| 0,0 → 1,764 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "libfc.h" |
| #include "printf_P.h" |
| #include "main.h" |
| #include "spi.h" |
| #include "capacity.h" |
| |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| |
| #define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
| #define HoTT_printfxy(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
| #define HoTT_printfxy_INV(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
| #define HoTT_printfxy_BLINK(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
| #define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
| #define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
| |
| #define VOICE_MINIMALE_EINGANSSPANNUNG 16 |
| #define VOICE_BEEP 5 |
| #define HoTT_GRAD 96 |
| #define HoTT_LINKS 123 |
| #define HoTT_RECHTS 124 |
| #define HoTT_OBEN 125 |
| #define HoTT_UNTEN 126 |
| |
| #define HOTT_KEY_RIGHT 1 |
| #define HOTT_KEY_DOWN 2 |
| #define HOTT_KEY_UP 4 |
| #define HOTT_KEY_SET 6 |
| #define HOTT_KEY_LEFT 8 |
| |
| GPSPacket_t GPSPacket; |
| VarioPacket_t VarioPacket; |
| ASCIIPacket_t ASCIIPacket; |
| ElectricAirPacket_t ElectricAirPacket; |
| HoTTGeneral_t HoTTGeneral; |
| unsigned char SpeakHoTT = SPEAK_MIKROKOPTER; |
| int HoTTVarioMeter = 0; |
| const char PROGMEM MIKROKOPTER[] = {" MikroKopter "}; |
| const char PROGMEM UNDERVOLTAGE[] = {" !! LiPo voltage !! "}; |
| const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] = |
| { |
| //0123456789123456 |
| "No Error \0", // 0 |
| "Not compatible \0", // 1 |
| "MK3Mag not compa\0", // 2 |
| "No FC communicat\0", // 3 |
| "MK3Mag communica\0", // 4 |
| "GPS communicatio\0", // 5 |
| "compass value \0", // 6 |
| "RC Signal lost \0", // 7 |
| "FC spi rx error \0", // 8 |
| "No NC communicat\0", // 9 |
| "FC Nick Gyro \0", // 10 |
| "FC Roll Gyro \0", // 11 |
| "FC Yaw Gyro \0", // 12 |
| "FC Nick ACC \0", // 13 |
| "FC Roll ACC \0", // 14 |
| "FC Z-ACC \0", // 15 |
| "Pressure sensor \0", // 16 |
| "I2C FC->BL-Ctrl \0", // 17 |
| "Bl Missing \0", // 18 |
| "Mixer Error \0", // 19 |
| "Carefree Error \0", // 20 |
| "GPS Fix lost \0", // 21 |
| "Magnet Error \0", // 22 |
| "Motor restart \0", // 23 |
| "BL Limitation \0", // 24 |
| "GPS Range \0", // 25 |
| "No SD-Card \0", // 26 |
| "SD-Logging error\0", // 27 |
| "Flying range! \0", // 28 |
| "Max Altitude! \0", // 29 |
| "No GPS fix \0" // 30 |
| }; |
| |
| |
| const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] = |
| { // 1 -> only in flight 0 -> also on ground |
| //0123456789123456 |
| {0,0},// "No Error \0", // 0 |
| {SPEAK_ERROR,0},// "Not compatible \0", // 1 |
| {SPEAK_ERROR,0},// "MK3Mag not compa\0", // 2 |
| {SPEAK_ERR_NAVI,1},// "No FC communicat\0", // 3 |
| {SPEAK_ERR_COMPASS,1},// "MK3Mag communica\0", // 4 |
| {SPEAK_ERR_GPS,0},// "GPS communicatio\0", // 5 |
| {SPEAK_ERR_COMPASS,1},// "compass value \0", // 6 |
| {SPEAK_ERR_RECEICER,0},// "RC Signal lost \0", // 7 |
| {SPEAK_ERR_NAVI,0},// "FC spi rx error \0", // 8 |
| {SPEAK_ERR_NAVI,0},// "No NC communicat\0", // 9 |
| {SPEAK_ERR_SENSOR,0},// "FC Nick Gyro \0", // 10 |
| {SPEAK_ERR_SENSOR,0},// "FC Roll Gyro \0", // 11 |
| {SPEAK_ERR_SENSOR,0},// "FC Yaw Gyro \0", // 12 |
| {SPEAK_ERR_SENSOR,0},// "FC Nick ACC \0", // 13 |
| {SPEAK_ERR_SENSOR,0},// "FC Roll ACC \0", // 14 |
| {SPEAK_ERR_SENSOR,0},// "FC Z-ACC \0", // 15 |
| {SPEAK_ERR_SENSOR,0},// "Pressure sensor \0", // 16 |
| {SPEAK_ERR_DATABUS,1},// "I2C FC->BL-Ctrl \0", // 17 |
| {SPEAK_ERR_DATABUS,1},// "Bl Missing \0", // 18 |
| {SPEAK_ERROR,0},// "Mixer Error \0", // 19 |
| {SPEAK_CF_OFF,1},// "Carefree Error \0", // 20 |
| {SPEAK_GPS_FIX,1},// "GPS Fix lost \0", // 21 |
| {SPEAK_ERR_COMPASS,0},// "Magnet Error \0", // 22 |
| {SPEAK_ERR_MOTOR,1},// "Motor restart \0", // 23 |
| {SPEAK_MAX_TEMPERAT,1},// "BL Limitation \0", // 24 |
| {SPEAK_MAX_RANGE,1},// "GPS Range \0", // 25 |
| {SPEAK_ERROR,1},// "No SD-Card \0", // 26 |
| {SPEAK_ERROR,1},// "SD-Logging error\0", // 27 |
| {SPEAK_MAX_RANGE,1},// "Flying range! \0", // 28 |
| {SPEAK_MAX_ALTITUD,1},// "Max Altitude! \0" // 29 |
| {SPEAK_GPS_FIX,1}// "no GPS Fix, // 30 |
| }; |
| |
| |
| unsigned char MaxBlTempertaure = 0; |
| unsigned char MinBlTempertaure = 0; |
| unsigned char HottestBl = 0; |
| |
| void GetHottestBl(void) |
| { |
| static unsigned char search = 0,tmp_max,tmp_min,who; |
| if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;} |
| else |
| if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature; |
| if(++search > MAX_MOTORS) |
| { |
| search = 0; |
| if(tmp_min != 255) MinBlTempertaure = tmp_min; else MinBlTempertaure = 0; |
| MaxBlTempertaure = tmp_max; |
| HottestBl = who; |
| tmp_min = 255; |
| tmp_max = 0; |
| who = 0; |
| } |
| } |
| |
| //--------------------------------------------------------------- |
| void Hott_ClearLine(unsigned char line) |
| { |
| HoTT_printfxy(0,line," "); |
| } |
| //--------------------------------------------------------------- |
| |
| unsigned char HoTT_Waring(void) |
| { |
| unsigned char status = 0; |
| static char old_status = 0; |
| static int repeat; |
| //if(Parameter_UserParam1) return(Parameter_UserParam1); |
| //DebugOut.Analog[16] = 0; |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) status = VOICE_MINIMALE_EINGANSSPANNUNG; |
| else |
| if(NC_ErrorCode) |
| { |
| if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]); |
| } |
| |
| if(!status) |
| { |
| if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0; // is the voice wanted? |
| else status = SpeakHoTT; |
| }; |
| |
| if(old_status == status) |
| { |
| if(!CheckDelay(repeat)) return(0); |
| repeat = SetDelay(5000); |
| } |
| else repeat = SetDelay(2000); |
| |
| if(status) |
| { |
| if(status == SpeakHoTT) SpeakHoTT = 0; |
| } |
| old_status = status; |
| // DebugOut.Analog[16] = status; |
| return(status); |
| } |
| |
| //--------------------------------------------------------------- |
| void NC_Fills_HoTT_Telemety(void) |
| { |
| unsigned char *ptr = NULL; |
| unsigned char max = 0,i,z; |
| switch(FromNaviCtrl.Param.Byte[11]) |
| { |
| case HOTT_VARIO_PACKET_ID: |
| ptr = (unsigned char *) &VarioPacket; |
| max = sizeof(VarioPacket); |
| break; |
| case HOTT_GPS_PACKET_ID: |
| ptr = (unsigned char *) &GPSPacket; |
| max = sizeof(GPSPacket); |
| break; |
| case HOTT_ELECTRIC_AIR_PACKET_ID: |
| ptr = (unsigned char *) &ElectricAirPacket; |
| max = sizeof(ElectricAirPacket); |
| break; |
| case HOTT_GENERAL_PACKET_ID: |
| ptr = (unsigned char *) &HoTTGeneral; |
| max = sizeof(HoTTGeneral); |
| break; |
| } |
| z = FromNaviCtrl.Param.Byte[0]; // Data allocation |
| |
| for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++) |
| { |
| if(z >= max) break; |
| ptr[z] = FromNaviCtrl.Param.Byte[2+i]; |
| z++; |
| } |
| } |
| |
| unsigned int BuildHoTT_Vario(void) |
| { |
| unsigned int tmp = 30000; |
| if(VarioCharacter == '+' || VarioCharacter == '-') |
| { |
| tmp = 30000 + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3; |
| if(tmp < 30000 && tmp > 30000 - 50) tmp = 30000 - 50; // weil es sonst erst bei < 0,5m/sek piept |
| } |
| else |
| if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY)) |
| { |
| tmp = 30000 + HoTTVarioMeter; |
| if(tmp > 30000) |
| { |
| if(tmp < 30000 + 100) tmp = 30000; |
| else tmp -= 100; |
| } |
| if(tmp < 30000) |
| { |
| if(tmp > 30000 - 100) tmp = 30000; |
| else tmp += 100; |
| } |
| } |
| else |
| if(VarioCharacter == '^') tmp = 30000 + FromNC_AltitudeSpeed * 10; |
| else |
| if(VarioCharacter == 'v') tmp = 30000 - FromNC_AltitudeSpeed * 10; |
| |
| return(tmp); |
| } |
| |
| |
| //--------------------------------------------------------------- |
| unsigned char HoTT_Telemety(unsigned char packet_request) |
| { |
| unsigned char i; |
| //Debug("rqst: %02X",packet_request); |
| |
| switch(packet_request) |
| { |
| case HOTT_VARIO_PACKET_ID: |
| VarioPacket.Altitude = HoehenWert/100 + 500; |
| VarioPacket.m_sec = BuildHoTT_Vario(); |
| VarioPacket.m_3sec = VarioPacket.m_sec; |
| VarioPacket.m_10sec = VarioPacket.m_sec; |
| if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude; |
| if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude; |
| VarioPacket.WarnBeep = 0;//HoTT_Waring(); |
| HoTT_DataPointer = (unsigned char *) &VarioPacket; |
| VarioPacket.FreeCharacters[0] = VarioCharacter; |
| if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' '; |
| // VarioPacket.FreeCharacters[2] = ' '; |
| if(NC_ErrorCode) |
| { |
| for(i=0; i<16;i++) VarioPacket.Text[i+4] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]); |
| VarioPacket.Text[0] = NC_ErrorCode/10 + '0'; |
| VarioPacket.Text[1] = NC_ErrorCode%10 + '0'; |
| VarioPacket.Text[2] = ':'; |
| } |
| else |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error |
| else |
| for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error |
| |
| return(sizeof(VarioPacket)); |
| break; |
| |
| case HOTT_GPS_PACKET_ID: |
| GPSPacket.Altitude = HoehenWert/100 + 500; |
| // GPSPacket.Distance = GPSInfo.HomeDistance/10; // macht die NC |
| // GPSPacket.Heading = GPSInfo.HomeBearing/2; // macht die NC |
| // GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; // macht die NC |
| GPSPacket.m_sec = BuildHoTT_Vario(); |
| GPSPacket.m_3sec = 120; |
| GPSPacket.NumOfSats = GPSInfo.NumOfSats; |
| GPSPacket.WarnBeep = HoTT_Waring(); |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D'; |
| else |
| if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' '; |
| else GPSPacket.SatFix = '!'; |
| HoTT_DataPointer = (unsigned char *) &GPSPacket; |
| GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter; |
| GPSPacket.FreeCharacters[2] = GPSPacket.SatFix; |
| GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230; |
| return(sizeof(GPSPacket)); |
| break; |
| case HOTT_ELECTRIC_AIR_PACKET_ID: |
| GetHottestBl(); |
| ElectricAirPacket.Altitude = HoehenWert/100 + 500; |
| ElectricAirPacket.Battery1 = UBat; |
| ElectricAirPacket.Battery2 = UBat; |
| ElectricAirPacket.VoltageCell1 = ErsatzKompassInGrad / 2; |
| ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1; |
| ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2; |
| ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20; |
| ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6; |
| ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7; |
| ElectricAirPacket.m_sec = BuildHoTT_Vario(); |
| ElectricAirPacket.m_3sec = 120; |
| ElectricAirPacket.InputVoltage = UBat; |
| ElectricAirPacket.Temperature1 = MinBlTempertaure + 20; |
| ElectricAirPacket.Temperature2 = MaxBlTempertaure + 20; |
| ElectricAirPacket.Capacity = Capacity.UsedCapacity/10; |
| ElectricAirPacket.WarnBeep = 0;//HoTT_Waring(); |
| ElectricAirPacket.Current = Capacity.ActualCurrent; |
| HoTT_DataPointer = (unsigned char *) &ElectricAirPacket; |
| ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60; |
| ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60; |
| return(sizeof(ElectricAirPacket)); |
| break; |
| case HOTT_GENERAL_PACKET_ID: |
| GetHottestBl(); |
| HoTTGeneral.Rpm = GPSInfo.HomeDistance/100; |
| HoTTGeneral.VoltageCell1 = ErsatzKompassInGrad / 2; |
| HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2; |
| if(UBat > BattLowVoltageWarning + 5) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 6)) * 3; |
| else HoTTGeneral.FuelPercent = 0; |
| HoTTGeneral.FuelCapacity = HoehenWert/100; |
| if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0; |
| HoTTGeneral.Altitude = HoehenWert/100 + 500; |
| HoTTGeneral.Battery1 = UBat; |
| HoTTGeneral.Battery2 = UBat; |
| HoTTGeneral.m_sec = BuildHoTT_Vario(); |
| HoTTGeneral.m_3sec = 120; |
| HoTTGeneral.InputVoltage = UBat; |
| HoTTGeneral.Temperature1 = MinBlTempertaure + 20; |
| HoTTGeneral.Temperature2 = MaxBlTempertaure + 20; |
| HoTTGeneral.Capacity = Capacity.UsedCapacity/10; |
| HoTTGeneral.WarnBeep = 0;//HoTT_Waring(); |
| HoTTGeneral.Current = Capacity.ActualCurrent; |
| HoTT_DataPointer = (unsigned char *) &HoTTGeneral; |
| return(sizeof(HoTTGeneral)); |
| break; |
| default: return(0); |
| } |
| } |
| |
| //--------------------------------------------------------------- |
| void HoTT_Menu(void) |
| { |
| static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0; |
| unsigned char tmp; |
| HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8; |
| |
| if(page == 0) |
| switch(line++) |
| { |
| case 0: |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10) |
| else |
| HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10) |
| |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter) |
| else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100)) |
| } |
| else HoTT_printfxy(10,0,"ALT:---- "); |
| break; |
| case 1: |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60) |
| else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
| HoTT_printfxy(10,1,"DIR: %3d%c",ErsatzKompassInGrad, HoTT_GRAD); |
| if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," "); |
| break; |
| case 2: |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity) |
| else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity); |
| HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| break; |
| case 3: |
| HoTT_printfxy(9,0,":"); |
| HoTT_printfxy(9,1,":"); |
| HoTT_printfxy(9,2,":"); |
| HoTT_printfxy(0,3,"---------+-----------"); |
| |
| // HoTT_printfxy(0,3,"---------------------"); |
| HoTT_printfxy(0,6,"---------------------"); |
| break; |
| case 4: |
| if(NaviDataOkay) |
| { |
| HoTT_printfxy(9,4,":"); |
| HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats); |
| HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10); |
| switch (GPSInfo.SatFix) |
| { |
| case SATFIX_3D: |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ") |
| else HoTT_printfxy(7,4,"3D"); |
| break; |
| default: |
| HoTT_printfxy_BLINK(7,4,"!!"); |
| break; |
| } |
| } |
| else |
| { |
| Hott_ClearLine(4); |
| } |
| break; |
| case 5: |
| if(NaviDataOkay) |
| { |
| if(show_mag) |
| { |
| HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField); |
| HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
| HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic); |
| } |
| else |
| { |
| HoTT_printfxy(0,5," %2um/s: HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
| } |
| } |
| else Hott_ClearLine(5); |
| break; |
| case 6: |
| break; |
| case 7: if(NC_ErrorCode) |
| { |
| if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
| { |
| Hott_ClearLine(7); |
| HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
| } |
| else |
| { |
| HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
| } |
| else |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
| else HoTT_printfxy(0,7," www.MikroKopter.de "); |
| break; |
| case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
| // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
| case 9: |
| case 10: |
| case 11: |
| case 12: |
| case 13: |
| case 14: |
| case 15: |
| case 16: |
| if(HottKeyboard == HOTT_KEY_SET) { if(show_mag) show_mag = 0; else show_mag = 1;} |
| else |
| if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
| HottKeyboard = 0; |
| break; |
| default: line = 0; |
| break; |
| } |
| else |
| if(page == 1) |
| switch(line++) |
| { |
| case 0: |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity) |
| else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity); |
| break; |
| case 1: |
| HoTT_printfxy(0,1,"DIR:%3d%c",KompassValue, HoTT_GRAD); |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
| else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
| } |
| else HoTT_printfxy(10,1,"ALT:---- "); |
| HoTT_printfxy(20,1,"%c",VarioCharacter); |
| break; |
| case 2: |
| if(NaviDataOkay) |
| { |
| HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter); |
| } |
| else |
| { |
| Hott_ClearLine(2); |
| } |
| break; |
| case 3: |
| HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower); |
| if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3," "); |
| break; |
| case 4: |
| if(NaviDataOkay) |
| { |
| HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
| switch (GPSInfo.SatFix) |
| { |
| case SATFIX_3D: |
| HoTT_printfxy(16,4," 3D "); |
| break; |
| //case SATFIX_2D: |
| //case SATFIX_NONE: |
| default: |
| HoTT_printfxy_BLINK(16,4,"NOFIX"); |
| break; |
| } |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) |
| { |
| HoTT_printfxy(16,4,"DGPS "); |
| } |
| } |
| else |
| { //012345678901234567890 |
| HoTT_printfxy(0,4," No NaviCtrl "); |
| } |
| break; |
| case 5: |
| if(show_current) |
| { |
| HoTT_printfxy(0,5,"%2i.%i %2i.%i %2i.%i %2i.%iA", Motor[0].Current/10,Motor[0].Current%10,Motor[1].Current/10,Motor[1].Current%10,Motor[2].Current/10,Motor[2].Current%10,Motor[3].Current/10,Motor[3].Current%10); |
| } |
| else |
| { |
| HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD); |
| } |
| break; |
| case 6: |
| if(show_current) |
| { |
| if(RequiredMotors == 4) Hott_ClearLine(6); |
| else |
| if(RequiredMotors == 6) HoTT_printfxy(0,6,"%2i.%i %2i.%iA", Motor[4].Current/10,Motor[4].Current%10,Motor[5].Current/10,Motor[5].Current%10) |
| else |
| if(RequiredMotors > 6) HoTT_printfxy(0,6,"%2i.%i %2i.%i %2i.%i %2i.%iA", Motor[4].Current/10,Motor[4].Current%10,Motor[5].Current/10,Motor[5].Current%10,Motor[6].Current/10,Motor[6].Current%10,Motor[7].Current/10,Motor[7].Current%10); |
| } |
| else |
| { |
| if(RequiredMotors == 4) Hott_ClearLine(6); |
| else |
| if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
| else |
| if(RequiredMotors > 6) HoTT_printfxy(0,6,"%3i %3i %3i %3i%cC", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature,HoTT_GRAD); |
| } |
| break; |
| case 7: if(NC_ErrorCode) |
| { |
| if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
| { |
| Hott_ClearLine(7); |
| HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
| } |
| else |
| { |
| HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
| } |
| else |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
| else HoTT_printfxy(0,7," www.MikroKopter.de "); |
| break; |
| case 8: // ASCIIPacket.WarnBeep = HoTT_Waring(); |
| // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
| case 9: |
| case 10: |
| case 11: |
| case 12: |
| case 13: |
| case 14: |
| case 15: |
| case 16: |
| if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1; Hott_ClearLine(5); Hott_ClearLine(6);} |
| else |
| if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 2; line = 0;} |
| else |
| if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 0; line = 0;} |
| //if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard); |
| HottKeyboard = 0; |
| break; |
| default: line = 0; |
| break; |
| } |
| else |
| if(page == 2) |
| switch(line++) |
| { |
| case 0: |
| HoTT_printfxy_INV(0,0,"Setting:%u %s ",GetActiveParamSet(),EE_Parameter.Name); |
| break; |
| case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
| break; |
| case 2: HoTT_printfxy(0,2,"ALT:"); |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter) |
| else |
| { |
| if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) "); |
| if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter) |
| else HoTT_printf("VARIO", Parameter_HoehenSchalter); |
| } |
| } |
| else |
| HoTT_printf("DISABLED"); |
| break; |
| case 3: HoTT_printfxy(0,3,"CF:"); |
| if(!EE_Parameter.CareFreeModeControl) HoTT_printf("DISABLED") |
| else |
| { |
| if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
| if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH"); |
| } |
| break; |
| case 4: HoTT_printfxy(0,4,"GPS:"); |
| if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
| else |
| { |
| CHK_POTI(tmp,EE_Parameter.NaviGpsModeControl); |
| if(tmp < 50) HoTT_printf("(FREE)") |
| else |
| if(tmp >= 180) HoTT_printf("(HOME)") |
| else |
| if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ") |
| else HoTT_printf("(HOLD)") |
| } |
| if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime) |
| |
| break; |
| case 5: HoTT_printfxy(0,5,"HOME ALT:"); |
| if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD "); |
| break; |
| case 6: |
| if(!show_poti) |
| { |
| HoTT_printfxy(0,6,"Ni:%4i Ro:%4i C:%3i",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]], Parameter_ServoNickControl); |
| HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| } |
| else |
| { |
| HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3); |
| HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6); |
| } |
| |
| break; |
| case 7: //HoTT_printfxy(0,6,"WARNINGS:"); |
| if(HoTTBlink) |
| { |
| LIBFC_HoTT_SetPos(6 * 21); |
| if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! "); |
| if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! "); |
| if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! "); |
| if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! "); |
| } |
| break; |
| case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
| break; |
| case 9: |
| case 10: |
| case 11: |
| case 12: |
| case 13: |
| case 14: |
| case 15: |
| case 16: |
| if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1; Hott_ClearLine(6); Hott_ClearLine(7);} |
| else |
| if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 3; line = 0;} |
| else |
| if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
| HottKeyboard = 0; |
| break; |
| default: line = 0; |
| break; |
| } |
| else |
| if(page == 3) |
| switch(line++) |
| { |
| case 0: |
| HoTT_printfxy(0,2,"Speak:"); |
| break; |
| case 1: |
| if(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01) HoTT_printfxy_INV(7,2,"All Messages ") |
| else HoTT_printfxy_INV(7,2,"Warnings only"); |
| break; |
| case 2: |
| HoTT_printfxy(1,4,"Use (set) to select"); |
| break; |
| default: |
| if(HottKeyboard == HOTT_KEY_SET) |
| { |
| SetParamByte(PID_SPEAK_HOTT_CFG, GetParamByte(PID_SPEAK_HOTT_CFG) ^ 0x01); |
| } |
| else |
| if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 2; line = 0;}; |
| HottKeyboard = 0; |
| line = 0; |
| break; |
| } |
| else page = 0; |
| } |
| |
| #endif |
| |
| |
| |