| /NGVideo5_8/tags/V1.30/ngvideo.c |
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| /NGVideo5_8/tags/V1.30/lipo.c |
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| /NGVideo5_8/tags/V1.30/dogm.c |
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| /NGVideo5_8/tags/V1.30/KurzanleitungFW.pdf |
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| /NGVideo5_8/tags/V1.30/GPGGA_01_2011.txt |
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| /NGVideo5_8/tags/V1.30/Hexfiles/NGVideo_MEGA644.hex |
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| /NGVideo5_8/tags/V1.31/GPGGA_01_2011.txt |
|---|
| 0,0 → 1,69 |
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| CFG-INF - 06 02 08 00 00 00 00 00 00 87 00 00 |
| CFG-INF - 06 02 08 00 01 00 00 00 00 87 00 87 |
| CFG-INF - 06 02 08 00 03 00 00 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 02 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 04 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 06 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 08 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 12 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 21 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 22 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 32 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 10 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 02 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 05 00 00 01 00 |
| CFG-MSG - 06 01 06 00 0A 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 08 00 00 01 00 |
| CFG-MSG - 06 01 06 00 0A 09 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 0A 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 04 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 00 00 01 00 00 |
| CFG-MSG - 06 01 06 00 F0 01 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 02 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 03 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 04 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 05 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 08 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 09 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 0A 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 03 00 01 00 00 |
| CFG-MSG - 06 01 06 00 F1 04 00 00 00 00 |
| CFG-NAV2 - 06 1A 28 00 05 00 00 00 04 04 10 03 50 C3 00 00 18 14 05 3C 00 03 00 00 FA 00 FA 00 64 00 2C 01 00 00 00 00 00 00 00 00 00 00 00 00 |
| CFG-NMEA - 06 17 04 00 00 23 00 02 |
| CFG-PRT - 06 00 14 00 01 00 00 00 D0 08 00 00 00 E1 00 00 03 00 02 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 02 00 00 00 D0 08 08 00 00 E1 00 00 07 00 03 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 |
| CFG-RATE - 06 08 06 00 C8 00 01 00 00 00 |
| CFG-RXM - 06 11 02 00 03 00 |
| CFG-SBAS - 06 16 08 00 01 01 01 00 51 08 00 00 |
| CFG-TM2 - 06 19 0C 00 00 00 00 00 E8 03 00 00 14 01 00 00 |
| CFG-TM2 - 06 19 0C 00 01 00 00 00 E8 03 00 00 14 01 00 00 |
| CFG-TMODE - 06 1D 1C 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 10 27 00 00 80 51 01 00 10 27 00 00 |
| CFG-TP - 06 07 14 00 40 42 0F 00 20 A1 07 00 FF 01 00 00 32 00 34 03 00 00 00 00 |
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| /NGVideo5_8/tags/V1.31/Hexfiles/NGVideo_MEGA644.hex |
|---|
| 0,0 → 1,2130 |
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| /NGVideo5_8/tags/V1.31/config.h |
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| /****************************************************************/ |
| /* */ |
| /* 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 */ |
| /* */ |
| /* Tabs: 2 */ |
| /* */ |
| /****************************************************************/ |
| #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_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) |
| #define T2SECDIV 4000 // Divisor für Timer 2 - Ergebnis in Sekunden |
| #define M59S59 3599 // 3599 sind 59 Minuten und 59 Sekunden |
| #define T2PROD_M59S59 (uint32_t)T2SECDIV*M59S59 |
| /* initiale Anfangswerte der Einstellungen */ |
| #define EEP_INITB 75 // irgend ein Wert um beschriebenen EEPROM zu erkennen |
| #define VERSION "1.31" |
| #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 |
| /* Servo */ |
| #define SERVO_PAN 0 |
| #define SERVO_TILT 1 |
| #define SERVO_NUM_CHANNELS 2 // Anzahl der angeschlossen Servos max. 2!!! |
| /* Servokalibrierungen derzeit zu SERVO_STEPS = 255 skaliert */ |
| //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 |
| /* Test Servo */ |
| #define SERVO_PERIODE 20 // default Angabe in ms |
| #define SERVO_PERIODE_MIN 10 // 10ms |
| #define SERVO_PERIODE_MAX 30 // 30ms |
| #define SINGLE_STEP 0 // Einzelschritt aus |
| #define SINGLE_STEP_MIN 0 |
| #define SINGLE_STEP_MAX 20 // bei prescaler 256, sonst * 4 (von links nach rechts in 9 Abschnitte) |
| // zwischen den Schritten muss Pause > der Servoperiode sein, sonst keine Aktualisierung |
| #define REPEAT 1 |
| #define REPEAT_MIN 1 |
| #define REPEAT_MAX 100 |
| #define PAUSE 10 |
| #define PAUSE_MIN 4 // mindestens 400ms, da mechanischer Servo-Lauf zur Position berücksichtigt werden muss |
| #define PAUSE_MAX 20 // Pause pro Links-, Mittel- und Rechtsposition 10*100ms |
| #define PAUSE_STEP 0 |
| #define PAUSE_STEP_MIN 0 // Pause bei jeden Servoschritt in ms |
| #define PAUSE_STEP_MAX 200 |
| /* Antennen-Nachführung */ |
| #define TRACKING_MIN 0 // aus, TRACKING_RSSI, TRACKING_GPS, TRACKING_MKCOCKPIT, TRACKING_NMEA |
| #define TRACKING_MAX 4 |
| /* Antennen-Nachführung per RSSI */ |
| #define TRACKING_HYSTERESE 40 // Hysterese bevor Tracking bei Richtungswechsel anspricht |
| #define TRACKING_HYST_MIN 0 |
| #define TRACKING_HYST_MAX 100 |
| /* MK Akku-Kapazität */ |
| #define AKKU_NR_MIN 0 |
| #define AKKU_NR_MAX 9 |
| #define AKKU_CAPACITY 2500 // in mAh für Ermittlung verbleibende Flugzeit |
| #define AKKU_CAPACITY_MIN 1000 |
| #define AKKU_CAPACITY_MAX 6000 |
| #define MK_I_OFFSET 8 // Standart 0.3 |
| #define MK_I_OFFSET_MIN 0 // -0.5 (+0,5A ist auch der vom MK gesendete konstante Offset) |
| #define MK_I_OFFSET_MAX 20 |
| #define MK_I_OFFSET_5 5 // entspricht -0.5 |
| #define MK_I_FAKTOR 80 |
| #define MK_I_FAKTOR_MIN 30 // Angabe * 100 |
| #define MK_I_FAKTOR_MAX 200 |
| #define MK_W_FAKTOR 80 |
| #define MK_W_FAKTOR_MIN 30 |
| #define MK_W_FAKTOR_MAX 200 |
| #endif /* CONFIG_H_ */ |
| /NGVideo5_8/tags/V1.31/dogm.c |
|---|
| 0,0 → 1,299 |
| /****************************************************************/ |
| /* */ |
| /* 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> |
| #include <string.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) |
| uint8_t CursorPos; // ersetzt lesen der aktuellen LCD-CursorPosition |
| /************************************************************************************/ |
| /* 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 lcdSendC(char c) |
| { |
| lcdSetRegSelect(); // LCD-RS für Daten |
| lcdSendByte(c); |
| } |
| /************************************************************************************/ |
| /* sendet ein Zeichen zum LCD-Display */ |
| /* Parameter: */ |
| /* char c :Zeichen */ |
| /* */ |
| /************************************************************************************/ |
| void lcdPutc(char c) |
| { |
| lcdSendC(c); |
| CursorPos++; |
| if (CursorPos >= (LCD_LINES * LCD_COLS)) CursorPos = 0; |
| } |
| /************************************************************************************/ |
| /* sendet einen String zum LCD-Display */ |
| /* Parameter: */ |
| /* char *str :Zeichenkette */ |
| /* */ |
| /************************************************************************************/ |
| void lcdPuts(char *str) |
| { uint8_t pos = CursorPos / LCD_COLS; |
| while (*str) { |
| if (*str == '\n') { |
| if (pos >= LCD_LINES) |
| pos = 0; |
| else |
| pos++; |
| lcdGotoXY(0, pos); |
| } |
| else |
| lcdPutc(*str); |
| str++; |
| } |
| } |
| /************************************************************************************/ |
| /* stellt eine String mittig auf Display dar */ |
| /* Parameter: */ |
| /* char *str : darzustellende Zeichenkette */ |
| /* uint8_t zle : Display-Zeile */ |
| /* */ |
| /************************************************************************************/ |
| void lcdPutStrMid(char *str, uint8_t zle) |
| { int8_t x; |
| lcdClearLine(zle); |
| x = (LCD_COLS - strlen(str))/2; // Array-String mittig schreiben |
| lcdGotoXY(x,zle); |
| lcdPuts(str); |
| } |
| /************************************************************************/ |
| /* 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 |
| } |
| /************************************************************************************/ |
| /* Löscht Inhalt auf LCD-Display */ |
| /* */ |
| /************************************************************************************/ |
| void lcdClear() |
| { |
| lcdSendInstruction(CLEAR_DISPLAY); |
| CursorPos = 0; |
| _delay_ms(2); |
| } |
| /************************************************************************************/ |
| /* Löscht Inhalt ab Cursorposition bis Zeilenende auf LCD-Display */ |
| /* CursorPos bleibt auf ab zu löschenden Zeichen */ |
| /* */ |
| /************************************************************************************/ |
| void lcdClearEOL() |
| { uint8_t cp = CursorPos % LCD_COLS; |
| if (cp > 0) //falls letztes Zeichen auf letzte Spalte geschrieben, nicht nächste Zeile löschen |
| for (; cp < LCD_COLS; cp++) lcdSendC(' '); |
| lcdSendInstruction(SET_DDRAM_ADDR | CursorPos); |
| } |
| /************************************************************************************/ |
| /* Löscht Inhalt der angegebenen Zeile auf LCD-Display */ |
| /* CursorPos bleibt auf Zeilenanfang */ |
| /* */ |
| /************************************************************************************/ |
| void lcdClearLine(uint8_t y) |
| { |
| lcdGotoXY(0, y); |
| for (uint8_t x = 0; x < LCD_COLS; x++) lcdSendC(' '); |
| lcdSendInstruction(SET_DDRAM_ADDR | CursorPos); |
| } |
| /************************************************************************************/ |
| /* 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) |
| { |
| if(x > LCD_COLS) x = 0; |
| if(y > LCD_LINES) y = 0; |
| CursorPos = y * LCD_COLS + x; |
| lcdSendInstruction(SET_DDRAM_ADDR | CursorPos); |
| } |
| /************************************************************************************/ |
| /* 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/V1.31/dogm.h |
|---|
| 0,0 → 1,44 |
| /****************************************************************/ |
| /* */ |
| /* 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[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 lcdSendInstruction(char instruction); |
| void lcdPutc(char c); |
| void lcdPuts(char *str); |
| void lcdPutStrMid(char *str, uint8_t zle); |
| void lcdClear(void); |
| void lcdClearEOL(void); |
| void lcdClearLine(uint8_t y); |
| 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/V1.31/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 = 256 - (F_CPU / 1024 * 10e-3) + 0.5; // preload for 10ms 8bit-Timer |
| 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) { // jetzt beschleunigen, Wert bestimmt die max. Beschleunigung/Wiederholrate |
| cli(); // kann jedoch nicht kleiner 10ms sein |
| key_repeat_next -= 2; // noch etwas schneller |
| sei(); |
| } |
| } |
| } |
| } |
| /NGVideo5_8/tags/V1.31/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/V1.31/lipo.c |
|---|
| 0,0 → 1,91 |
| /****************************************************************/ |
| /* */ |
| /* 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/eeprom.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include "ngvideo.h" |
| #include "dogm.h" |
| #include "menue.h" |
| #include "mk.h" |
| uint8_t mk_UBat; // Battery Voltage in 0.1 Volts |
| uint16_t mk_dUsedCapacity = 0; |
| uint16_t mk_Ikorr; |
| uint8_t mk_akku_nr = AKKU_NR_MIN; |
| uint8_t mk_i_offset = MK_I_OFFSET; |
| uint8_t mk_i_faktor = MK_I_FAKTOR; |
| uint8_t mk_w_faktor = MK_W_FAKTOR; |
| mk_current_t mk_current = {0, 0}; |
| mk_lipo_t mk_lipo = {0xff, AKKU_CAPACITY, 0, 0}; // Umk 255 ==> erste Inbetriebnahme keine Nachfrage Akku-Nr. |
| void store_LipoData(void) |
| { uint32_t tmp_time_on; |
| tmp_time_on = eeprom_read_dword(&ep_mk_lipo[mk_akku_nr].time_on); |
| mk_timer = 0; |
| if (tmp_time_on != mk_lipo.time_on) { |
| if (!MK_Motor_run) mk_lipo.UsedCapacity = mk_dUsedCapacity; |
| eeprom_write_byte(&ep_mk_lipo[mk_akku_nr].Umk, mk_lipo.Umk); |
| eeprom_write_word(&ep_mk_lipo[mk_akku_nr].UsedCapacity, mk_lipo.UsedCapacity); |
| eeprom_write_dword(&ep_mk_lipo[mk_akku_nr].time_on, mk_lipo.time_on); |
| eeprom_write_block(&mk_current,&ep_mk_current,sizeof(mk_current_t)); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| } |
| #define I_MOTOR_OFF 6 // IR=280mA gemessen; IR vom MK Akku voll 500mA; I Motoren an 1,3A; Grenzwert für Erkennung Akkuwechsel zwischen 500 und 1200mA |
| void MK_ProcessLipo(NaviData_t *navi_data) |
| { char tmp_pmenu[sizeof(pmenu)]; |
| mk_UBat = navi_data->UBat; |
| // Spannung, Strom, Leistung sofort (ohne Motorstart) lesen |
| if ((!MK_Motor_run) && (navi_data->Current <= I_MOTOR_OFF) && (mk_UBat > 0)) { |
| if (mk_UBat < mk_lipo.Umk) |
| mk_lipo.Umk = mk_UBat; // Bei Ruhestrom, da je nach Last mk_UBat schwankend |
| else |
| if (mk_UBat > (mk_lipo.Umk + 4)) { // Bei Ruhestrom kleiner 501mA Akku gewechselt? IR=280mA gemessen, 400mV Hysterese |
| // Akku des MK wurde gegen einen geladenen ausgetauscht |
| mk_lipo.Umk = mk_UBat; |
| mk_timer = 0; |
| mk_dUsedCapacity = 0; |
| mk_lipo.UsedCapacity = 0; |
| mk_lipo.time_on = 0; |
| lcdClear(); |
| // Funktion wird innhalb Task ausgeführt, auch innerhalb eines anderen Menüpunkes oder Eingabeaufforderung |
| strcpy(tmp_pmenu, pmenu); // da bei Change_Value(...) ein Menüpunkt zurück |
| Menu_MK_BatteryChangeNr(); // eingeschobenes Menü, danach aber wieder zur ursprünglichen Anzeige! GPS ruft sich hier noch mal selbst auf! |
| strcpy(pmenu, tmp_pmenu); // Sonst müsste vorherige aktuelle LCD-Anzeige zwischengespeichert werden. |
| /* irgendeine Eingabe-While-Schleife (Menue, Change..) zum Verlassen zwingen und mit Jump_Menu(pmenu) |
| den gleichen Menüpunkt wieder aufrufen */ |
| if (pmenu[0] == '\0') |
| Displ_Main_Disp(); |
| else |
| exit_while = 1; // wird nach möglichen while, innerhalb der Fkt. wieder auf 0 gesetzt |
| store_LipoData(); |
| } |
| } |
| mk_timer = 1; // MK-Timer auf on stellen |
| if (mk_current.Count > 18000) { // ungefär 30 Minuten Mittelwert |
| mk_current.Sum = (mk_current.Sum * 9)/10; // um 10% verkleinern |
| mk_current.Count = ((uint32_t)mk_current.Count * 9)/10; |
| } |
| if (navi_data->Current >= MK_I_OFFSET_5) { // keine negativen Zwischenergebnisse zulassen |
| mk_Ikorr = mk_i_offset + (uint32_t)(navi_data->Current - MK_I_OFFSET_5) * mk_i_faktor / 100; |
| mk_current.Sum += mk_Ikorr; |
| mk_current.Count++; |
| } |
| mk_dUsedCapacity = mk_lipo.UsedCapacity + (uint32_t)navi_data->UsedCapacity * mk_w_faktor / 100; |
| } |
| /NGVideo5_8/tags/V1.31/lipo.h |
|---|
| 0,0 → 1,33 |
| #ifndef _LIPO_H_ |
| #define _LIPO_H_ |
| #include "mk.h" |
| typedef struct { |
| uint8_t Umk; |
| uint16_t Capacity; |
| uint16_t UsedCapacity; |
| uint32_t time_on; |
| }mk_lipo_t; |
| typedef struct { |
| uint32_t Sum; |
| uint16_t Count; |
| }mk_current_t; |
| extern uint8_t mk_UBat; // Battery Voltage in 0.1 Volts |
| extern uint16_t mk_dUsedCapacity; |
| extern uint16_t mk_Ikorr; |
| extern mk_current_t mk_current; |
| extern uint8_t mk_akku_nr; |
| extern mk_lipo_t mk_lipo; |
| extern uint8_t mk_i_offset; |
| extern uint8_t mk_i_faktor; |
| extern uint8_t mk_w_faktor; |
| void store_LipoData(void); |
| void MK_ProcessLipo(NaviData_t *navi_data); |
| #endif |
| /NGVideo5_8/tags/V1.31/main.c |
|---|
| 0,0 → 1,110 |
| /****************************************************************/ |
| /* */ |
| /* 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 <util/delay.h> |
| #include "ngvideo.h" |
| #include "menue.h" |
| #include "servo.h" |
| #include "config.h" |
| #include "dogm.h" |
| #include "keys.h" |
| #include "usart.h" |
| #include "tracking.h" |
| int main(void) |
| { uint8_t ep_reset = 1; |
| uint8_t val; |
| _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(SERVO_PERIODE); |
| // LCD init |
| lcdInit(dogm_vers, contrast, 0, 0); |
| lcd_BackgrLight_On(); |
| lcdWriteCGRAM_Array(lcdSpecialChr, 7); |
| Displ_Version(); |
| Double_Beep(DBEEPVERS, DBEEPVERSP); |
| sei(); |
| if (language == NO_LANGUAGE) { |
| language = GERMAN; // Beim Einschalten pmenu[] vordefiniert mit "0" |
| Menu_Language(); |
| } |
| Displ_Main_Disp(); |
| while(1) |
| { |
| Task_0_1(); |
| Task_0_2(); |
| Tasks_invisible(); |
| if (!bat_low) { |
| 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); |
| } |
| if (Get_Key_Long( 1<<SW_ENTER ) && tracking == TRACKING_NMEA) setNMEAdir(); // direction |
| } |
| } |
| } |
| /NGVideo5_8/tags/V1.31/makefile |
|---|
| 0,0 → 1,412 |
| # 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 ngvideo.c menue.c dogm.c keys.c servo.c usart.c tools.c tracking.c lipo.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 |
| #DIRAVR = C:\Program Files (x86)\Atmel\AVR Studio 5.0\AVR Toolchain\avr |
| 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/V1.31/menue.c |
|---|
| 0,0 → 1,1787 |
| /****************************************************************/ |
| /* */ |
| /* 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/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <util/delay.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include "config.h" |
| #include "ngvideo.h" |
| #include "keys.h" |
| #include "menue.h" |
| #include "servo.h" |
| #include "tracking.h" |
| #include "messages.c" |
| #include "dogm.h" |
| #include "tools.h" |
| #include "usart.h" |
| #include "ngvideo.h" |
| typedef uint8_t scr_menu_t[SCROLL_MAIN_MAX]; |
| char pmenu[6] = {"0"}; // Zuordnung Menü Programmgliederung zu hinterlegten Funktionen |
| 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 |
| uint8_t chrxs; // zum Laden lcdSpecialChrLs oder lcdSpecialChrRs |
| uint8_t exit_while = 0; // unabhängige Task (z.B: Menu_MK_BatteryChangeNr() - Aufruf) kann Eingabe while-Schleife beenden, wenn 1 |
| // 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 cmdStr033[] PROGMEM = "033"; |
| 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 cmdStr0621[] PROGMEM = "0621"; |
| const char cmdStr0622[] PROGMEM = "0622"; |
| const char cmdStr0623[] PROGMEM = "0623"; |
| const char cmdStr0624[] PROGMEM = "0624"; |
| const char cmdStr0625[] PROGMEM = "0625"; |
| const char cmdStr063[] PROGMEM = "063"; |
| const char cmdStr064[] PROGMEM = "064"; |
| const char cmdStr07[] PROGMEM = "07"; |
| const char cmdStr071[] PROGMEM = "071"; |
| const char cmdStr072[] PROGMEM = "072"; |
| const char cmdStr08[] PROGMEM = "08"; |
| const char cmdStr081[] PROGMEM = "081"; |
| const char cmdStr082[] PROGMEM = "082"; |
| const char cmdStr083[] PROGMEM = "083"; |
| const char cmdStr0831[] PROGMEM = "0831"; |
| const char cmdStr0832[] PROGMEM = "0832"; |
| const char cmdStr0833[] PROGMEM = "0833"; |
| const char cmdStr0834[] PROGMEM = "0834"; |
| const char cmdStr0835[] PROGMEM = "0835"; |
| const char cmdStr09[] PROGMEM = "09"; |
| const char cmdStr0d[] PROGMEM = "0:"; // wird nur bei Tracking RSSI oder GPS eingeblendet - SCROLL_MAIN_MAX wird geändert |
| const char cmdStr0e[] PROGMEM = "0;"; // wird nur bei Tracking GPS eingeblendet - SCROLL_MAIN_MAX wird geändert |
| const char cmdStr0e1[] PROGMEM = "0;1"; // nach '9' (0x39) folgt ':' (0x3a) ';' (0x3b) |
| const char cmdStr0e2[] PROGMEM = "0;2"; |
| const char cmdStr0e3[] PROGMEM = "0;3"; |
| const char cmdStr0e4[] PROGMEM = "0;4"; |
| const char cmdStr0e5[] PROGMEM = RXTimeStr; |
| 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_min_all}, |
| {cmdStr033, 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_Servo_Test}, |
| {cmdStr061, Menu_Test_PulseWidth}, |
| {cmdStr062, Menu_Test_Continuous}, |
| {cmdStr0621, Menu_Test_Start}, |
| {cmdStr0622, Menu_Test_SingleStep}, |
| {cmdStr0623, Menu_Test_Repeat}, |
| {cmdStr0624, Menu_Test_Pause}, |
| {cmdStr0625, Menu_Test_Pause_Step}, |
| {cmdStr063, Menu_Test_ServoNr}, |
| {cmdStr064, Menu_Test_Frame}, |
| {cmdStr07, Menu_lcd}, |
| {cmdStr071, Menu_lcd_Contrast}, |
| {cmdStr072, Menu_lcd_Backgr_Light}, |
| {cmdStr08, Menu_Battery}, |
| {cmdStr081, Menu_Low_U_Setup}, |
| {cmdStr082, Menu_U_Offset}, |
| {cmdStr083, Menu_MK_Battery}, |
| {cmdStr0831, Menu_MK_BatteryNr}, |
| {cmdStr0832, Menu_MK_BatteryCapacity}, |
| {cmdStr0833, Menu_MK_I_Offset}, |
| {cmdStr0834, Menu_MK_I_Faktor}, |
| {cmdStr0835, Menu_MK_W_Faktor}, |
| {cmdStr09, Menu_Tracking_Ant}, |
| {cmdStr0d, Menu_Tracking_Option}, // wird nur bei Tracking RSSI oder GPS eingeblendet - SCROLL_MAIN_MAX wird geändert |
| {cmdStr0e, Menu_GPS_Display}, // wird nur bei Tracking GPS oder NMEA eingeblendet - SCROLL_MAIN_MAX wird geändert |
| {cmdStr0e1, Menu_GPS_Display_FLAG}, // nach '9' (0x39) folgt ':' (0x3a) |
| {cmdStr0e2, Menu_GPS_Display_FLAG}, |
| {cmdStr0e3, Menu_GPS_Display_FLAG}, |
| {cmdStr0e4, Menu_GPS_Display_FLAG}, |
| {cmdStr0e5, Menu_GPS_Displ_RX_Time} // bei NMEA wird dieser Menüpunkt um 1 vorgezogen (anstelle GPS_MISC) |
| }; |
| uint8_t Change_Value(uint16_t *val, uint16_t min_val, uint16_t max_val, uint8_t fl_pos, Displ_Fnct_t Displ_Fnct); |
| /**************************************************************/ |
| /* */ |
| /* 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 */ |
| /* */ |
| /************************************************************************************/ |
| uint8_t Long_Enter(void) |
| { |
| Tasks_invisible(); // Dadurch ist Doppelaufruf von MK-GPS möglich!!! Nur bei Menu_MK_BatteryChangeNr() |
| // falls Akku leer ==> Menü verlassen und Anzeige __ACCU_LOW |
| U_Messen_cmp(DISABLE_BTIMER); |
| if (Get_Key_Long( 1<<SW_ENTER ) || bat_low) { |
| pmenu[0] ='\0'; // direkt in das Hauptprogramm |
| return 1; |
| } |
| else return 0; |
| } |
| uint8_t Short_Enter(void) |
| { uint8_t ret; |
| // bis Short- oder Long-Enter, auch Akku leer |
| while( !Get_Key_Short( 1<<SW_ENTER ) && !Long_Enter() && !exit_while); |
| lcdClear(); |
| if (pmenu[0] == '\0') Displ_Main_Disp(); else Beep(BEEPENTER); // bei ShortEnter Beep |
| ret = (pmenu[0] != '\0') && !exit_while; |
| exit_while = 0; |
| return(ret); // 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 i; |
| if (scr_idx > 0) scr_idx--; else scr_idx = scr_menu[0]; |
| for (i = 0; i < LCD_LINES; i++) { |
| lcdGotoXY(2, i); // LCD Beginn x-Position, 2 Zeichen rechts eingerückt |
| lcdPuts(Msg(scr_menu[scr_idx + 1])); |
| lcdClearEOL(); // ab Stringende bis zum Zeilenende löschen; LCD löschen flackert sonst zu sehr |
| if (scr_idx < scr_menu[0]) 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 > 1) { // bei l=1 und Subtraktion 1 wird sowieso Displ_Main_Disp() ausgeführt und dort pmenu[0] = '\0' gesetzt |
| l--; |
| m_pkt = pmenu[l] - '0'; // um bei Rücksprung auf ursprünglichen Arrayeintrag(Menüpunkt) zeigen |
| pmenu[l] ='\0'; // auf letztes Zeichen Stringende schreiben |
| } |
| else 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 scr_idx) |
| { uint8_t l; |
| lcdClear(); |
| lcdGotoXY(0, 1); |
| lcdPutc(MARKER_SELECT); // '>>' |
| Displ_Scroll_Menu(scr_menu, scr_idx); |
| // bis Menueeingabe bestätigt oder zum vorherigen Menue |
| while( !Get_Key_Short( 1<<SW_ENTER ) && !Long_Enter() && !exit_while) |
| { |
| // >> 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 = scr_menu[0]; |
| Displ_Scroll_Menu(scr_menu, scr_idx); |
| } |
| // >> Menueauswahl nach unten |
| if( Get_Key_Press( 1<<SW_MINUS ) || Get_Key_Rpt( 1<<SW_MINUS )) { |
| if (scr_idx < scr_menu[0]) scr_idx++; else scr_idx = 0; |
| Displ_Scroll_Menu(scr_menu, scr_idx); |
| } |
| } |
| lcdClear(); |
| if (exit_while) // wegen Aufruf Menu_MK_BatteryChangeNr() in Task |
| m_pkt = scr_idx; // nach Task Menu_MK_BatteryChangeNr() wieder zum ursprünlichen Anzeigepunkt |
| else { |
| l = strlen(pmenu); |
| if ((scr_idx == 0) || (l == 0)) // long Enter wird durch l == 0 brücksichtigt |
| return_m_pkt(l); // um bei Rücksprung auf ursprünglichen Menüpunkt zu zeigen oder Displ_Main_Disp() |
| else { |
| 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] ='\0'; |
| Beep(BEEPENTER); |
| } |
| } |
| exit_while = 0; |
| } |
| /************************************************************************************/ |
| /* */ |
| /* Ändern der Werte mit Tasten +,- und Anzeige */ |
| /* z.B. für U-Offset, Batterie leer Eingabe ... */ |
| /* */ |
| /* Parameter: */ |
| /* uint16_t val :zu ändernter Wert */ |
| /* uint16_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 */ |
| /* uint16_t Change_Value_plmi(...) :Rückgabe geänderter Wert */ |
| /* */ |
| /************************************************************************************/ |
| uint16_t Change_Value_plmi(uint16_t val, uint16_t min_val, uint16_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: */ |
| /* uint16_t *val :zu ändernter Wert */ |
| /* uint16_t min_val, max_val :min, max Grenze Wert ändern darf */ |
| /* uint8_t fl_pos :Bit 7 beschleunigte Repeat-Funktion aus/ein */ |
| /* Bit 6 zyklische Werteänderung aus/ein */ |
| /* Bit 4-5 z.Z. ohne Funktion */ |
| /* Bit 0-3 Wert xPos auf LCD */ |
| /* Displ_Fnct_t Displ_Fnct :Index um variable Display Funktion aufzurufen */ |
| /* uint8_t Change_Value(...) :Rückgabe geändert ergibt TRUE */ |
| /* */ |
| /************************************************************************************/ |
| // Bei Bedarf könnte einfach innerhalp fl_pos auch noch pos_y (Bit 4-5) übergeben werden |
| uint8_t Change_Value(uint16_t *val, uint16_t min_val, uint16_t max_val, uint8_t fl_pos, Displ_Fnct_t Displ_Fnct) |
| { uint16_t tmp_val; |
| tmp_val = *val; |
| lcdGotoXY(fl_pos & POSXMASK, ZLE_VAL); // Position Wert |
| Displ_Fnct(tmp_val); // initiale Wertdarstellung, je nach Menüpunkt |
| if (pmenu[0] =='\0') strcpy(pmenu, "0"); // sonst wird eventuell nachfolgende while-Schleife nicht ausgeführt |
| // bis Menueeingabe bestätigt oder zum vorherigen Menue |
| while( !Get_Key_Short( 1<<SW_ENTER ) && !Long_Enter() && !exit_while) |
| *val = Change_Value_plmi(*val, min_val, max_val, fl_pos & POSXMASK, ZLE_VAL, Displ_Fnct, fl_pos & (1<<CYCLE), fl_pos & (1<<V_REPEAT)); |
| lcdClear(); |
| if (exit_while) { |
| exit_while = 0; |
| *val = tmp_val; |
| } |
| else |
| return_m_pkt(strlen(pmenu)); // um bei Rücksprung auf ursprünglichen Menüpunkt zeigen oder Displ_Main_Disp() |
| return(tmp_val != *val); |
| } |
| /**************************************************************/ |
| /* */ |
| /* LCD-Darstellungen der Menüs */ |
| /* Zur Unterstützung der Auswahl werden einige Einstellungen */ |
| /* sofort ausgeführt. Z.B.: Kontrast, Servo-Endausschlag */ |
| /* */ |
| /**************************************************************/ |
| /************************************************************************************/ |
| /* 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)); |
| delay_ms100x(30); |
| lcdClear(); |
| } |
| /************************************************************************************/ |
| /* zeigt auszuwählenden/-gewählten Kanal und Frequenz auf Display an */ |
| /* Parameter: */ |
| /* uint16_t k :Index anzuzeigender Wert = Kanal + 0x30 als Char, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Channels(uint16_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: */ |
| /* uint16_t q :Index anzuzeigender Wert, */ |
| /* unint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_AV_Source(uint16_t q) |
| { uint8_t av_src_table[] = {MSG_AV1, MSG_AV2, MSG_DIVERSITY}; |
| lcdPutStrMid(Msg(av_src_table[q]), ZLE_VAL); |
| } |
| /************************************************************************************/ |
| /* zeigt Tracking-Varianten zur Auswahl auf Display an */ |
| /* Parameter: */ |
| /* uint16_t q :Index anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_sel_Tracking(uint16_t q) |
| { uint8_t track_sel_table[] = {MSG_OFF, MSG_TRACK_RSSI, MSG_TRACK_GPS, MSG_TRACK_MKCOCKPIT, MSG_TRACK_NMEA}; |
| lcdPutStrMid(Msg(track_sel_table[q]), ZLE_VAL); |
| } |
| /************************************************************************************/ |
| /* zeigt Senden der OSD-Daten Anforderung zur Auswahl auf Display an */ |
| /* Parameter: */ |
| /* uint16_t q :Index anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_track_TX(uint16_t q) |
| { uint8_t track_TX_table[] = {MSG_OFF, MSG_TRACK_TX_ON}; |
| lcdPutStrMid(Msg(track_TX_table[q]), ZLE_VAL); |
| } |
| /************************************************************************************/ |
| /* zeigt einen max. 3-stelligen Integerwert auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val :anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Format_Int(uint16_t val) |
| { |
| lcdPuts(my_itoa(val, 3, 0, 0)); |
| } |
| /************************************************************************************/ |
| /* zeigt den Kontrastwert auf Display an mit sofortiger Änderung */ |
| /* Parameter: */ |
| /* uint16_t val :anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Set_Contrast(uint16_t val) |
| { |
| Displ_Format_Int(val); |
| lcdContrast(dogm_vers, val); |
| } |
| /************************************************************************************/ |
| /* zeigt die Zeit zur Abschaltung der LCD-Hintergrundbeleuchtung an */ |
| /* Parameter: */ |
| /* uint16_t val :anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Backgr_Light(uint16_t val) |
| { char str[5]; |
| switch(val) { |
| case BACKGR_LIGHT_MIN : lcdPuts(Msg(MSG_LIGHT_OFF)); |
| break; |
| case BACKGR_LIGHT_MAX : lcdPuts(Msg(MSG_LIGHT_ON)); |
| break; |
| default : itoa (val * 10, str, 10); |
| lcdPutc(' '); |
| lcdPuts(str); |
| lcdPuts(Msg(MSG_SEC)); |
| } |
| lcdClearEOL(); |
| } |
| /************************************************************************************/ |
| /* zeigt ein oder aus zur Auswahl auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val :0 = aus oder 1 = ein, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Off_On(uint16_t val) |
| { |
| if (val == 0) lcdPuts(Msg(MSG_OFF)); else lcdPuts(Msg(MSG_ON)); |
| } |
| /************************************************************************************/ |
| /* zeigt Servoschritte zur Auswahl auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val :0 = 255 oder 1 = 1023, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Servo_Steps(uint16_t val) |
| { uint8_t servo_step_table[] = {MSG_STEPS_255, MSG_STEPS_1023}; |
| lcdPutStrMid(Msg(servo_step_table[val]), ZLE_VAL); |
| } |
| /************************************************************************************/ |
| /* zeigt Servo-Anschlagposition links auf Display an */ |
| /* mit sofortiger Wirkung auf Servo */ |
| /* Parameter: */ |
| /* uint16_t val :anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Servo_Min(uint16_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: */ |
| /* uint16_t val :anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Servo_Max(uint16_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: */ |
| /* uint16_t val :anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Servo_Mid(uint16_t val) |
| { int16_t mid_val; |
| mid_val = val - ServoSteps()/2; |
| lcdPuts(my_itoa(mid_val, 4, 0, 0)); |
| servoSet_mid(servo_nr, val); // Wert setzen damit nachfolgend die |
| servoSetPosition(servo_nr, ServoSteps()/2); // Änderung direkt am Servo sichtbar ist |
| } |
| /************************************************************************************/ |
| /* zeigt zu testende Servonummer zur Auswahl auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val :0 = Servo 1 oder 1 = Servo 2, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_ServoNr(uint16_t val) |
| { |
| if (val == 0) lcdPuts(Msg(MSG_SERVO1)); else lcdPuts(Msg(MSG_SERVO2)); |
| } |
| /************************************************************************************/ |
| /* zeigt Servoausschlag in ms, in % und als Bargraph auf Display an */ |
| /* Parameter: */ |
| /* int16_t PosProzent : aktuell eingestellte Position vom 0-Punkt (Mitte) aus */ |
| /* int16_t range : maximaler absoluter Ausschlag vom 0-Punkt aus */ |
| /* */ |
| /************************************************************************************/ |
| // leerer Rahmen für Bar |
| char* empty_Bar(void) |
| { static char tmp_empty[LCD_COLS]; |
| uint8_t i; |
| tmp_empty[0] = '\0'; // '[' |
| for (i = 1; i < 15; i++) |
| tmp_empty[i] = '\x07'; |
| tmp_empty[i] = '\x06'; // ']' |
| return(tmp_empty); |
| } |
| void draw_bar(int16_t PosProzent, int16_t range, uint8_t zle) |
| { int8_t i, sp_quad, sp_ch; |
| int8_t lz = 8; |
| char* bar; |
| bar = empty_Bar(); // leerer Rahmen für Bar |
| sp_quad = abs(PosProzent) * 7 / range; // Anzahl der vollen Kästchen |
| sp_ch = (abs(PosProzent) -(range * sp_quad / 7)) * 35 / range; // Unterteilung Kästchen in 6 senkrechte Striche |
| if (sp_ch > 4) sp_ch = 4; // bei 28 (7*4) wäre keine Korrektur erforderlich aber so kontinuierlicher |
| if (PosProzent < 0){ |
| lz -= sp_quad; // Position für volles Kästchen bei Linksausschlag |
| if (sp_ch > 0) bar[lz-1] = sp_ch; // vor erstes volles Kästchen Kästchenunterteilung schreiben |
| } // Unterteilung Kästchen der 4 senkrechte Striche nach Bar (0 und 5 entfallen) |
| else |
| if (sp_ch > 0) bar[lz+sp_quad] = sp_ch;// nach lezten vollen Kästchen Kästchenunterteilung schreiben |
| for (i = 0; i < sp_quad; i++) |
| bar[i+lz] = '\x05'; // volle Kästchen schreiben |
| lcdGotoXY(0,zle); |
| for (uint8_t i = 0; i < LCD_COLS; i++) lcdPutc(bar[i]);// kpl. Bar zum Display |
| } |
| uint16_t calc_range(int16_t PosProzent, int16_t min, int16_t max, int16_t mid) |
| { uint16_t range; |
| if (PosProzent < 0) { |
| range = mid - min; |
| if (chrxs == CHRRS) { // falls Richtung geändert, anderen Zeichensatz laden |
| chrxs = CHRLS; |
| lcdWriteCGRAM_Array(lcdSpecialChrLs, 5);// LCD-Char mit Rahmensymbole vom Graph |
| } |
| } |
| else { |
| range = max - mid; |
| if (chrxs == CHRLS) { // falls Richtung geändert, anderen Zeichensatz laden |
| lcdWriteCGRAM_Array(lcdSpecialChrRs, 5);// LCD-Char mit Rahmensymbole vom Graph |
| chrxs = CHRRS; |
| } |
| } |
| return(range); |
| } |
| void Displ_PulseWidth(uint16_t val) |
| { int16_t PosProzent, range; |
| uint16_t Pos_us; |
| char me[3] = {"ms"}; |
| servoSetPositionRaw(servo_nr, val); |
| PosProzent = val - steps_pw[sIdxSteps].mid; |
| range = calc_range(PosProzent, steps_pw[sIdxSteps].min, steps_pw[sIdxSteps].max, steps_pw[sIdxSteps].mid); |
| draw_bar(PosProzent, range, 2); // auf 3. Display-Zeile |
| PosProzent = (int32_t)1000 * PosProzent / range; |
| lcdGotoXY(1, 1); |
| Pos_us = pw_us(val); // Zeit in µs bei x Servoschritte |
| if (Pos_us < 1000) { |
| me[0] = 'u'; // soll 'µ' => programmierbarer Zeichensatz zu klein |
| lcdPuts(" "); |
| Displ_Format_Int(Pos_us); |
| } |
| else { |
| lcdPuts(my_itoa(Pos_us, 5, 3, 3)); |
| } |
| lcdPuts(me); |
| lcdGotoXY(8, 1); |
| lcdPuts(my_itoa(PosProzent, 6, 1, 1)); |
| lcdPutc('%'); |
| } |
| /************************************************************************************/ |
| /* zeigt Pausenlänge der Links-, Mittel- und Rechtsposition auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val : Zeit in 1ms * 100 */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Pause(uint16_t val) |
| { |
| if (val > 9) { |
| lcdPuts(my_itoa(val, 3, 1, 1)); |
| lcdPuts("s "); |
| } |
| else { |
| Displ_Format_Int(val * 100); |
| lcdPuts("ms"); |
| } |
| } |
| /************************************************************************************/ |
| /* zeigt aus oder Integerwert auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val : val = 0 ==> aus, sont Integerwert */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Off_Format_Int(uint16_t val) |
| { |
| if (val == 0) |
| lcdPutStrMid(Msg(MSG_OFF), ZLE_VAL); |
| else { |
| lcdGotoXY(5,ZLE_VAL); |
| Displ_Format_Int(val); |
| lcdPutc(' '); |
| } |
| } |
| /************************************************************************************/ |
| /* zeigt aus oder Pausenzeit zwischen 2 Servoschritte auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val : val = 0 ==> aus, sont Integerwert */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Pause_Step(uint16_t val) |
| { |
| Displ_Off_Format_Int(val); |
| if (val > 0) { |
| lcdGotoXY(8,ZLE_VAL); |
| lcdPuts("ms"); |
| } |
| } |
| /************************************************************************************/ |
| /* zeigt Baudrate für COM bei MKCockpit zur Auswahl auf Display an */ |
| /* Parameter: */ |
| /* uint16_t q :Index anzuzeigender Wert, */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Baudrate(uint16_t q) |
| { char str[7]; |
| ltoa(getBaud(q), str, 10); |
| lcdPutStrMid(str, ZLE_VAL); |
| } |
| /************************************************************************************/ |
| /* zeigt aktive Empfängerzeiten auf Display an */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_RX_Time(void) |
| { |
| lcdGotoXY(6, 1); |
| Displ_TimeHMS(rxcount0); |
| lcdGotoXY(6, 2); |
| Displ_TimeHMS(rxcount1); |
| } |
| /************************************************************************************/ |
| /* zeigt eingestellte Akku-Kapazität des MK auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val :Akku-Kapazität in 50mAh Schritte */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_MK_Capacity(uint16_t val) |
| { |
| lcdPuts(my_itoa(val * 50, 4, 0, 0)); |
| lcdPuts("mAh"); |
| } |
| /************************************************************************************/ |
| /* zeigt Offset (Korrektur Ruhestrom) für Strom des MK auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val :Korrekturfaktor */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_I_Offset(uint16_t val) |
| { |
| lcdPuts(my_itoa((int8_t)val - MK_I_OFFSET_5,4,1,1)); |
| lcdPutc('A'); |
| } |
| /************************************************************************************/ |
| /* zeigt Korrekturfaktor für Strom und Arbeit des MK auf Display an */ |
| /* Parameter: */ |
| /* uint16_t val :Korrekturfaktor */ |
| /* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
| /* */ |
| /************************************************************************************/ |
| void Displ_Faktor_2Nk(uint16_t val) |
| { |
| lcdPuts(my_itoa(val,4,2,2)); |
| } |
| /************************************************************************************/ |
| /* 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 SetAndDispl_AV_Mark(void) |
| { char marker; |
| marker = av_source < DIVERSITY? MARKER_AV : MARKER_RSSI; // wird nur bei gesetzten Diversity überschrieben |
| Displ_AV_Mark(sw_avx, marker); |
| } |
| void Displ_Main_Disp(void) |
| { |
| pmenu[0] ='\0'; // bei Direktansprung z.B. von Menu_RSSI_min() erforderlich |
| lcdClear(); |
| if (!bat_low) { |
| lcdClear(); |
| Displ_Channels(channel); |
| lcdGotoXY(LCD_COLS - 1, 0); |
| lcdPuts("V\n1\n2"); |
| SetAndDispl_AV_Mark(); |
| Displ_VBat(); // muss zuletzt stehen |
| } |
| else { |
| lcdPutStrMid(Msg(MSG_ACCU_LOW), 0); |
| } |
| } |
| /**************************************************************/ |
| /* */ |
| /* Menüs */ |
| /* */ |
| /**************************************************************/ |
| /**************************/ |
| /* */ |
| /* Haupmenü */ |
| /* */ |
| /**************************/ |
| void Menu_Main(void) |
| { scr_menu_t scr_main_menu = {SCROLL_MAIN_MAX-4, MSG_RETURN, MSG_AV_SOURCE, MSG_RX_CHANNEL, MSG_RSSI_CALIBR, MSG_LANGUAGE, \ |
| MSG_SERVO_CALIBR, MSG_TEST_SERVO, MSG_LCD , MSG_BATTERY, MSG_TRACKING, 0, MSG_GPS_DISPLAY}; |
| switch(tracking) { |
| case TRACKING_RSSI: scr_main_menu[11] = MSG_TRACK_SERVO_HYTERESE; |
| scr_main_menu[0]++; // SCROLL_MAIN_MAX erhöhen |
| break; |
| case TRACKING_GPS: scr_main_menu[11] = MSG_TRACK_TX_OSD_DATA; |
| scr_main_menu[0] += 2; // SCROLL_MAIN_MAX erhöhen, zusätzliche Anzeige zu GPS MSG_GPS_DISPLAY |
| break; |
| case TRACKING_NMEA: scr_main_menu[0]++; // SCROLL_MAIN_MAX erhöhen, zusätzliche Anzeige zu GPS |
| case TRACKING_MKCOCKPIT: scr_main_menu[0]++; // SCROLL_MAIN_MAX erhöhen |
| scr_main_menu[11] = MSG_COM; |
| break; |
| } |
| strcpy(pmenu, "0"); |
| Scroll_Menu(scr_main_menu, m_pkt); // pmenu global |
| Jump_Menu(pmenu); //gewähltes Untermenü anspringen oder nur Return |
| } |
| /**************************/ |
| /* */ |
| /* AV-Quelle */ |
| /* */ |
| /**************************/ |
| void Menu_AV_Source(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_AV_SOURCE); |
| tmp_val = av_source; |
| if (Change_Value(&tmp_val, AV_SOURCE_MIN, AV_SOURCE_MAX, 3, Displ_AV_Source)) { // pmenu global |
| cli(); |
| av_source = tmp_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 bei long Enter im Hauptdisplay nicht aktuallisiert |
| SetAndDispl_AV_Mark(); |
| sei(); |
| } |
| Jump_Menu(pmenu); |
| } |
| /**************************/ |
| /* */ |
| /* Kanal */ |
| /* */ |
| /**************************/ |
| void Menu_RX_Channel(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_RX_CHANNEL); |
| tmp_val = channel; |
| if (Change_Value(&tmp_val, CHANNEL_MIN, CHANNEL_MAX, 3, Displ_Channels) || (tmp_val != ch_stored)) { // pmenu global |
| channel = tmp_val; |
| ch_stored = tmp_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[SCROLL_MAX_5] = {SCROLL_MAX_5-2, MSG_RETURN, MSG_RSSI_MIN, MSG_RSSI_MIN_ALL, MSG_RSSI_MAX}; |
| Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
| Jump_Menu(pmenu); |
| } |
| void AdviceTX(uint8_t msg) |
| { char str[20]; |
| strcpy(str, Msg(MSG_TX)); |
| strcat(str, Msg(msg)); |
| lcdPutStrMid(str, 1); |
| lcdPutStrMid(Msg(MSG_CONTINUE), 2); |
| } |
| void Menu_RSSI_min(void) |
| { |
| Displ_Title(MSG_RSSI_MIN); |
| AdviceTX(MSG_TX_OFF); |
| if (Short_Enter()) { // pmenu global |
| RSSI_Min_Calibrate(0, bar_udbm); |
| Displ_Main_Disp(); // da erst jetzt die Variable für main_display geändert ist! |
| } |
| else |
| Jump_Menu(pmenu); |
| } |
| void Displ_RSSImin_allError(char *str_ch) |
| { char str[LCD_COLS + 1]; |
| lcdClear(); |
| strcpy(str, Msg(MSG_CALIB)); |
| strcat(str, "-"); |
| strcat(str, Msg(MSG_ERROR)); |
| lcdPutStrMid(str,0); |
| lcdPutStrMid(Msg(MSG_RX_CHANNEL),1); |
| lcdPutStrMid(str_ch, 2); |
| delay_ms100x(30); |
| } |
| void Menu_RSSI_min_all(void) |
| { char not_cal[15]; |
| uint8_t f = 0; |
| Displ_Title(MSG_RSSI_MIN_ALL); |
| AdviceTX(MSG_TX_OFF); |
| if (Short_Enter()) { // pmenu global |
| for ( uint8_t i = 1; i <= CHANNEL_MAX; i++) { |
| Set_Channel(i); |
| if (!RSSI_Min_Calibrate(i, bar_udbm)) { |
| not_cal[f++] = i + 0x30; |
| not_cal[f++] = ','; |
| } |
| } |
| Set_Channel(channel); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| if (f > 0) { // Konnten einige Kanäle nicht auf RSSI-Min kalibiert werden? |
| not_cal[--f] = '\0'; // letzes Komma durch Stringende ersetzen |
| Displ_RSSImin_allError(not_cal); |
| } |
| Displ_Main_Disp(); |
| } |
| else |
| Jump_Menu(pmenu); |
| } |
| void Menu_RSSI_max(void) |
| { |
| Displ_Title(MSG_RSSI_MAX); |
| AdviceTX(MSG_TX_ON); |
| if (Short_Enter()) { // pmenu global |
| RSSI_Max_Calibrate(bar_udbm); |
| Displ_Main_Disp(); |
| } |
| else |
| Jump_Menu(pmenu); |
| } |
| /**************************/ |
| /* */ |
| /* Sprache */ |
| /* */ |
| /**************************/ |
| void Displ_Language(uint16_t i) |
| { uint8_t lanuage_table[3] = {MSG_GERMAN, MSG_ENGLISH, MSG_FRENCH}; |
| lcdPutStrMid(Msg(lanuage_table[i]), ZLE_VAL); |
| } |
| void Menu_Language(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_LANGUAGE); |
| tmp_val = language; |
| language = eeprom_read_byte(&ep_language); // damit bei Erstinbetriebnahme Sprache gespeichert wird NO_LANGUAGE |
| Change_Value(&tmp_val, GERMAN, LAST_LANG, 3, Displ_Language); // pmenu global |
| if (tmp_val != language) { |
| language = tmp_val; |
| eeprom_write_byte(&ep_language, language); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| /**************************/ |
| /* */ |
| /* Servo-Einstellungen */ |
| /* */ |
| /**************************/ |
| void Menu_Servo_Calibr(void) |
| { uint8_t scr_sub_menu[SCROLL_MAX_5] = {SCROLL_MAX_5 - 2, MSG_RETURN, MSG_SERVO_STEPS, MSG_SERVO1, MSG_SERVO2}; |
| Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
| Jump_Menu(pmenu); |
| } |
| void NoTracking_ServosOff(void) |
| { |
| if (tracking == TRACKING_MIN) { |
| delay_ms100x(4); // sonst werden Impulse bereits vor erreichen der Servo-default-Stellung abgeschaltet |
| servoOff(); // Servos sind nur zum Tracking oder bei Kalibrierung eingeschaltet |
| } |
| } |
| 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) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_SERVO_STEPS); |
| lcdGotoXY(8, ZLE_VAL); |
| tmp_val = sIdxSteps; |
| if (Change_Value(&tmp_val, STEPS_255, STEPS_1023, 5, Displ_Servo_Steps)) { // pmenu global |
| cli(); |
| sIdxSteps = tmp_val; |
| eeprom_write_byte(&ep_sIdxSteps, sIdxSteps); |
| Servo_NewValues(sIdxSteps); // hier ist der neue Index anzugeben! |
| servoInit(SERVO_PERIODE); |
| sei(); |
| NoTracking_ServosOff(); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_Servo1(void) |
| { uint8_t scr_servo_menu[SCROLL_MAX_6] = {SCROLL_MAX_6 - 2, MSG_RETURN, MSG_SERVO1_REVERSE, MSG_CALIB1_LEFT, MSG_CALIB1_RIGHT, MSG_CALIB1_MIDDLE}; |
| Scroll_Menu(scr_servo_menu, m_pkt); // pmenu global |
| servo_nr = 0; |
| Jump_Menu(pmenu); |
| } |
| void Menu_Servo2(void) |
| { uint8_t scr_servo_menu[SCROLL_MAX_6] = {SCROLL_MAX_6 - 2, MSG_RETURN, MSG_SERVO2_REVERSE, MSG_CALIB2_LEFT, MSG_CALIB2_RIGHT, MSG_CALIB2_MIDDLE}; |
| Scroll_Menu(scr_servo_menu, m_pkt); // pmenu global |
| servo_nr = 1; |
| Jump_Menu(pmenu); |
| } |
| uint8_t Servo_tmp_on(uint8_t servo_period) |
| { uint8_t tmp_tracking = tracking; |
| tracking = 0; // Servopositionierung durch tracking abschalten |
| if (tracking == TRACKING_MIN) servoInit(servo_period); // falls aus, Servos einschalten |
| lcdGotoXY(0, 0); // lcd Cursor vorpositionieren |
| return(tmp_tracking); |
| } |
| void Servo_tmp_Original(uint8_t track) |
| { |
| servoSetDefaultPos(); |
| tracking = track; // ursprünglicher Wert Tracking aus, RSSI oder GPS |
| NoTracking_ServosOff(); // Servos sind nur zum Tracking oder bei Kalibrierung eingeschaltet |
| Jump_Menu(pmenu); |
| } |
| void Menu_Servo_rev(void) |
| { uint16_t tmp_val; |
| uint8_t tmp_tracking; |
| tmp_tracking = Servo_tmp_on(SERVO_PERIODE); |
| tmp_val = servo[servo_nr].rev; |
| if (Change_Value(&tmp_val , 0, 1, 6, Displ_Off_On)) { // pmenu global; reverse gibt es nur 0=off, 1=on |
| servo[servo_nr].rev = tmp_val ; |
| servoSet_rev(servo_nr, tmp_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) |
| { uint16_t tmp_val; |
| uint8_t tmp_tracking; |
| tmp_tracking = Servo_tmp_on(SERVO_PERIODE); |
| servoSetPosition(servo_nr, ServoSteps()); // Linkssanschlag um Kalibrierung am Servo zu sehen |
| tmp_val = servo[servo_nr].max; |
| if (Change_Value(&tmp_val, servo_limit[sIdxSteps][LEFT].min, servo_limit[sIdxSteps][LEFT].max, 6|(1<<V_REPEAT), Displ_Servo_Max)) { // pmenu global |
| servo[servo_nr].max = tmp_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) |
| { uint16_t tmp_val; |
| uint8_t tmp_tracking; |
| tmp_tracking = Servo_tmp_on(SERVO_PERIODE); |
| servoSetPosition(servo_nr, 0); // Rechtsanschlag um Kalibrierung am Servo zu sehen |
| tmp_val = servo[servo_nr].min; |
| if (Change_Value(&tmp_val, servo_limit[sIdxSteps][RIGHT].min, servo_limit[sIdxSteps][RIGHT].max, 6|(1<<V_REPEAT), Displ_Servo_Min)) { // pmenu global |
| servo[servo_nr].min = tmp_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) |
| { uint16_t tmp_val; |
| uint8_t tmp_tracking; |
| tmp_tracking = Servo_tmp_on(SERVO_PERIODE); |
| servoSetPosition(servo_nr, ServoSteps()/2); // Mittelposition um Kalibrierung am Servo zu sehen |
| tmp_val = servo[servo_nr].mid; |
| if (Change_Value(&tmp_val, servo_limit[sIdxSteps][MIDDLE].min, servo_limit[sIdxSteps][MIDDLE].max, 5|(1<<V_REPEAT), Displ_Servo_Mid)) { // pmenu global |
| servo[servo_nr].mid = tmp_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(); |
| } |
| /**************************/ |
| /* */ |
| /* Servos-Tests */ |
| /* */ |
| /**************************/ |
| void Menu_Servo_Test(void) |
| { uint8_t scr_sub_menu[SCROLL_MAX_6] = {SCROLL_MAX_6 - 2, MSG_RETURN, MSG_PULSE_WIDTH, MSG_CONTINOUS, MSG_SERVO, MSG_FRAME}; |
| Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
| servo_nr = eeprom_read_byte(&ep_servo_nr); |
| Jump_Menu(pmenu); |
| } |
| void Menu_Test_Frame(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_FRAME); |
| lcdGotoXY(8, ZLE_VAL); |
| lcdPuts("ms"); |
| tmp_val = servo_frame; |
| if (Change_Value(&tmp_val, SERVO_PERIODE_MIN, SERVO_PERIODE_MAX, 5|(1<<V_REPEAT), Displ_Format_Int)) { // pmenu global |
| servo_frame = tmp_val; |
| eeprom_write_byte(&ep_servo_frame, servo_frame); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_Test_ServoNr(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_SERVO); |
| tmp_val = servo_nr; |
| if (Change_Value(&tmp_val, 0, 1, 4, Displ_ServoNr)) { // pmenu global; es gibt nur 0=Servo1, 1=Servo2 |
| servo_nr = tmp_val; |
| eeprom_write_byte(&ep_servo_nr, servo_nr); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| // Dieser Test im raw-Modus ohne Anschlagkalibrierung (normiert) z.B.: für Modelleinstellungen ohne Empfänger |
| void Menu_Test_PulseWidth(void) |
| { uint8_t tmp_tracking; |
| uint16_t tmp_val; |
| tmp_tracking = Servo_tmp_on(servo_frame); |
| lcdWriteCGRAM_Array(lcdSpecialChrLs, 8); // LCD-Char mit Rahmensymbole vom Graph |
| chrxs = CHRLS; // verhindert wiederholtes Lesen bereits geladener LCD-Char |
| Displ_Title(MSG_PULSE_WIDTH); |
| tmp_val = steps_pw[sIdxSteps].mid; |
| Change_Value(&tmp_val, steps_pw[sIdxSteps].min, steps_pw[sIdxSteps].max, 4|(1<<V_REPEAT), Displ_PulseWidth); // pmenu global |
| lcdWriteCGRAM_Array(lcdSpecialChr, 7); // LCD-Char für Bargraph zurückschreiben |
| cli(); |
| servoInit(SERVO_PERIODE); |
| sei(); |
| Servo_tmp_Original(tmp_tracking); |
| } |
| void Menu_Test_Continuous(void) |
| { uint8_t scr_sub_menu[SCROLL_MAX_7] = {SCROLL_MAX_7 - 2, MSG_RETURN, MSG_START, MSG_SINGLE_STEP, MSG_REPEAT, MSG_PAUSE, MSG_PAUSE_STEP}; |
| Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
| Jump_Menu(pmenu); |
| } |
| void Menu_Test_SingleStep(void) |
| {uint16_t tmp_val; |
| Displ_Title(MSG_SINGLE_STEP); |
| tmp_val = single_step; |
| if (Change_Value(&tmp_val, SINGLE_STEP_MIN, SINGLE_STEP_MAX, 5|(1<<V_REPEAT), Displ_Off_Format_Int)) { // pmenu global |
| single_step = tmp_val; |
| eeprom_write_byte(&ep_single_step, single_step); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_Test_Repeat(void) |
| {uint16_t tmp_val; |
| Displ_Title(MSG_REPEAT); |
| tmp_val = repeat; |
| if (Change_Value(&tmp_val, REPEAT_MIN, REPEAT_MAX, 5|(1<<V_REPEAT), Displ_Format_Int)) { // pmenu global |
| repeat = tmp_val; |
| eeprom_write_byte(&ep_repeat, repeat); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_Test_Pause(void) |
| {uint16_t tmp_val; |
| Displ_Title(MSG_PAUSE); |
| tmp_val = pause; |
| if (Change_Value(&tmp_val, PAUSE_MIN, PAUSE_MAX, 5|(1<<V_REPEAT), Displ_Pause)) { // pmenu global |
| pause = tmp_val; |
| eeprom_write_byte(&ep_pause, pause); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_Test_Pause_Step(void) |
| {uint16_t tmp_val; |
| Displ_Title(MSG_PAUSE_STEP); |
| tmp_val = pause_step; |
| if (Change_Value(&tmp_val, PAUSE_STEP_MIN, PAUSE_STEP_MAX, 5|(1<<V_REPEAT), Displ_Pause_Step)) { // pmenu global |
| pause_step = tmp_val; |
| eeprom_write_byte(&ep_pause_step, pause_step); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| int8_t calc_dir(uint8_t idx, int16_t *Position) |
| { uint8_t nextIdx; |
| int8_t nextDir = 1; |
| nextIdx = idx; |
| if ((idx + 1) < POSIDX_MAX) |
| nextIdx++; |
| else |
| nextIdx = 0; |
| if (Position[PosIdx[idx]] > Position[PosIdx[nextIdx]]) nextDir = -1; |
| return(nextDir); |
| } |
| void Displ_LoopCounter(uint8_t val) |
| { |
| lcdGotoXY(2,2); |
| lcdPuts(Msg(MSG_COUNTER)); |
| lcdPuts(my_itoa(val, 4, 0, 0)); |
| } |
| // Test über Scalierung der Servos mit Anschlagkalibrierung |
| void Menu_Test_Start(void) |
| { uint8_t tmp_tracking, idx, rep; |
| int8_t dir; |
| int16_t sPos; |
| int16_t Position[3]; |
| int16_t range; |
| tmp_tracking = Servo_tmp_on(servo_frame); |
| lcdWriteCGRAM_Array(lcdSpecialChrLs, 8); // LCD-Char mit Rahmensymbole vom Graph |
| chrxs = CHRLS; // Flag, welche Kästchensymbole geladen |
| Displ_Title(MSG_CONTINOUS); |
| Displ_LoopCounter(repeat); |
| Position[0] = 0; // skalierte Servoposition aber unterschiedliche Schrittanzahl möglich |
| Position[1] = ServoSteps()/2; |
| Position[2] = ServoSteps(); |
| // init Einzelschritt |
| idx = 0; |
| dir = calc_dir(idx, Position); |
| sPos = Position[PosIdx[idx]]; |
| idx++; |
| rep = repeat; |
| // Test bis Ende der Wiederholungen oder irgendein Enter |
| while( !Get_Key_Short( 1<<SW_ENTER ) && !Long_Enter() && (rep > 0)) { |
| range = calc_range(sPos - Position[1], Position[0], Position[2], Position[1]); |
| draw_bar(sPos - Position[1], range, 1); // eingerahmter Balkengraph auf 2. Display-Zeile |
| servoSetPosition(servo_nr, sPos); |
| if ( sPos != Position[PosIdx[idx]]) { // Links-, Mittel- oder Rechtsposotion erreicht? |
| sPos += (single_step * dir); // variable Schrittweite subtrahieren oder addieren |
| if (((dir < 0) && (sPos < Position[PosIdx[idx]])) || ((dir > 0) && (sPos > Position[PosIdx[idx]])) || !(single_step)) |
| sPos = Position[PosIdx[idx]]; // Überlauf bei variabler Schrittweite berücksichtigen oder Einzelschritt |
| _delay_ms(servo_frame + 1 + pause_step);// Bei Schrittweite um 1 würden welche übersprungen, zusätzlich pro Servoschritt verzögert |
| } |
| else { |
| dir = calc_dir(idx, Position); // Richtungsänderung |
| if (idx < (POSIDX_MAX - 1)) { |
| if (idx == 0) { |
| rep--; // bei jeden vollen Durchlauf Wiederholzähler verringern |
| Displ_LoopCounter(rep); |
| } |
| idx++; // Index für nächsten Positionswert ==> Array PosIdx[] bestimmt Anschlagreihenfolge |
| } |
| else |
| idx = 0; |
| delay_ms100x(pause); // variable Pause bei Links-, Mittel- und Rechtsposotion Mindestzeit 400ms (Servolauf) |
| } |
| } |
| lcdClear(); |
| if (pmenu[0] == '\0') |
| Displ_Main_Disp(); |
| else |
| return_m_pkt(strlen(pmenu)); // um bei Rücksprung auf ursprünglichen Menüpunkt zeigen oder Displ_Main_Disp() |
| lcdWriteCGRAM_Array(lcdSpecialChr, 7); // LCD-Char für Bargraph zurückschreiben |
| cli(); |
| servoInit(SERVO_PERIODE); |
| sei(); |
| Servo_tmp_Original(tmp_tracking); |
| } |
| /**************************/ |
| /* */ |
| /* LCD */ |
| /* */ |
| /**************************/ |
| void Menu_lcd(void) |
| { uint8_t scr_sub_menu[SCROLL_MAX_4] = {SCROLL_MAX_4 - 2, MSG_RETURN, MSG_CONTRAST, MSG_BACKGR_LIGHT}; |
| Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
| Jump_Menu(pmenu); |
| } |
| void Menu_lcd_Contrast(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_LCD); |
| lcdGotoXY(2, ZLE_VAL); |
| lcdPuts(Msg(MSG_CONTRAST)); |
| lcdPuts(": "); |
| tmp_val = contrast; |
| if (Change_Value(&tmp_val, CONTRAST_MIN, CONTRAST_MAX, 11, Displ_Set_Contrast)) { // pmenu global |
| contrast = tmp_val; |
| eeprom_write_byte(&ep_contrast, contrast); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_lcd_Backgr_Light(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_BACKGR_LIGHT); |
| lcdGotoXY(0, ZLE_VAL); |
| lcdPuts(Msg(MSG_LIGHT)); |
| tmp_val = light_time; |
| if (Change_Value(&tmp_val, BACKGR_LIGHT_MIN, BACKGR_LIGHT_MAX, 6|(1<<V_REPEAT), Displ_Backgr_Light)) { // pmenu global |
| light_time = tmp_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[SCROLL_MAX_5] = {SCROLL_MAX_5 - 2, MSG_RETURN, MSG_U_SETUP, MSG_U_OFFSET, MSG_MK_BATTERY}; |
| Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
| Jump_Menu(pmenu); |
| } |
| /*****************/ |
| /* NG-Video Akku */ |
| /*****************/ |
| void Menu_Low_U_Setup(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_U_MIN); |
| tmp_val = u_min; |
| if (Change_Value(&tmp_val, U_MIN_MIN, U_MIN_MAX, 4|(1<<V_REPEAT), Displ_U_2Nk)) { // pmenu global |
| u_min = tmp_val; |
| eeprom_write_word(&ep_u_min, u_min); |
| hyst_u_min = u_min; |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_U_Offset(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_U_OFFSET); |
| tmp_val = u_offset; |
| if (Change_Value(&tmp_val, U_OFFSET_MIN, U_OFFSET_MAX, 4|(1<<V_REPEAT), Displ_U_2Nk)) { // pmenu global |
| u_offset = tmp_val; |
| eeprom_write_byte(&ep_u_offset, u_offset); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| /******************/ |
| /* MK-Akku(s) */ |
| /******************/ |
| void Menu_MK_Battery(void) |
| { uint8_t scr_sub_menu[SCROLL_MAX_7] = {SCROLL_MAX_7 - 2, MSG_RETURN, MSG_MK_BAT_NR, MSG_MK_BAT_CAPACITY, MSG_MK_I_OFFSET, MSG_MK_I_FAKTOR, MSG_MK_W_FAKTOR}; |
| Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
| Jump_Menu(pmenu); |
| } |
| // für Nutzung verschiedener Akku's unterschiedlicher Kapazität |
| // könnte auch für Statistik Ladezyklen erweitert werden aber sinnlos bei Verwendung gleicher Akku's in anderen Modellen |
| void Menu_MK_BatteryChangeNr(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_MK_BAT_NR); |
| tmp_val = mk_akku_nr+1; |
| if (Change_Value(&tmp_val, AKKU_NR_MIN+1, AKKU_NR_MAX+1, 5|(1<<V_REPEAT), Displ_Format_Int)) { // pmenu global |
| mk_akku_nr = --tmp_val; |
| eeprom_write_byte(&ep_mk_akku_nr, mk_akku_nr); |
| eeprom_read_block(&mk_lipo,&ep_mk_lipo[mk_akku_nr],sizeof(mk_lipo_t)); |
| mk_dUsedCapacity = mk_lipo.UsedCapacity; |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| } |
| void Menu_MK_BatteryNr(void) |
| { |
| Menu_MK_BatteryChangeNr(); |
| Jump_Menu(pmenu); |
| } |
| void Menu_MK_BatteryCapacity(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_MK_BAT_CAPACITY); |
| tmp_val = mk_lipo.Capacity/50; |
| if (Change_Value(&tmp_val, AKKU_CAPACITY_MIN/50, AKKU_CAPACITY_MAX/50, 5|(1<<V_REPEAT), Displ_MK_Capacity)) { // pmenu global |
| mk_lipo.Capacity = tmp_val * 50; |
| eeprom_write_block(&mk_lipo,&ep_mk_lipo[mk_akku_nr],sizeof(mk_lipo_t)); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_MK_I_Offset(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_MK_I_OFFSET); |
| tmp_val = mk_i_offset; |
| if (Change_Value(&tmp_val, MK_I_OFFSET_MIN, MK_I_OFFSET_MAX, 5|(1<<V_REPEAT), Displ_I_Offset)) { // pmenu global |
| mk_i_offset = tmp_val; |
| eeprom_write_byte(&ep_mk_i_offset, mk_i_offset); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_MK_I_Faktor(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_MK_I_FAKTOR); |
| tmp_val = mk_i_faktor; |
| if (Change_Value(&tmp_val, MK_I_FAKTOR_MIN, MK_I_FAKTOR_MAX, 6|(1<<V_REPEAT), Displ_Faktor_2Nk)) { // pmenu global |
| mk_i_faktor = tmp_val; |
| eeprom_write_byte(&ep_mk_i_faktor, mk_i_faktor); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_MK_W_Faktor(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_MK_W_FAKTOR); |
| tmp_val = mk_w_faktor; |
| if (Change_Value(&tmp_val, MK_W_FAKTOR_MIN, MK_W_FAKTOR_MAX, 6|(1<<V_REPEAT), Displ_Faktor_2Nk)) { // pmenu global |
| mk_w_faktor = tmp_val; |
| eeprom_write_byte(&ep_mk_w_faktor, mk_w_faktor); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| /**************************/ |
| /* */ |
| /* Antennennachführung */ |
| /* */ |
| /**************************/ |
| void Menu_Tracking_Ant(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_TRACKING); |
| tmp_val = tracking; |
| if (Change_Value(&tmp_val, TRACKING_MIN, TRACKING_MAX, 3, Displ_sel_Tracking)) { // pmenu global |
| cli(); |
| tracking = tmp_val; |
| sei(); |
| eeprom_write_byte(&ep_tracking, tracking); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| USART_RX_Mode(tracking); // Unterschied Datenempfang GPS/MKCockpit/NMEA |
| coldstart = 1; |
| rxcount0 = 0; |
| rxcount1 = 0; |
| servoSetDefaultPos(); // Ausgangsstellung beider Servos |
| if (tracking > TRACKING_MIN) |
| servoInit(SERVO_PERIODE); |
| NoTracking_ServosOff(); |
| USART_Init_Baudrate(); |
| } |
| Jump_Menu(pmenu); |
| } |
| /**************************/ |
| /* Optionen */ |
| /* Antennennachführung */ |
| /* */ |
| /**************************/ |
| void Menu_Tracking_HYST(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_HYSTERESE); |
| tmp_val = track_hyst; |
| if (Change_Value(&tmp_val, TRACKING_HYST_MIN, TRACKING_HYST_MAX, 7|(1<<V_REPEAT), Displ_Format_Int)) { // pmenu gloabal |
| track_hyst = tmp_val; |
| eeprom_write_byte(&ep_track_hyst, track_hyst); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_Tracking_TXOSD(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_TRACK_TX_OSD_DATA); |
| tmp_val = track_tx; |
| if (Change_Value(&tmp_val, 0, 1, 3, Displ_track_TX)) { // pmenu global; Senden gibt es nur 0=off, 1=on |
| track_tx = tmp_val; |
| eeprom_write_byte(&ep_track_tx, track_tx); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| } |
| Jump_Menu(pmenu); |
| } |
| void Menu_Baudrate(void) |
| { uint16_t tmp_val; |
| Displ_Title(MSG_BAUDRATE); |
| tmp_val = baudrate; |
| if (Change_Value(&tmp_val, BAUDRATE_MIN, BAUDRATE_MAX, 3, Displ_Baudrate)) { // pmenu global |
| baudrate = tmp_val; |
| eeprom_write_byte(&ep_baudrate, baudrate); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| USART_Init(getBaud(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: |
| case TRACKING_NMEA: Menu_Baudrate(); |
| break; |
| } |
| } |
| /**************************/ |
| /* */ |
| /* Anzeige GPS */ |
| /* */ |
| /**************************/ |
| void Menu_GPS_Display(void) |
| { uint8_t scr_sub_menu[SCROLL_MAX_7] = {SCROLL_MAX_7 - 2, MSG_RETURN, MSG_GPS_CALCULATE, MSG_GPS_CURRENT, MSG_GPS_HOME, \ |
| MSG_GPS_MISC, MSG_RX_TIME}; |
| if (tracking == TRACKING_NMEA) { // Manipulierung der Menüanzeige/-ausführung |
| scr_sub_menu[0] = SCROLL_MAX_7 - 3; |
| scr_sub_menu[5] = MSG_RX_TIME; |
| } |
| else |
| if (tracking != TRACKING_GPS) scr_sub_menu[0] = SCROLL_MAX_7 - 4; // Only show MISC in GPS mode, not NMEA |
| Scroll_Menu(scr_sub_menu, 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 |
| if ((tracking == TRACKING_NMEA) && (gps_display == GPS_MISC)) |
| pmenu[slen] = RXTimeChr[0]; // Manipulierung der Menüausführung |
| else { |
| m_pkt = gps_display; |
| gps_disp_clear = 1; // damit Text "...keine Daten empf..." nach Datenempfang gelöscht wird |
| if (gps_display != GPS_MISC) 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(); |
| // bei Menüpunktmanipulatin TRACKING_NMEA und vorgezogen Menu_GPS_Displ_RX_Time ist Rücksprung real GPS_MISC |
| m_pkt = ((tracking == TRACKING_NMEA) && (gps_display == GPS_MISC))? GPS_MISC: GPS_RX_COUNT; |
| gps_display = GPS_RX_COUNT; |
| 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/V1.31/menue.h |
|---|
| 0,0 → 1,103 |
| /****************************************************************/ |
| /* */ |
| /* 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 13 // index array Scroll_Menu scr_main_menu[] = {....} |
| #define SCROLL_MAX_4 4 // später SCROLL_MAX_N - 2, da array[0] Scrollwert und |
| #define SCROLL_MAX_5 5 // for-Schleifen mit Zählen 0 beginnen |
| #define SCROLL_MAX_6 6 |
| #define SCROLL_MAX_7 7 |
| #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 POSXMASK 0b00001111 // separiert pos_x für lcdGotoXY() |
| #define CYCLE 6 // Bit bei Erreichen Endwert wird Anfangswert dargestellt ("kreisförmige Auswahl") |
| #define V_REPEAT 7 // Bit sich ändernte repeat Geschwindigkeit |
| #define CHRLS 0 // Flag überladener Zeichensatz lcdSpecialChrLs |
| #define CHRRS 1 // Flag überladener Zeichensatz lcdSpecialChrRs |
| #define RXTimeChr "5" |
| #define RXTimeStr "0;"RXTimeChr |
| typedef void (*Displ_Fnct_t)( uint16_t ); |
| extern char pmenu[6]; // Zuordnung Menü Programmgliederung zu hinterlegten Funktionen |
| extern uint8_t m_pkt; |
| extern uint8_t exit_while; |
| 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_min_all (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_Servo_Test (void); |
| void Menu_Test_Frame (void); |
| void Menu_Test_ServoNr (void); |
| void Menu_Test_PulseWidth (void); |
| void Menu_Test_Continuous (void); |
| void Menu_Test_SingleStep (void); |
| void Menu_Test_Repeat (void); |
| void Menu_Test_Pause (void); |
| void Menu_Test_Pause_Step (void); |
| void Menu_Test_Start (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_MK_Battery (void); |
| void Menu_MK_BatteryNr (void); |
| void Menu_MK_BatteryCapacity(void); |
| void Menu_MK_I_Offset (void); |
| void Menu_MK_I_Faktor (void); |
| void Menu_MK_W_Faktor (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); |
| void Displ_Version(void); |
| void Displ_Main_Disp(void); |
| void Displ_AV_Mark(uint8_t p, char marker); |
| void Displ_RX_Time(void); |
| void Displ_Channels(uint16_t k); |
| void Menu_MK_BatteryChangeNr(void); |
| #endif /* _MENUE_H */ |
| /NGVideo5_8/tags/V1.31/messages.c |
|---|
| 0,0 → 1,528 |
| /****************************************************************/ |
| /* */ |
| /* 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" |
| #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_SERVO, INTERNAT_SERVO) |
| MSG_STRING(INTERNAT, MSG_SERVO1, INTERNAT_SERVO1) |
| MSG_STRING(INTERNAT, MSG_SERVO2, INTERNAT_SERVO2) |
| MSG_STRING(INTERNAT, MSG_TEST_SERVO, INTERNAT_TEST_SERVO) |
| 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_RSSI_MIN_ALL, GERMAN_RSSI_MIN_ALL) |
| MSG_STRING(GERMAN, MSG_CALIB, GERMAN_CALIB) |
| 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_MK_BATTERY, GERMAN_MSG_MK_BATTERY) |
| MSG_STRING(GERMAN, MSG_MK_BAT_NR, GERMAN_MSG_MK_BAT_NR) |
| MSG_STRING(GERMAN, MSG_MK_BAT_CAPACITY, GERMAN_MSG_MK_BAT_CAPACITY) |
| MSG_STRING(GERMAN, MSG_MK_I_OFFSET, GERMAN_MSG_MK_I_OFFSET) |
| MSG_STRING(GERMAN, MSG_MK_I_FAKTOR, GERMAN_MSG_MK_I_FAKTOR) |
| MSG_STRING(GERMAN, MSG_MK_W_FAKTOR, GERMAN_MSG_MK_W_FAKTOR) |
| 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_FRAME, GERMAN_FRAME) |
| MSG_STRING(GERMAN, MSG_PULSE_WIDTH, GERMAN_PULSE_WIDTH) |
| MSG_STRING(GERMAN, MSG_CONTINOUS, GERMAN_CONTINOUS) |
| MSG_STRING(GERMAN, MSG_SINGLE_STE, GERMAN_SINGLE_STEP) |
| MSG_STRING(GERMAN, MSG_REPEAT, GERMAN_REPEAT) |
| MSG_STRING(GERMAN, MSG_PAUSE, GERMAN_PAUSE) |
| MSG_STRING(GERMAN, MSG_PAUSE_STEP, GERMAN_PAUSE_STEP) |
| MSG_STRING(GERMAN, MSG_COUNTER, GERMAN_COUNTER) |
| MSG_STRING(GERMAN, MSG_START, GERMAN_START) |
| 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_NMEA, GERMAN_TRACK_NMEA) |
| 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_MISC, GERMAN_GPS_MISC) |
| 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_RSSI_MIN_ALL, ENGLISH_RSSI_MIN_ALL) |
| MSG_STRING(ENGLISH, MSG_CALIB, ENGLISH_CALIB) |
| 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_MK_BATTERY, ENGLISH_MSG_MK_BATTERY) |
| MSG_STRING(ENGLISH, MSG_MK_BAT_NR, ENGLISH_MSG_MK_BAT_NR) |
| MSG_STRING(ENGLISH, MSG_MK_BAT_CAPACITY, ENGLISH_MSG_MK_BAT_CAPACITY) |
| MSG_STRING(ENGLISH, MSG_MK_I_OFFSET, ENGLISH_MSG_MK_I_OFFSET) |
| MSG_STRING(ENGLISH, MSG_MK_I_FAKTOR, ENGLISH_MSG_MK_I_FAKTOR) |
| MSG_STRING(ENGLISH, MSG_MK_W_FAKTOR, ENGLISH_MSG_MK_W_FAKTOR) |
| 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_FRAME, ENGLISH_FRAME) |
| MSG_STRING(ENGLISH, MSG_PULSE_WIDTH, ENGLISH_PULSE_WIDTH) |
| MSG_STRING(ENGLISH, MSG_CONTINOUS, ENGLISH_CONTINOUS) |
| MSG_STRING(ENGLISH, MSG_SINGLE_STE, ENGLISH_SINGLE_STEP) |
| MSG_STRING(ENGLISH, MSG_REPEAT, ENGLISH_REPEAT) |
| MSG_STRING(ENGLISH, MSG_PAUSE, ENGLISH_PAUSE) |
| MSG_STRING(ENGLISH, MSG_PAUSE_STEP, ENGLISH_PAUSE_STEP) |
| MSG_STRING(ENGLISH, MSG_COUNTER, ENGLISH_COUNTER) |
| MSG_STRING(ENGLISH, MSG_START, ENGLISH_START) |
| 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_NMEA, ENGLISH_TRACK_NMEA) |
| 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_MISC, ENGLISH_GPS_MISC) |
| 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_RSSI_MIN_ALL, FRENCH_RSSI_MIN_ALL) |
| MSG_STRING(FRENCH, MSG_CALIB, FRENCH_CALIB) |
| 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_MK_BATTERY, FRENCH_MSG_MK_BATTERY) |
| MSG_STRING(FRENCH, MSG_MK_BAT_NR, FRENCH_MSG_MK_BAT_NR) |
| MSG_STRING(FRENCH, MSG_MK_BAT_CAPACITY, FRENCH_MSG_MK_BAT_CAPACITY) |
| MSG_STRING(FRENCH, MSG_MK_I_OFFSET, FRENCH_MSG_MK_I_OFFSET) |
| MSG_STRING(FRENCH, MSG_MK_I_FAKTOR, FRENCH_MSG_MK_I_FAKTOR) |
| MSG_STRING(FRENCH, MSG_MK_W_FAKTOR, FRENCH_MSG_MK_W_FAKTOR) |
| 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_FRAME, FRENCH_FRAME) |
| MSG_STRING(FRENCH, MSG_PULSE_WIDTH, FRENCH_PULSE_WIDTH) |
| MSG_STRING(FRENCH, MSG_CONTINOUS, FRENCH_CONTINOUS) |
| MSG_STRING(FRENCH, MSG_SINGLE_STE, FRENCH_SINGLE_STEP) |
| MSG_STRING(FRENCH, MSG_REPEAT, FRENCH_REPEAT) |
| MSG_STRING(FRENCH, MSG_PAUSE, FRENCH_PAUSE) |
| MSG_STRING(FRENCH, MSG_PAUSE_STEP, FRENCH_PAUSE_STEP) |
| MSG_STRING(FRENCH, MSG_COUNTER, FRENCH_COUNTER) |
| MSG_STRING(FRENCH, MSG_START, FRENCH_START) |
| 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_NMEA, FRENCH_TRACK_NMEA) |
| 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_MISC, FRENCH_GPS_MISC) |
| 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) |
| 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_RSSI_MIN_ALL), |
| MSG_TABLE(GERMAN, MSG_CALIB), |
| 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_MK_BATTERY), |
| MSG_TABLE(GERMAN, MSG_MK_BAT_NR), |
| MSG_TABLE(GERMAN, MSG_MK_BAT_CAPACITY), |
| MSG_TABLE(GERMAN, MSG_MK_I_OFFSET), |
| MSG_TABLE(GERMAN, MSG_MK_I_FAKTOR), |
| MSG_TABLE(GERMAN, MSG_MK_W_FAKTOR), |
| 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_FRAME), |
| MSG_TABLE(GERMAN, MSG_PULSE_WIDTH), |
| MSG_TABLE(GERMAN, MSG_CONTINOUS), |
| MSG_TABLE(GERMAN, MSG_SINGLE_STE), |
| MSG_TABLE(GERMAN, MSG_REPEAT), |
| MSG_TABLE(GERMAN, MSG_PAUSE), |
| MSG_TABLE(GERMAN, MSG_PAUSE_STEP), |
| MSG_TABLE(GERMAN, MSG_COUNTER), |
| MSG_TABLE(GERMAN, MSG_START), |
| 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_NMEA), |
| 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_MISC), |
| 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_RSSI_MIN_ALL), |
| MSG_TABLE(ENGLISH, MSG_CALIB), |
| 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_MK_BATTERY), |
| MSG_TABLE(ENGLISH, MSG_MK_BAT_NR), |
| MSG_TABLE(ENGLISH, MSG_MK_BAT_CAPACITY), |
| MSG_TABLE(ENGLISH, MSG_MK_I_OFFSET), |
| MSG_TABLE(ENGLISH, MSG_MK_I_FAKTOR), |
| MSG_TABLE(ENGLISH, MSG_MK_W_FAKTOR), |
| 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_FRAME), |
| MSG_TABLE(ENGLISH, MSG_PULSE_WIDTH), |
| MSG_TABLE(ENGLISH, MSG_CONTINOUS), |
| MSG_TABLE(ENGLISH, MSG_SINGLE_STE), |
| MSG_TABLE(ENGLISH, MSG_REPEAT), |
| MSG_TABLE(ENGLISH, MSG_PAUSE), |
| MSG_TABLE(ENGLISH, MSG_PAUSE_STEP), |
| MSG_TABLE(ENGLISH, MSG_COUNTER), |
| MSG_TABLE(ENGLISH, MSG_START), |
| 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_NMEA), |
| 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_MISC), |
| 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_RSSI_MIN_ALL), |
| MSG_TABLE(FRENCH, MSG_CALIB), |
| 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_MK_BATTERY), |
| MSG_TABLE(FRENCH, MSG_MK_BAT_NR), |
| MSG_TABLE(FRENCH, MSG_MK_BAT_CAPACITY), |
| MSG_TABLE(FRENCH, MSG_MK_I_OFFSET), |
| MSG_TABLE(FRENCH, MSG_MK_I_FAKTOR), |
| MSG_TABLE(FRENCH, MSG_MK_W_FAKTOR), |
| 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_FRAME), |
| MSG_TABLE(FRENCH, MSG_PULSE_WIDTH), |
| MSG_TABLE(FRENCH, MSG_CONTINOUS), |
| MSG_TABLE(FRENCH, MSG_SINGLE_STE), |
| MSG_TABLE(FRENCH, MSG_REPEAT), |
| MSG_TABLE(FRENCH, MSG_PAUSE), |
| MSG_TABLE(FRENCH, MSG_PAUSE_STEP), |
| MSG_TABLE(FRENCH, MSG_COUNTER), |
| MSG_TABLE(FRENCH, MSG_START), |
| 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_NMEA), |
| 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_MISC), |
| 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_SERVO), |
| MSG_TABLE(INTERNAT, MSG_SERVO1), |
| MSG_TABLE(INTERNAT, MSG_SERVO2), |
| MSG_TABLE(INTERNAT, MSG_TEST_SERVO), |
| 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/V1.31/messages.h |
|---|
| 0,0 → 1,387 |
| /****************************************************************/ |
| /* */ |
| /* 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_SERVO "Servo" |
| #define INTERNAT_SERVO1 "Servo 1" |
| #define INTERNAT_SERVO2 "Servo 2" |
| #define INTERNAT_TEST_SERVO "Servo-Test" |
| #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_RSSI_MIN_ALL "Min alle Kan." |
| #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_MSG_MK_BATTERY "MK-Batterie" |
| #define GERMAN_MSG_MK_BAT_NR "Bat. Nummer" |
| #define GERMAN_MSG_MK_BAT_CAPACITY "Bat. Kapazit""\x84""t" |
| #define GERMAN_MSG_MK_I_OFFSET "I-Offset" |
| #define GERMAN_MSG_MK_I_FAKTOR "I-Koeffizient" |
| #define GERMAN_MSG_MK_W_FAKTOR "W-Koeffizient" |
| #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_FRAME "Periode" |
| #define GERMAN_PULSE_WIDTH "Test Pulsl""\x84""nge" |
| #define GERMAN_CONTINOUS "Test fortlauf." |
| #define GERMAN_SINGLE_STEP "Einzelschritte" |
| #define GERMAN_REPEAT "Anzahl Tests" |
| #define GERMAN_PAUSE "Pause Endpos." |
| #define GERMAN_PAUSE_STEP "Pause pro Inc." |
| #define GERMAN_COUNTER "Z""\x84""hler:" |
| #define GERMAN_START "Start Test" |
| #define GERMAN_OFF "aus" |
| #define GERMAN_ON "ein" |
| #define GERMAN_TRACKING "Antenne nachf." |
| #define GERMAN_TRACK_GPS "GPS mit wi232" |
| #define GERMAN_TRACK_NMEA "NMEA GPS" |
| #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_MISC "Elektr. Werte" |
| #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_RSSI_MIN_ALL "Min all Chan." |
| #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_MSG_MK_BATTERY "MK-Battery" |
| #define ENGLISH_MSG_MK_BAT_NR "Bat. Number" |
| #define ENGLISH_MSG_MK_BAT_CAPACITY "Bat. Capacity" |
| #define ENGLISH_MSG_MK_I_OFFSET "I-Offset" |
| #define ENGLISH_MSG_MK_I_FAKTOR "I-Coefficient" |
| #define ENGLISH_MSG_MK_W_FAKTOR "W-Coefficient" |
| #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_FRAME "Periode" |
| #define ENGLISH_PULSE_WIDTH "Test PW" |
| #define ENGLISH_CONTINOUS "Test contin." |
| #define ENGLISH_SINGLE_STEP "Single step" |
| #define ENGLISH_REPEAT "Number of test" |
| #define ENGLISH_PAUSE "Pause end pos." |
| #define ENGLISH_PAUSE_STEP "Pause pro inc." |
| #define ENGLISH_COUNTER "Counter:" |
| #define ENGLISH_START "Start Test" |
| #define ENGLISH_OFF "off" |
| #define ENGLISH_ON "on " |
| #define ENGLISH_TRACKING "Tracking" |
| #define ENGLISH_TRACK_GPS "GPS with wi232" |
| #define ENGLISH_TRACK_NMEA "NMEA GPS" |
| #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_MISC "Elictric Val." |
| #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_RSSI_MIN_ALL "Tout""\x85""z""\x82""ro" |
| #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_MSG_MK_BATTERY "MK-Batterie" |
| #define FRENCH_MSG_MK_BAT_NR "Bat. num""\x82""ro" |
| #define FRENCH_MSG_MK_BAT_CAPACITY "Bat. capacit""\x82" |
| #define FRENCH_MSG_MK_I_OFFSET "I-Offset" |
| #define FRENCH_MSG_MK_I_FAKTOR "I-Coefficient" |
| #define FRENCH_MSG_MK_W_FAKTOR "W-Coefficient" |
| #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_FRAME "P""\x82""riode" |
| #define FRENCH_PULSE_WIDTH "Largeur Imp." |
| #define FRENCH_CONTINOUS "Test Continu" |
| #define FRENCH_SINGLE_STEP "1 Pas" |
| #define FRENCH_REPEAT "Nombre Tests" |
| #define FRENCH_PAUSE "Pause finale" |
| #define FRENCH_PAUSE_STEP "Pause par pas" |
| #define FRENCH_COUNTER "Compter:" |
| #define FRENCH_START "D""\x82""but Test" |
| #define FRENCH_OFF "OFF" |
| #define FRENCH_ON "ON " |
| #define FRENCH_TRACKING "Tracking" |
| #define FRENCH_TRACK_GPS "GPS with wi232" |
| #define FRENCH_TRACK_NMEA "NMEA GPS" |
| #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_MISC "\x90""l""\x82""ctr. val." |
| #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_RSSI_MIN_ALL 8 |
| #define MSG_CALIB 9 |
| #define MSG_TX 10 |
| #define MSG_TX_OFF 11 |
| #define MSG_TX_ON 12 |
| #define MSG_CONTINUE 13 |
| #define MSG_CONTRAST 14 |
| #define MSG_BACKGR_LIGHT 15 |
| #define MSG_LIGHT 16 |
| #define MSG_LIGHT_OFF 17 |
| #define MSG_LIGHT_ON 18 |
| #define MSG_SEC 19 |
| #define MSG_BATTERY 20 |
| #define MSG_U_MIN 21 |
| #define MSG_U_SETUP 22 |
| #define MSG_U_OFFSET 23 |
| #define MSG_MK_BATTERY 24 |
| #define MSG_MK_BAT_NR 25 |
| #define MSG_MK_BAT_CAPACITY 26 |
| #define MSG_MK_I_OFFSET 27 |
| #define MSG_MK_I_FAKTOR 28 |
| #define MSG_MK_W_FAKTOR 29 |
| #define MSG_CALIBRATION 30 |
| #define MSG_RUNNING 31 |
| #define MSG_ERROR 32 |
| #define MSG_TX_NOT 33 |
| #define MSG_ACCU_LOW 34 |
| #define MSG_SERVO_CALIBR 35 |
| #define MSG_SERVO_STEPS 36 |
| #define MSG_SERVO1_REVERSE 37 |
| #define MSG_CALIB1_LEFT 38 |
| #define MSG_CALIB1_RIGHT 39 |
| #define MSG_CALIB1_MIDDLE 40 |
| #define MSG_SERVO2_REVERSE 41 |
| #define MSG_CALIB2_LEFT 42 |
| #define MSG_CALIB2_RIGHT 43 |
| #define MSG_CALIB2_MIDDLE 44 |
| #define MSG_FRAME 45 |
| #define MSG_PULSE_WIDTH 46 |
| #define MSG_CONTINOUS 47 |
| #define MSG_SINGLE_STEP 48 |
| #define MSG_REPEAT 49 |
| #define MSG_PAUSE 50 |
| #define MSG_PAUSE_STEP 51 |
| #define MSG_COUNTER 52 |
| #define MSG_START 53 |
| #define MSG_OFF 54 |
| #define MSG_ON 55 |
| #define MSG_TRACKING 56 |
| #define MSG_TRACK_GPS 57 |
| #define MSG_TRACK_NMEA 58 |
| #define MSG_TRACK_TX_OSD_DATA 59 |
| #define MSG_HYSTERESE 60 |
| #define MSG_TRACK_TX_ON 61 |
| #define MSG_GPS_DISPLAY 62 |
| #define MSG_GPS_CALCULATE 63 |
| #define MSG_GPS_CURRENT 64 |
| #define MSG_GPS_HOME 65 |
| #define MSG_GPS_MISC 66 |
| #define MSG_GPS_NO_DATA 67 |
| #define MSG_RX_TIME 68 |
| #define MSG_COM 69 |
| #define MSG_KOMMA 70 |
| #define MSG_UHW33V 71 |
| #define LAST_NAT_MESSAGE 71 |
| /* 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_SERVO 10 + LAST_NAT_MESSAGE + 1 |
| #define MSG_SERVO1 11 + LAST_NAT_MESSAGE + 1 |
| #define MSG_SERVO2 12 + LAST_NAT_MESSAGE + 1 |
| #define MSG_TEST_SERVO 13 + LAST_NAT_MESSAGE + 1 |
| #define MSG_TRACK_RSSI 14 + LAST_NAT_MESSAGE + 1 |
| #define MSG_TRACK_MKCOCKPIT 15 + LAST_NAT_MESSAGE + 1 |
| #define MSG_TRACK_SERVO_HYTERESE 16 + LAST_NAT_MESSAGE + 1 |
| #define MSG_BAUDRATE 17 + LAST_NAT_MESSAGE + 1 |
| #define MSG_UHW5V 18 + LAST_NAT_MESSAGE + 1 |
| #define MSG_VERSION1 19 + LAST_NAT_MESSAGE + 1 |
| #define MSG_VERSION2 20 + LAST_NAT_MESSAGE + 1 |
| #define MESSAGE_LAST_MESSAGE 20 |
| typedef uint16_t MessageType; |
| char* Msg(MessageType Message); |
| #endif /* _MESSAGES_H_ */ |
| /NGVideo5_8/tags/V1.31/mk.h |
|---|
| 0,0 → 1,59 |
| #ifndef _MK_H_ |
| #define _MK_H_ |
| // 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; |
| #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 |
| 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 Rick 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; |
| #endif |
| /NGVideo5_8/tags/V1.31/ngvideo.avrgccproj |
|---|
| 0,0 → 1,162 |
| <?xml version="1.0" encoding="utf-8"?> |
| <Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> |
| <PropertyGroup> |
| <SchemaVersion>2.0</SchemaVersion> |
| <ProjectVersion>5.0</ProjectVersion> |
| <ProjectGuid>c0066cc9-6e35-4d76-9ffe-a4af66a2de41</ProjectGuid> |
| <avrdevice>ATmega644A</avrdevice> |
| <avrdeviceseries>none</avrdeviceseries> |
| <OutputType>Executable</OutputType> |
| <Language>C</Language> |
| <OutputFile>ngvideo.elf</OutputFile> |
| <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory> |
| <UseGlobalToolchain>False</UseGlobalToolchain> |
| <ToolchainDirPath>C:\Program Files (x86)\Atmel\AVR Studio 5.0\AVR Toolchain\bin</ToolchainDirPath> |
| <MakeDirPath>C:\Program Files (x86)\Atmel\AVR Studio 5.0\AVR Toolchain\bin</MakeDirPath> |
| <GlobalToolchainPath>C:\Program Files (x86)\Atmel\AVR Studio 5.0\AVR ToolChain\bin</GlobalToolchainPath> |
| <AvrGccProjectExtensions> |
| </AvrGccProjectExtensions> |
| <avrtool>com.atmel.avrdbg.tool.simulator</avrtool> |
| <preserveEEPROM>True</preserveEEPROM> |
| <avrtoolinterface>JTAG</avrtoolinterface> |
| <com_atmel_avrdbg_tool_avrdragon> |
| <ToolType>com.atmel.avrdbg.tool.avrdragon</ToolType> |
| <ToolName>AVR Dragon</ToolName> |
| <ToolNumber>00A200005843</ToolNumber> |
| <Channel> |
| <host>127.0.0.1</host> |
| <port>9042</port> |
| <ssl>False</ssl> |
| </Channel> |
| <ToolOptions> |
| <InterfaceName>JTAG</InterfaceName> |
| <InterfaceProperties> |
| <JtagDbgClock>200000</JtagDbgClock> |
| <JtagProgClock>1000000</JtagProgClock> |
| <IspClock>150000</IspClock> |
| <JtagInChain>false</JtagInChain> |
| <JtagEnableExtResetOnStartSession>false</JtagEnableExtResetOnStartSession> |
| <JtagDevicesBefore>0</JtagDevicesBefore> |
| <JtagDevicesAfter>0</JtagDevicesAfter> |
| <JtagInstrBitsBefore>0</JtagInstrBitsBefore> |
| <JtagInstrBitsAfter>0</JtagInstrBitsAfter> |
| </InterfaceProperties> |
| </ToolOptions> |
| </com_atmel_avrdbg_tool_avrdragon> |
| <com_atmel_avrdbg_tool_simulator> |
| <ToolType xmlns="">com.atmel.avrdbg.tool.simulator</ToolType> |
| <ToolName xmlns="">AVR Simulator</ToolName> |
| <ToolNumber xmlns=""> |
| </ToolNumber> |
| <Channel xmlns=""> |
| <host>127.0.0.1</host> |
| <port>1486</port> |
| <ssl>False</ssl> |
| </Channel> |
| </com_atmel_avrdbg_tool_simulator> |
| </PropertyGroup> |
| <PropertyGroup Condition=" '$(Configuration)' == 'default' "> |
| <OutputPath>bin\default\</OutputPath> |
| <MemorySettings> |
| <MemorySegments> |
| <InitialStack IsEnabled="0"> |
| <Address>0x1000</Address> |
| </InitialStack> |
| </MemorySegments> |
| </MemorySettings> |
| <ToolchainSettings> |
| <AvrGcc> |
| <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned> |
| <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned> |
| <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level> |
| <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers> |
| <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum> |
| <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings> |
| <avrgcc.compiler.miscellaneous.OtherFlags>-gdwarf-2 -std=gnu99 </avrgcc.compiler.miscellaneous.OtherFlags> |
| <avrgcc.assembler.general.AssemblerFlags>-Wall -gdwarf-2 -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</avrgcc.assembler.general.AssemblerFlags> |
| <avrgcc.assembler.debugging.DebugLevel>Default (-Wa,-g2)</avrgcc.assembler.debugging.DebugLevel> |
| </AvrGcc> |
| </ToolchainSettings> |
| <UsesExternalMakeFile>True</UsesExternalMakeFile> |
| <ExternalMakeFilePath>D:\Daten\Entwicklung\FW NGVideo-5.8GHz\tags\ngvideo\makefile</ExternalMakeFilePath> |
| <GenerateHexFile>True</GenerateHexFile> |
| <OutputDirectory>D:\Daten\Entwicklung\FW NGVideo-5.8GHz\tags\ngvideo</OutputDirectory> |
| </PropertyGroup> |
| <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\AvrGCC.targets" /> |
| <ItemGroup> |
| <Compile Include="config.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="dogm.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="dogm.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="keys.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="keys.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="lipo.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="lipo.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="main.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="menue.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="menue.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="messages.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="messages.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="mk.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="ngvideo.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="ngvideo.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="servo.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="servo.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="tools.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="tools.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="tracking.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="tracking.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="usart.c"> |
| <SubType>compile</SubType> |
| </Compile> |
| <Compile Include="usart.h"> |
| <SubType>compile</SubType> |
| </Compile> |
| </ItemGroup> |
| <ItemGroup> |
| <None Include="makefile"> |
| <SubType>compile</SubType> |
| </None> |
| </ItemGroup> |
| </Project> |
| /NGVideo5_8/tags/V1.31/ngvideo.avrsln |
|---|
| 0,0 → 1,17 |
| |
| Microsoft Visual Studio Solution File, Format Version 11.00 |
| # AvrStudio Solution File, Format Version 11.00 |
| Project("{D1100916-62DA-4D80-A9B4-55A1E7CCEEB3}") = "ngvideo", "ngvideo.avrgccproj", "{C0066CC9-6E35-4D76-9FFE-A4AF66A2DE41}" |
| EndProject |
| Global |
| GlobalSection(SolutionConfigurationPlatforms) = preSolution |
| default|AVR = default|AVR |
| EndGlobalSection |
| GlobalSection(ProjectConfigurationPlatforms) = postSolution |
| {C0066CC9-6E35-4D76-9FFE-A4AF66A2DE41}.default|AVR.ActiveCfg = default|AVR |
| {C0066CC9-6E35-4D76-9FFE-A4AF66A2DE41}.default|AVR.Build.0 = default|AVR |
| EndGlobalSection |
| GlobalSection(SolutionProperties) = preSolution |
| HideSolutionNode = FALSE |
| EndGlobalSection |
| EndGlobal |
| /NGVideo5_8/tags/V1.31/ngvideo.avrsuo |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /NGVideo5_8/tags/V1.31/ngvideo.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="C:\Source\atmel4\ngvideo\tracking.c" Position="354 210 1296 580" LineCol="157 0" State="Maximized"/><File00001 Name="C:\Source\atmel4\ngvideo\usart.c" Position="262 99 1370 654" LineCol="238 0" State="Maximized"/><File00002 Name="C:\Source\atmel4\ngvideo\usart.h" Position="288 144 1212 496" LineCol="41 4" State="Maximized"/></Files></AVRWorkspace> |
| /NGVideo5_8/tags/V1.31/ngvideo.c |
|---|
| 0,0 → 1,833 |
| /****************************************************************/ |
| /* */ |
| /* 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 <string.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 "tools.h" |
| #include "keys.h" |
| #include "usart.h" |
| #include "tracking.h" |
| // LCD selbst definierte Sonderzeichen, RSSI-Balken und wi232 Empfang Daten im Flash |
| // deshalb in dogm.c lcdPutc(pgm_read_byte(&lcdChr[i])); |
| SpecialChr_t lcdSpecialChr[7] 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}, |
| {4,10,32,14,4,4,14,32}}; // Antenne und Imax |
| SpecialChr_t lcdSpecialChrLs[8] PROGMEM = {{32,1,1,1,1,1,1,32}, |
| {32,31,1,1,1,1,31,32}, |
| {32,31,3,3,3,3,31,32}, |
| {32,31,7,7,7,7,31,32}, |
| {32,31,15,15,15,15,31,32}, |
| {32,31,31,31,31,31,31,32}, |
| {32,16,16,16,16,16,16,32}, |
| {32,31,32,32,32,32,31,32}}; |
| SpecialChr_t lcdSpecialChrRs[5] PROGMEM = {{32,1,1,1,1,1,1,32}, |
| {32,31,16,16,16,16,31,32}, |
| {32,31,24,24,24,24,31,32}, |
| {32,31,28,28,28,28,31,32}, |
| {32,31,30,30,30,30,31,32}}; |
| /**************************************************************/ |
| /* */ |
| /* EEPROM */ |
| /* */ |
| /**************************************************************/ |
| uint8_t ep_eep_init EEPROM; |
| char ep_version[sizeof(VERSION)] EEPROM; |
| uint8_t ep_dogm_vers EEPROM; |
| uint8_t ep_contrast EEPROM; |
| uint8_t ep_light_time EEPROM; |
| uint8_t ep_u_offset EEPROM; |
| uint16_t ep_u_min EEPROM; |
| uint8_t ep_channel EEPROM; |
| uint8_t ep_av_source EEPROM; |
| uint8_t ep_language EEPROM; |
| udbm_t ep_udbm[CHANNEL_MAX] EEPROM; |
| uint8_t ep_sIdxSteps EEPROM; |
| servo_t ep_servo[SERVO_NUM_CHANNELS] EEPROM; |
| uint8_t ep_servo_frame EEPROM; |
| uint8_t ep_servo_nr EEPROM; |
| uint8_t ep_single_step EEPROM; |
| uint8_t ep_repeat EEPROM; |
| uint8_t ep_pause EEPROM; |
| uint8_t ep_pause_step EEPROM; |
| uint8_t ep_tracking EEPROM; |
| uint8_t ep_track_hyst EEPROM; |
| uint8_t ep_track_tx EEPROM; |
| uint8_t ep_baudrate EEPROM; |
| mk_current_t ep_mk_current EEPROM; |
| uint8_t ep_mk_akku_nr EEPROM; |
| mk_lipo_t ep_mk_lipo[AKKU_NR_MAX+1] EEPROM; |
| uint8_t ep_mk_i_offset EEPROM; |
| uint8_t ep_mk_i_faktor EEPROM; |
| uint8_t ep_mk_w_faktor EEPROM; |
| /**************************************************************/ |
| // Working variables of EEPROM contents |
| 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; |
| uint16_t u_min = U_MIN; |
| uint8_t channel = CHANNEL; |
| uint8_t av_source = AV_SOURCE; |
| uint8_t language = NO_LANGUAGE; |
| udbm_t udbm = {UDBM_MIN, UDBM_MAX, UDBM_KORR_FA, UDBM_KORR_FA}; |
| uint16_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 servo_frame = SERVO_PERIODE; |
| uint8_t single_step = SINGLE_STEP; |
| uint8_t repeat = REPEAT; |
| uint8_t pause = PAUSE; |
| uint8_t pause_step = PAUSE_STEP; |
| uint8_t baudrate = BAUDRATE; |
| /**************************************************************/ |
| uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix |
| uint8_t ch_stored; // Flag zur Speicherung, wenn Wert im Hauptdisplay geändert |
| uint8_t gps_display = 0; |
| uint8_t gps_disp_clear; |
| uint16_t bar_udbm[12]; // RSSI-Bargraph |
| uint8_t wudbm; // Differenz/Abstand benachbarter udbm[i] für differenzierteren Bargraphen |
| uint8_t bat_low = 0; |
| 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 |
| uint8_t mk_timer = 0; // Zeitzähler lipo.time_on auf aus |
| const uint16_t PROGMEM baud[8] = {4800, 7200, 9600, 14400, 19200, 38400, 57600}; |
| 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; |
| /************************************************************************************/ |
| /* 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_word(&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); |
| for (uint8_t i = 0; i < CHANNEL_MAX; i++) |
| eeprom_write_block(&udbm,&ep_udbm[i],sizeof(udbm_t)); |
| 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_servo_frame, SERVO_PERIODE); |
| eeprom_write_byte(&ep_servo_nr, 0); // nur bei Test-Servo |
| eeprom_write_byte(&ep_single_step, SINGLE_STEP); // nur bei Test-Servo |
| eeprom_write_byte(&ep_repeat, REPEAT); // nur bei Test-Servo |
| eeprom_write_byte(&ep_pause, PAUSE); // nur bei Test-Servo |
| eeprom_write_byte(&ep_pause_step, PAUSE_STEP); // nur bei Test-Servo |
| 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); |
| eeprom_write_block(&mk_current,&ep_mk_current,sizeof(mk_current_t)); |
| eeprom_write_byte(&ep_mk_akku_nr, AKKU_NR_MIN); |
| for (uint8_t i = 0; i <= AKKU_NR_MAX; i++) |
| eeprom_write_block(&mk_lipo,&ep_mk_lipo[i],sizeof(mk_lipo_t)); |
| eeprom_write_byte(&ep_mk_i_offset, MK_I_OFFSET); |
| eeprom_write_byte(&ep_mk_i_faktor, MK_I_FAKTOR); |
| eeprom_write_byte(&ep_mk_w_faktor, MK_W_FAKTOR); |
| sIdxSteps = STEPS_255; |
| } |
| else |
| { |
| light_time = eeprom_read_byte(&ep_light_time); |
| u_offset = eeprom_read_byte(&ep_u_offset); |
| u_min = eeprom_read_word(&ep_u_min); |
| channel = eeprom_read_byte(&ep_channel); |
| av_source = eeprom_read_byte(&ep_av_source); |
| language = eeprom_read_byte(&ep_language); |
| 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)); |
| servo_frame = eeprom_read_byte(&ep_servo_frame); // nur bei Test-Servo |
| single_step = eeprom_read_byte(&ep_single_step); // nur bei Test-Servo |
| repeat = eeprom_read_byte(&ep_repeat); // nur bei Test-Servo |
| pause = eeprom_read_byte(&ep_pause); // nur bei Test-Servo |
| pause_step = eeprom_read_byte(&ep_pause_step); // nur bei Test-Servo |
| 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); |
| eeprom_read_block(&mk_current,&ep_mk_current,sizeof(mk_current_t)); |
| mk_akku_nr = eeprom_read_byte(&ep_mk_akku_nr); |
| eeprom_read_block(&mk_lipo,&ep_mk_lipo[mk_akku_nr],sizeof(mk_lipo_t)); |
| mk_i_offset = eeprom_read_byte(&ep_mk_i_offset); |
| mk_i_faktor = eeprom_read_byte(&ep_mk_i_faktor); |
| mk_w_faktor = eeprom_read_byte(&ep_mk_w_faktor); |
| } |
| dogm_vers = eeprom_read_byte(&ep_dogm_vers); |
| contrast = eeprom_read_byte(&ep_contrast); |
| hyst_u_min = u_min; |
| 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); |
| mk_dUsedCapacity = mk_lipo.UsedCapacity; |
| } |
| 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 || tracking == TRACKING_NMEA) |
| USART_Init(getBaud(baudrate)); |
| else |
| USART_Init(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; |
| wudbm = RSSI_Calc_UdBm(bar_udbm); // Vergleichstabelle für dBm-Balken berechnen |
| } |
| /************************************************************************************/ |
| /* 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_count < light_time)) { |
| 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 */ |
| adc_avg_t ADC_Read_Avg(uint8_t channel0, uint8_t channel1, uint16_t average ) |
| { adc_avg_t result; |
| uint32_t u0 = 0; |
| uint32_t u1 = 0; |
| for (uint16_t i = 0; i < average; ++i){ |
| u0 += ADC_Read( channel0 ); |
| u1 += ADC_Read( channel1 ); |
| _delay_ms(1); |
| } |
| result.u0 = u0/average; |
| result.u1 = u1/average; |
| return(result); |
| } |
| /**************************************************************/ |
| /* */ |
| /* Beeper */ |
| /* */ |
| /* Bei AVR-Studio 5 ist in delay.h */ |
| /* #define __DELAY_BACKWARD_COMPATIBLE__ */ |
| /* zu setzen */ |
| /* */ |
| /**************************************************************/ |
| void Beep(uint8_t time) |
| { |
| PORTB |= (1<<BEEPER); |
| _delay_ms(time); |
| PORTB &= ~(1<<BEEPER); |
| } |
| void Double_Beep(uint8_t time, uint8_t pause) |
| { |
| Beep(time); |
| _delay_ms(pause); |
| Beep(time); |
| } |
| /**************************************************************/ |
| /* */ |
| /* U-Batterie */ |
| /* */ |
| /**************************************************************/ |
| // uint16_t u, da bei Displ_Fnct[fu_index](val) der größte Wert UBat gleich 16 Bit |
| void Displ_1Nk(uint16_t u) |
| { |
| // 4 => 2 Ziffern vor Komma + 1 Komma + eine Ziffer Nachkomma darstellen, 2 Festkomma |
| lcdPuts(my_itoa(u,4,2,1)); |
| } |
| void Displ_U_2Nk(uint16_t u) |
| { |
| lcdPuts(my_itoa(u,5,2,2)); |
| lcdPutc('V'); |
| } |
| // uint8_t beep_timer :Akku-leer-Beeper nur mit Task_0_1()-Intervalle bei Menü-Rücksprung |
| uint16_t U_Messen_cmp(uint8_t beep_timer) |
| { uint16_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) { // nicht laufend Display neu schreiben |
| hyst_u_min = u_min + 20; // 200mV Hysterese - beruhigt Anzeige |
| if (tracking == TRACKING_GPS) |
| store_LipoData(); // wenigstens von GPS-Statisik UsedCapacity, time_on usw. speichern |
| lcdClear(); |
| lcdPuts(Msg(MSG_ACCU_LOW)); |
| bat_low = 1; |
| 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 = 0; // 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 |
| { uint16_t ubat; |
| ubat = U_Messen_cmp(ENABLE_BTIMER); |
| if (!bat_low) { // würde sonst Anzeige Akku leer überschreiben |
| lcdGotoXY(11, 0); |
| Displ_1Nk(ubat); |
| } |
| } |
| /**************************************************************/ |
| /* */ |
| /* RSSI */ |
| /* */ |
| /**************************************************************/ |
| /* RSSI Werte Korrekturfaktor berechnen */ |
| uint16_t RSSI_Calc_Korr(uint8_t nchannel, 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); // 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); // nur mit Integer und 2 Nachkommastellen rechnen |
| udbm.korr_1 = UDBM_KORR_FA; |
| u_max = u0; |
| } |
| eeprom_write_word(&ep_udbm[nchannel - 1].korr_1, udbm.korr_1); |
| eeprom_write_word(&ep_udbm[nchannel - 1].korr_2, udbm.korr_2); |
| return(u_max); |
| } |
| void Displ_Calibr_Aktiv(uint8_t nchannel) |
| { char str[LCD_COLS + 1]; |
| uint8_t l; |
| uint8_t zle = 1; |
| // Anzeige für nur einen Kanal oder wenn in Schleife, Kanalnr. des z.Z. kalbrierenden Kanals |
| lcdClear(); |
| lcdPutStrMid(Msg(MSG_CALIBRATION),0); |
| if (nchannel > 0) { // Anzeige aller RX-Kanäle min. kalibrieren? |
| strcpy(str, Msg(MSG_RX_CHANNEL)); |
| strcat(str, ": "); |
| l = strlen(str); |
| str[l] = nchannel + 0x30; // gerade zu kalibrierender Kanal, String zusammen stellen |
| str[++l] = '\0'; |
| lcdPutStrMid(str,1); |
| zle = 2; |
| } |
| lcdPutStrMid(Msg(MSG_RUNNING),zle); |
| } |
| void Displ_Error_TX(uint8_t message) |
| { |
| lcdClear(); |
| lcdPutStrMid(Msg(MSG_ERROR), 0); |
| lcdPutStrMid(Msg(MSG_TX_NOT), 1); |
| lcdPutStrMid(Msg(message), 2); |
| delay_ms100x(30); |
| } |
| uint8_t RSSI_Min_Calibrate(uint8_t nchannel, uint16_t *pbar_udbm) |
| { adc_avg_t rssi_avg; |
| uint16_t udbm_min; |
| uint8_t one_channel = !nchannel; |
| Displ_Calibr_Aktiv(nchannel); |
| if (one_channel) nchannel = channel; |
| rssi_avg = ADC_Read_Avg(RSSI0, RSSI1, 1000 ); //1000 Wiederholungen mit Mittelwertbildung |
| // Plausibilitätsprüfung ob Sender ausgeschaltet |
| if (rssi_avg.u0 + rssi_avg.u1 > 500) { |
| udbm_min = RSSI_Calc_Korr(nchannel, rssi_avg.u0, rssi_avg.u1); // ist real die größere Spannung, aber der kleinere dbm Wert |
| eeprom_write_word(&ep_udbm[nchannel - 1].min, udbm_min); |
| if (one_channel) { |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| wudbm = RSSI_Calc_UdBm(pbar_udbm); |
| } |
| } |
| else |
| if (one_channel) |
| Displ_Error_TX(MSG_TX_OFF); |
| else |
| return(0); // Fehleranzeige wird in menue.c gesammelt ausgewertet |
| return(1); // kein Fehler, da bei einen Kanal bereits Fehler angezeigt wurde |
| } |
| void RSSI_Max_Calibrate(uint16_t *pbar_udbm) |
| { adc_avg_t rssi_avg; |
| uint16_t udbm_max; |
| Displ_Calibr_Aktiv(0); |
| rssi_avg = ADC_Read_Avg(RSSI0, RSSI1, 1000 ); //1000 Wiederholungen mit Mittelwertbildung |
| // Plausibilitätsprüfung ob Sender in der Nähe eingeschaltet |
| if (rssi_avg.u0 + rssi_avg.u1 < 400) { |
| udbm_max = RSSI_Calc_Korr(channel, rssi_avg.u0, rssi_avg.u1); // ist real die kleinere Spannung, aber der größere dbm Wert |
| eeprom_write_word(&ep_udbm[channel - 1].max, udbm_max); |
| Double_Beep(DBEEPWR, DBEEPWRP); |
| wudbm = RSSI_Calc_UdBm(pbar_udbm); |
| } |
| else Displ_Error_TX(MSG_TX_ON); |
| } |
| // Vergleichstabelle für RSSI-Bargraph berechnen, vermeidet laufend gleiche Berechnung |
| uint8_t RSSI_Calc_UdBm(uint16_t *pbar_udbm) |
| { uint8_t n; |
| eeprom_read_block(&udbm,&ep_udbm[channel - 1],sizeof(udbm_t)); |
| // -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++) |
| pbar_udbm[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 *pbar_udbm, uint8_t wudbm, uint16_t uadc) |
| { char charBar[12]; |
| uint8_t i; |
| int8_t lz = 11; |
| char b = 4; |
| // Balken zeichnen - udbm |
| for (i = 0; i < 12; i++) { |
| if ((b != ' ') && (uadc > pbar_udbm[i])) { |
| b = ' '; |
| lz = i - 1; |
| } |
| charBar[i] = b; |
| } |
| if (lz >= 0) { |
| charBar[lz] = (pbar_udbm[lz] - uadc) / wudbm ;// Anzeigebalken pro Pixel-"Breite" differenzieren |
| // bei Teilung 4 wäre richtig und keine Korr. erforderlich, so aber gleichmäßigerer Balkenverlauf |
| if (charBar[lz] > 4) charBar[lz] = 4; |
| } |
| for (i = 0; i < 12; i++)// lcdPuts (ist auch for) funktioniert hier nicht, da Char'\0' für Zeichen auch Stringende |
| lcdPutc(charBar[i]); |
| } |
| uint8_t RSSI_Diversity(uint8_t src, uint16_t *pbar_udbm, 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(); // egal wann RSSI schaltet ==> es ist kein sync vorhanden |
| } |
| else { |
| ret_div_flag = AV2; |
| if ((vscount0 == 255) && (vscount1 == 255)) SetMux1(); // egal wann RSSI schaltet ==> es ist kein sync vorhanden |
| } |
| } |
| 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 |
| div_flag = vsync0 == 0? AV1: 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 > pbar_udbm[0]) && (u1 > pbar_udbm[0])) marker = ' '; |
| lcdGotoXY(2, 1); |
| Displ_RSSI_Bargraph(pbar_udbm, wudbm, u0); |
| lcdGotoXY(2, 2); |
| Displ_RSSI_Bargraph(pbar_udbm, 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. 8-bit Timer*/ |
| 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_END) ++rx_timeout; // veranlasst bei GPS-Tracking MK Datensatz senden |
| if ((mk_timer) && (mk_lipo.time_on < T2PROD_M59S59)) ++mk_lipo.time_on; // T2PRODM59S59 = 3599 * 4000 |
| if (((tracking == TRACKING_GPS) && (MK_Motor_run)) || ((tracking == TRACKING_NMEA) && !coldstart)) { // 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; |
| if ((mux_X) && (vscount1 == 255)) { |
| SetMux0(); |
| vsync1 = 1; |
| } |
| } |
| 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; |
| if (!(mux_X) && (vscount0 == 255)) { |
| SetMux1(); |
| vsync0 = 1; |
| } |
| } |
| 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, bar_udbm, !bat_low); |
| } |
| } |
| void Task_0_3(void) |
| { |
| if (task_timer0_3) { |
| cli(); |
| task_timer0_3 = 0; |
| sei(); |
| sw_avx = RSSI_Diversity(av_source, bar_udbm, 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(); |
| else if (tracking == TRACKING_NMEA) |
| Tracking_NMEA(); |
| 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_invisible(void) // wird in main.c und menue.c aufgerufen |
| { |
| Task_0_3(); |
| Task_0_4(); |
| Task_0_5(); |
| if (tracking == TRACKING_RSSI) Tracking_RSSI(); |
| } |
| /NGVideo5_8/tags/V1.31/ngvideo.h |
|---|
| 0,0 → 1,208 |
| /****************************************************************/ |
| /* */ |
| /* 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 NGVIDEO_H_ |
| #define NGVIDEO_H_ |
| #include "config.h" |
| #include "messages.h" |
| #include "servo.h" |
| #include "dogm.h" |
| #include "menue.h" |
| #include "lipo.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 nach Enter kurz Scroll_Menu() und Select_Menu() |
| #define DBEEPWR 4 // Beep on nach geänderten Werte ROM schreiben |
| #define DBEEPWRP 30 // Beep Pause nach geänderten 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 DBEEPNMEAFIX 120 // Beep on nach NMEA SAT-FIX |
| #define DBEEPMEAFIXP 240 // Beep Pause nach NMEA SAT-FIX |
| #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_MISC 4 |
| #define GPS_RX_COUNT 5 |
| #define BAUDRATE 5 // für Antennennachführung mittels MKCockpit |
| #define BAUDRATE_MIN 0 |
| #define BAUDRATE_MAX 6 |
| #define getBaud(x) (uint16_t)pgm_read_dword(&baud[x]) |
| extern const uint16_t PROGMEM baud[8]; |
| #define POLOLU_CMD 2 |
| #define OFF 0 |
| #define ON 1 |
| #define EEPROM __attribute__ ((section(".eeprom"))) |
| typedef struct { |
| uint8_t rev; |
| uint16_t min; |
| uint16_t max; |
| uint16_t mid; |
| } servo_t; |
| typedef struct { |
| uint16_t min; |
| uint16_t max; |
| uint16_t korr_1; |
| uint16_t korr_2; |
| } udbm_t; |
| typedef struct { |
| uint16_t u0; |
| uint16_t u1; |
| } adc_avg_t; |
| /**************************************************************/ |
| /* */ |
| /* EEPROM */ |
| /* */ |
| /**************************************************************/ |
| extern uint8_t ep_eep_init EEPROM; |
| extern char ep_version[sizeof(VERSION)] EEPROM; |
| extern uint8_t ep_dogm_vers EEPROM; |
| extern uint8_t ep_contrast EEPROM; |
| extern uint8_t ep_light_time EEPROM; |
| extern uint8_t ep_u_offset EEPROM; |
| extern uint16_t ep_u_min EEPROM; |
| extern uint8_t ep_channel EEPROM; |
| extern uint8_t ep_av_source EEPROM; |
| extern uint8_t ep_language EEPROM; |
| extern udbm_t ep_udbm[CHANNEL_MAX] EEPROM; |
| extern uint8_t ep_sIdxSteps EEPROM; |
| extern servo_t ep_servo[SERVO_NUM_CHANNELS] EEPROM; |
| extern uint8_t ep_servo_frame EEPROM; |
| extern uint8_t ep_servo_nr EEPROM; |
| extern uint8_t ep_single_step EEPROM; |
| extern uint8_t ep_repeat EEPROM; |
| extern uint8_t ep_pause EEPROM; |
| extern uint8_t ep_pause_step EEPROM; |
| extern uint8_t ep_tracking EEPROM; |
| extern uint8_t ep_track_hyst EEPROM; |
| extern uint8_t ep_track_tx EEPROM; |
| extern uint8_t ep_baudrate EEPROM; |
| extern mk_current_t ep_mk_current EEPROM; |
| extern uint8_t ep_mk_akku_nr EEPROM; |
| extern mk_lipo_t ep_mk_lipo[AKKU_NR_MAX+1] EEPROM; |
| extern uint8_t ep_mk_i_offset EEPROM; |
| extern uint8_t ep_mk_i_faktor EEPROM; |
| extern uint8_t ep_mk_w_faktor EEPROM; |
| /**************************************************************/ |
| // Working variables of EEPROM contents |
| extern uint8_t eep_init; |
| extern char version[sizeof(VERSION)]; |
| extern uint8_t dogm_vers; |
| extern uint8_t contrast; |
| extern uint8_t light_time; |
| extern uint8_t u_offset; |
| extern uint16_t u_min; |
| extern uint8_t channel; |
| extern uint8_t av_source; |
| extern uint8_t language; |
| extern udbm_t udbm; |
| extern uint8_t sIdxSteps; |
| extern servo_t servo[SERVO_NUM_CHANNELS]; |
| extern uint8_t servo_frame; |
| extern uint8_t servo_nr; |
| extern uint8_t single_step; |
| extern uint8_t repeat; |
| extern uint8_t pause; |
| extern uint8_t pause_step; |
| extern uint8_t tracking; |
| extern uint8_t track_hyst; |
| extern uint8_t track_tx; |
| extern uint8_t baudrate; |
| extern uint8_t ch_stored; // Flag zur Speicherung, wenn Wert im Hauptdisplay geändert |
| /**************************************************************/ |
| extern uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix |
| extern uint8_t bat_low; |
| extern uint16_t hyst_u_min; |
| extern uint8_t gps_display; |
| extern uint8_t gps_disp_clear; |
| extern uint8_t sw_avx; |
| extern uint16_t bar_udbm[12]; |
| extern uint8_t MK_Motor_run; // Flag für RX Time-Counter Start/Stop |
| extern uint8_t mk_timer; // Zeitzähler lipo.time_on auf aus |
| extern volatile uint32_t rxcount0; |
| extern volatile uint32_t rxcount1; |
| extern SpecialChr_t lcdSpecialChr[7]; |
| extern SpecialChr_t lcdSpecialChrLs[8]; |
| extern SpecialChr_t lcdSpecialChrRs[5]; |
| void Init_EEPROM(uint8_t ep_reset); |
| void servoSetDefaultPos(void); |
| void Set_DOGM_Version(void); |
| void Set_Channel(uint8_t channel); |
| uint8_t Set_AV_Source(uint8_t src); |
| void lcdSet_BackgrLight_Off(void); |
| void lcd_BackgrLight_On(void); |
| void lcd_BackgrLight(void); |
| void ADC_Init(void); |
| uint16_t ADC_Read( uint8_t channel ); |
| void Beep(uint8_t time); |
| void Double_Beep(uint8_t time, uint8_t pause); |
| void Displ_VBat(void); |
| void Displ_U_2Nk(uint16_t u); |
| uint8_t RSSI_Calc_UdBm(uint16_t *pbar_udbm); |
| uint8_t RSSI_Min_Calibrate(uint8_t nchannel, uint16_t *pbar_udbm); |
| void RSSI_Max_Calibrate(uint16_t *pbar_udbm); |
| void USART_Init_Baudrate(void); |
| void Double_Beep(uint8_t time, uint8_t pause); |
| uint16_t Change_Value_plmi(uint16_t val, uint16_t min_val, uint16_t max_val, uint8_t posX, uint8_t posY, Displ_Fnct_t Displ_Fnct, uint8_t cycle, uint8_t vrepeat); |
| uint16_t U_Messen_cmp(uint8_t beep_timer); |
| void Task_0_1(void); |
| void Task_0_2(void); |
| void Task_0_3(void); |
| void Task_0_4(void); |
| void Task_0_5(void); |
| void Tasks_invisible(void); |
| #endif /* NGVIDEO_H_ */ |
| /NGVideo5_8/tags/V1.31/servo.c |
|---|
| 0,0 → 1,207 |
| /********************************************************************/ |
| /* */ |
| /* 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 : 2 */ |
| /* */ |
| /*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]; |
| const 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}}; |
| // Servo limits (depend on hardware) |
| const 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}}}; |
| // Servopositionen normiert für 950µs, 2,05ms und 1,5ms ==> Ergebnis Schritte. Da Zeit in µs ist F_CPU*e-1 |
| const steps_pw_t steps_pw[2] = {{(uint64_t)950*F_CPU*1e-6/SERVO_PRESCALER + 0.5, (uint64_t)2050*F_CPU*1e-6/SERVO_PRESCALER + 0.5, (uint64_t)1500*F_CPU*1e-6/SERVO_PRESCALER + 0.5}, |
| {(uint64_t)950*4*F_CPU*1e-6/SERVO_PRESCALER + 0.5, (uint64_t)2050*4*F_CPU*1e-6/SERVO_PRESCALER + 0.5, (uint64_t)1500*4*F_CPU*1e-6/SERVO_PRESCALER + 0.5}}; |
| // anzufahrende Servopositionen 0=MIN, 1=MID, 2=MAX |
| const uint8_t PosIdx[POSIDX_MAX] = {1, 0, 1, 2 }; |
| // functions |
| //! initializes software PWM system 16-bit Timer |
| // 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(uint8_t servo_period) |
| { 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_period * 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 pw_us(uint16_t Steps) |
| { |
| return(Steps * ServoConst[sIdxSteps].prescaler/(F_CPU * 1e-6) + 0.5); // Zeit pro Schritt (Wert * e-1) in µs |
| } |
| 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; |
| // Faktor 16, bzw. 16/2 um mit einer Nachkommastelle zu Rechnen |
| ServoChannels[channel].mid_scaled = (8 * (ServoChannels[channel].max - ServoChannels[channel].min) + \ |
| (16 * mid - 8 * ServoConst[sIdxSteps].steps))/16 + 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 (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; |
| } |
| //! 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 = ServoChannels[channel].min + ((int32_t)position*2*(ServoChannels[channel].mid_scaled-ServoChannels[channel].min))/ \ |
| ServoConst[sIdxSteps].steps; |
| else |
| //bei Position >= Servomittelstellung |
| pos_scaled = ServoChannels[channel].mid_scaled + (uint32_t)(position - ServoConst[sIdxSteps].steps / 2) \ |
| * 2 * (ServoChannels[channel].max-ServoChannels[channel].mid_scaled)/ServoConst[sIdxSteps].steps; |
| // set position |
| servoSetPositionRaw(channel, pos_scaled); |
| } |
| // Umrechnung Winkel in Servoschritte |
| void servoSetAngle(uint8_t servo_nr, int16_t angle) |
| { |
| servoSetPosition(servo_nr, (uint16_t)((uint32_t)angle * ServoConst[sIdxSteps].steps / 180)); |
| } |
| //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/V1.31/servo.h |
|---|
| 0,0 → 1,129 |
| /*********************************************************************/ |
| /* */ |
| /* 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 |
| // Define servo limits (depend on hardware) |
| typedef struct { |
| uint16_t min; |
| uint16_t max; |
| }servo_limit_t; |
| extern const servo_limit_t servo_limit[2][3]; |
| // Define servo positions (depend on hardware) |
| typedef struct { |
| uint16_t min; |
| uint16_t max; |
| uint16_t mid; |
| }steps_pw_t; |
| // Servopositionen für 950µs, 2,05ms und 1,5ms ==> Ergebnis Schritte. Da Zeit in µs ist F_CPU*e-1 |
| extern const steps_pw_t steps_pw[2]; |
| #define RIGHT 0 // Servopostionen, welche vom Einbau abhängig sind |
| #define LEFT 1 |
| #define MIDDLE 2 |
| #define POSIDX_MAX 4 |
| extern const uint8_t PosIdx[POSIDX_MAX]; // anzufahrende Servopositionen 0=MIN, 1=MID, 2=MAX |
| // functions |
| // initializes servo system |
| // You must run this to begin servo control |
| void servoInit(uint8_t servo_period); |
| // 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); |
| // set servo to a specific angle |
| void servoSetAngle(uint8_t servo_nr, int16_t angle); |
| // 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 pw_us(uint16_t Steps); // gibt Zeit in µs bei x Servoschritte |
| uint16_t ServoSteps(void); // gibt "Konstante" derzeitiger Servoschritte zürück |
| #endif /* SERVO_H */ |
| /NGVideo5_8/tags/V1.31/tools.c |
|---|
| 0,0 → 1,179 |
| /****************************************************************/ |
| /* */ |
| /* 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 <stdlib.h> |
| #include <util/delay.h> |
| #include <avr/pgmspace.h> |
| #include "config.h" |
| #include "dogm.h" |
| #include "tools.h" |
| #include "messages.h" |
| #define MAX_POWER 10 |
| #define getPower(x) (int32_t)pgm_read_dword(&powers[x]) |
| const int32_t PROGMEM powers[MAX_POWER] = {1, 10, 100, 1000, 10000, 100000, 1000000, 10000000, 100000000, 1000000000}; |
| /* Funktion zur Umwandlung einer vorzeichenbehafteten Integer |
| 32-Bit "Festkomma-Zahl"(gedachtes Komma in Integer) in einen String |
| vereinfacht Variablenübergabe funktion change_value(uint16_t x), |
| kein printf, double oder float |
| siehe http://www.mikrocontroller.net/articles/Festkommaarithmetik |
| len: max 13, Gesamtlänge des Resultats inklusive Vorzeichen und Komma, Rest wird mit ' ' aufgefüllt |
| fixedPoint: Position des Kommas im Integer-Wert. Bei Wert in mm und Anzeige in m ist das z.B. 3 |
| afterPoint: Ziffern nach dem Komma = wieviele der fixedPoint Ziffern angezeigt werden sollen |
| Ist nicht genug Platz für die Zahl vorhanden werden nur '*' Zeichen ausgegeben! |
| makefile derzeit somit auch ohne! Minimalistic printf version*/ |
| char *my_itoa(int32_t value, uint8_t len, uint8_t fixedPoint, uint8_t afterPoint) |
| { int8_t i; |
| int8_t digits, digitsNeeded; |
| uint8_t neg = 0; |
| static char str[13]; |
| // Terminate string |
| str[len] = '\0'; |
| // Reduce precision of value if we're not supposed to show all of the mantissa |
| if (fixedPoint > afterPoint) { |
| value /= getPower(fixedPoint - afterPoint); |
| fixedPoint = afterPoint; |
| } |
| // Handle negative values |
| if (value < 0) { |
| value = -value; |
| neg = 1; |
| } |
| // Check how many digits we've got in total and if it fits in our space |
| for (digits = 1; digits < MAX_POWER && value >= getPower(digits); digits++); |
| if (neg) digits++; // We also need space for the sign |
| if (fixedPoint) digits++; // Plus space for decimal point |
| digitsNeeded = digits - len; |
| if (digitsNeeded > 0) { |
| // Not enough space, do something |
| if (digitsNeeded == fixedPoint || digitsNeeded == fixedPoint + 1) { // +1 = space for decimal point that we can get rid of |
| // If space is just big enough for integer part then simply don't show mantissa BUT ROUND CORRECTLY |
| value = (value + 5 * getPower(fixedPoint - 1)) / getPower(fixedPoint); |
| fixedPoint = 0; |
| } else if (digitsNeeded < fixedPoint) { |
| // We can reduce precision to make it fit (round correctly) |
| value = (value + 5 * getPower(digitsNeeded - 1)) / getPower(digitsNeeded); |
| fixedPoint -= digitsNeeded; |
| } else { |
| // Error, cannot display value! Let's show stars |
| for (i = len - 1; i >= 0; --i) str[i] = '*'; |
| return str; |
| } |
| } |
| for (i = len - 1; i >= neg; --i) { |
| if (fixedPoint && i == len - fixedPoint - 1) { |
| // Insert decimal point at the right location |
| str[i] = Msg(MSG_KOMMA)[0]; |
| fixedPoint = 0; // Now in integer part |
| } else { |
| str[i] = (value % 10) + '0'; |
| value /= 10; |
| // Break if we're in integer part and there are only zeros from this point on |
| if (value == 0 && fixedPoint == 0) { |
| --i; |
| break; |
| } |
| } |
| } |
| // Insert sign |
| if (neg) str[i--] = '-'; |
| // Rest is blank |
| for (; i >= 0; --i) |
| str[i] = ' '; |
| return str; |
| } |
| // Trying to avoid floating point maths here. Converts a floating point string to an integer with a smaller unit |
| // i.e. floatStrToInt("4.5", 2) = 4.5 * 1E2 = 450 |
| int32_t floatStrToInt(const char *s, int32_t power1) |
| { char *endPtr; |
| int32_t v = strtol(s, &endPtr, 10); |
| if (*endPtr == '.') { |
| for (s = endPtr + 1; *s && power1; s++) { |
| v = v * 10 + (*s - '0'); |
| --power1; |
| } |
| } |
| if (power1) { |
| // Table to avoid multiple multiplications |
| v = v * getPower(power1); |
| } |
| return v; |
| } |
| // Delay helper |
| void delay_ms100x(uint8_t delay) |
| { |
| for ( uint8_t i=0; i<delay; i++) |
| _delay_ms(100); |
| } |
| /************************************************************************************/ |
| /* */ |
| /* Zeitanzeige */ |
| /* */ |
| /************************************************************************************/ |
| uint32_t TimeBase60(char *str, uint32_t time, uint8_t idx) |
| { uint32_t tmp = time % 60; |
| str[idx] = (tmp / 10) + '0'; |
| str[idx + 1] = (tmp % 10) + '0'; |
| return time / 60; |
| } |
| void Displ_TimeMS(int32_t time) |
| { char str[7]; |
| str[6] = '\0'; |
| if (time < 0) { |
| time = abs(time); |
| str[0] = '-'; |
| } |
| else |
| str[0] = ' '; |
| time = TimeBase60(str, time, 4); |
| str[3] = ':'; |
| TimeBase60(str, time, 1); |
| lcdPuts(str); |
| } |
| void Displ_TimeHMS(uint32_t time) |
| { char str[9]; |
| time /= T2SECDIV; // Zähler aller 500µs |
| str[8] = '\0'; |
| time = TimeBase60(str, time, 6); |
| str[5] = ':'; |
| time = TimeBase60(str, time, 3); |
| str[2] = ':'; |
| TimeBase60(str, time, 0); |
| lcdPuts(str); |
| } |
| /NGVideo5_8/tags/V1.31/tools.h |
|---|
| 0,0 → 1,15 |
| #ifndef _TOOLS_H_ |
| #define _TOOLS_H_ |
| #include <avr/io.h> |
| //char *my_itoa(int32_t value, uint8_t sign, uint8_t len, uint8_t fixedPoint, uint8_t afterPoint); |
| char *my_itoa(int32_t value, uint8_t len, uint8_t fixedPoint, uint8_t afterPoint); |
| int32_t floatStrToInt(const char *s, int32_t power1); |
| void delay_ms100x(uint8_t delay); |
| void Displ_TimeMS(int32_t time); |
| void Displ_TimeHMS(uint32_t time); |
| #endif |
| /NGVideo5_8/tags/V1.31/tracking.c |
|---|
| 0,0 → 1,406 |
| /****************************************************************/ |
| /* */ |
| /* 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 <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include <math.h> |
| #include <util/delay.h> |
| #include "tracking.h" |
| #include "ngvideo.h" |
| #include "servo.h" |
| #include "tools.h" |
| #include "usart.h" |
| #include "config.h" |
| #include "mk.h" |
| #include "keys.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 |
| #define AltFaktor 22.5 |
| HomePos_t MK_pos; // Home position of station |
| GPS_Pos_t currentPos; // Current position of flying object |
| int8_t satsInUse; // Number of satelites currently in use |
| uint8_t tracking = TRACKING_MIN; |
| uint8_t track_hyst = TRACKING_HYSTERESE; |
| uint8_t track_tx = 0; |
| geo_t geo; |
| int anglePan, angleTilt; |
| /**************************************************************/ |
| /* */ |
| /* 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 */ |
| /* */ |
| /**************************************************************/ |
| // Datenempfang vom MK ==> blinkt Antennensymbol |
| void Displ_wiRX(void) |
| { static uint8_t timer = 0; |
| static uint8_t picturedSats; |
| if (!bat_low && (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) { |
| picturedSats = 0; |
| lcdPutc(5); // Antennensymbol darstellen |
| } |
| else { |
| if (!picturedSats) { // Änderung Satelittenanzahl innerhalb dieser Periode nicht anzeigen |
| picturedSats = 1; |
| // aktuell empfangene Satellitenanzahl, Anzeige einstellig, da kein Platz auf Display |
| lcdPutc(satsInUse > 9? 'X': satsInUse + '0'); |
| } |
| } |
| } |
| else |
| lcdPutc(':'); |
| wi232RX = 0; |
| if (++timer == BLINK_PERIOD) timer = 0; |
| } |
| } |
| // Berechnung von Distanz und Winkel 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 / 10000000.0; |
| lat2 = (double)pos->Latitude / 10000000.0; |
| // 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); |
| } |
| // Anzeige eines GPS-Wertes auf LCD |
| void Displ_Format_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); |
| } |
| //void Displ_GPS(int anglePan, int angleTilt, geo_t *geo) |
| void Displ_GPS(void) |
| { uint16_t dDCurrent = 0; |
| // int32_t time_remaining = M59S59; |
| int32_t time_remaining = 0; |
| if (gps_display > GPS_DISP_NONE && (!coldstart || gps_display == GPS_MISC) && !bat_low) { |
| if (gps_disp_clear && !coldstart) { |
| gps_disp_clear = 0; |
| lcdClear(); |
| } |
| // makefile ohne! Minimalistic printf version |
| switch (gps_display) { |
| case GPS_DISP_CALC: |
| Displ_Format_Data(0, 0, "Dir:", my_itoa(MK_pos.direction, 3, 0, 0), '\xdf'); // '\xdf' entspricht '°' |
| Displ_Format_Data(8, 0, "Dis:", my_itoa((uint32_t)geo.distance, 3, 0, 0), 'm'); |
| Displ_Format_Data(0, 1, "Bea:", my_itoa((uint32_t)geo.bearing, 3, 0, 0), '\xdf'); |
| Displ_Format_Data(8, 1, "Alt:", my_itoa(currentPos.Altitude - MK_pos.Home_Alt, 3, 3, 1), 'm'); |
| Displ_Format_Data(0, 2, "Pan:", my_itoa(anglePan, 3, 0, 0), '\xdf'); |
| Displ_Format_Data(8, 2, "Til:", my_itoa(angleTilt, 3, 0, 0), '\xdf'); |
| break; |
| case GPS_DISP_CURRENT: |
| Displ_Format_Data(0, 0, "aLon:", my_itoa(currentPos.Longitude, 11, 7, 7), '\0'); |
| Displ_Format_Data(0, 1, "aLat:", my_itoa(currentPos.Latitude, 11, 7, 7), '\0'); |
| Displ_Format_Data(0, 2, "aAlt:", my_itoa(currentPos.Altitude, 11, 3, 1), '\0'); |
| break; |
| case GPS_DISP_HOME: |
| Displ_Format_Data(0, 0, "hLon:", my_itoa(MK_pos.Home_Lon7, 11, 7, 7), '\0'); |
| Displ_Format_Data(0, 1, "hLat:", my_itoa(MK_pos.Home_Lat7, 11, 7, 7), '\0'); |
| Displ_Format_Data(0, 2, "hAlt:", my_itoa(MK_pos.Home_Alt, 11, 3, 1), '\0'); |
| // >> Menueauswahl nach oben |
| if (Get_Key_Press( 1<<SW_PLUS ) || Get_Key_Press( 1<<SW_MINUS )) coldstart = 1; |
| break; |
| case GPS_MISC: |
| Displ_Format_Data(0, 0, "U:", my_itoa(mk_UBat, 4, 1, 1), 'V'); |
| Displ_Format_Data(8, 0, "W:", my_itoa(mk_dUsedCapacity, 4, 0, 0), '\0'); |
| Displ_Format_Data(0, 1, "I:", my_itoa(mk_Ikorr, 4, 1, 1), 'A'); |
| if (mk_current.Count > 0) { |
| dDCurrent = mk_current.Sum / mk_current.Count; |
| if (dDCurrent > 0) { |
| time_remaining = ((int32_t)mk_lipo.Capacity - mk_dUsedCapacity) * 36 / dDCurrent; |
| if (abs(time_remaining) > M59S59) |
| time_remaining = time_remaining < 0? -M59S59: M59S59; // M59S59 sind 59 Minuten und 59 Sekunden |
| } |
| } |
| Displ_Format_Data(8, 1, "\xee:", my_itoa(dDCurrent, 4, 1, 1), 'A');// Durchschnittszeichen |
| lcdGotoXY(0,2); |
| lcdPutc('\x1a'); // Summenzeichen |
| Displ_TimeMS(mk_lipo.time_on / T2SECDIV); |
| lcdGotoXY(8,2); |
| lcdPuts("R"); |
| Displ_TimeMS(time_remaining); |
| break; |
| } |
| } |
| Displ_wiRX(); |
| } |
| void do_tracking(void) |
| { static uint8_t hysteresis = 0; |
| geo = calc_geo(&MK_pos, ¤tPos); |
| angleTilt = RAD_TO_DEG * (double)atan2((double)(currentPos.Altitude - MK_pos.Home_Alt) / 1000, geo.distance); |
| if (geo.distance < 4 || (geo.distance < 6 && hysteresis)) { // < 4m ==> Pan-Servo in Mittelstellung. Hysterese bis 6m, damit Servo im Grenzbereich nicht wild rumschlägt |
| geo.bearing = MK_pos.direction; |
| angleTilt = 0; |
| hysteresis = 1; |
| } |
| else { |
| hysteresis = 0; |
| } |
| // egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen |
| // 360 grd negative Winkelwerte als positive |
| anglePan = fmod(geo.bearing - MK_pos.direction + 360 + 90, 360); |
| if (anglePan > 360) anglePan -= 360; |
| if (angleTilt < 0) angleTilt = 0; |
| if (angleTilt > 180) angleTilt = 180; |
| if (anglePan >= 180) { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo |
| anglePan = anglePan - 180; |
| angleTilt = 180 - angleTilt; |
| } |
| servoSetAngle(0, anglePan); |
| servoSetAngle(1, angleTilt); |
| } |
| /**************************************************************/ |
| /* */ |
| /* MK GPS Tracking */ |
| /* */ |
| /**************************************************************/ |
| // MK OSD-Daten lesen und verifizieren |
| uint8_t OSD_Data_valid(NaviData_t **navi_data) |
| { uint8_t ret = 0; |
| char *tx_osd = {"#co?]==EH\r"}; |
| // char interval[2] = {10, '\0'}; |
| if (rx_line_decode('O')) { // OSD-Datensatz prüfen/dekodieren |
| *navi_data = (NaviData_t*)data_decode; // dekodierte Daten mit Struktur OSD-Daten versehen |
| if (rx_timeout < RX_TIME_OLD) { // GPS-Daten nicht zu alt und ok. |
| currentPos = (*navi_data)->CurrentPosition; |
| if ((*navi_data)->NCFlags & NC_FLAG_GPS_OK) |
| ret = 1; |
| // aus MkCockpit http://forum.mikrokopter.de/topic-post216136.html#post216136 |
| // (4 * (........))/5 ==> Wichtung Luftdruck-Höhe zu GPS |
| currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)((*navi_data)->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5; |
| MK_Motor_run = (*navi_data)->FCStatusFlags & FC_FLAG_MOTOR_RUN; |
| MK_ProcessLipo(*navi_data); |
| satsInUse = (*navi_data)->SatsInUse; |
| } |
| } |
| else |
| if (rx_timeout == RX_TIME_END) store_LipoData();// ca. 4 Sekunden nach Signalverlust |
| // ca. 210ms keine OSD-Daten empfangen ==> sende neue Anforderung an MK |
| // if ((track_tx) && (rx_timeout > RX_TIMEOUT)) tx_Mk(NC_ADDRESS, 'o', interval, 1); // 420 * 0.5ms interval |
| if ((track_tx) && (rx_timeout > RX_TIMEOUT)) USART_send_Str(tx_osd); // 420 * 0.5ms interval |
| return ret; |
| } |
| // MK eingeschaltet und GPS-ok, danach Motoren gestartet ==> Berechnung horizontaler/vertikaler Servowinkel |
| // Hauptprogramm von GPS Antennen-Nachführung |
| void Tracking_GPS(void) |
| { NaviData_t *navi_data; |
| static uint8_t track_running = 0; |
| if (!track_running) { |
| track_running = 1; // verhindert doppelten Aufruf, wenn in Eingabeschleife Menu_MK_BatteryChangeNr() !!! |
| if (OSD_Data_valid(&navi_data)) { |
| if (coldstart) { |
| // erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen |
| if (navi_data->FCStatusFlags & FC_FLAG_MOTOR_START) { |
| MK_pos.Home_Lon = (double)navi_data->HomePosition.Longitude / 10000000.0; |
| MK_pos.Home_Lat = (double)navi_data->HomePosition.Latitude / 10000000.0; |
| MK_pos.Home_Lon7 = navi_data->HomePosition.Longitude; |
| MK_pos.Home_Lat7 = navi_data->HomePosition.Latitude; |
| MK_pos.Home_Alt = navi_data->HomePosition.Altitude; |
| MK_pos.direction = navi_data->CompassHeading; |
| coldstart = 0; |
| } |
| } |
| else { |
| do_tracking(); |
| } |
| } |
| Displ_GPS(); // letzte empfangene Daten auch bei ausgeschalteten MK sichtbar |
| track_running = 0; |
| } |
| } |
| /**************************************************************/ |
| /* */ |
| /* NMEA GPS Tracking */ |
| /* */ |
| /**************************************************************/ |
| void setNMEAdir(void) |
| { |
| if (!coldstart) |
| MK_pos.direction = geo.bearing; |
| } |
| // NMEA latitudes are in the form ddmm.mmmmm, we want an integer in 1E-7 degree steps |
| int32_t getLatitude(const char *s, const char *NS) |
| { int32_t deg = (s[0] - '0') * 10 + s[1] - '0'; // First 2 chars are full degrees |
| int32_t min = floatStrToInt(&s[2], 6) / 6; // Minutes * 1E5 * 100 / 60 = Minutes * 1E6 / 6 = 1E-7 degree steps |
| deg = deg * 10000000 + min; |
| if (*NS == 'S') deg = -deg; |
| return deg; |
| } |
| // NMEA longitudes are in the form dddmm.mmmmm, we want an integer in 1E-7 degree steps |
| int32_t getLongitude(const char *s, const char *WE) |
| { int32_t deg = ((s[0] - '0') * 10 + s[1] - '0') * 10 + s[2] - '0'; // First 3 chars are full degrees |
| int32_t min = floatStrToInt(&s[3], 6) / 6; // Minutes * 1E5 * 100 / 60 = Minutes * 1E6 / 6 = 1E-7 degree steps |
| deg = deg * 10000000 + min; |
| if (*WE == 'W') deg = -deg; |
| return deg; |
| } |
| void Tracking_NMEA(void) |
| { char *token; |
| int32_t latitude, longitude; |
| if (decodeNMEA()) { |
| token = strtok((char*)data_decode, ","); |
| // http://de.wikipedia.org/wiki/NMEA_0183 |
| if (!strcmp(token, "GPGGA")) { |
| // $GPGGA,220613.400,4843.5080,N,00922.9583,E,1,7,2.23,287.1,M,48.0,M,, |
| // Skip time |
| strtok(0, ","); |
| // Latitude |
| latitude = getLatitude(strtok(0, ","), strtok(0, ",")); |
| // Longitude |
| longitude = getLongitude(strtok(0, ","), strtok(0, ",")); |
| // Signal valid? (Position Fix Indicator) |
| if (*strtok(0, ",") != '0') { |
| // Satellites in use |
| satsInUse = atoi(strtok(0, ",")); |
| // Skip dilution |
| strtok(0, ","); |
| // Altitude |
| currentPos.Altitude = floatStrToInt(strtok(0, ","), 3); |
| currentPos.Latitude = latitude; |
| currentPos.Longitude = longitude; |
| if ((coldstart) && (satsInUse > 5)) { |
| // First position after reboot (or change of mode) will be the home position (facing north) |
| MK_pos.Home_Lon = (double)currentPos.Longitude / 10000000.0; |
| MK_pos.Home_Lat = (double)currentPos.Latitude / 10000000.0; |
| MK_pos.Home_Lon7 = currentPos.Longitude; |
| MK_pos.Home_Lat7 = currentPos.Latitude; |
| MK_pos.Home_Alt = currentPos.Altitude; |
| MK_pos.direction = 0; |
| coldstart = 0; |
| Double_Beep(DBEEPNMEAFIX, DBEEPMEAFIXP); |
| } |
| do_tracking(); |
| } |
| } |
| } |
| Displ_GPS(); // letzte empfangene Daten auch bei ausgeschalteter NMEA sichtbar |
| } |
| /************************************************************************/ |
| /* */ |
| /* 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(data_decode, POLOLU_CMD)) { |
| switch (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 = data_decode[2]; |
| ServoPos = ((ServoPos << 7) | data_decode[3]) / 20; // ServoPos * ServoSteps() sonst zu groß |
| if (ServoPos >= 60) ServoPos -= 60; else ServoPos = 0; |
| if (ServoPos > 180) ServoPos = 180; |
| servoSetAngle(data_decode[1], ServoPos); |
| } |
| } |
| } |
| /NGVideo5_8/tags/V1.31/tracking.h |
|---|
| 0,0 → 1,29 |
| #ifndef _TRACKING_H_ |
| #define _TRACKING_H_ |
| #define TRACKING_RSSI 1 |
| #define TRACKING_GPS 2 |
| #define TRACKING_MKCOCKPIT 3 |
| #define TRACKING_NMEA 4 |
| typedef struct { |
| double distance; |
| double bearing; |
| }geo_t; |
| typedef struct { |
| double Home_Lon; // in degrees |
| double Home_Lat; // in degrees |
| int32_t Home_Lon7; // in 1E-7 degrees |
| int32_t Home_Lat7; // in 1E-7 degrees |
| int32_t Home_Alt; // in mm |
| int16_t direction; // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading |
| }__attribute__((packed)) HomePos_t; |
| void Tracking_MKCockpit(void); |
| void Tracking_GPS(void); |
| void Tracking_NMEA(void); |
| void Tracking_RSSI(void); |
| void setNMEAdir(void); |
| #endif |
| /NGVideo5_8/tags/V1.31/usart.c |
|---|
| 0,0 → 1,292 |
| /****************************************************************/ |
| /* */ |
| /* 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 <string.h> |
| #include "usart.h" |
| #include "tracking.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 | ent 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; |
| static char start; |
| static char end; |
| /**************************************************************/ |
| /* */ |
| /* 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; |
| received = UDR0; |
| if (rx_ready == 0) { |
| if ((received == start) && line_flag) { // start '#', '$' or 0x80 |
| line_flag = 0; // New line has begun |
| ptr_write = rx_buffer; // Begin at start of buffer |
| rx_len = 0; |
| } |
| if (line_flag == 0) { // Are we receiving a line? |
| *ptr_write = received; // Add current byte |
| rx_len++; |
| // GPS Datensatzende |
| if (rx_GPS) { |
| if (received == end) { // End of MK-GPS or NMEA-line? |
| line_flag = 1; // Yes, start new line |
| rx_ready = 1; // Lock buffer until line has been processed |
| } |
| } |
| // Pololu Micro Serial very reduced/simplified; rx_len-checks 1 higher ==> already incremented |
| 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; // Lock buffer until line has been processed |
| } |
| } |
| ptr_write++; |
| if(rx_len == RXD_BUFFER_SIZE) line_flag = 1; // Line too long? Try again |
| } |
| } |
| } |
| uint8_t hexDigitToInt(uint8_t digit) |
| { |
| if (digit >= '0' && digit <= '9') return digit - '0'; |
| if (digit >= 'a' && digit <= 'f') return digit - 'a' + 10; |
| if (digit >= 'A' && digit <= 'F') return digit - 'A' + 10; |
| return 0; |
| } |
| uint8_t decodeNMEA(void) |
| { uint8_t ret = 0; |
| uint8_t crc; |
| uint8_t tmpCRC = 0; |
| uint8_t i; |
| if (rx_ready == 1 && rx_len > 0) { |
| // Calculate checksum |
| for (i = 1; i < rx_len && rx_buffer[i] != '*'; i++) { |
| tmpCRC ^= rx_buffer[i]; |
| } |
| if (rx_len >= i + 3) { |
| crc = hexDigitToInt(rx_buffer[i + 1]) << 4 | hexDigitToInt(rx_buffer[i + 2]); |
| if (crc == tmpCRC) { |
| rx_buffer[i] = 0; |
| strcpy(data_decode, &rx_buffer[1]); // Data without $, crc |
| ret = 1; |
| wi232RX = 1; // So antenna-symbol will blink |
| cli(); |
| rx_timeout = 0; // Got valid data, reset counter |
| sei(); |
| } |
| } |
| } |
| if (rx_timeout < RX_TIME_OLD) wi232RX = 1; |
| rx_ready = 0; // Unlock buffer, next NMEA string can be received |
| return ret; |
| } |
| // 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 Original 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 > 2) && (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(data_decode, rx_len - 6, 3); // Daten ohne Satzzeichen, header und crc |
| ret = 1; |
| } |
| cli(); |
| rx_timeout = 0; // wenn kein gültiger Datensatz 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) |
| { |
| switch (tracking) { |
| case TRACKING_GPS: |
| start = '#'; |
| end = '\r'; |
| rx_GPS = 1; |
| break; |
| case TRACKING_NMEA: |
| start = '$'; |
| end = '\n'; |
| rx_GPS = 1; |
| break; |
| default: |
| start = 0x80; |
| rx_GPS = 0; |
| break; |
| } |
| } |
| 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/V1.31/usart.h |
|---|
| 0,0 → 1,46 |
| /****************************************************************/ |
| /* */ |
| /* 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 RXD_BUFFER_SIZE 150 // Puffergröße in Byte |
| #define TXD_BUFFER_SIZE 20 |
| #define RX_TIMEOUT 420 // 210ms |
| #define RX_TIME_OLD 3 * RX_TIMEOUT // Grenze, Datensatz viel zu alt |
| #define RX_TIME_END 20* RX_TIMEOUT // Zählerbegrenzung und lipo speichern |
| //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); |
| // tx_Mk addresses |
| #define ANY_ADDRESS 0 |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| //void tx_Mk(unsigned char addr, char cmd, char *data, uint8_t len); |
| 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); |
| uint8_t decodeNMEA(void); |
| #endif /* USART_H_ */ |
| /NGVideo5_8/tags/V1.31 |
|---|
| Property changes: |
| Added: bugtraq:number |
| +true |
| \ No newline at end of property |