {....} Anzahl-1, da Beginn bei 0
 
/* bei Change_Value(....) */
#define ZLE_VAL 1 // DOGM Zeile des zu ändernten Wertes, einfache generelle bessere Gestaltung
 
#define C_REPEAT 0 // konstante repeat Geschwindigkeit
#define V_REPEAT 1 // sich ändernte repeat Geschwindigkeit
 
typedef struct
{
const char *menu_nr; // Stringzeiger auf Befehlsnamen
void (*fp)(void); // Zeiger auf auszuführende Funktion
} command_table_t;
void Menu_Main (void);
void Menu_AV_Source (void);
void Menu_RX_Channel (void);
void Menu_RSSI_Calibr (void);
void Menu_RSSI_min (void);
void Menu_RSSI_max (void);
void Menu_Language (void);
void Menu_Servo_Calibr (void);
void Menu_Servo_Steps (void);
void Menu_Servo1 (void);
void Menu_Servo2 (void);
void Menu_Servo1_rev (void);
void Menu_Servo1_left (void);
void Menu_Servo1_right (void);
void Menu_Servo1_middle (void);
void Menu_Servo2_rev (void);
void Menu_Servo2_left (void);
void Menu_Servo2_right (void);
void Menu_Servo2_middle (void);
void Menu_lcd (void);
void Menu_lcd_Contrast (void);
void Menu_lcd_Backgr_Light (void);
void Menu_Battery (void);
void Menu_Low_U_Setup (void);
void Menu_U_Offset (void);
void Menu_Tool (void);
void Menu_Tracking_Ant (void);
void Menu_Tracking_Option (void);
void Menu_GPS_Display (void);
void Menu_GPS_Display_FLAG (void);
void Menu_GPS_Displ_RX_Time (void);
 
char pmenu[5] = {"0"}; // Zuordnung Menü Programmgliederung zu hinterlegten Funktionen
uint8_t ch_stored; // Flag zur Speicherung, wenn Wert im Hauptdisplay geändert
uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix
 
void Displ_Main_Disp(void);
void Displ_AV_Mark(uint8_t p, char marker);
void Displ_Str_mid(char *str, uint8_t zle);
void Displ_RX_Time(void);
 
#define RIGHT 0 // Servopostionen, welche vom Einbau abhängig sind
#define LEFT 1
#define MIDDLE 2
 
typedef struct
{
uint16_t min; // entspricht Servopostionen, welche vom Einbau abhängig sind
uint16_t max;
} servo_limit_t;
 
servo_limit_t servo_limit[2][3] = {{{SERVO_I0_RIGHT_MIN, SERVO_I0_RIGHT_MAX},\
{SERVO_I0_LEFT_MIN, SERVO_I0_LEFT_MAX},\
{SERVO_I0_MIDDLE_MIN, SERVO_I0_MIDDLE_MAX}},\
{{SERVO_I1_RIGHT_MIN, SERVO_I1_RIGHT_MAX},\
{SERVO_I1_LEFT_MIN, SERVO_I1_LEFT_MAX},\
{SERVO_I1_MIDDLE_MIN, SERVO_I1_MIDDLE_MAX}}};
#endif /* _MENUE_H */
/NGVideo5_8/tags/v1.11/messages.c
0,0 → 1,223
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/* using */
/* http://www.avrfreaks.net/ */
/* index.php?name=PNphpBB2&file=viewtopic&t=71985&view=previous*/
/* */
/****************************************************************/
 
#include "messages.h"
 
PGM_P MessageTableGerman[LAST_NAT_MESSAGE+1] PROGMEM = {
MSG_TABLE(GERMAN, MSG_LANGUAGE),
MSG_TABLE(GERMAN, MSG_GERMAN),
MSG_TABLE(GERMAN, MSG_ENGLISH),
MSG_TABLE(GERMAN, MSG_FRENCH),
MSG_TABLE(GERMAN, MSG_RETURN),
MSG_TABLE(GERMAN, MSG_AV_SOURCE),
MSG_TABLE(GERMAN, MSG_RX_CHANNEL),
MSG_TABLE(GERMAN, MSG_RSSI_CALIBR),
MSG_TABLE(GERMAN, MSG_TX),
MSG_TABLE(GERMAN, MSG_TX_OFF),
MSG_TABLE(GERMAN, MSG_TX_ON),
MSG_TABLE(GERMAN, MSG_CONTINUE),
MSG_TABLE(GERMAN, MSG_CONTRAST),
MSG_TABLE(GERMAN, MSG_BACKGR_LIGHT),
MSG_TABLE(GERMAN, MSG_LIGHT),
MSG_TABLE(GERMAN, MSG_LIGHT_OFF),
MSG_TABLE(GERMAN, MSG_LIGHT_ON),
MSG_TABLE(GERMAN, MSG_SEC),
MSG_TABLE(GERMAN, MSG_BATTERY),
MSG_TABLE(GERMAN, MSG_U_MIN),
MSG_TABLE(GERMAN, MSG_U_SETUP),
MSG_TABLE(GERMAN, MSG_U_OFFSET),
MSG_TABLE(GERMAN, MSG_CALIBRATION),
MSG_TABLE(GERMAN, MSG_RUNNING),
MSG_TABLE(GERMAN, MSG_ERROR),
MSG_TABLE(GERMAN, MSG_TX_NOT),
MSG_TABLE(GERMAN, MSG_ACCU_LOW),
MSG_TABLE(GERMAN, MSG_SERVO_CALIBR),
MSG_TABLE(GERMAN, MSG_SERVO_STEPS),
MSG_TABLE(GERMAN, MSG_SERVO1_REVERSE),
MSG_TABLE(GERMAN, MSG_CALIB1_LEFT),
MSG_TABLE(GERMAN, MSG_CALIB1_RIGHT),
MSG_TABLE(GERMAN, MSG_CALIB1_MIDDLE),
MSG_TABLE(GERMAN, MSG_SERVO2_REVERSE),
MSG_TABLE(GERMAN, MSG_CALIB2_LEFT),
MSG_TABLE(GERMAN, MSG_CALIB2_RIGHT),
MSG_TABLE(GERMAN, MSG_CALIB2_MIDDLE),
MSG_TABLE(GERMAN, MSG_OFF),
MSG_TABLE(GERMAN, MSG_ON),
MSG_TABLE(GERMAN, MSG_TRACKING),
MSG_TABLE(GERMAN, MSG_TRACK_GPS),
MSG_TABLE(GERMAN, MSG_TRACK_TX_OSD_DATA),
MSG_TABLE(GERMAN, MSG_HYSTERESE),
MSG_TABLE(GERMAN, MSG_TRACK_TX_ON),
MSG_TABLE(GERMAN, MSG_GPS_DISPLAY),
MSG_TABLE(GERMAN, MSG_GPS_CALCULATE),
MSG_TABLE(GERMAN, MSG_GPS_CURRENT),
MSG_TABLE(GERMAN, MSG_GPS_HOME),
MSG_TABLE(GERMAN, MSG_GPS_NO_DATA),
MSG_TABLE(GERMAN, MSG_RX_TIME),
MSG_TABLE(GERMAN, MSG_COM),
MSG_TABLE(GERMAN, MSG_KOMMA),
MSG_TABLE(GERMAN, MSG_UHW33V),
};
 
PGM_P MessageTableEnglish[LAST_NAT_MESSAGE+1] PROGMEM = {
MSG_TABLE(ENGLISH, MSG_LANGUAGE),
MSG_TABLE(ENGLISH, MSG_GERMAN),
MSG_TABLE(ENGLISH, MSG_ENGLISH),
MSG_TABLE(ENGLISH, MSG_FRENCH),
MSG_TABLE(ENGLISH, MSG_RETURN),
MSG_TABLE(ENGLISH, MSG_AV_SOURCE),
MSG_TABLE(ENGLISH, MSG_RX_CHANNEL),
MSG_TABLE(ENGLISH, MSG_RSSI_CALIBR),
MSG_TABLE(ENGLISH, MSG_TX),
MSG_TABLE(ENGLISH, MSG_TX_OFF),
MSG_TABLE(ENGLISH, MSG_TX_ON),
MSG_TABLE(ENGLISH, MSG_CONTINUE),
MSG_TABLE(ENGLISH, MSG_CONTRAST),
MSG_TABLE(ENGLISH, MSG_BACKGR_LIGHT),
MSG_TABLE(ENGLISH, MSG_LIGHT),
MSG_TABLE(ENGLISH, MSG_LIGHT_OFF),
MSG_TABLE(ENGLISH, MSG_LIGHT_ON),
MSG_TABLE(ENGLISH, MSG_SEC),
MSG_TABLE(ENGLISH, MSG_BATTERY),
MSG_TABLE(ENGLISH, MSG_U_MIN),
MSG_TABLE(ENGLISH, MSG_U_SETUP),
MSG_TABLE(ENGLISH, MSG_U_OFFSET),
MSG_TABLE(ENGLISH, MSG_CALIBRATION),
MSG_TABLE(ENGLISH, MSG_RUNNING),
MSG_TABLE(ENGLISH, MSG_ERROR),
MSG_TABLE(ENGLISH, MSG_TX_NOT),
MSG_TABLE(ENGLISH, MSG_ACCU_LOW),
MSG_TABLE(ENGLISH, MSG_SERVO_CALIBR),
MSG_TABLE(ENGLISH, MSG_SERVO_STEPS),
MSG_TABLE(ENGLISH, MSG_SERVO1_REVERSE),
MSG_TABLE(ENGLISH, MSG_CALIB1_LEFT),
MSG_TABLE(ENGLISH, MSG_CALIB1_RIGHT),
MSG_TABLE(ENGLISH, MSG_CALIB1_MIDDLE),
MSG_TABLE(ENGLISH, MSG_SERVO2_REVERSE),
MSG_TABLE(ENGLISH, MSG_CALIB2_LEFT),
MSG_TABLE(ENGLISH, MSG_CALIB2_RIGHT),
MSG_TABLE(ENGLISH, MSG_CALIB2_MIDDLE),
MSG_TABLE(ENGLISH, MSG_OFF),
MSG_TABLE(ENGLISH, MSG_ON),
MSG_TABLE(ENGLISH, MSG_TRACKING),
MSG_TABLE(ENGLISH, MSG_TRACK_GPS),
MSG_TABLE(ENGLISH, MSG_TRACK_TX_OSD_DATA),
MSG_TABLE(ENGLISH, MSG_HYSTERESE),
MSG_TABLE(ENGLISH, MSG_TRACK_TX_ON),
MSG_TABLE(ENGLISH, MSG_GPS_DISPLAY),
MSG_TABLE(ENGLISH, MSG_GPS_CALCULATE),
MSG_TABLE(ENGLISH, MSG_GPS_CURRENT),
MSG_TABLE(ENGLISH, MSG_GPS_HOME),
MSG_TABLE(ENGLISH, MSG_GPS_NO_DATA),
MSG_TABLE(ENGLISH, MSG_RX_TIME),
MSG_TABLE(ENGLISH, MSG_COM),
MSG_TABLE(ENGLISH, MSG_KOMMA),
MSG_TABLE(ENGLISH, MSG_UHW33V),
};
 
PGM_P MessageTableFrench[LAST_NAT_MESSAGE+1] PROGMEM = {
MSG_TABLE(FRENCH, MSG_LANGUAGE),
MSG_TABLE(FRENCH, MSG_GERMAN),
MSG_TABLE(FRENCH, MSG_ENGLISH),
MSG_TABLE(FRENCH, MSG_FRENCH),
MSG_TABLE(FRENCH, MSG_RETURN),
MSG_TABLE(FRENCH, MSG_AV_SOURCE),
MSG_TABLE(FRENCH, MSG_RX_CHANNEL),
MSG_TABLE(FRENCH, MSG_RSSI_CALIBR),
MSG_TABLE(FRENCH, MSG_TX),
MSG_TABLE(FRENCH, MSG_TX_OFF),
MSG_TABLE(FRENCH, MSG_TX_ON),
MSG_TABLE(FRENCH, MSG_CONTINUE),
MSG_TABLE(FRENCH, MSG_CONTRAST),
MSG_TABLE(FRENCH, MSG_BACKGR_LIGHT),
MSG_TABLE(FRENCH, MSG_LIGHT),
MSG_TABLE(FRENCH, MSG_LIGHT_OFF),
MSG_TABLE(FRENCH, MSG_LIGHT_ON),
MSG_TABLE(FRENCH, MSG_SEC),
MSG_TABLE(FRENCH, MSG_BATTERY),
MSG_TABLE(FRENCH, MSG_U_MIN),
MSG_TABLE(FRENCH, MSG_U_SETUP),
MSG_TABLE(FRENCH, MSG_U_OFFSET),
MSG_TABLE(FRENCH, MSG_CALIBRATION),
MSG_TABLE(FRENCH, MSG_RUNNING),
MSG_TABLE(FRENCH, MSG_ERROR),
MSG_TABLE(FRENCH, MSG_TX_NOT),
MSG_TABLE(FRENCH, MSG_ACCU_LOW),
MSG_TABLE(FRENCH, MSG_SERVO_CALIBR),
MSG_TABLE(FRENCH, MSG_SERVO_STEPS),
MSG_TABLE(FRENCH, MSG_SERVO1_REVERSE),
MSG_TABLE(FRENCH, MSG_CALIB1_LEFT),
MSG_TABLE(FRENCH, MSG_CALIB1_RIGHT),
MSG_TABLE(FRENCH, MSG_CALIB1_MIDDLE),
MSG_TABLE(FRENCH, MSG_SERVO2_REVERSE),
MSG_TABLE(FRENCH, MSG_CALIB2_LEFT),
MSG_TABLE(FRENCH, MSG_CALIB2_RIGHT),
MSG_TABLE(FRENCH, MSG_CALIB2_MIDDLE),
MSG_TABLE(FRENCH, MSG_OFF),
MSG_TABLE(FRENCH, MSG_ON),
MSG_TABLE(FRENCH, MSG_TRACKING),
MSG_TABLE(FRENCH, MSG_TRACK_GPS),
MSG_TABLE(FRENCH, MSG_TRACK_TX_OSD_DATA),
MSG_TABLE(FRENCH, MSG_HYSTERESE),
MSG_TABLE(FRENCH, MSG_TRACK_TX_ON),
MSG_TABLE(FRENCH, MSG_GPS_DISPLAY),
MSG_TABLE(FRENCH, MSG_GPS_CALCULATE),
MSG_TABLE(FRENCH, MSG_GPS_CURRENT),
MSG_TABLE(FRENCH, MSG_GPS_HOME),
MSG_TABLE(FRENCH, MSG_GPS_NO_DATA),
MSG_TABLE(FRENCH, MSG_RX_TIME),
MSG_TABLE(FRENCH, MSG_COM),
MSG_TABLE(FRENCH, MSG_KOMMA),
MSG_TABLE(FRENCH, MSG_UHW33V),
};
 
PGM_P MessageTableInternational[MESSAGE_LAST_MESSAGE+1] PROGMEM = {
MSG_TABLE(INTERNAT, MSG_RSSI_MIN),
MSG_TABLE(INTERNAT, MSG_RSSI_MAX),
MSG_TABLE(INTERNAT, MSG_DIVERSITY),
MSG_TABLE(INTERNAT, MSG_LCD),
MSG_TABLE(INTERNAT, MSG_AV1),
MSG_TABLE(INTERNAT, MSG_AV2),
MSG_TABLE(INTERNAT, MSG_RX1),
MSG_TABLE(INTERNAT, MSG_RX2),
MSG_TABLE(INTERNAT, MSG_STEPS_255),
MSG_TABLE(INTERNAT, MSG_STEPS_1023),
MSG_TABLE(INTERNAT, MSG_SERVO1),
MSG_TABLE(INTERNAT, MSG_SERVO2),
MSG_TABLE(INTERNAT, MSG_TRACK_RSSI),
MSG_TABLE(INTERNAT, MSG_TRACK_MKCOCKPIT),
MSG_TABLE(INTERNAT, MSG_TRACK_SERVO_HYTERESE),
MSG_TABLE(INTERNAT, MSG_BAUDRATE),
MSG_TABLE(INTERNAT, MSG_UHW5V),
MSG_TABLE(INTERNAT, MSG_VERSION1),
MSG_TABLE(INTERNAT, MSG_VERSION2)
};
 
char* Msg(MessageType Message)
{ static char Str[LCD_LINES * LCD_COLS + 1];
 
if (Message > LAST_NAT_MESSAGE)
strcpy_P(Str, (const char*)( pgm_read_word( &(MessageTableInternational[Message - LAST_NAT_MESSAGE - 1]))));
else
switch (language) {
case ENGLISH: strcpy_P(Str, (const char*)( pgm_read_word( &(MessageTableEnglish[Message]))));
break;
case FRENCH : strcpy_P(Str, (const char*)( pgm_read_word( &(MessageTableFrench[Message]))));
break;
default: strcpy_P(Str, (const char*)( pgm_read_word( &(MessageTableGerman[Message]))));
}
return(Str);
}
/NGVideo5_8/tags/v1.11/messages.h
0,0 → 1,497
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/* using */
/* http://www.avrfreaks.net/ */
/* index.php?name=PNphpBB2&file=viewtopic&t=71985&view=previous*/
/* */
/****************************************************************/
 
#ifndef _MESSAGES_H_
#define _MESSAGES_H_
 
#include <avr/pgmspace.h>
 
/* International */
#define INTERNAT_RSSI_MIN "RSSI-Min"
#define INTERNAT_RSSI_MAX "RSSI-Max"
#define INTERNAT_DIVERSITY "Diversity"
#define INTERNAT_LCD "LCD"
#define INTERNAT_AV1 "AV1"
#define INTERNAT_AV2 "AV2"
#define INTERNAT_RX1 "1.RX:"
#define INTERNAT_RX2 "2.RX:"
#define INTERNAT_STEPS_255 "255"
#define INTERNAT_STEPS_1023 "1023"
#define INTERNAT_SERVO1 "Servo 1"
#define INTERNAT_SERVO2 "Servo 2"
#define INTERNAT_TRACK_RSSI "RSSI"
#define INTERNAT_TRACK_MKCOCKPIT "MK-Cockpit"
#define INTERNAT_TRACK_SERVO_HYTERESE "Servo-Hyster."
#define INTERNAT_BAUDRATE "Baudrate"
#define INTERNAT_UHW5V " 5V"
#define INTERNAT_VERSION1 "NG-Video 5.8GHz\nHW: "
#define INTERNAT_VERSION2 " M.Beck""FW: "VERSION " gebad"
 
#define GERMAN_LANGUAGE "Sprache"
#define GERMAN_GERMAN "Deutsch"
#define GERMAN_ENGLISH "Englisch"
#define GERMAN_FRENCH "Franz""\x94""sisch"
#define GERMAN_RETURN "Zur""\x81""ck"
#define GERMAN_AV_SOURCE "AV-Quelle"
#define GERMAN_RX_CHANNEL "RX-Kanal"
#define GERMAN_RSSI_CALIBR "RSSI-Kalibr."
#define GERMAN_TX "Bitte TX auf "
#define GERMAN_TX_OFF "AUS"
#define GERMAN_TX_ON "EIN"
#define GERMAN_CONTINUE "Weiter mit Enter"
#define GERMAN_CONTRAST "Kontrast"
#define GERMAN_BACKGR_LIGHT "LCD-Beleucht."
#define GERMAN_LIGHT "Licht:"
#define GERMAN_LIGHT_OFF " immer aus"
#define GERMAN_LIGHT_ON " immer ein"
#define GERMAN_SEC " Sek."
#define GERMAN_BATTERY "Batterie"
#define GERMAN_U_MIN "U-Min"
#define GERMAN_U_SETUP "Untersp.-Setup"
#define GERMAN_U_OFFSET "U-Offset"
#define GERMAN_CALIBRATION "Kalibrierung"
#define GERMAN_RUNNING "l""\x84""uft"
#define GERMAN_ERROR "Fehler!"
#define GERMAN_TX_NOT "Sender nicht "
#define GERMAN_ACCU_LOW " Akku\n entladen!"
#define GERMAN_SERVO_CALIBR "Servo-Kalibr."
#define GERMAN_SERVO_STEPS "Servo-Schritte"
#define GERMAN_CALIB "Kalib."
#define GERMAN_LEFT "links"
#define GERMAN_RIGHT "rechts"
#define GERMAN_MIDDLE "Mitte"
#define GERMAN_REVERSE "rev."
#define GERMAN_SERVO1_REVERSE INTERNAT_SERVO1 " " GERMAN_REVERSE
#define GERMAN_CALIB1_LEFT GERMAN_CALIB "1 " GERMAN_LEFT
#define GERMAN_CALIB1_RIGHT GERMAN_CALIB "1 " GERMAN_RIGHT
#define GERMAN_CALIB1_MIDDLE GERMAN_CALIB "1 " GERMAN_MIDDLE
#define GERMAN_SERVO2_REVERSE INTERNAT_SERVO2 " " GERMAN_REVERSE
#define GERMAN_CALIB2_LEFT GERMAN_CALIB "2 " GERMAN_LEFT
#define GERMAN_CALIB2_RIGHT GERMAN_CALIB "2 " GERMAN_RIGHT
#define GERMAN_CALIB2_MIDDLE GERMAN_CALIB "2 " GERMAN_MIDDLE
#define GERMAN_OFF "aus"
#define GERMAN_ON "ein"
#define GERMAN_TRACKING "Antenne nachf."
#define GERMAN_TRACK_GPS "GPS mit wi232"
#define GERMAN_TRACK_TX_OSD_DATA "TX OSD-Daten"
#define GERMAN_HYSTERESE "Hysterese"
#define GERMAN_TRACK_TX_ON "Sende Forderung"
#define GERMAN_GPS_DISPLAY "GPS-Anzeigen"
#define GERMAN_GPS_CALCULATE "berechn. Daten"
#define GERMAN_GPS_CURRENT "aktuelle Pos."
#define GERMAN_GPS_HOME "Startposition"
#define GERMAN_GPS_NO_DATA " Noch\n keine Daten\n empfangen!"
#define GERMAN_RX_TIME "RX-Zeit"
#define GERMAN_COM "Seriell COM"
#define GERMAN_KOMMA ","
#define GERMAN_UHW33V "3,3V"
 
#define ENGLISH_LANGUAGE "Language"
#define ENGLISH_GERMAN "German"
#define ENGLISH_ENGLISH "English"
#define ENGLISH_FRENCH "French"
#define ENGLISH_RETURN "Return"
#define ENGLISH_AV_SOURCE "AV-Source"
#define ENGLISH_RX_CHANNEL "RX-Channel"
#define ENGLISH_RSSI_CALIBR "RSSI-Calibr."
#define ENGLISH_TX "TX switch "
#define ENGLISH_TX_OFF "OFF"
#define ENGLISH_TX_ON "ON"
#define ENGLISH_CONTINUE "Continue Enter"
#define ENGLISH_CONTRAST "Contrast"
#define ENGLISH_BACKGR_LIGHT "Backgr. Light"
#define ENGLISH_LIGHT "Light:"
#define ENGLISH_LIGHT_OFF "always off"
#define ENGLISH_LIGHT_ON " always on"
#define ENGLISH_SEC " sec."
#define ENGLISH_BATTERY "Battery"
#define ENGLISH_U_MIN "U-Min"
#define ENGLISH_U_SETUP "Low voltage"
#define ENGLISH_U_OFFSET "U-Offset"
#define ENGLISH_CALIBRATION "Calibration"
#define ENGLISH_RUNNING "running"
#define ENGLISH_ERROR "Error!"
#define ENGLISH_TX_NOT "Transmitter not "
#define ENGLISH_ACCU_LOW " Accu\n low!"
#define ENGLISH_SERVO_CALIBR "Servo-Calibr."
#define ENGLISH_SERVO_STEPS "Servo-Steps"
#define ENGLISH_CALIB "Calib."
#define ENGLISH_LEFT "left"
#define ENGLISH_RIGHT "right"
#define ENGLISH_MIDDLE "middle"
#define ENGLISH_REVERSE "rev."
#define ENGLISH_SERVO1_REVERSE INTERNAT_SERVO1 " " ENGLISH_REVERSE
#define ENGLISH_CALIB1_LEFT ENGLISH_CALIB "1 " ENGLISH_LEFT
#define ENGLISH_CALIB1_RIGHT ENGLISH_CALIB "1 " ENGLISH_RIGHT
#define ENGLISH_CALIB1_MIDDLE ENGLISH_CALIB "1 " ENGLISH_MIDDLE
#define ENGLISH_SERVO2_REVERSE INTERNAT_SERVO2 " " ENGLISH_REVERSE
#define ENGLISH_CALIB2_LEFT ENGLISH_CALIB "2 " ENGLISH_LEFT
#define ENGLISH_CALIB2_RIGHT ENGLISH_CALIB "2 " ENGLISH_RIGHT
#define ENGLISH_CALIB2_MIDDLE ENGLISH_CALIB "2 " ENGLISH_MIDDLE
#define ENGLISH_OFF "off"
#define ENGLISH_ON "on "
#define ENGLISH_TRACKING "Tracking"
#define ENGLISH_TRACK_GPS "GPS with wi232"
#define ENGLISH_TRACK_TX_OSD_DATA "TX OSD-Data"
#define ENGLISH_HYSTERESE "Hysterese"
#define ENGLISH_TRACK_TX_ON "Transmit demand"
#define ENGLISH_GPS_DISPLAY "Display GPS"
#define ENGLISH_GPS_CALCULATE "calc. Data"
#define ENGLISH_GPS_CURRENT "current Pos."
#define ENGLISH_GPS_HOME "Homeposition"
#define ENGLISH_GPS_NO_DATA " Not yet\n Data\n received!"
#define ENGLISH_RX_TIME "RX-Time"
#define ENGLISH_COM "Seriell COM"
#define ENGLISH_KOMMA "."
#define ENGLISH_UHW33V "3.3V"
 
#define FRENCH_LANGUAGE "Langue"
#define FRENCH_GERMAN "Allemand"
#define FRENCH_ENGLISH "Anglais"
#define FRENCH_FRENCH "Fran""\x87""ais"
#define FRENCH_RETURN "Retour"
#define FRENCH_AV_SOURCE "AV-Source"
#define FRENCH_RX_CHANNEL "RX-Canal"
#define FRENCH_RSSI_CALIBR "RSSI-Calibr."
#define FRENCH_TX ""
#define FRENCH_TX_OFF "Eteindre Tx"
#define FRENCH_TX_ON "Allumer Tx"
#define FRENCH_CONTINUE "App. Enter"
#define FRENCH_CONTRAST "Contraste"
#define FRENCH_BACKGR_LIGHT "Retr. Ecl"
#define FRENCH_LIGHT "Eclai:"
#define FRENCH_LIGHT_OFF " Eteint"
#define FRENCH_LIGHT_ON " Tjrs ON"
#define FRENCH_SEC " Sec."
#define FRENCH_BATTERY "Batterie"
#define FRENCH_U_MIN "V-Min"
#define FRENCH_U_SETUP "Seuil Alarme"
#define FRENCH_U_OFFSET "V-Offset"
#define FRENCH_CALIBRATION "Calibration"
#define FRENCH_RUNNING "En cours"
#define FRENCH_ERROR "Erreur!"
#define FRENCH_TX_NOT "No Tx"
#define FRENCH_ACCU_LOW " Batterie\n faible!"
#define FRENCH_SERVO_CALIBR "Servo-Calibr"
#define FRENCH_SERVO_STEPS "Nbre de Pas"
#define FRENCH_CALIB "Calib."
#define FRENCH_LEFT "Gauche"
#define FRENCH_RIGHT "Droit"
#define FRENCH_MIDDLE "Milieu"
#define FRENCH_REVERSE "Inversion"
#define FRENCH_SERVO1_REVERSE "Invers. Servo1"
#define FRENCH_CALIB1_LEFT "Cal. Gauche"
#define FRENCH_CALIB1_RIGHT "Cal. Droite"
#define FRENCH_CALIB1_MIDDLE "Cal. Centre"
#define FRENCH_SERVO2_REVERSE "Invers. Servo2"
#define FRENCH_CALIB2_LEFT "Cal. Gauche"
#define FRENCH_CALIB2_RIGHT "Cal. Droite"
#define FRENCH_CALIB2_MIDDLE "Cal. Centre"
#define FRENCH_OFF "OFF"
#define FRENCH_ON "ON "
#define FRENCH_TRACKING "Tracking"
#define FRENCH_TRACK_GPS "GPS with wi232"
#define FRENCH_TRACK_TX_OSD_DATA "TX OSD-Data"
#define FRENCH_HYSTERESE "Hysteresis"
#define FRENCH_TRACK_TX_ON "Donn""\x82""e Transmie"
#define FRENCH_GPS_DISPLAY "Affichage GPS"
#define FRENCH_GPS_CALCULATE "Calcul GPS"
#define FRENCH_GPS_CURRENT "Pos. actuelle"
#define FRENCH_GPS_HOME "Homeposition"
#define FRENCH_GPS_NO_DATA " Aucune donn""\x82""e\n re""\x87""ue!"
#define FRENCH_RX_TIME "RX-Temps"
#define FRENCH_COM "COM. S""\x82""rie"
#define FRENCH_KOMMA "."
#define FRENCH_UHW33V "3.3V"
 
 
/* Languages */
#define GERMAN 0
#define ENGLISH 1
#define FRENCH 2
#define LAST_LANG 2
#define INTERNAT LAST_LANG + 1
#define NO_LANGUAGE 254 // für Sprachabfrage bei Erstinbetriebnahme NGVideo
 
/* Message languages */
#define MSG_LANGUAGE 0
#define MSG_GERMAN 1
#define MSG_ENGLISH 2
#define MSG_FRENCH 3
#define MSG_RETURN 4
#define MSG_AV_SOURCE 5
#define MSG_RX_CHANNEL 6
#define MSG_RSSI_CALIBR 7
#define MSG_TX 8
#define MSG_TX_OFF 9
#define MSG_TX_ON 10
#define MSG_CONTINUE 11
#define MSG_CONTRAST 12
#define MSG_BACKGR_LIGHT 13
#define MSG_LIGHT 14
#define MSG_LIGHT_OFF 15
#define MSG_LIGHT_ON 16
#define MSG_SEC 17
#define MSG_BATTERY 18
#define MSG_U_MIN 19
#define MSG_U_SETUP 20
#define MSG_U_OFFSET 21
#define MSG_CALIBRATION 22
#define MSG_RUNNING 23
#define MSG_ERROR 24
#define MSG_TX_NOT 25
#define MSG_ACCU_LOW 26
#define MSG_SERVO_CALIBR 27
#define MSG_SERVO_STEPS 28
#define MSG_SERVO1_REVERSE 29
#define MSG_CALIB1_LEFT 30
#define MSG_CALIB1_RIGHT 31
#define MSG_CALIB1_MIDDLE 32
#define MSG_SERVO2_REVERSE 33
#define MSG_CALIB2_LEFT 34
#define MSG_CALIB2_RIGHT 35
#define MSG_CALIB2_MIDDLE 36
#define MSG_OFF 37
#define MSG_ON 38
#define MSG_TRACKING 39
#define MSG_TRACK_GPS 40
#define MSG_TRACK_TX_OSD_DATA 41
#define MSG_HYSTERESE 42
#define MSG_TRACK_TX_ON 43
#define MSG_GPS_DISPLAY 44
#define MSG_GPS_CALCULATE 45
#define MSG_GPS_CURRENT 46
#define MSG_GPS_HOME 47
#define MSG_GPS_NO_DATA 48
#define MSG_RX_TIME 49
#define MSG_COM 50
#define MSG_KOMMA 51
#define MSG_UHW33V 52
#define LAST_NAT_MESSAGE 52
 
/* International */
#define MSG_RSSI_MIN 0 + LAST_NAT_MESSAGE + 1
#define MSG_RSSI_MAX 1 + LAST_NAT_MESSAGE + 1
#define MSG_DIVERSITY 2 + LAST_NAT_MESSAGE + 1
#define MSG_LCD 3 + LAST_NAT_MESSAGE + 1
#define MSG_AV1 4 + LAST_NAT_MESSAGE + 1
#define MSG_AV2 5 + LAST_NAT_MESSAGE + 1
#define MSG_RX1 6 + LAST_NAT_MESSAGE + 1
#define MSG_RX2 7 + LAST_NAT_MESSAGE + 1
#define MSG_STEPS_255 8 + LAST_NAT_MESSAGE + 1
#define MSG_STEPS_1023 9 + LAST_NAT_MESSAGE + 1
#define MSG_SERVO1 10 + LAST_NAT_MESSAGE + 1
#define MSG_SERVO2 11 + LAST_NAT_MESSAGE + 1
#define MSG_TRACK_RSSI 12 + LAST_NAT_MESSAGE + 1
#define MSG_TRACK_MKCOCKPIT 13 + LAST_NAT_MESSAGE + 1
#define MSG_TRACK_SERVO_HYTERESE 14 + LAST_NAT_MESSAGE + 1
#define MSG_BAUDRATE 15 + LAST_NAT_MESSAGE + 1
#define MSG_UHW5V 16 + LAST_NAT_MESSAGE + 1
#define MSG_VERSION1 17 + LAST_NAT_MESSAGE + 1
#define MSG_VERSION2 18 + LAST_NAT_MESSAGE + 1
#define MESSAGE_LAST_MESSAGE 18
 
#define MSG_TABLE(l,n) mt ## l ## _ ## n
#define MSG_STRING(l,n,s) \
const char mt ## l ## _ ## n [] PROGMEM = s ;
 
MSG_STRING(INTERNAT, MSG_RSSI_MIN, INTERNAT_RSSI_MIN)
MSG_STRING(INTERNAT, MSG_RSSI_MAX, INTERNAT_RSSI_MAX)
MSG_STRING(INTERNAT, MSG_DIVERSITY, INTERNAT_DIVERSITY)
MSG_STRING(INTERNAT, MSG_LCD, INTERNAT_LCD)
MSG_STRING(INTERNAT, MSG_AV1, INTERNAT_AV1)
MSG_STRING(INTERNAT, MSG_AV2, INTERNAT_AV2)
MSG_STRING(INTERNAT, MSG_RX1, INTERNAT_RX1)
MSG_STRING(INTERNAT, MSG_RX2, INTERNAT_RX2)
MSG_STRING(INTERNAT, MSG_STEPS_255, INTERNAT_STEPS_255)
MSG_STRING(INTERNAT, MSG_STEPS_1023, INTERNAT_STEPS_1023)
MSG_STRING(INTERNAT, MSG_SERVO1, INTERNAT_SERVO1)
MSG_STRING(INTERNAT, MSG_SERVO2, INTERNAT_SERVO2)
MSG_STRING(INTERNAT, MSG_TRACK_RSSI, INTERNAT_TRACK_RSSI)
MSG_STRING(INTERNAT, MSG_TRACK_MKCOCKPIT, INTERNAT_TRACK_MKCOCKPIT)
MSG_STRING(INTERNAT, MSG_TRACK_SERVO_HYTERESE, INTERNAT_TRACK_SERVO_HYTERESE)
MSG_STRING(INTERNAT, MSG_BAUDRATE, INTERNAT_BAUDRATE)
MSG_STRING(INTERNAT, MSG_UHW5V, INTERNAT_UHW5V)
MSG_STRING(INTERNAT, MSG_VERSION1, INTERNAT_VERSION1)
MSG_STRING(INTERNAT, MSG_VERSION2, INTERNAT_VERSION2)
 
MSG_STRING(GERMAN, MSG_LANGUAGE, GERMAN_LANGUAGE)
MSG_STRING(GERMAN, MSG_GERMAN, GERMAN_GERMAN)
MSG_STRING(GERMAN, MSG_ENGLISH, GERMAN_ENGLISH)
MSG_STRING(GERMAN, MSG_FRENCH, GERMAN_FRENCH)
MSG_STRING(GERMAN, MSG_RETURN, GERMAN_RETURN)
MSG_STRING(GERMAN, MSG_AV_SOURCE, GERMAN_AV_SOURCE)
MSG_STRING(GERMAN, MSG_RX_CHANNEL, GERMAN_RX_CHANNEL)
MSG_STRING(GERMAN, MSG_RSSI_CALIBR, GERMAN_RSSI_CALIBR)
MSG_STRING(GERMAN, MSG_TX, GERMAN_TX)
MSG_STRING(GERMAN, MSG_TX_OFF, GERMAN_TX_OFF)
MSG_STRING(GERMAN, MSG_TX_ON, GERMAN_TX_ON)
MSG_STRING(GERMAN, MSG_CONTINUE, GERMAN_CONTINUE)
MSG_STRING(GERMAN, MSG_CONTRAST, GERMAN_CONTRAST)
MSG_STRING(GERMAN, MSG_BACKGR_LIGHT, GERMAN_BACKGR_LIGHT)
MSG_STRING(GERMAN, MSG_LIGHT, GERMAN_LIGHT)
MSG_STRING(GERMAN, MSG_LIGHT_OFF, GERMAN_LIGHT_OFF)
MSG_STRING(GERMAN, MSG_LIGHT_ON, GERMAN_LIGHT_ON)
MSG_STRING(GERMAN, MSG_SEC, GERMAN_SEC)
MSG_STRING(GERMAN, MSG_BATTERY, GERMAN_BATTERY)
MSG_STRING(GERMAN, MSG_U_MIN, GERMAN_U_MIN)
MSG_STRING(GERMAN, MSG_U_SETUP, GERMAN_U_SETUP)
MSG_STRING(GERMAN, MSG_U_OFFSET, GERMAN_U_OFFSET)
MSG_STRING(GERMAN, MSG_CALIBRATION, GERMAN_CALIBRATION)
MSG_STRING(GERMAN, MSG_RUNNING, GERMAN_RUNNING)
MSG_STRING(GERMAN, MSG_ERROR, GERMAN_ERROR)
MSG_STRING(GERMAN, MSG_TX_NOT, GERMAN_TX_NOT)
MSG_STRING(GERMAN, MSG_ACCU_LOW, GERMAN_ACCU_LOW)
MSG_STRING(GERMAN, MSG_SERVO_CALIBR, GERMAN_SERVO_CALIBR)
MSG_STRING(GERMAN, MSG_SERVO_STEPS, GERMAN_SERVO_STEPS)
MSG_STRING(GERMAN, MSG_SERVO1_REVERSE, GERMAN_SERVO1_REVERSE)
MSG_STRING(GERMAN, MSG_CALIB1_LEFT, GERMAN_CALIB1_LEFT)
MSG_STRING(GERMAN, MSG_CALIB1_RIGHT, GERMAN_CALIB1_RIGHT)
MSG_STRING(GERMAN, MSG_CALIB1_MIDDLE, GERMAN_CALIB1_MIDDLE)
MSG_STRING(GERMAN, MSG_SERVO2_REVERSE, GERMAN_SERVO2_REVERSE)
MSG_STRING(GERMAN, MSG_CALIB2_LEFT, GERMAN_CALIB2_LEFT)
MSG_STRING(GERMAN, MSG_CALIB2_RIGHT, GERMAN_CALIB2_RIGHT)
MSG_STRING(GERMAN, MSG_CALIB2_MIDDLE, GERMAN_CALIB2_MIDDLE)
MSG_STRING(GERMAN, MSG_OFF, GERMAN_OFF)
MSG_STRING(GERMAN, MSG_ON, GERMAN_ON)
MSG_STRING(GERMAN, MSG_TRACKING, GERMAN_TRACKING)
MSG_STRING(GERMAN, MSG_TRACK_GPS, GERMAN_TRACK_GPS)
MSG_STRING(GERMAN, MSG_TRACK_TX_OSD_DATA, GERMAN_TRACK_TX_OSD_DATA)
MSG_STRING(GERMAN, MSG_HYSTERESE, GERMAN_HYSTERESE)
MSG_STRING(GERMAN, MSG_TRACK_TX_ON, GERMAN_TRACK_TX_ON)
MSG_STRING(GERMAN, MSG_GPS_DISPLAY, GERMAN_GPS_DISPLAY)
MSG_STRING(GERMAN, MSG_GPS_CALCULATE, GERMAN_GPS_CALCULATE)
MSG_STRING(GERMAN, MSG_GPS_CURRENT, GERMAN_GPS_CURRENT)
MSG_STRING(GERMAN, MSG_GPS_HOME, GERMAN_GPS_HOME)
MSG_STRING(GERMAN, MSG_GPS_NO_DATA, GERMAN_GPS_NO_DATA)
MSG_STRING(GERMAN, MSG_RX_TIME, GERMAN_RX_TIME)
MSG_STRING(GERMAN, MSG_COM, GERMAN_COM)
MSG_STRING(GERMAN, MSG_KOMMA, GERMAN_KOMMA)
MSG_STRING(GERMAN, MSG_UHW33V, GERMAN_UHW33V)
 
MSG_STRING(ENGLISH, MSG_LANGUAGE, ENGLISH_LANGUAGE)
MSG_STRING(ENGLISH, MSG_GERMAN, ENGLISH_GERMAN)
MSG_STRING(ENGLISH, MSG_ENGLISH, ENGLISH_ENGLISH)
MSG_STRING(ENGLISH, MSG_FRENCH, ENGLISH_FRENCH)
MSG_STRING(ENGLISH, MSG_RETURN, ENGLISH_RETURN)
MSG_STRING(ENGLISH, MSG_AV_SOURCE, ENGLISH_AV_SOURCE)
MSG_STRING(ENGLISH, MSG_RX_CHANNEL, ENGLISH_RX_CHANNEL)
MSG_STRING(ENGLISH, MSG_RSSI_CALIBR, ENGLISH_RSSI_CALIBR)
MSG_STRING(ENGLISH, MSG_TX, ENGLISH_TX)
MSG_STRING(ENGLISH, MSG_TX_OFF, ENGLISH_TX_OFF)
MSG_STRING(ENGLISH, MSG_TX_ON, ENGLISH_TX_ON)
MSG_STRING(ENGLISH, MSG_CONTINUE, ENGLISH_CONTINUE)
MSG_STRING(ENGLISH, MSG_CONTRAST, ENGLISH_CONTRAST)
MSG_STRING(ENGLISH, MSG_BACKGR_LIGHT, ENGLISH_BACKGR_LIGHT)
MSG_STRING(ENGLISH, MSG_LIGHT, ENGLISH_LIGHT)
MSG_STRING(ENGLISH, MSG_LIGHT_OFF, ENGLISH_LIGHT_OFF)
MSG_STRING(ENGLISH, MSG_LIGHT_ON, ENGLISH_LIGHT_ON)
MSG_STRING(ENGLISH, MSG_SEC, ENGLISH_SEC)
MSG_STRING(ENGLISH, MSG_BATTERY, ENGLISH_BATTERY)
MSG_STRING(ENGLISH, MSG_U_MIN, ENGLISH_U_MIN)
MSG_STRING(ENGLISH, MSG_U_SETUP, ENGLISH_U_SETUP)
MSG_STRING(ENGLISH, MSG_U_OFFSET, ENGLISH_U_OFFSET)
MSG_STRING(ENGLISH, MSG_CALIBRATION, ENGLISH_CALIBRATION)
MSG_STRING(ENGLISH, MSG_RUNNING, ENGLISH_RUNNING)
MSG_STRING(ENGLISH, MSG_ERROR, ENGLISH_ERROR)
MSG_STRING(ENGLISH, MSG_TX_NOT, ENGLISH_TX_NOT)
MSG_STRING(ENGLISH, MSG_ACCU_LOW, ENGLISH_ACCU_LOW)
MSG_STRING(ENGLISH, MSG_SERVO_CALIBR, ENGLISH_SERVO_CALIBR)
MSG_STRING(ENGLISH, MSG_SERVO_STEPS, ENGLISH_SERVO_STEPS)
MSG_STRING(ENGLISH, MSG_SERVO1_REVERSE, ENGLISH_SERVO1_REVERSE)
MSG_STRING(ENGLISH, MSG_CALIB1_LEFT, ENGLISH_CALIB1_LEFT)
MSG_STRING(ENGLISH, MSG_CALIB1_RIGHT, ENGLISH_CALIB1_RIGHT)
MSG_STRING(ENGLISH, MSG_CALIB1_MIDDLE, ENGLISH_CALIB1_MIDDLE)
MSG_STRING(ENGLISH, MSG_SERVO2_REVERSE, ENGLISH_SERVO2_REVERSE)
MSG_STRING(ENGLISH, MSG_CALIB2_LEFT, ENGLISH_CALIB2_LEFT)
MSG_STRING(ENGLISH, MSG_CALIB2_RIGHT, ENGLISH_CALIB2_RIGHT)
MSG_STRING(ENGLISH, MSG_CALIB2_MIDDLE, ENGLISH_CALIB2_MIDDLE)
MSG_STRING(ENGLISH, MSG_OFF, ENGLISH_OFF)
MSG_STRING(ENGLISH, MSG_ON, ENGLISH_ON)
MSG_STRING(ENGLISH, MSG_TRACKING, ENGLISH_TRACKING)
MSG_STRING(ENGLISH, MSG_TRACK_GPS, ENGLISH_TRACK_GPS)
MSG_STRING(ENGLISH, MSG_TRACK_TX_OSD_DATA, ENGLISH_TRACK_TX_OSD_DATA)
MSG_STRING(ENGLISH, MSG_HYSTERESE, ENGLISH_HYSTERESE)
MSG_STRING(ENGLISH, MSG_TRACK_TX_ON, ENGLISH_TRACK_TX_ON)
MSG_STRING(ENGLISH, MSG_GPS_DISPLAY, ENGLISH_GPS_DISPLAY)
MSG_STRING(ENGLISH, MSG_GPS_CALCULATE, ENGLISH_GPS_CALCULATE)
MSG_STRING(ENGLISH, MSG_GPS_CURRENT, ENGLISH_GPS_CURRENT)
MSG_STRING(ENGLISH, MSG_GPS_HOME, ENGLISH_GPS_HOME)
MSG_STRING(ENGLISH, MSG_GPS_NO_DATA, ENGLISH_GPS_NO_DATA)
MSG_STRING(ENGLISH, MSG_RX_TIME, ENGLISH_RX_TIME)
MSG_STRING(ENGLISH, MSG_COM, ENGLISH_COM)
MSG_STRING(ENGLISH, MSG_KOMMA, ENGLISH_KOMMA)
MSG_STRING(ENGLISH, MSG_UHW33V, ENGLISH_UHW33V)
 
MSG_STRING(FRENCH, MSG_LANGUAGE, FRENCH_LANGUAGE)
MSG_STRING(FRENCH, MSG_GERMAN, FRENCH_GERMAN)
MSG_STRING(FRENCH, MSG_ENGLISH, FRENCH_ENGLISH)
MSG_STRING(FRENCH, MSG_FRENCH, FRENCH_FRENCH)
MSG_STRING(FRENCH, MSG_RETURN, FRENCH_RETURN)
MSG_STRING(FRENCH, MSG_AV_SOURCE, FRENCH_AV_SOURCE)
MSG_STRING(FRENCH, MSG_RX_CHANNEL, FRENCH_RX_CHANNEL)
MSG_STRING(FRENCH, MSG_RSSI_CALIBR, FRENCH_RSSI_CALIBR)
MSG_STRING(FRENCH, MSG_TX, FRENCH_TX)
MSG_STRING(FRENCH, MSG_TX_OFF, FRENCH_TX_OFF)
MSG_STRING(FRENCH, MSG_TX_ON, FRENCH_TX_ON)
MSG_STRING(FRENCH, MSG_CONTINUE, FRENCH_CONTINUE)
MSG_STRING(FRENCH, MSG_CONTRAST, FRENCH_CONTRAST)
MSG_STRING(FRENCH, MSG_BACKGR_LIGHT, FRENCH_BACKGR_LIGHT)
MSG_STRING(FRENCH, MSG_LIGHT, FRENCH_LIGHT)
MSG_STRING(FRENCH, MSG_LIGHT_OFF, FRENCH_LIGHT_OFF)
MSG_STRING(FRENCH, MSG_LIGHT_ON, FRENCH_LIGHT_ON)
MSG_STRING(FRENCH, MSG_SEC, FRENCH_SEC)
MSG_STRING(FRENCH, MSG_BATTERY, FRENCH_BATTERY)
MSG_STRING(FRENCH, MSG_U_MIN, FRENCH_U_MIN)
MSG_STRING(FRENCH, MSG_U_SETUP, FRENCH_U_SETUP)
MSG_STRING(FRENCH, MSG_U_OFFSET, FRENCH_U_OFFSET)
MSG_STRING(FRENCH, MSG_CALIBRATION, FRENCH_CALIBRATION)
MSG_STRING(FRENCH, MSG_RUNNING, FRENCH_RUNNING)
MSG_STRING(FRENCH, MSG_ERROR, FRENCH_ERROR)
MSG_STRING(FRENCH, MSG_TX_NOT, FRENCH_TX_NOT)
MSG_STRING(FRENCH, MSG_ACCU_LOW, FRENCH_ACCU_LOW)
MSG_STRING(FRENCH, MSG_SERVO_CALIBR, FRENCH_SERVO_CALIBR)
MSG_STRING(FRENCH, MSG_SERVO_STEPS, FRENCH_SERVO_STEPS)
MSG_STRING(FRENCH, MSG_SERVO1_REVERSE, FRENCH_SERVO1_REVERSE)
MSG_STRING(FRENCH, MSG_CALIB1_LEFT, FRENCH_CALIB1_LEFT)
MSG_STRING(FRENCH, MSG_CALIB1_RIGHT, FRENCH_CALIB1_RIGHT)
MSG_STRING(FRENCH, MSG_CALIB1_MIDDLE, FRENCH_CALIB1_MIDDLE)
MSG_STRING(FRENCH, MSG_SERVO2_REVERSE, FRENCH_SERVO2_REVERSE)
MSG_STRING(FRENCH, MSG_CALIB2_LEFT, FRENCH_CALIB2_LEFT)
MSG_STRING(FRENCH, MSG_CALIB2_RIGHT, FRENCH_CALIB2_RIGHT)
MSG_STRING(FRENCH, MSG_CALIB2_MIDDLE, FRENCH_CALIB2_MIDDLE)
MSG_STRING(FRENCH, MSG_OFF, FRENCH_OFF)
MSG_STRING(FRENCH, MSG_ON, FRENCH_ON)
MSG_STRING(FRENCH, MSG_TRACKING, FRENCH_TRACKING)
MSG_STRING(FRENCH, MSG_TRACK_GPS, FRENCH_TRACK_GPS)
MSG_STRING(FRENCH, MSG_TRACK_TX_OSD_DATA, FRENCH_TRACK_TX_OSD_DATA)
MSG_STRING(FRENCH, MSG_HYSTERESE, FRENCH_HYSTERESE)
MSG_STRING(FRENCH, MSG_TRACK_TX_ON, FRENCH_TRACK_TX_ON)
MSG_STRING(FRENCH, MSG_GPS_DISPLAY, FRENCH_GPS_DISPLAY)
MSG_STRING(FRENCH, MSG_GPS_CALCULATE, FRENCH_GPS_CALCULATE)
MSG_STRING(FRENCH, MSG_GPS_CURRENT, FRENCH_GPS_CURRENT)
MSG_STRING(FRENCH, MSG_GPS_HOME, FRENCH_GPS_HOME)
MSG_STRING(FRENCH, MSG_GPS_NO_DATA, FRENCH_GPS_NO_DATA)
MSG_STRING(FRENCH, MSG_RX_TIME, FRENCH_RX_TIME)
MSG_STRING(FRENCH, MSG_COM, FRENCH_COM)
MSG_STRING(FRENCH, MSG_KOMMA, FRENCH_KOMMA)
MSG_STRING(FRENCH, MSG_UHW33V, FRENCH_UHW33V)
 
typedef uint16_t MessageType;
char* Msg(MessageType Message);
 
#endif /* _MESSAGES_H_ */
/NGVideo5_8/tags/v1.11/ngvideo.c
0,0 → 1,717
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#include <avr/io.h>
#include <stdlib.h>
#include <avr/interrupt.h>
#include <avr/eeprom.h>
#include <util/delay.h>
 
#include "config.h"
#include "dogm.h"
#include "messages.h"
#include "ngvideo.h"
#include "menue.h"
#include "servo.h"
#include "tracking.c"
 
 
/************************************************************************************/
/* initialisiert den EEPROM mit default Werten, bzw. liest EEPROM gespeicherte */
/* Werte in gloabale Variablen. */
/* Parameter: */
/* uint8_t ep_reset :0 = zwangsweises Rückstetzen auf default-Werte */
/* */
/************************************************************************************/
void Init_EEPROM(uint8_t ep_reset)
{ char ver[sizeof(VERSION)];
uint8_t eep_init;
eep_init = eeprom_read_byte(&ep_eep_init);
eeprom_read_block(&ver, &ep_version, sizeof(VERSION));
_delay_ms(1);
 
if ((eep_init != EEP_INITB) || (ep_reset == 0) || strcmp(VERSION, ver))
{
// nur bei Erstinitialisierung DOGM auf default 3,3V setzen
if ((eep_init != EEP_INITB) || strcmp(VERSION, ver)){
eeprom_write_byte(&ep_eep_init, EEP_INITB);
eeprom_write_byte(&ep_dogm_vers, DOGM3V);
eeprom_write_byte(&ep_contrast, CONTRAST3V);
eeprom_write_block(&VERSION, &ep_version, sizeof(VERSION));
}
eeprom_write_byte(&ep_light_time, BACKGR_LIGHT_MAX);
eeprom_write_byte(&ep_u_offset, U_OFFSET);
eeprom_write_dword(&ep_u_min, U_MIN);
eeprom_write_byte(&ep_channel, CHANNEL);
eeprom_write_byte(&ep_av_source, AV_SOURCE);
eeprom_write_byte(&ep_language, NO_LANGUAGE);
eeprom_write_word(&ep_udbm_min, UDBM_MIN);
eeprom_write_word(&ep_udbm_max, UDBM_MAX);
eeprom_write_word(&ep_udbm_korr_1, UDBM_KORR_FA);
eeprom_write_word(&ep_udbm_korr_2, UDBM_KORR_FA);
eeprom_write_byte(&ep_sIdxSteps, STEPS_255);
eeprom_write_block(&servo[0],&ep_servo[0],sizeof(servo_t));
eeprom_write_block(&servo[1],&ep_servo[1],sizeof(servo_t));
eeprom_write_byte(&ep_tracking, TRACKING_MIN);
eeprom_write_byte(&ep_track_hyst, TRACKING_HYSTERESE);
eeprom_write_byte(&ep_track_tx, 0);
eeprom_write_byte(&ep_baudrate, BAUDRATE);
sIdxSteps = STEPS_255;
}
else
{
light_time = eeprom_read_byte(&ep_light_time);
u_offset = eeprom_read_byte(&ep_u_offset);
u_min = eeprom_read_dword(&ep_u_min);
channel = eeprom_read_byte(&ep_channel);
av_source = eeprom_read_byte(&ep_av_source);
language = eeprom_read_byte(&ep_language);
udbm_min = eeprom_read_word(&ep_udbm_min);
udbm_max = eeprom_read_word(&ep_udbm_max);
udbm_korr_1 = eeprom_read_word(&ep_udbm_korr_1);
udbm_korr_2 = eeprom_read_word(&ep_udbm_korr_2);
sIdxSteps = eeprom_read_byte(&ep_sIdxSteps);
eeprom_read_block(&servo[0],&ep_servo[0],sizeof(servo_t));
eeprom_read_block(&servo[1],&ep_servo[1],sizeof(servo_t));
tracking = eeprom_read_byte(&ep_tracking);
track_hyst = eeprom_read_byte(&ep_track_hyst);
track_tx = eeprom_read_byte(&ep_track_tx);
baudrate = eeprom_read_byte(&ep_baudrate);
}
dogm_vers = eeprom_read_byte(&ep_dogm_vers);
contrast = eeprom_read_byte(&ep_contrast);
hyst_u_min = u_min;
wudbm = RSSI_Calc_UdBm(pudbm); // Vergleichstabelle für dBm-Balken berechnen
sw_avx = av_source;
for (uint8_t i = 0; i < SERVO_NUM_CHANNELS; i++) {
servoSet_rev(i, servo[i].rev);
servoSet_min(i, servo[i].min);
servoSet_max(i, servo[i].max);
servoSet_mid(i, servo[i].mid);
}
// Vorberechnung von ServoChannels[channel].duty
servoSetDefaultPos(); // Ausgangsstellung beider Servos
coldstart = 1;
USART_Init_Baudrate();
USART_RX_Mode(tracking);
}
 
void servoSetDefaultPos(void)
{
servoSetPosition(SERVO_PAN, ServoSteps()/2); // Ausgangsstellung SERVO_PAN
servoSetPosition(SERVO_TILT, 0); // Ausgangsstellung SERVO_TILT
}
 
void USART_Init_Baudrate(void)
{
if (tracking == TRACKING_MKCOCKPIT)
USART_Init(baud[baudrate]);
else
USART_Init(baud[6]); //57600
}
 
/************************************************************************************/
/* setzt Flag für 3,3V oder 5V DOGM */
/* Parameter: */
/* uint8_t dogm :Version */
/* */
/************************************************************************************/
void Set_DOGM_Version(void)
{
if(dogm_vers == DOGM5V) {
dogm_vers = DOGM3V;
contrast = CONTRAST3V;
}
else {
dogm_vers = DOGM5V;
contrast = CONTRAST5V;
}
eeprom_write_byte(&ep_dogm_vers, dogm_vers);
eeprom_write_byte(&ep_contrast, contrast);
}
 
/************************************************************************************/
/* setzt den RX-Kanal von 1 bis 7 */
/* Parameter: */
/* uint8_t channel :Kanal */
/* */
/************************************************************************************/
void Set_Channel(uint8_t channel)
{ uint8_t tmp;
 
channel--;
tmp = channel & 0b00000111; // Kanal 1 bis 7 Werte 0 bis 6 setzen
PORTA |= tmp;
PORTB |= tmp;
tmp = channel | 0b11111000;
PORTA &= tmp;
PORTB &= tmp;
}
 
/************************************************************************************/
/* schaltet den MUX auf AV1 oder AV2 ohne Darstellung und en-/disabled Interrupt */
/* wird nur in main.c (Initialisierung) und Menü Sourceumschaltung eingesetzt */
/* deswegen cli() und sei() nur in Menu_AV_Source(void) */
/* Parameter: */
/* uint8_t src :0-AV1, 1-AV2 */
/* */
/************************************************************************************/
void SetMux0(void) {
SET_MUX_0;
mux_X = 0; // für Erkennung RX Zeitzähler
}
 
void SetMux1(void) {
SET_MUX_1;
mux_X = 1; // für Erkennung RX Zeitzähler
}
 
uint8_t Set_AV_Source(uint8_t src)
{
switch(src) {
case AV1: CLEAR_INT10; // Interrupt für Sync ausschalten
SetMux0();
break;
case AV2: CLEAR_INT10; // Interrupt für Sync ausschalten
SetMux1();
break;
case DIVERSITY: SET_INT10; // External Interrupt Mask Register ein
SetMux0();
break;
}
return(src);
}
 
 
/**************************************************************/
/* */
/* LCD-Backlight */
/* */
/**************************************************************/
 
void lcdSet_BackgrLight_Off(void)
{
backgr_light = OFF;
lcdBacklightOff();
}
 
void lcd_BackgrLight_On(void)
{ // ...&& (light_count < light_time)) ==> sonst wird Beleuchtung laufend wieder eingeschaltet
if ((backgr_light == OFF) && (light_time > BACKGR_LIGHT_MIN) && (light_count < light_time)) {
cli();
light_count = 0;
sei();
backgr_light = ON;
lcdBacklightOn();
}
}
 
void lcd_BackgrLight(void)
{
if (backgr_light == ON) { // nur wenn Beleuchtung an
if (light_time == BACKGR_LIGHT_MIN) // Hintergrundbeleuchtung immer aus?
lcdSet_BackgrLight_Off();
else
if (light_time < BACKGR_LIGHT_MAX) { // Hintergrundbeleuchtung immer an?
cli();
light_count++;
sei();
if (light_count >= light_time) lcdSet_BackgrLight_Off();
}
}
}
 
/**************************************************************/
/* */
/* ADC */
/* */
/* http://www.mikrocontroller.net/articles/AVR-GCC-Tutorial */
/* */
/**************************************************************/
 
void ADC_Init(void)
{
uint16_t result;
ADMUX = (0<<REFS1) | (1<<REFS0); // AVcc als Referenz benutzen, da an AREF 4,8 V
ADCSRA = (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0); // Frequenzvorteiler Prescaler 128
ADCSRA |= (1<<ADEN); // ADC aktivieren
/* nach Aktivieren des ADC wird ein "Dummy-Readout" empfohlen, man liest
also einen Wert und verwirft diesen, um den ADC "warmlaufen zu lassen" */
ADCSRA |= (1<<ADSC); // eine ADC-Wandlung
while (ADCSRA & (1<<ADSC) ) {} // auf Abschluss der Konvertierung warten
/* ADCW muss einmal gelesen werden, sonst wird Ergebnis der nächsten
Wandlung nicht übernommen. */
result = ADCW;
}
 
/* ADC Einzelmessung */
uint16_t ADC_Read( uint8_t channel )
{
// Kanal waehlen, ohne andere Bits zu beeinflußen
ADMUX = (ADMUX & ~(0x1F)) | (channel & 0x1F);
ADCSRA |= (1<<ADSC); // eine Wandlung "single conversion"
while (ADCSRA & (1<<ADSC) ) {} // auf Abschluss der Konvertierung warten
return ADCW; // ADC auslesen und zurückgeben
}
 
/* ADC Mehrfachmessung mit Mittelwertbbildung */
uint16_t ADC_Read_Avg( uint8_t channel, uint16_t average )
{
uint32_t result = 0;
for (uint16_t i = 0; i < average; ++i ){
result += ADC_Read( channel );
_delay_ms(1);
}
return (uint16_t)( result / average );
}
 
 
/**************************************************************/
/* */
/* Beeper */
/* */
/**************************************************************/
 
void Beep(uint8_t time)
{
PORTB |= (1<<BEEPER);
// PINB &= ~(1<<BEEPER);
_delay_ms(time);
// PINB |= (1<<BEEPER);
PORTB &= ~(1<<BEEPER);
}
 
void Double_Beep(uint8_t time, uint8_t pause)
{
Beep(time);
_delay_ms(pause);
Beep(time);
}
 
/**************************************************************/
/* */
/* U-Batterie */
/* */
/**************************************************************/
 
/* Funktion zur Umwandlung einer vorzeichenbehafteten Integer
32-Bit "Festkomma-Zahl"(gedachtes Komma in Integer) in einen String
vereinfacht Variablenübergabe funktion change_value(uint32_t x),
kein printf, double oder float
siehe http://www.mikrocontroller.net/articles/Festkommaarithmetik
Vorz ==> 0 kein '-' trotz negativer Zahl, 1 wenn kein '-' bleibt Stelle leer
len max 11, Vorzeichen wird nicht mitgezählt aber Komma; Vorz 0 oder 1
Festkomma ==> Position der Kommastelle bei Integerwert
Nachkomma ==> angezeigte Nachkommastellen bei Festkomma
makefile derzeit somit auch ohne! Minimalistic printf version
Achtung: keine Fehlerprüfung! */
char* my_itoa(int32_t zahl, uint8_t Vorz, uint8_t len, uint8_t Festkomma, uint8_t Nachkomma)
{
int8_t i;
uint8_t neg = 0;
char Komma; // Sprachversion Deutsch ',' andere '.'
static char str[13];
 
Komma = Msg(MSG_KOMMA)[0]; // [0] nur als Char, sonst wäre es ein String
if( zahl < 0 ) { // ist die Zahl negativ?
zahl = -zahl;
neg = 1;
}
if (Vorz) str[0] = '0'; else len--;
str[len+1]='\0'; // String Terminator
if (Nachkomma > 0) Nachkomma++;
 
for(i=len; i>=Vorz; i--) {
if ((len - Festkomma == i) && (Festkomma > 0))
str[i]= Komma; // bei Bedarf Komma einfügen
else { // Integer-Dezimalumrechnung
str[i]=(zahl % 10) +'0'; // Modulo rechnen, dann den ASCII-Code von '0' addieren
zahl /= 10;
}
// festgelegt Festkomma aber verkleinern der Anzeige Mantisse
if ((Festkomma > 0) && (Festkomma >= Nachkomma) && (len - Festkomma + Nachkomma == i)) str[i]= '\0';
}
i=0;
while ((str[i+1] != Komma) && (i < len)) {
// Vorzeichen unmittelbar vor Zahl schreiben
if((Vorz) && (neg) && ((str[i+1] != '0') || (str[i+2] == Komma))) str[i] = '-';
// eine 0 vor Komma lassen
if(str[i] == '0') str[i++] = ' '; else break; // Vornullen entfernen
}
return(str);
}
 
// uint32_t u, da bei Displ_Fnct[fu_index](val) der größte Wert UBat gleich 32 Bit
void Displ_1Nk(uint32_t u)
{
// 0 kein Vorzeichen, 5 => 2 Ziffern vor Komma + 1 Komma + 2 Mantisse, Festkomma, eine Ziffer Nachkomma darstellen
lcdPuts(my_itoa(u,0,5,2,1));
}
 
void Displ_U_2Nk(uint32_t u)
{
lcdPuts(my_itoa(u,0,5,2,2));
lcdPutc('V');
}
 
// uint8_t beep_timer :Akku-leer-Beeper nur mit Task_0_1()-Intervalle bei Menü-Rücksprung
uint32_t U_Messen_cmp(uint8_t beep_timer)
{ uint32_t ubat;
static struct
{ uint8_t time;
uint8_t count;
} beep_low;
 
/* ubat = ((ADC_Read(VBAT) * Vref * (R104 + R103)) /(1024 * R103)) + UD10 (UD10 ist Offset)
Verhältniswert * 100 *8192 ( Verhältniswert = realer Korrekturwert;
mal 100 da alle Werte 2 Nachkommastellen berücksichtigt, aber ohne gerechnet wird
mal 8192 => ohne Bruch gerechnet aber dabei mehr Kommastellen berücksichtigt) */
ubat = (ADC_Read(VBAT) * (uint64_t)43504 + (uint64_t)u_offset * 8192)/ 8192;
if ( ubat <= hyst_u_min )
{
if (bat_low != 0) { // nicht laufend Display neu schreiben
hyst_u_min = u_min + 20; // 200mV Hysterese - beruhigt Anzeige
lcdClear();
lcdPuts(Msg(MSG_ACCU_LOW));
bat_low = 0;
Beep(BEEPBAT);
// da derzeit Fkt. aller 500ms aufgerufen, mit 2 Min Abstand beginnen
beep_low.time = BEEP_LOW_TIME;
beep_low.count = 0;
}
// Akku leer, in immer kürzeren Intervallen Beep
if ((beep_timer == 1) && (beep_low.count++ >= beep_low.time)){
Beep(BEEPBAT);
if (beep_low.time > 2)
beep_low.time /= 2;
beep_low.count = 0;
}
}
else {
if (hyst_u_min > u_min) { // falls Anzeige von Batterie leer
bat_low = 1; // und zurück geschaltet wird,
hyst_u_min = u_min; // dann Main_Disp wieder darstellen
Displ_Main_Disp();
}
}
return(ubat);
}
 
void Displ_VBat(void) // da u_offset globale Variable
{ uint32_t ubat;
ubat = U_Messen_cmp(ENABLE_BTIMER);
if (bat_low != 0) { // würde sonst Anzeige Akku leer überschreiben
lcdGotoXY(11, 0);
Displ_1Nk(ubat);
}
}
 
 
/**************************************************************/
/* */
/* RSSI */
/* */
/**************************************************************/
 
/* RSSI Werte Korrekturfaktor berechnen */
uint16_t RSSI_Calc_Korr(uint16_t u0, uint16_t u1)
{ uint16_t u_max;
 
// immer nur den kleineren Wert vergrößern
if (u0 < u1) {
udbm_korr_1 = (((uint32_t)u1 * UDBM_KORR_FA) / u0)+0.5; // nur mit Integer und 2 Nachkommastellen rechnen
udbm_korr_2 = UDBM_KORR_FA;
u_max = u1;
}
else {
udbm_korr_2 = (((uint32_t)u0 * UDBM_KORR_FA) / u1)+0.5; // nur mit Integer und 2 Nachkommastellen rechnen
udbm_korr_1 = UDBM_KORR_FA;
u_max = u0;
}
eeprom_write_word(&ep_udbm_korr_1, udbm_korr_1);
eeprom_write_word(&ep_udbm_korr_2, udbm_korr_2);
return(u_max);
}
 
void Displ_Calibr_Aktiv(void)
{
lcdClear();
Displ_Str_mid(Msg(MSG_CALIBRATION),0);
Displ_Str_mid(Msg(MSG_RUNNING),1);
}
 
void Displ_Error_TX(uint8_t message)
{
lcdClear();
Displ_Str_mid(Msg(MSG_ERROR),0);
Displ_Str_mid(Msg(MSG_TX_NOT),1);
Displ_Str_mid(Msg(message), 2);
for ( uint8_t i=0; i<=30;i++)
_delay_ms(100);
}
 
void RSSI_Min_Calibrate(uint16_t *pudbm)
{ uint16_t u0, u1;
 
Displ_Calibr_Aktiv();
u0 = ADC_Read_Avg(RSSI0, 1000); //1000 Wiederholungen mit
u1 = ADC_Read_Avg(RSSI1, 1000); //Mittelwertbildung
// Plausibilitätsprüfung ob Sender ausgeschaltet
if (u0 + u1 > 500) {
udbm_min = RSSI_Calc_Korr(u0, u1); // ist real die größere Spannung, aber der kleinere dbm Wert
eeprom_write_word(&ep_udbm_min, udbm_min);
Double_Beep(DBEEPWR, DBEEPWRP);
wudbm = RSSI_Calc_UdBm(pudbm);
}
else Displ_Error_TX(MSG_TX_OFF);
}
 
void RSSI_Max_Calibrate(uint16_t *pudbm)
{ uint16_t u0, u1;
 
Displ_Calibr_Aktiv();
u0 = ADC_Read_Avg(RSSI0, 1000); //1000 Wiederholungen mit
u1 = ADC_Read_Avg(RSSI1, 1000); //Mittelwertbildung
// Plausibilitätsprüfung ob Sender in der Nähe eingeschaltet
if (u0 + u1 < 400) {
udbm_max = RSSI_Calc_Korr(u0, u1); // ist real die kleinere Spannung, aber der größere dbm Wert
eeprom_write_word(&ep_udbm_max, udbm_max);
Double_Beep(DBEEPWR, DBEEPWRP);
wudbm = RSSI_Calc_UdBm(pudbm);
}
else Displ_Error_TX(MSG_TX_ON);
}
 
// Vergleichstabelle für RSSI-Bargraph berechnen, vermeidet laufend gleiche Berechnung
uint8_t RSSI_Calc_UdBm(uint16_t *pudbm)
{ uint8_t n;
// -15 um Ende dBm Skala sicher zu erreichen; ohne verfeinerten Bahrgraph war Wert -3
n = (udbm_min - udbm_max -15)/11;
for (uint8_t i = 0; i < 12; i++)
pudbm[i] = (udbm_min - i * n);
return(n / 5); // da 5 Pixel Breite pro Display-Zeichen; Anzeigebalken pro Pixel differenzieren
}
 
void Displ_RSSI_Bargraph(uint16_t *pudbm, uint8_t wudbm, uint16_t uadc)
{ char strBar[12];
uint8_t i;
int8_t lz = 11;
char b = 4;
// Balken zeichnen - udbm
for (i = 0; i < 12; i++) {
if ((b != ' ') && (uadc > pudbm[i])) {
b = ' ';
lz = i - 1;
}
strBar[i] = b;
}
if (lz >= 0) {
strBar[lz] = (pudbm[lz] - uadc) / wudbm ;// Anzeigebalken pro Pixel-"Breite" differenzieren
// bei Teilung 4 wäre richtig und keine Korr. erforderlich, so aber gleichmäßigerer Balkenverlauf
if (strBar[lz] > 4) strBar[lz] = 4;
}
for (i = 0; i < 12; i++)// lcdPuts (ist auch for) funktioniert hier nicht, da Char'\0' für Zeichen auch Stringende
lcdPutc(strBar[i]);
}
 
uint8_t RSSI_Diversity(uint8_t src, uint16_t *pudbm, uint8_t visible)
{ uint16_t u0, u1;
static uint8_t div_flag, ret_div_flag;
char marker;
 
u0 = (ADC_Read(RSSI0) * (uint32_t)udbm_korr_1)/UDBM_KORR_FA;
u1 = (ADC_Read(RSSI1) * (uint32_t)udbm_korr_2)/UDBM_KORR_FA;
// falls beide RX gleich gut/schlecht synchronisieren
// Achtung! Niedrigere Spannung - größere Feldstärke
if (src == DIVERSITY) {
if (u0 < u1) {
ret_div_flag = AV1;
if ((vscount0 == 255) && (vscount1 == 255)) SetMux0();
}
else {
ret_div_flag = AV2;
if ((vscount0 == 255) && (vscount1 == 255)) SetMux1();
}
}
else ret_div_flag = src; // sonst leerer Returnwert
if (visible) {
if (src == DIVERSITY) {
// Synchronisation vorrangig zur Feldstärke
if ((vsync0 != vsync1) && ((vscount0 & vscount1) < 255)) {
// ist nur zur Anzeige - Sync-MUX wird über Interrupt gesteuert
if (vsync0 == 0) {
div_flag = AV1;
}
else {
div_flag = AV2;
}
marker = MARKER_SYNC;
}
else {
div_flag = ret_div_flag;
marker = MARKER_RSSI;
}
}
else marker = MARKER_AV;
// wäre unschön - keine RSSI-Anzeige, aber Marker springt
if ((u0 > pudbm[0]) && (u1 > pudbm[0])) marker = ' ';
lcdGotoXY(2, 1);
Displ_RSSI_Bargraph(pudbm, wudbm, u0);
lcdGotoXY(2, 2);
Displ_RSSI_Bargraph(pudbm, wudbm, u1);
if (src == DIVERSITY) Displ_AV_Mark(div_flag, marker);
}
return(ret_div_flag);
}
 
/**************************************************************/
/* */
/* Diversity v-Synchronisation Interruptroutinen */
/* */
/**************************************************************/
 
/* Impulszähler für V-Synchronisation 0 und 1
wird durch Interrupt des jewiligen vSync einzeln zurückgesetzt */
ISR(TIMER2_OVF_vect)
{
TCNT2 = (int8_t)(int16_t)-(F_CPU / 64 * 500e-6); // preload
if (vscount0 < 255) ++vscount0; // Überlauf von vscount vermeiden
if (vscount1 < 255) ++vscount1; // Überlauf von vscount vermeiden
if (rx_timeout < RX_TIME_OLD) ++rx_timeout; // veranlasst bei GPS-Tracking MK Datensatz senden
if ((tracking == TRACKING_GPS) && (MK_Motor_run)) { // MK-Motoren müssen laufen
if (mux_X)
rxcount1++; // kein Test auf Überlauf ==> Counter groß genug - bis Stunden
else
rxcount0++;
}
}
 
/* Messung von Impulsabstand v-Synchronisation 0
Zur Vermeidung von Bildstörunen erfolgt MUX-Umschaltung in Bildaustastung */
ISR(INT0_vect)
{
if ((vscount0 >= 79) && (vscount0 <= 81))
vsync0 = 0;
else {
vsync0 = 1;
if (vsync1 == 0)
SetMux1();
}
if (vsync0 == vsync1) { //nur wenn vSynchronisation gleich gut/schlecht ist greift RSSI
if (sw_avx == AV1) {
SetMux0();
}
else
SetMux1();
}
vscount0 = 0;
}
 
/* Messung von Impulsabstand v-Synchronisation 1
Zur Vermeidung von Bildstörunen erfolgt MUX-Umschaltung in Bildaustastung */
ISR(INT1_vect)
{
if ((vscount1 >= 79) && (vscount1 <= 81))
vsync1 = 0;
else {
vsync1 = 1;
if (vsync0 == 0)
SetMux0();
}
if (vsync0 == vsync1) { //nur wenn vSynchronisation gleich gut/schlecht ist greift RSSI
if (sw_avx == AV1) {
SetMux0();
}
else
SetMux1();
}
vscount1 = 0;
}
 
/**************************************************************/
/* */
/* Tasks */
/* ermöglicht unterschiedliche Zeiten f. UBat, Sync... */
/* */
/**************************************************************/
 
void Task_0_1(void)
{
if (task_timer0_1) {
cli();
task_timer0_1 = 0;
sei();
Displ_VBat();
}
}
 
void Task_0_2(void)
{
if (task_timer0_2) {
cli();
task_timer0_2 = 0;
sei();
sw_avx = RSSI_Diversity(av_source, pudbm, bat_low);
}
}
 
void Task_0_3(void)
{
if (task_timer0_3) {
cli();
task_timer0_3 = 0;
sei();
sw_avx = RSSI_Diversity(av_source, pudbm, 0);
if (tracking == TRACKING_MKCOCKPIT) Tracking_MKCockpit();
}
}
 
void Task_0_4(void)
{
if (task_timer0_4) {
cli();
task_timer0_4 = 0;
sei();
if (tracking == TRACKING_GPS) Tracking_GPS();
if (gps_display == GPS_RX_COUNT) Displ_RX_Time(); // aktualisieren der Empfängerzeiten
}
}
 
void Task_0_5(void) // Nur für Tasten-Beschleunigung/-Wiederholrate! Hintergrund: Rücksetzung.
{ // Hintergrund: Rücksetzung. Beginnt nach jeden Tastendruck neu zu zählen.
lcd_BackgrLight_On(); // muss bei beliebiger Taste sofort eingeschaltet werden
if (task_timer0_5) {
cli();
task_timer0_5 = 0;
sei();
lcd_BackgrLight();
}
}
 
void Tasks_unvisible(void)
{
Task_0_3();
Task_0_4();
Task_0_5();
if (tracking == TRACKING_RSSI) Tracking_RSSI();
}
/NGVideo5_8/tags/v1.11/ngvideo.h
0,0 → 1,141
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#ifndef SETTING_H_
#define SETTING_H_
 
/* Indexwerte für av_source bzw. zur Auswertung von av_source */
#define AV1 0
#define AV2 1
#define DIVERSITY 2
 
#define MARKER_SELECT 0xfc // 0xfc enspricht '>>' Menue-Marker
#define MARKER_AV 0xfb // 0xfb enspricht '<<' Diversity AV-Marker
#define MARKER_RSSI 'd' // Diversity, wenn RX umschaltet mittels RSSI-Wert
#define MARKER_SYNC 's' // Diversity, wenn RX umschaltet auf Grund der Bildsynchronisation
 
#define SET_MUX_0 PORTA &= ~(1<<MUX_IN); // MUX SxA enabled
#define SET_MUX_1 PORTA |= (1<<MUX_IN); // MUX SxB enabled
#define CLEAR_INT10 EIMSK &= ~((1<<INT1) | (1<<INT0)); // Interrupt für Sync ausschalten
#define SET_INT10 EIMSK |= (1<<INT1) | (1<<INT0); // External Interrupt Mask Register ein
 
/* Beep Verzögerungszeitein */
#define DBEEPVERS 2 // Beep on nach Versionsanzeige
#define DBEEPVERSP 30 // Beep Pause nach Versionsanzeige
#define BEEPENTER 1 // Beep on Enter kurz Scroll_Menu() und Select_Menu()
#define DBEEPWR 4 // Beep on geänderte Werte ROM schreiben
#define DBEEPWRP 30 // Beep Pause geänderte Werte ROM schreiben
#define BEEPBAT 20 // Beep on bei Akku low
#define BEEP_LOW_TIME 240 // TIMER0_1 aller 500ms aufgerufen, BeepIntervall Akku leer mit 2 Min Abstand beginnen
 
#define ENABLE_BTIMER 1 // damit Intervall Beeper für Akku leer mit TIMER0_1 gesteuert wird
#define DISABLE_BTIMER 0
 
#define GPS_DISP_NONE 0 // Anzeigen bei Antennennachführung per WI232 und GPS
#define GPS_DISP_CALC 1
#define GPS_DISP_CURRENT 2
#define GPS_DISP_HOME 3
#define GPS_RX_COUNT 4
 
#define BAUDRATE 5 // für Antennennachführung mittels MKCockpit
#define BAUDRATE_MIN 0
#define BAUDRATE_MAX 6
 
#define POLOLU_CMD 2
 
#define OFF 0
#define ON 1
 
#define EEPROM __attribute__ ((section(".eeprom")))
 
uint32_t baud[8] = {4800, 7200, 9600, 14400, 19200, 38400, 57600};
 
typedef struct {
uint8_t rev;
uint16_t min;
uint16_t max;
uint16_t mid;
} servo_t;
 
/**************************************************************/
/* */
/* EEPROM */
/* */
/**************************************************************/
static uint8_t ep_eep_init EEPROM;
static char ep_version[sizeof(VERSION)] EEPROM;
static uint8_t ep_dogm_vers EEPROM;
static uint8_t ep_contrast EEPROM;
static uint8_t ep_light_time EEPROM;
static uint8_t ep_u_offset EEPROM;
static uint32_t ep_u_min EEPROM;
static uint8_t ep_channel EEPROM;
static uint8_t ep_av_source EEPROM;
static uint8_t ep_language EEPROM;
static uint16_t ep_udbm_min EEPROM;
static uint16_t ep_udbm_max EEPROM;
static uint16_t ep_udbm_korr_1 EEPROM;
static uint16_t ep_udbm_korr_2 EEPROM;
static uint8_t ep_sIdxSteps EEPROM;
static servo_t ep_servo[SERVO_NUM_CHANNELS][sizeof(servo_t)] EEPROM;
static uint8_t ep_tracking EEPROM;
static uint8_t ep_track_hyst EEPROM;
static uint8_t ep_track_tx EEPROM;
static uint8_t ep_baudrate EEPROM;
 
uint8_t dogm_vers;
uint8_t contrast;
uint8_t light_time = BACKGR_LIGHT_MAX;
uint8_t backgr_light = OFF;
uint8_t u_offset = U_OFFSET;
uint32_t u_min = U_MIN;
uint8_t channel = CHANNEL;
uint8_t av_source = AV_SOURCE;
uint8_t language = NO_LANGUAGE;
uint16_t udbm_min = UDBM_MIN;
uint16_t udbm_max = UDBM_MAX;
uint16_t udbm_korr_1 = UDBM_KORR_FA;
uint16_t udbm_korr_2 = UDBM_KORR_FA;
uint32_t hyst_u_min;
servo_t servo[SERVO_NUM_CHANNELS] = {{SERVO_REV, SERVO_I0_RIGHT, SERVO_I0_LEFT, SERVO_I0_MIDDLE},\
{SERVO_REV, SERVO_I0_RIGHT, SERVO_I0_LEFT, SERVO_I0_MIDDLE}};
uint8_t tracking = TRACKING_MIN;
uint8_t track_hyst = TRACKING_HYSTERESE;
uint8_t track_tx = 0;
uint8_t baudrate = BAUDRATE;
uint8_t gps_display = 0;
uint8_t gps_disp_clear;
 
uint8_t RSSI_Calc_UdBm(uint16_t *pudbm);
uint8_t Set_AV_Source(uint8_t src);
 
uint16_t udbm[12]; // RSSI-Bargraph
uint16_t* pudbm = udbm;
uint8_t wudbm; // Differenz/Abstand benachbarter udbm[i] für differenzierteren Bargraphen
uint8_t bat_low = 1;
uint8_t sw_avx; // steuert über Set_AV_Source() oder rssi_diversity(av_source) Marker-Position und RX-Umschaltung
uint8_t mux_X; // berücksichtigt Schaltung auf Grund Synchronisation und RSSI (sw_avx meist RSSI) RX-Zählung
uint8_t MK_Motor_run = 0; // Flag für RX Time-Counter Start/Stop
 
volatile uint8_t vsync0;
volatile uint8_t vsync1;
volatile uint8_t vscount0;
volatile uint8_t vscount1;
volatile uint32_t rxcount0 = 0;
volatile uint32_t rxcount1 = 0;
 
uint16_t ADC_Read( uint8_t channel );
void servoSetDefaultPos(void);
void USART_Init_Baudrate(void);
char* my_itoa(int32_t zahl, uint8_t Vorz, uint8_t len, uint8_t Festkomma, uint8_t Nachkomma);
 
#endif /* SETTING_H_ */
/NGVideo5_8/tags/v1.11/servo.c
0,0 → 1,180
 
/********************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/* using */
/*! \file servo.c \brief Interrupt-driven RC Servo function library.*/
/* */
/*File Name : 'servo.c' */
/*Title : Interrupt-driven RC Servo function library */
/*Author : Pascal Stang - Copyright (C) 2002 */
/*Created : 7/31/2002 */
/*Revised : 8/02/2002 */
/*Version : 1.0 */
/*Target MCU : Atmel AVR Series */
/*Editor Tabs : 4 */
/* */
/*This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/********************************************************************/
 
#include <avr/interrupt.h>
#include <avr/io.h>
 
#include "servo.h"
#include "config.h"
 
// Global variables
uint16_t ServoPosTics;
uint16_t ServoPeriodTics;
 
// servo channel registers
ServoChannelType ServoChannels[SERVO_NUM_CHANNELS];
ServoConst_t ServoConst[2] = {{SERVO_MAX, SERVO_MIN, SERVO_STEPS, SERVO_PRESCALER},\
{SERVO_MAX * 4, SERVO_MIN * 4, (SERVO_STEPS + 1) * 4 - 1, SERVO_PRESCALER / 4}};
 
 
// functions
 
//! initializes software PWM system
// normaler Weise wird ein Serv-PWM Signal aller 20ms wiederholt
// Werte: rev, min, max, mid vorher über servoSet...() initialisieren und einmal servoSetPosition(...) ausführen!!!
void servoInit(void)
{ uint16_t OCValue; // set initial interrupt time
 
// disble Timer/Counter1, Output Compare A Match Interrupt
TIMSK1 &= ~(1<<OCIE1A);
// set the prescaler for timer1
if (sIdxSteps == STEPS_255) {
TCCR1B &= ~((1<<CS11) | (1<<CS10));
TCCR1B |= (1<<CS12); // prescaler 256, Servo-Schritte 185 bei 180 grd Winkel
}
else {
TCCR1B &= ~(1<<CS12);
TCCR1B |= (1<<CS11) | (1<<CS10); // prescaler 64, Servo-Schritte 740 bei 180 grd Winkel
}
// attach the software PWM service routine to timer1 output compare A
// timerAttach(TIMER1OUTCOMPAREA_INT, servoService);
// enable channels
for(uint8_t channel=0; channel < SERVO_NUM_CHANNELS; channel++) {
// set default pins assignments SERVO2 Pin 4; SERVO1 Pin 5
ServoChannels[channel].pin = (1 << (SERVO2 + channel));
}
ServoPosTics = 0; // set PosTics
// set PeriodTics
ServoPeriodTics = F_CPU / ServoConst[sIdxSteps].prescaler * SERVO_PERIODE * 1e-3;
// read in current value of output compare register OCR1A
OCValue = OCR1AL; // read low byte of OCR1A
OCValue += (OCR1AH << 8); // read high byte of OCR1A
OCValue += ServoPeriodTics; // increment OCR1A value by nextTics
// set future output compare time to this new value
OCR1AH = OCValue >> 8; // write high byte
OCR1AL = OCValue & 0x00FF; // write low byte
TIMSK1 |= (1<<OCIE1A); // enable the timer1 output compare A interrupt
}
 
uint16_t ServoSteps(void)
{
return(ServoConst[sIdxSteps].steps);
}
 
void servoSet_rev(uint8_t channel, uint8_t val)
{
ServoChannels[channel].rev = val & 0x01;
}
 
void servoSet_min(uint8_t channel, uint16_t min)
{
ServoChannels[channel].min = ServoConst[sIdxSteps].min + min;
}
 
void servoSet_max(uint8_t channel, uint16_t max)
{
ServoChannels[channel].max = ServoConst[sIdxSteps].max - max;
}
 
void servoSet_mid(uint8_t channel, uint16_t mid)
{
ServoChannels[channel].mid = mid;
ServoChannels[channel].mid_scaled = (float)(ServoChannels[channel].max - ServoChannels[channel].min)/2 + \
(mid - (float)ServoConst[sIdxSteps].steps/2) + ServoChannels[channel].min;
}
 
//! turns off software PWM system
void servoOff(void)
{
// disable the timer1 output compare A interrupt
TIMSK1 &= ~(1<<OCIE1A);
}
 
//! set servo position on channel
// input should be between 0 and ServoSteps (entspricht Maximalausschlag)
void servoSetPosition(uint8_t channel, uint16_t position)
{ uint16_t pos_scaled;
// calculate scaled position
if (ServoChannels[channel].rev != 0) position = ServoConst[sIdxSteps].steps - position;
if (position < ServoConst[sIdxSteps].steps/2)
//bei Position < Servomittelstellung Position*(Mitte - Min)/(Servoschritte/2)
pos_scaled = ((uint32_t)position*2*(float)(ServoChannels[channel].mid_scaled-ServoChannels[channel].min)/\
ServoConst[sIdxSteps].steps)+ServoChannels[channel].min;
else
//bei Position >= Servomittelstellung
pos_scaled = ServoChannels[channel].mid_scaled + (uint32_t)((position - ((float)ServoConst[sIdxSteps].steps/2)) \
* 2 * (float)(ServoChannels[channel].max-ServoChannels[channel].mid_scaled)/ServoConst[sIdxSteps].steps);
// set position
servoSetPositionRaw(channel, pos_scaled);
}
 
//! set servo position on channel (raw unscaled format)
void servoSetPositionRaw(uint8_t channel, uint16_t position)
{
// bind to limits
if (position < ServoChannels[channel].min) position = ServoChannels[channel].min;
if (position > ServoChannels[channel].max) position = ServoChannels[channel].max;
// set position
ServoChannels[channel].duty = position;
}
 
//Interruptroutine
ISR(TIMER1_COMPA_vect)
{ static uint8_t ServoChannel;
uint16_t nextTics;
uint16_t OCValue; // schedule next interrupt
 
if(ServoChannel < SERVO_NUM_CHANNELS) {
PORTD &= ~ServoChannels[ServoChannel].pin; // turn off current channel
}
ServoChannel++; // next channel
if(ServoChannel != SERVO_NUM_CHANNELS) {
// loop to channel 0 if needed
if(ServoChannel > SERVO_NUM_CHANNELS) ServoChannel = 0;
// turn on new channel
PORTD |= ServoChannels[ServoChannel].pin;
// schedule turn off time
nextTics = ServoChannels[ServoChannel].duty;
}
else {
// ***we could save time by precalculating this
// schedule end-of-period
nextTics = ServoPeriodTics-ServoPosTics;
}
// read in current value of output compare register OCR1A
OCValue = OCR1AL; // read low byte of OCR1A
OCValue += (OCR1AH <<8); // read high byte of OCR1A
OCValue += nextTics; // increment OCR1A value by nextTics
// set future output compare time to this new value
OCR1AH = OCValue >> 8; // write high byte
OCR1AL = OCValue & 0x00FF; // write low byte
 
ServoPosTics += nextTics; // set our new tic position
if(ServoPosTics >= ServoPeriodTics) ServoPosTics = 0;
}
 
/NGVideo5_8/tags/v1.11/servo.h
0,0 → 1,99
/*********************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/* using */
/*! \file servo.c \brief Interrupt-driven RC Servo function library. */
/* */
/*File Name : 'servo.c' */
/*Title : Interrupt-driven RC Servo function library */
/*Author : Pascal Stang - Copyright (C) 2002 */
/*Created : 7/31/2002 */
/*Revised : 8/02/2002 */
/*Version : 1.0 */
/*Target MCU : Atmel AVR Series */
/*Editor Tabs : 4 */
/* */
/*ingroup driver_sw */
/*defgroup servo Interrupt-driven RC Servo Function Library (servo.c)*/
/*code #include "servo.h" \endcode */
/*par Overview */
/* */
/*This code is distributed under the GNU Public License */
/*which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/*********************************************************************/
 
#ifndef SERVO_H
#define SERVO_H
 
// The numbers below good for parallax servos at an F_CPU of 20.000MHz.
// Da einige Servo's auch eien Winkel von 180 grd zulassen, Wertebereich
// entgegen den sonst üblichen. Einschränkung mit default Kalibrierung
// auf 0,9ms (45) bis 2,1ms(45) gesetzt. Je nach Servo, entspricht einen
// Winkel von etwa 180grd
// Periode default 20ms
 
#define SERVO_MAX 211 // 2,7 ms bei prescaler 256, bei prescaler 64 SERVO_MAX * 4
#define SERVO_MIN 26 // 0,33ms bei prescaler 256, bei prescaler 64 SERVO_MIN * 4
#define SERVO_STEPS 255 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle
#define SERVO_PRESCALER 256 // bei prescaler 256, bei prescaler 64 SERVO_PRESCALER / 4
#define STEPS_255 0 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle
#define STEPS_1023 1 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle
 
typedef struct //Servo-Konstante je nach Prescaler
{
uint16_t max;
uint16_t min;
uint16_t steps;
uint16_t prescaler;
} ServoConst_t;
 
typedef struct //struct_ServoChannel
{
uint8_t pin; // hardware I/O port and pin for this channel
uint16_t duty; // PWM duty setting which corresponds to servo position
uint8_t rev; // Parameter, wie on/off; reverse; range
uint16_t min; // SERVO_MIN + Parameter min
uint16_t max; // SERVO_MAX - Parameter max
uint16_t mid_scaled; // skalierte Servomitte
int16_t mid; // Servomitte = SERVO_STEPS/2 +/- x Schritte; bei Pescaler 256 wird nur uint8_t benötigt aber bei 64
} ServoChannelType;
 
uint8_t sIdxSteps; // 0 für 255 und 1 für 1023 Schritte; Prescaler 256 oder 64
 
// functions
 
// initializes servo system
// You must run this to begin servo control
void servoInit(void);
 
// turns off servo system
// This stops controlling the servos and
// returns control of the SERVOPORT to your code
void servoOff(void);
 
// set servo position on a given channel
// servoSetPosition() commands the servo on <channel> to the position you
// desire. The position input must lie between 0 and POSITION_MAX and
// will be automatically scaled to raw positions between SERVO_MIN and
// SERVO_MAX
void servoSetPosition(uint8_t channel, uint16_t position);
 
// set raw servo position on a given channel
// Works like non-raw commands but position is not scaled. Position must
// be between SERVO_MIN and SERVO_MAX
void servoSetPositionRaw(uint8_t channel, uint16_t position);
// vor servoInit(), oder vor sei() ServoWerte mit servoSet...() initialisieren, einschließlich servoSetPosition(...)!
void servoSet_rev(uint8_t channel, uint8_t val);
void servoSet_min(uint8_t channel, uint16_t min);
void servoSet_max(uint8_t channel, uint16_t max);
void servoSet_mid(uint8_t channel, uint16_t mid);
uint16_t ServoSteps(void); // gibt "Konstante" derzeitiger Servoschritte zürück
 
#endif /* SERVO_H */
/NGVideo5_8/tags/v1.11/tracking.c
0,0 → 1,259
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#include "usart.h"
#include "math.h"
#include <stdio.h>
 
#include "servo.h"
 
#define DLEFT 0
#define DRIGHT 1
#define DEG_TO_RAD 0.0174533// degrees to radians = PI / 180
#define RAD_TO_DEG 57.2957795// radians to degrees = 180 / PI
 
 
typedef struct {
double distance;
double bearing;
} geo_t;
 
geo_t geo;
int AngelPan, AngelTilt;
float Altitude;
/**************************************************************/
/* */
/* RSSI Tracking */
/* */
/**************************************************************/
 
void Tracking_RSSI(void)
{ uint16_t u0, u1;
static uint8_t direction;
static uint16_t servo1pos;
u0 = (ADC_Read(RSSI0) * (uint32_t)udbm_korr_1)/UDBM_KORR_FA;
u1 = (ADC_Read(RSSI1) * (uint32_t)udbm_korr_2)/UDBM_KORR_FA;
 
if (direction == DLEFT) {
if (u0 < u1) {
if ( servo1pos > 0) --servo1pos; // Servo Endposition?
servoSetPosition(SERVO_PAN, servo1pos); // beibehaltene Richtung ==> sofort ausführen
}
else
if (u0 > (u1 + track_hyst)) direction = DRIGHT; // Richtungwechsel, wenn Hysterese überschritten
}
else {
if (u0 > u1) {
if ( servo1pos < ServoSteps()) ++servo1pos; // Servo Endposition?
servoSetPosition(SERVO_PAN, servo1pos); // beibehaltene Richtung ==> sofort ausführen
}
else
if ((track_hyst + u0) < u1) direction = DLEFT; // Richtungwechsel, wenn Hysterese überschritten
}
}
 
/**************************************************************/
/* */
/* GPS Tracking */
/* */
/**************************************************************/
 
// Umrechnung Winkel in Servoschritte
void servo_track(uint8_t servo_nr, int16_t Angel)
{
servoSetPosition(servo_nr, (uint16_t)((uint32_t)Angel * ServoSteps() / 180));
}
 
// Anzeige eines GPS-Wertes auf LCD
void Displ_GPS_Data(uint8_t x, uint8_t y, char *description, char *data, char measure)
{
lcdGotoXY(x, y);
lcdPuts(description);
lcdPuts(data);
if (measure != '\0')
lcdPutc(measure);
}
 
// Datenempfang vom MK ==> blinkt Antennensymbol
void Displ_wiRX(void)
{ static uint8_t timer = 0;
char Sats;
if ((bat_low != 0) && (pmenu[0] == '\0')) { // nicht im Menü und nicht bei Akku leer blinken
lcdGotoXY(1, 0);
if (wi232RX) { // Datensatz vom MK empfangen?
if (timer < BLINK_PERIOD/2)
lcdPutc(5);
else {
Sats = MK.navi_data.SatsInUse; // aktuell empfangene Satellitenanzahl
if (MK.navi_data.SatsInUse > 9)
Sats = 'X'; // Anzeige einstellig, da kein Platz auf Display
else
Sats = MK.navi_data.SatsInUse + '0'; // Umrechnung Char
lcdPutc(Sats);
}
}
else
lcdPutc(':');
wi232RX = 0;
if (++timer == BLINK_PERIOD) timer = 0;
}
}
 
// Berechnung von Distanz und Winkels aus GPS-Daten home(MK eingeschaltet)
// zur aktuellen Position(nach Motorstart)
geo_t calc_geo(HomePos_t home, GPS_Pos_t pos)
{ double lat1, lon1, lat2, lon2, d1, dlat;
geo_t geo;
lon1 = home.Home_Lon;
lat1 = home.Home_Lat;
lon2 = (double)pos.Longitude / 10000000;
lat2 = (double)pos.Latitude / 10000000;
 
// Formel verwendet von http://www.kompf.de/gps/distcalc.html
// 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator
// es wird jedoch in Meter weiter gerechnet
d1 = 111300 * (double)cos((double)(lat1 + lat2) / 2 * DEG_TO_RAD) * (lon1 - lon2);
dlat = 111300 * (double)(lat1 - lat2);
// returns a value in metres http://www.kompf.de/gps/distcalc.html
geo.bearing = fmod((RAD_TO_DEG * (double)atan2(d1, dlat)) + 180, 360); // +180 besserer Vergleich mit MkCockpit
if (geo.bearing > 360) geo.bearing -= 360; // bekam schon Werte über 400
geo.distance = sqrt(d1 * d1 + dlat * dlat);
return(geo);
}
 
// MK OSD-Daten lesen und verifizieren
uint8_t OSD_Data_valid(void)
{ uint8_t ret = 0;
char *tx_osd = {"#co?]==EH\r"};
// char interval[2] = {10, '\0'};
if (rx_line_decode('O')) { // OSD-Datensatz prüfen/dekodieren
// GPS-Daten nicht zu alt und ok.
if ((rx_timeout < RX_TIME_OLD) && (MK.navi_data.NCFlags & NC_FLAG_GPS_OK)) {
ret = 1;
MK_Motor_run = MK.navi_data.FCStatusFlags & FC_FLAG_MOTOR_RUN;
}
}
// ca. 150ms keine OSD-Daten empfangen ==> sende neue Anforderung an MK
// if ((track_tx) && (rx_timeout > RX_TIMEOUT)) tx_Mk(NC_ADDRESS, 'o', interval, 1); // 10 * 10ms interval
if ((track_tx) && (rx_timeout > RX_TIMEOUT)) USART_send_Str(tx_osd); // 10 * 10ms interval
return(ret);
}
 
// MK eingeschaltet und GPS-ok, danach Motoren gestartet ==> Berechnung horizontaler/vertikaler Servowinkel
// Hauptprogramm von GPS Antennen-Nachführung
void Tracking_GPS(void)
{
if (OSD_Data_valid()) {
if (coldstart) {
// erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen
if (MK.navi_data.FCStatusFlags & FC_FLAG_MOTOR_START) {
// doppelt um nur einmal nach Start zu rechnen und Anzeige ohne! Minimalistic printf version
MK_pos.Home_Lon = (double)MK.navi_data.HomePosition.Longitude / 10000000;
MK_pos.Home_Lat = (double)MK.navi_data.HomePosition.Latitude / 10000000;
MK_pos.Home_Lon_7 = MK.navi_data.HomePosition.Longitude;
MK_pos.Home_Lat_7 = MK.navi_data.HomePosition.Latitude;
MK_pos.Home_Alt = MK.navi_data.HomePosition.Altitude;
MK_pos.direction = MK.navi_data.CompassHeading;
coldstart = 0;
}
}
else {
geo = calc_geo(MK_pos, MK.navi_data.CurrentPosition);
Altitude = (float)(MK.navi_data.CurrentPosition.Altitude - MK_pos.Home_Alt) / 1000;
AngelTilt = RAD_TO_DEG * atan2(Altitude, geo.distance);
if (geo.distance < 4) { // Abstand MK- zu Antennenposition < 4m ==> Pan-Servo in Mittelstellung
geo.bearing = MK_pos.direction;
if (Altitude < 3) AngelTilt = 0; // wenn (Altitude <= 0) ist berechnet AngelTilt sowieso 0
}
// egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen
// 360 grd negative Winkelwerte als positive
AngelPan = fmod(geo.bearing - MK_pos.direction + 360 + 90, 360);
if (AngelPan > 360) AngelPan -= 360;
 
if (AngelTilt < 0) AngelTilt = 0;
if (AngelTilt > 180) AngelTilt = 180;
if (AngelPan >= 180) { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo
AngelPan = AngelPan - 180;
AngelTilt = 180 - AngelTilt;
}
 
servo_track(0, AngelPan);
servo_track(1, AngelTilt);
}
}
if ((gps_display > GPS_DISP_NONE) && (!coldstart) && (bat_low != 0)) {
if (gps_disp_clear) {
gps_disp_clear = 0;
lcdClear();
}
// makefile ohne! Minimalistic printf version
switch(gps_display) {
case GPS_DISP_CALC:
Displ_GPS_Data(0, 0, "Dir:", my_itoa(MK_pos.direction, 0, 3, 0, 0), '\xdf');
if (geo.distance < 10) // Anzeige mit einer Kommastelle
Displ_GPS_Data(8, 0, "Dis:", my_itoa((uint32_t)(geo.distance * 10), 0, 3, 1, 1), 'm');
else // Anzeige ohne Kommastelle bis 999m, Überlauf nicht abgefangen!
Displ_GPS_Data(8, 0, "Dis:", my_itoa((uint32_t)geo.distance, 0, 3, 0, 0), 'm');
Displ_GPS_Data(0, 1, "Bea:", my_itoa((uint32_t)(geo.bearing), 0, 3, 0, 0), '\xdf');
Displ_GPS_Data(8 ,1, "Alt:", my_itoa((uint32_t)(Altitude), 1, 2, 0, 0), 'm');
Displ_GPS_Data(0, 2, "Pan:", my_itoa(AngelPan, 0, 3, 0, 0), '\xdf');
Displ_GPS_Data(8, 2, "Til:", my_itoa(AngelTilt, 0, 3, 0, 0), '\xdf');
break;
case GPS_DISP_CURRENT:
Displ_GPS_Data(0, 0, "aLon:", my_itoa(MK.navi_data.CurrentPosition.Longitude, 0, 11, 7, 7), '\0');
Displ_GPS_Data(0, 1, "aLat:", my_itoa(MK.navi_data.CurrentPosition.Latitude, 0, 11, 7, 7), '\0');
Displ_GPS_Data(0, 2, "aAlt: ", my_itoa(MK.navi_data.CurrentPosition.Altitude, 1, 11, 3, 1), '\0');
break;
case GPS_DISP_HOME:
Displ_GPS_Data(0, 0, "hLon:", my_itoa(MK_pos.Home_Lon_7, 0, 11, 7, 7), '\0');
Displ_GPS_Data(0, 1, "hLat:", my_itoa(MK_pos.Home_Lat_7, 0, 11, 7, 7), '\0');
Displ_GPS_Data(0, 2, "hAlt: ", my_itoa(MK_pos.Home_Alt, 1, 11, 3, 1), '\0');
}
}
Displ_wiRX();
}
 
/************************************************************************/
/* */
/* MKCockPit Tracking */
/* */
/* http://www.pololu.com/file/download/ssc03a_guide.pdf?file_id=0J37 * */
/* */
/************************************************************************/
 
void Tracking_MKCockpit(void)
{ uint16_t ServoPos;
 
if (Get_Pololu_cmd(MK.data_decode, POLOLU_CMD)) {
switch(MK.data_decode[0]) {
// Command 0: Set Parameters(1 data byte)
case 0x00: ;
break;
// Command 1: Set Speed (1 data byte)
case 0x01: ;
break;
// Command 4: Set Position,Absollute(2 data bytes) - angepasst für default MKCockPit
case 0x04:ServoPos = MK.data_decode[2];
ServoPos = ((ServoPos << 7) | MK.data_decode[3]) / 20; // ServoPos * ServoSteps() sonst zu groß
if (ServoPos >= 60) ServoPos -= 60; else ServoPos = 0;
if (ServoPos > 180) ServoPos = 180;
servoSetPosition(MK.data_decode[1], (uint16_t)((uint32_t)ServoPos * ServoSteps() / 180));
}
}
}
/NGVideo5_8/tags/v1.11/usart.c
0,0 → 1,239
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include "usart.h"
 
/********************************************************************************************************************/
/* */
/* MK Protokoll */
/* http://www.mikrokopter.de/ucwiki/en/SerialCommands?highlight=(command) */
/* http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) */
/* */
/* Slave-Address Part */
/* 1 FC */
/* 2 NC */
/* 3 MK3MAG */
/* */
/* Auszug von Commands, nur OSD verwendet: */
/* Received by NC | Sent by NC */
/* | since NC */
/* Description ID Address Data | ID Address Data Firmware */
/* Debug Request 'd' AnyAddr u8 AutoSendInterval. Value is | 'D' SlaveAddr Debug Data Struct */
/* multiplied by 10 in receiver and , | */
/* then used as milliseconds. Subsciption | */
/* needs to be renewed every 4s. | */
/* Request OSD 'o' NC-Addr 1 byte sending interval (in 10ms steps)| 'O' NC-Addr NaviDataStruct 0.12h */
/* -Data | */
/* Redirect UART 'u' NC-Addr 1 byte param for uart selector (0=FC, | - - - 0.12h */
/* 1=MK3MAG, 2=MKGPS), can be switched | */
/* back to NC debug by sending the magic | */
/* packet "0x1B,0x1B,0x55,0xAA,0x00" | */
/* Set 3D-Data 'c' AnyAddr u8 Interval | 'C' NC-Addr struct Data3D 0.14a */
/* Interval */
/* */
/********************************************************************************************************************/
 
char rx_buffer[RXD_BUFFER_SIZE];
 
volatile uint8_t rx_len;
volatile uint8_t rx_ready = 0;
uint8_t rx_GPS;
char start;
 
/**************************************************************/
/* */
/* USART */
/* 8 Datenbits, 1 Stopbit, keine Parität */
/* */
/**************************************************************/
 
void USART_Init(unsigned int baud)
{ uint16_t ubrx;
 
ubrx = F_CPU/(baud * 16L) - 1;
/* Set baud rate */
UBRR0H = (unsigned char)(ubrx>>8);
UBRR0L = (unsigned char)ubrx;
/* RX Complete Interrupt Enable, Enable receiver and transmitter */
UCSR0B = (1<<RXCIE0) | (1<<RXEN0) | (1<<TXEN0);
/* Asynchronous USART, no Parity, Set frame format: 8data, 1stop bit */
UCSR0C = (1<<UCSZ01) | (1<<UCSZ00); // 8data Bit
}
 
void USART_send_Chr(unsigned char data)
{
/* Wait for empty transmit Puffer */
while ( !( UCSR0A & (1<<UDRE0)) ) ;
/* Put data into Puffer, sends the data */
UDR0 = data;
}
 
void USART_send_Str(char *str )
{
while (*str) {
USART_send_Chr(*str);
str++;
}
}
 
/*
// verwendet Orginal H&I MK-Software http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol)
// kann auch vereinfacht werden ==> gleich kodierten String senden char *tx_osd = {"#co?]==EH\r\0"}
// Funktion getestet und funktioniert
void tx_Mk(unsigned char addr, char cmd, char *data, uint8_t len)
{ char tx_buffer[TXD_BUFFER_SIZE];
uint8_t tx_i = 0;
uint8_t i = 0;
unsigned char a,b,c;
unsigned int tmpCRC = 0;
 
tx_buffer[tx_i++] = '#'; // Start-Byte
tx_buffer[tx_i++] = 'a' + addr; // Adress
tx_buffer[tx_i++] = cmd; // Command
// code64
while (len) {
if (len) { a = data[i++]; len--;} else a = 0;
if (len) { b = data[i++]; len--;} else b = 0;
if (len) { c = data[i++]; len--;} else c = 0;
tx_buffer[tx_i++] = '=' + (a >> 2);
tx_buffer[tx_i++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
tx_buffer[tx_i++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
tx_buffer[tx_i++] = '=' + (c & 0x3f);
}
// add crc
for (i = 0; i < tx_i; i++) {
tmpCRC += tx_buffer[i];
}
tmpCRC %= 4096;
tx_buffer[i++] = '=' + tmpCRC / 64;
tx_buffer[i++] = '=' + tmpCRC % 64;
tx_buffer[i++] = '\r'; // End-Byte
 
tx_buffer[i++] = '\0'; // USART_send_Str(...) ==> End-while
USART_send_Str(tx_buffer);
} */
 
ISR(USART0_RX_vect)
{ char received;
static uint8_t line_flag = 1;
static char* ptr_write = rx_buffer;
static uint8_t frame = 6;
// von '#' bis '\r' Puffer, einschließlich Satzzeichen schreiben
received = UDR0;
if (rx_ready == 0) {
if ((received == start) && line_flag) { // start '#' oder 0x80
line_flag = 0; // MK-Datensatzanfang wurde erkannt
ptr_write = rx_buffer; // Schreibzeiger auf Anfang Puffer setzen
rx_len = 0;
}
if (line_flag == 0) { // MK/Pololu-Datensatz ?
*ptr_write = received;
rx_len++;
 
/* GPS Datensatzende */
if (rx_GPS) {
if (received == '\r') { // Ende MK-Datensatz ?
line_flag = 1;
rx_ready = 1; // Puffer Schreiben sperren, MK-Datensatz kann nun verarbeitet werden
}
}
/* Pololu Micro Serial stark reduziert/vereinfacht; rx_len-Abfrage 1 höher ==> bereits incrementiert */
else {
if ((rx_len == 2) && (received != 0x01)) line_flag = 1; // device
if ((rx_len == 3) && (received > 0x01)) frame = 6; else frame = 5; // command
if (rx_len == frame) {
line_flag = 1;
rx_ready = 1; // Puffer Schreiben sperren, Pololu-Datensatz kann nun verarbeitet werden
}
}
 
ptr_write++;
if(rx_len == RXD_BUFFER_SIZE) line_flag = 1; // ungültiger MK/Pololu-Datensatz ? ==> neu beginnen
}
}
}
 
// verwendet aus Orginal H&I MK-Software http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol)
void Decode64(char *ptrOut, uint8_t len, uint8_t ptrIn)
{ unsigned char a,b,c,d;
unsigned char ptr = 0;
unsigned char x,y,z;
while(len)
{
a = rx_buffer[ptrIn++] - '=';
b = rx_buffer[ptrIn++] - '=';
c = rx_buffer[ptrIn++] - '=';
d = rx_buffer[ptrIn++] - '=';
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
if(len--) ptrOut[ptr++] = x; else break;
if(len--) ptrOut[ptr++] = y; else break;
if(len--) ptrOut[ptr++] = z; else break;
}
}
 
// eingearbeitet Orginal H&I MK-Software mkprotocol.h und mkprotocol.c
uint8_t rx_line_decode(char rx_ID)
{ uint8_t ret = 0;
uint8_t crc1,crc2;
int tmpCRC = 0;
// rx_ready gleichzeitig usart rx_buffer schreiben gesperrt
if ((rx_ready == 1) && (rx_len > 0) && (rx_buffer[2] == rx_ID)) {
// Checksumme
// verwendet http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol)
for(uint8_t i = 0; i < rx_len - 3;i++) {
tmpCRC += rx_buffer[i];
}
tmpCRC %= 4096;
crc1 = '=' + tmpCRC / 64;
crc2 = '=' + tmpCRC % 64;
if ((crc1 == rx_buffer[rx_len-3]) && (crc2 == rx_buffer[rx_len-2])) {
Decode64(MK.data_decode, rx_len - 6, 3); // Daten ohne Satzzeichen, header und crc
ret = 1;
}
cli();
rx_timeout = 0; // wenn kein gültiger Datensatz für rx_ID ==> Counter wird nicht mehr rückgesetzt
sei();
}
// für Blinken des Antennenzeichens, MK antwortet immer mit cmd Großbuchstaben
if ((rx_timeout < RX_TIME_OLD) && (rx_buffer[2] >= 'A') && (rx_buffer[2] <= 'Z')) wi232RX = 1;
rx_ready = 0; // Puffer Schreiben entsperren, neuer MK-Datensatz kann wieder empfangen/gepuffert werden
return(ret);
}
 
void USART_RX_Mode(uint8_t tracking)
{
rx_GPS = (tracking == TRACKING_GPS);
if (rx_GPS) start ='#'; else start = 0x80;
}
 
uint8_t Get_Pololu_cmd(char *ptrOut, uint8_t ptrIn)
{
rx_len -=2; // ohne Start-Char und device
if (rx_ready == 1) {
for (uint8_t i = 0; i < rx_len; i++)
ptrOut[i] = rx_buffer[ptrIn++]; // ab Pololu-Command
}
else
rx_len = 0;
rx_ready = 0; // Puffer Schreiben entsperren, neuer Pololu-Datensatz kann wieder empfangen/gepuffert werden
return(rx_len);
}
/NGVideo5_8/tags/v1.11/usart.h
0,0 → 1,120
 
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
 
#ifndef USART_H_
#define USART_H_
 
#define TRACKING_RSSI 1
#define TRACKING_GPS 2
#define TRACKING_MKCOCKPIT 3
 
#define RXD_BUFFER_SIZE 150 //Puffergröße in Byte
#define TXD_BUFFER_SIZE 20
#define ANY_ADDRESS 0
#define FC_ADDRESS 1
#define NC_ADDRESS 2
 
#define FC_FLAG_MOTOR_RUN 0x01
#define FC_FLAG_FLY 0x02
#define FC_FLAG_CALIBRATE 0x04
#define FC_FLAG_MOTOR_START 0x08
 
#define NC_FLAG_GPS_OK 0x80
 
#define RX_TIMEOUT 420 // 210ms
#define RX_TIME_OLD 3 * RX_TIMEOUT // Grenze, Datensatz viel zu alt
 
//volatile unsigned char buffercounter;
 
//char data_decode[RXD_BUFFER_SIZE];
volatile uint16_t rx_timeout;
 
void USART_Init(unsigned int baud);
void USART_send_Str(char *str );
uint8_t rx_line_decode(char rx_ID);
//void tx_Mk(unsigned char addr, char cmd, char *data, uint8_t len);
 
// Orginal H&I MK-Software
typedef struct
{
int32_t Longitude; // in 1E-7 deg
int32_t Latitude; // in 1E-7 deg
int32_t Altitude; // in mm
uint8_t Status; // validity of data
} __attribute__((packed)) GPS_Pos_t;
 
typedef struct
{
uint16_t Distance; // distance to target in dm
int16_t Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
 
typedef struct
{
uint8_t Version; // version of the data structure
GPS_Pos_t CurrentPosition; // see ubx.h for details
GPS_Pos_t TargetPosition;
GPS_PosDev_t TargetPositionDeviation;
GPS_Pos_t HomePosition;
GPS_PosDev_t HomePositionDeviation;
uint8_t WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
uint8_t WaypointNumber; // number of stored waypoints
uint8_t SatsInUse; // number of satellites used for position solution
int16_t Altimeter; // hight according to air pressure
int16_t Variometer; // climb(+) and sink(-) rate
uint16_t FlyingTime; // in seconds
uint8_t UBat; // Battery Voltage in 0.1 Volts
uint16_t GroundSpeed; // speed over ground in cm/s (2D)
int16_t Heading; // current flight direction in ° as angle to north
int16_t CompassHeading; // current compass value in °
int8_t AngleNick; // current Nick angle in 1°
int8_t AngleRoll; // current Roll angle in 1°
uint8_t RC_Quality; // RC_Quality
uint8_t FCStatusFlags; // Flags from FC
uint8_t NCFlags; // Flags from NC
uint8_t Errorcode; // 0 --> okay
uint8_t OperatingRadius; // current operation radius around the Home Position in m
int16_t TopSpeed; // velocity in vertical direction in cm/s
uint8_t TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
uint8_t RC_RSSI; // Receiver signal strength (since version 2 added)
int16_t SetpointAltitude; // setpoint for altitude
uint8_t Gas; // for future use
uint16_t Current; // actual current in 0.1A steps
uint16_t UsedCapacity; // used capacity in mAh
} __attribute__((packed)) NaviData_t;
 
typedef union
{
char data_decode[RXD_BUFFER_SIZE];
NaviData_t navi_data;
} MK_t;
 
MK_t MK;
 
typedef struct
{
double Home_Lon;
double Home_Lat;
int32_t Home_Lon_7; // in 1E-7 deg
int32_t Home_Lat_7; // in 1E-7 deg
int32_t Home_Alt; // in mm
int16_t direction; // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading
} __attribute__((packed)) HomePos_t;
 
HomePos_t MK_pos;// steht hier nur wegen Vermeidung Compiler-Warnung
uint8_t wi232RX; // Statusflag für Empfangszeichen auf lcd
 
void USART_RX_Mode(uint8_t tracking);
uint8_t Get_Pololu_cmd(char *ptrOut, uint8_t ptrIn);
 
#endif /* USART_H_ */
 
/NGVideo5_8/tags/v1.11
Property changes:
Added: bugtraq:number
+true
\ No newline at end of property