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2751 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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4 | // + Software Nutzungsbedingungen (english version: see below) |
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5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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19 | // + des Mitverschuldens offen. |
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20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Software LICENSING TERMS |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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32 | // + 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 |
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33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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34 | // + The Software may only be used with the Licensor's products. |
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35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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37 | // + agreement shall be the property of the Licensor. |
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38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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40 | // + The customer shall be responsible for taking reasonable precautions |
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41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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50 | // + #### END OF LICENSING TERMS #### |
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51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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53 | #include "libfc.h" |
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54 | #include "printf_P.h" |
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55 | #include "main.h" |
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56 | #include "spi.h" |
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57 | #include "capacity.h" |
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58 | |||
59 | unsigned char NaviData_WaypointIndex = 0; |
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60 | unsigned char NaviData_WaypointNumber = 0, NaviData_TargetHoldTime = 0, ToNC_Load_WP_List = 0, NaviData_MaxWpListIndex = 0; |
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61 | unsigned char ToNC_Load_SingePoint = 0, ToNC_Store_SingePoint = 0; |
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62 | char WPL_Name[10];// = {" \0"}; |
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63 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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64 | |||
65 | #define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
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66 | #define HoTT_printfxy(x,y,format, args...) { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
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67 | #define HoTT_printfxy_INV(x,y,format, args...) { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
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68 | #define HoTT_printfxy_BLINK(x,y,format, args...) { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
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69 | #define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
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70 | #define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
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71 | |||
72 | #define VOICE_MINIMALE_EINGANSSPANNUNG 16 |
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73 | #define VOICE_BEEP 5 |
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74 | #define HoTT_GRAD 96 |
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75 | #define HoTT_LINKS 123 |
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76 | #define HoTT_RECHTS 124 |
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77 | #define HoTT_OBEN 125 |
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78 | #define HoTT_UNTEN 126 |
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79 | |||
80 | #define HOTT_KEY_RIGHT 1 |
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81 | #define HOTT_KEY_DOWN 2 |
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82 | #define HOTT_KEY_UP 4 |
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83 | #define HOTT_KEY_SET 6 |
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84 | #define HOTT_KEY_LEFT 8 |
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85 | |||
86 | #define VARIO_ZERO 30000 |
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87 | unsigned int NaviData_TargetDistance = 0; |
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88 | |||
89 | unsigned char MaxBlTemperture = 0; |
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90 | unsigned char MinBlTemperture = 0; |
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91 | unsigned char HottestBl = 0; |
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92 | |||
93 | GPSPacket_t GPSPacket; |
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94 | VarioPacket_t VarioPacket; |
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95 | ASCIIPacket_t ASCIIPacket; |
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96 | ElectricAirPacket_t ElectricAirPacket; |
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97 | HoTTGeneral_t HoTTGeneral; |
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98 | unsigned char SpeakHoTT = SPEAK_MIKROKOPTER; |
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99 | unsigned char ToNC_SpeakHoTT = 0, ShowSettingNameTime = 0; |
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100 | int HoTTVarioMeter = 0; |
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101 | const char PROGMEM MIKROKOPTER[] = {" MikroKopter "}; |
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102 | const char PROGMEM UNDERVOLTAGE[] = {" !! LiPo voltage !! "}; |
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103 | const char PROGMEM LANDING[] = {" !! LANDING !! "}; |
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104 | const char PROGMEM SIMULATION[] = {" SIMULATION active "}; |
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105 | const char PROGMEM BOAT_MODE[] = {" MikroKopter (Boat) "}; |
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106 | const char PROGMEM SETTING[] = {"Set :"}; |
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107 | const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] = |
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108 | { |
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109 | //0123456789123456 |
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110 | "No Error \0", // 0 |
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111 | "Not compatible \0", // 1 |
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112 | "MK3Mag not compa\0", // 2 |
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113 | "No FC communicat\0", // 3 |
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114 | "Compass communic\0", // 4 |
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115 | "GPS communicatio\0", // 5 |
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116 | "compass value \0", // 6 |
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117 | "RC Signal lost \0", // 7 |
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118 | "FC spi rx error \0", // 8 |
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119 | "No NC communicat\0", // 9 |
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120 | "FC Nick Gyro \0", // 10 |
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121 | "FC Roll Gyro \0", // 11 |
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122 | "FC Yaw Gyro \0", // 12 |
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123 | "FC Nick ACC \0", // 13 |
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124 | "FC Roll ACC \0", // 14 |
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125 | "FC Z-ACC \0", // 15 |
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126 | "Pressure sensor \0", // 16 |
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127 | "I2C FC->BL-Ctrl \0", // 17 |
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128 | "Bl Missing \0", // 18 |
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129 | "Mixer Error \0", // 19 |
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130 | "Carefree Error \0", // 20 |
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131 | "GPS Fix lost \0", // 21 |
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132 | "Magnet Error \0", // 22 |
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133 | "Motor restart \0", // 23 |
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134 | "BL Limitation \0", // 24 |
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135 | "GPS Range \0", // 25 |
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136 | "No SD-Card \0", // 26 |
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137 | "SD-Logging error\0", // 27 |
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138 | "Flying range! \0", // 28 |
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139 | "Max Altitude! \0", // 29 |
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140 | "No GPS fix \0", // 30 |
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141 | "compass not cal.\0", // 31 |
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142 | "BL-Selftest \0", // 32 |
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143 | "no ext. compass \0", // 33 |
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144 | "compass sensor \0", // 34 |
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145 | "Failsafe postion\0", // 35 |
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146 | "No Redundancy! \0", // 36 |
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147 | "Redundancy test \0" // 37 |
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148 | |||
149 | }; |
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150 | |||
151 | |||
152 | const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] = |
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153 | { // 1 -> only in flight 0 -> also on ground |
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154 | //0123456789123456 |
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155 | {0,0},// "No Error \0", // 0 |
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156 | {SPEAK_ERROR,0}, // "Not compatible \0", // 1 |
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157 | {SPEAK_ERROR,0}, // "MK3Mag not compa\0", // 2 |
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158 | {SPEAK_ERR_NAVI,1}, // "No FC communicat\0", // 3 |
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159 | {SPEAK_ERR_COMPASS,1}, // "MK3Mag communica\0", // 4 |
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160 | {SPEAK_ERR_GPS,0}, // "GPS communicatio\0", // 5 |
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161 | {SPEAK_ERR_COMPASS,1}, // "compass value \0", // 6 |
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162 | {SPEAK_ERR_RECEICER,0},// "RC Signal lost \0", // 7 |
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163 | {SPEAK_ERR_NAVI,0}, // "FC spi rx error \0", // 8 |
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164 | {SPEAK_ERR_NAVI,0}, // "No NC communicat\0", // 9 |
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165 | {SPEAK_ERR_SENSOR,0}, // "FC Nick Gyro \0", // 10 |
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166 | {SPEAK_ERR_SENSOR,0}, // "FC Roll Gyro \0", // 11 |
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167 | {SPEAK_ERR_SENSOR,0}, // "FC Yaw Gyro \0", // 12 |
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168 | {SPEAK_ERR_SENSOR,0}, // "FC Nick ACC \0", // 13 |
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169 | {SPEAK_ERR_SENSOR,0}, // "FC Roll ACC \0", // 14 |
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170 | {SPEAK_ERR_SENSOR,0}, // "FC Z-ACC \0", // 15 |
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171 | {SPEAK_ERR_SENSOR,0}, // "Pressure sensor \0", // 16 |
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172 | {SPEAK_ERR_DATABUS,1}, // "I2C FC->BL-Ctrl \0", // 17 |
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173 | {SPEAK_ERR_DATABUS,1}, // "Bl Missing \0", // 18 |
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174 | {SPEAK_ERROR,0}, // "Mixer Error \0", // 19 |
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175 | {SPEAK_CF_OFF,1}, // "Carefree Error \0", // 20 |
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176 | {SPEAK_GPS_FIX,1}, // "GPS Fix lost \0", // 21 |
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177 | {SPEAK_ERR_COMPASS,0}, // "Magnet Error \0", // 22 |
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178 | {SPEAK_ERR_MOTOR,1}, // "Motor restart \0", // 23 |
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179 | {SPEAK_MAX_TEMPERAT,1},// "BL Limitation \0", // 24 |
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180 | {SPEAK_MAX_RANGE,1}, // "GPS Range \0", // 25 |
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181 | {SPEAK_ERROR,1}, // "No SD-Card \0", // 26 |
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182 | {SPEAK_ERROR,1}, // "SD-Logging error\0", // 27 |
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183 | {SPEAK_MAX_RANGE,1}, // "Flying range! \0", // 28 |
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184 | {SPEAK_MAX_ALTITUD,1}, // "Max Altitude! \0" // 29 |
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185 | {SPEAK_GPS_FIX,1}, // "No GPS fix \0" // 30 |
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186 | {SPEAK_ERR_CALIBARTION,0},// "compass not cal." // 31 |
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187 | {SPEAK_ERR_MOTOR,0}, // "BL-Selftest \0" // 32 |
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188 | {SPEAK_ERR_COMPASS,0}, // "no ext. compass" // 33 |
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189 | {SPEAK_ERR_COMPASS,0}, // "compass sensor" // 34 |
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190 | {SPEAK_ERROR,1}, // "Failsafe postion0", // 35 |
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191 | {SPEAK_ERROR,0}, // "No Redundancy!", // 36 |
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192 | {0,0} // "Redundancy test", // 37 |
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193 | }; |
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194 | |||
195 | /* |
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196 | //------------------------------------------------------------------------------------------ |
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197 | // HoTT-Plus |
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198 | //------------------------------------------------------------------------------------------ |
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199 | char dummy=0; |
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200 | const Parameter_List_t Parameter_List[] = |
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201 | { //offset,min,max,name,variable |
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202 | {127, 0, 247,"SP1", (unsigned char *) &PPM_in[13] }, |
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203 | {127, 0, 247,"SP2", (unsigned char *) &PPM_in[14] }, |
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204 | {127, 0, 247,"SP3", (unsigned char *) &PPM_in[15] }, |
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205 | {127, 0, 247,"SP4", (unsigned char *) &PPM_in[16] }, |
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206 | { 0, 0, 247,"HD ", (unsigned char *) &EE_Parameter.Luftdruck_D }, |
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207 | { 0, 0, 247,"HP ", (unsigned char *) &EE_Parameter.Hoehe_P }, |
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208 | { 0, 0, 247,"HA ", (unsigned char *) &EE_Parameter.Hoehe_ACC_Wirkung }, |
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209 | { 0, 0, 247,"HM ", (unsigned char *) &EE_Parameter.Hoehe_MinGas }, |
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210 | { 0, 0, 247,"HV ", (unsigned char *) &EE_Parameter.Hoehe_HoverBand }, |
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211 | { 0, 0, 247,"HG ", (unsigned char *) &EE_Parameter.Hoehe_Verstaerkung }, |
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212 | { 0, 0, 247,"NG ", (unsigned char *) &EE_Parameter.NotGas }, |
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213 | { 0, 0, 247,"StP", (unsigned char *) &EE_Parameter.Stick_P }, |
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214 | { 0, 0, 247,"StD", (unsigned char *) &EE_Parameter.Stick_D }, |
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215 | { 0, 0, 247,"SGP", (unsigned char *) &EE_Parameter.StickGier_P }, |
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216 | { 0, 0, 247,"DrC", (unsigned char *) &EE_Parameter.Driftkomp }, |
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217 | { 0, 0, 247,"GYP", (unsigned char *) &EE_Parameter.Gyro_P }, |
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218 | { 0, 0, 247,"GYD", (unsigned char *) &EE_Parameter.Gyro_D }, |
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219 | { 0, 0, 247,"GYI", (unsigned char *) &EE_Parameter.Gyro_I }, |
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220 | { 0, 0, 247,"MaI", (unsigned char *) &EE_Parameter.I_Faktor }, |
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221 | { 0, 0, 247,"GGP", (unsigned char *) &EE_Parameter.Gyro_Gier_P }, |
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222 | { 0, 0, 247,"GGI", (unsigned char *) &EE_Parameter.Gyro_Gier_I }, |
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223 | { 0, 0, 15,"GSt", (unsigned char *) &EE_Parameter.Gyro_Stability }, |
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224 | { 0, 0, 247,"DSt", (unsigned char *) &EE_Parameter.DynamicStability }, |
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225 | { 0, 0, 247,"NGG", (unsigned char *) &EE_Parameter.NaviGpsGain }, |
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226 | { 0, 0, 247,"NWC", (unsigned char *) &EE_Parameter.NaviWindCorrection }, |
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227 | { 0, 0, 247,"NSC", (unsigned char *) &EE_Parameter.NaviAccCompensation }, |
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228 | { 0, 0, 247,"NAL", (unsigned char *) &EE_Parameter.NaviAngleLimitation }, |
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229 | { 0, 0, 247,"NP ", (unsigned char *) &EE_Parameter.NaviGpsP }, |
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230 | { 0, 0, 247,"ND ", (unsigned char *) &EE_Parameter.NaviGpsI }, |
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231 | { 0, 0, 247,"NI ", (unsigned char *) &EE_Parameter.NaviGpsD }, |
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232 | { 0, 0, 247,"LGL", (unsigned char *) &EE_Parameter.LoopGasLimit }, |
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233 | { 0, 0, 247,"LHy", (unsigned char *) &EE_Parameter.LoopHysterese }, |
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234 | { 0, 0, 247,"LTh", (unsigned char *) &EE_Parameter.LoopThreshold }, |
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235 | { 0, 0, 0," ", (unsigned char *) &dummy }, |
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236 | { 0, 0, 247,"FGP", (unsigned char *) &EE_Parameter.AchsKopplung1}, |
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237 | { 0, 0, 247,"FNR", (unsigned char *) &EE_Parameter.AchsKopplung2}, |
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238 | { 0, 0, 247,"CYC", (unsigned char *) &EE_Parameter.CouplingYawCorrection}, |
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239 | { 0, 0, 247,"MSH", (unsigned char *) &EE_Parameter.MotorSmooth}, |
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240 | { 0, 0, 247,"NCT", (unsigned char *) &EE_Parameter.ServoNickControl }, |
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241 | { 0, 0, 247,"NCP", (unsigned char *) &EE_Parameter.ServoNickComp }, |
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242 | { 0, 0, 247,"RCT", (unsigned char *) &EE_Parameter.ServoRollControl }, |
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243 | { 0, 0, 247,"RCP", (unsigned char *) &EE_Parameter.ServoRollComp } |
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244 | }; |
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245 | unsigned char settingdest = 0; |
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246 | //------------------------------------------------------------------------------------------ |
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247 | // HoTT-Plus |
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248 | //------------------------------------------------------------------------------------------ |
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249 | */ |
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250 | void GetHottestBl(void) |
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251 | { |
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252 | static unsigned char search = 0,tmp_max,tmp_min,who; |
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253 | if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;} |
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254 | else |
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255 | if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature; |
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256 | if(++search >= MAX_MOTORS) |
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257 | { |
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258 | search = 0; |
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259 | if(tmp_min != 255) MinBlTemperture = tmp_min; else MinBlTemperture = 0; |
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260 | MaxBlTemperture = tmp_max; |
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261 | HottestBl = who; |
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262 | tmp_min = 255; |
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263 | tmp_max = 0; |
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264 | who = 0; |
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265 | } |
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266 | } |
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267 | |||
268 | //--------------------------------------------------------------- |
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269 | void Hott_ClearLine(unsigned char line) |
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270 | { |
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271 | HoTT_printfxy(0,line," "); |
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272 | } |
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273 | //--------------------------------------------------------------- |
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274 | |||
275 | |||
276 | unsigned char HoTT_Waring(void) |
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277 | { |
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278 | unsigned char status = 0; |
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279 | static char old_status = 0; |
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280 | static int repeat; |
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281 | //if(Parameter_UserParam1) SpeakHoTT = Parameter_UserParam1; |
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282 | ToNC_SpeakHoTT = SpeakHoTT; |
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283 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
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284 | { |
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285 | if(LowVoltageLandingActive && (EE_Parameter.Receiver == RECEIVER_HOTT)) status = SPEAK_LANDING; |
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286 | else status = VOICE_MINIMALE_EINGANSSPANNUNG; // Jeti hat kein wort: "LANDEN" |
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287 | if(SpeakHoTT && old_status == VOICE_MINIMALE_EINGANSSPANNUNG) status = SpeakHoTT; // das soll auch noch durch kommen |
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288 | } |
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289 | else |
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290 | if(NC_ErrorCode && NC_ErrorCode < MAX_ERR_NUMBER) // Fehlercodes |
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291 | { |
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292 | if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]); |
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293 | } |
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294 | if(!status) // Sprachansagen |
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295 | { |
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296 | // if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0; // is the voice wanted? |
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297 | if(!(EE_Parameter.GlobalConfig3 & CFG3_SPEAK_ALL)) SpeakHoTT = 0; // is the voice wanted? |
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298 | else status = SpeakHoTT; |
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299 | } |
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300 | else ToNC_SpeakHoTT = status; |
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301 | |||
302 | if(old_status == status) // Gleichen Fehler nur alle 4 sek bringen |
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303 | { |
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304 | if(!CheckDelay(repeat)) return(0); |
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305 | repeat = SetDelay(4000); |
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306 | } |
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307 | else repeat = SetDelay(2000); |
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308 | |||
309 | if(status) |
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310 | { |
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311 | if(status == SpeakHoTT) SpeakHoTT = 0; |
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312 | } |
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313 | old_status = status; |
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314 | // DebugOut.Analog[16] = status; |
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315 | return(status); |
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316 | } |
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317 | |||
318 | //--------------------------------------------------------------- |
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319 | void NC_Fills_HoTT_Telemety(void) |
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320 | { |
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321 | unsigned char *ptr = NULL; |
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322 | unsigned char max = 0,i,z; |
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323 | switch(FromNaviCtrl.Param.Byte[11]) |
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324 | { |
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325 | case HOTT_VARIO_PACKET_ID: |
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326 | ptr = (unsigned char *) &VarioPacket; |
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327 | max = sizeof(VarioPacket); |
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328 | break; |
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329 | case HOTT_GPS_PACKET_ID: |
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330 | ptr = (unsigned char *) &GPSPacket; |
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331 | max = sizeof(GPSPacket); |
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332 | break; |
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333 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
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334 | ptr = (unsigned char *) &ElectricAirPacket; |
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335 | max = sizeof(ElectricAirPacket); |
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336 | break; |
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337 | case HOTT_GENERAL_PACKET_ID: |
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338 | ptr = (unsigned char *) &HoTTGeneral; |
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339 | max = sizeof(HoTTGeneral); |
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340 | break; |
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341 | case JETI_GPS_PACKET_ID1: |
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342 | ptr = (unsigned char *) &JetiExData[14].Value; |
||
343 | max = sizeof(JetiExData[14].Value); |
||
344 | break; |
||
345 | case JETI_GPS_PACKET_ID2: |
||
346 | ptr = (unsigned char *) &JetiExData[15].Value; |
||
347 | max = sizeof(JetiExData[15].Value); |
||
348 | break; |
||
349 | case HOTT_WPL_NAME: |
||
350 | ptr = (unsigned char *) WPL_Name; |
||
351 | max = sizeof(WPL_Name)-1; |
||
352 | break; |
||
353 | |||
354 | } |
||
355 | z = FromNaviCtrl.Param.Byte[0]; // Data allocation |
||
356 | |||
357 | for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++) |
||
358 | { |
||
359 | if(z >= max) break; |
||
360 | ptr[z] = FromNaviCtrl.Param.Byte[2+i]; |
||
361 | z++; |
||
362 | } |
||
363 | } |
||
364 | |||
365 | unsigned int BuildHoTT_Vario(void) |
||
366 | { |
||
367 | unsigned int tmp = VARIO_ZERO; |
||
368 | if(VarioCharacter == '+' || VarioCharacter == '-') |
||
369 | { |
||
370 | tmp = VARIO_ZERO + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3; |
||
371 | if(tmp < VARIO_ZERO && tmp > VARIO_ZERO - 50) tmp = VARIO_ZERO - 50; // weil es sonst erst bei < 0,5m/sek piept |
||
372 | } |
||
373 | else |
||
374 | if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY)) |
||
375 | { |
||
376 | tmp = VARIO_ZERO + HoTTVarioMeter; |
||
377 | if(tmp > VARIO_ZERO) |
||
378 | { |
||
379 | if(tmp < VARIO_ZERO + 100) tmp = VARIO_ZERO; |
||
380 | else tmp -= 100; |
||
381 | } |
||
382 | if(tmp < VARIO_ZERO) |
||
383 | { |
||
384 | if(tmp > VARIO_ZERO - 100) tmp = VARIO_ZERO; |
||
385 | else tmp += 100; |
||
386 | } |
||
387 | } |
||
388 | else |
||
389 | if(VarioCharacter == '^') tmp = VARIO_ZERO + FromNC_AltitudeSpeed * 10; |
||
390 | else |
||
391 | if(VarioCharacter == 'v') tmp = VARIO_ZERO - FromNC_AltitudeSpeed * 10; |
||
392 | return(tmp); |
||
393 | } |
||
394 | |||
395 | //--------------------------------------------------------------- |
||
396 | unsigned char HoTT_Telemety(unsigned char packet_request) |
||
397 | { |
||
398 | unsigned char i = 0; |
||
399 | static unsigned char SpeechMessage = 0; |
||
400 | //Debug("rqst: %02X",packet_request); |
||
401 | |||
402 | switch(packet_request) |
||
403 | { |
||
404 | case HOTT_VARIO_PACKET_ID: |
||
405 | if(GPSPacket.WarnBeep == SpeechMessage) SpeechMessage = HoTT_Waring(); // Achtung: das ist richtig hier, damit der Varioton schon vorher abgestellt wird |
||
406 | |||
407 | VarioPacket.Altitude = HoehenWert/100 + 500; |
||
408 | if(!SpeechMessage) VarioPacket.m_sec = BuildHoTT_Vario(); else VarioPacket.m_sec = VARIO_ZERO; |
||
409 | VarioPacket.m_3sec = VarioPacket.m_sec; |
||
410 | VarioPacket.m_10sec = VarioPacket.m_sec; |
||
411 | if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude; |
||
412 | if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude; |
||
413 | VarioPacket.WarnBeep = 0;//HoTT_Waring(); |
||
414 | HoTT_DataPointer = (unsigned char *) &VarioPacket; |
||
415 | VarioPacket.FreeCharacters[0] = VarioCharacter; |
||
416 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' '; |
||
417 | // VarioPacket.FreeCharacters[2] = ' '; |
||
418 | if(NC_ErrorCode) |
||
419 | { |
||
420 | VarioPacket.Text[0] = NC_ErrorCode/10 + '0'; |
||
421 | VarioPacket.Text[1] = NC_ErrorCode%10 + '0'; |
||
422 | VarioPacket.Text[2] = ':'; |
||
423 | for(i=0; i<16;i++) VarioPacket.Text[i+3] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]); |
||
424 | VarioPacket.Text[19] = ' '; |
||
425 | VarioPacket.Text[20] = ' '; |
||
426 | } |
||
427 | else |
||
428 | if(LowVoltageLandingActive) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LANDING[i]); // no Error |
||
429 | else |
||
430 | if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error |
||
431 | else |
||
432 | if(ShowSettingNameTime) // no Error |
||
433 | { |
||
434 | for(i=0; i<sizeof(SETTING);i++) VarioPacket.Text[i] = pgm_read_byte(&SETTING[i]); |
||
435 | VarioPacket.Text[4] = '0' + ActiveParamSet; |
||
436 | for(i=0; i<sizeof(EE_Parameter.Name);i++) VarioPacket.Text[i+7] = EE_Parameter.Name[i]; // no Error |
||
437 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) |
||
438 | { |
||
439 | VarioPacket.Text[17] = 'B'; |
||
440 | VarioPacket.Text[18] = 'O'; |
||
441 | VarioPacket.Text[19] = 'A'; |
||
442 | VarioPacket.Text[20] = 'T'; |
||
443 | } |
||
444 | else |
||
445 | { |
||
446 | VarioPacket.Text[18] = ' '; |
||
447 | VarioPacket.Text[19] = ' '; |
||
448 | VarioPacket.Text[20] = ' '; |
||
449 | } |
||
450 | } |
||
451 | else |
||
452 | if(NaviData_WaypointNumber) |
||
453 | { |
||
454 | unsigned int tmp_int; |
||
455 | unsigned char tmp; |
||
456 | VarioPacket.Text[0] = 'W'; VarioPacket.Text[1] = 'P'; |
||
457 | VarioPacket.Text[2] = ' '; |
||
458 | VarioPacket.Text[3] = '0'+(NaviData_WaypointIndex) / 10; |
||
459 | VarioPacket.Text[4] = '0'+(NaviData_WaypointIndex) % 10; |
||
460 | VarioPacket.Text[5] = '/'; |
||
461 | VarioPacket.Text[6] = '0'+(NaviData_WaypointNumber) / 10; |
||
462 | VarioPacket.Text[7] = '0'+(NaviData_WaypointNumber) % 10; |
||
463 | VarioPacket.Text[8] = ' '; |
||
464 | tmp_int = NaviData_TargetDistance; |
||
465 | if(tmp_int > 1000) { VarioPacket.Text[9] = '0'+(tmp_int) / 1000; tmp_int %= 1000;} |
||
466 | else VarioPacket.Text[9] = ' '; |
||
467 | if(tmp_int > 100) { VarioPacket.Text[10] = '0'+(tmp_int) / 100; tmp_int %= 100;} |
||
468 | else VarioPacket.Text[10] = ' '; |
||
469 | VarioPacket.Text[11] = '0'+(tmp_int) / 10; |
||
470 | VarioPacket.Text[12] = '0'+(tmp_int) % 10; |
||
471 | VarioPacket.Text[13] = 'm'; |
||
472 | VarioPacket.Text[14] = ' '; |
||
473 | tmp = NaviData_TargetHoldTime; |
||
474 | if(tmp > 100) { VarioPacket.Text[15] = '0'+(tmp) / 100; tmp %= 100;} else VarioPacket.Text[15] = ' '; |
||
475 | VarioPacket.Text[16] = '0'+(tmp) / 10; |
||
476 | VarioPacket.Text[17] = '0'+(tmp) % 10; |
||
477 | VarioPacket.Text[18] = 's'; |
||
478 | VarioPacket.Text[19] = ' '; |
||
479 | VarioPacket.Text[20] = ' '; |
||
480 | } |
||
481 | else |
||
482 | if(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE) |
||
483 | { |
||
484 | for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&SIMULATION[i]); |
||
485 | } |
||
486 | else |
||
487 | if(!CalibrationDone) |
||
488 | { |
||
489 | for(i=0; i<17;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i+2]); // no Error and not calibrated |
||
490 | VarioPacket.Text[16] = '0'+VERSION_MAJOR; |
||
491 | VarioPacket.Text[17] = '.'; |
||
492 | VarioPacket.Text[18] = '0'+VERSION_MINOR/10; |
||
493 | VarioPacket.Text[19] = '0'+VERSION_MINOR%10; |
||
494 | VarioPacket.Text[20] = 'a'+VERSION_PATCH; |
||
495 | } |
||
496 | else |
||
497 | { |
||
498 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&BOAT_MODE[i]); // no Error |
||
499 | else for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error |
||
500 | if(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) VarioPacket.Text[0] = 'R'; |
||
501 | } |
||
502 | return(sizeof(VarioPacket)); |
||
503 | break; |
||
504 | |||
505 | case HOTT_GPS_PACKET_ID: |
||
506 | GPSPacket.Altitude = HoehenWert/100 + 500; |
||
507 | // GPSPacket.Distance = GPSInfo.HomeDistance/10; // macht die NC |
||
508 | // GPSPacket.Heading = GPSInfo.HomeBearing/2; // macht die NC |
||
509 | // GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; // macht die NC |
||
510 | GPSPacket.WarnBeep = SpeechMessage; |
||
511 | if(!GPSPacket.WarnBeep) GPSPacket.m_sec = BuildHoTT_Vario(); else GPSPacket.m_sec = VARIO_ZERO; |
||
512 | GPSPacket.m_3sec = 120; |
||
513 | GPSPacket.NumOfSats = GPSInfo.NumOfSats; |
||
514 | if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D'; |
||
515 | else |
||
516 | if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' '; |
||
517 | else GPSPacket.SatFix = '!'; |
||
518 | HoTT_DataPointer = (unsigned char *) &GPSPacket; |
||
519 | GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter; |
||
520 | GPSPacket.FreeCharacters[2] = GPSPacket.SatFix; |
||
521 | GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230; |
||
522 | return(sizeof(GPSPacket)); |
||
523 | break; |
||
524 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
||
525 | GetHottestBl(); |
||
526 | ElectricAirPacket.Altitude = HoehenWert/100 + 500; |
||
527 | ElectricAirPacket.Battery1 = UBat; |
||
528 | ElectricAirPacket.Battery2 = UBat; |
||
529 | ElectricAirPacket.VoltageCell1 = CompassCorrected / 2; |
||
530 | ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1; |
||
531 | ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2; |
||
532 | ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20; |
||
533 | ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6; |
||
534 | ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7; |
||
535 | if(!SpeechMessage) ElectricAirPacket.m_sec = BuildHoTT_Vario(); else ElectricAirPacket.m_sec = VARIO_ZERO; |
||
536 | ElectricAirPacket.m_3sec = 120; |
||
537 | ElectricAirPacket.InputVoltage = UBat; |
||
538 | ElectricAirPacket.Temperature1 = MinBlTemperture + 20; |
||
539 | ElectricAirPacket.Temperature2 = MaxBlTemperture + 20; |
||
540 | ElectricAirPacket.Capacity = Capacity.UsedCapacity/10; |
||
541 | ElectricAirPacket.WarnBeep = 0;//HoTT_Waring(); |
||
542 | //ElectricAirPacket.WarnBeep = SpeechMessage; |
||
543 | ElectricAirPacket.Current = Capacity.ActualCurrent; |
||
544 | HoTT_DataPointer = (unsigned char *) &ElectricAirPacket; |
||
545 | ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60; |
||
546 | ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60; |
||
547 | return(sizeof(ElectricAirPacket)); |
||
548 | break; |
||
549 | case HOTT_GENERAL_PACKET_ID: |
||
550 | GetHottestBl(); |
||
551 | HoTTGeneral.Rpm = GPSInfo.HomeDistance/100; |
||
552 | HoTTGeneral.VoltageCell1 = CompassCorrected / 2; |
||
553 | HoTTGeneral.VoltageCell2 = KompassValue / 2; |
||
554 | //HoTTGeneral.VoltageCell3 = Magnetstaerke -> macht NC |
||
555 | //HoTTGeneral.VoltageCell4 = Inclinition -> macht NC |
||
556 | HoTTGeneral.VoltageCell5 = DebugOut.Analog[28]; // I2C ErrorCounter |
||
557 | HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2; |
||
558 | if(UBat > BattLowVoltageWarning + 2) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 2)) * 3; |
||
559 | else HoTTGeneral.FuelPercent = 0; |
||
560 | if(HoTTGeneral.FuelPercent > 100) HoTTGeneral.FuelPercent = 100; |
||
561 | HoTTGeneral.FuelCapacity = NC_ErrorCode;//HoehenWert/100; // Oelpegel |
||
562 | // if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0; |
||
563 | HoTTGeneral.Altitude = HoehenWert/100 + 500; |
||
564 | HoTTGeneral.Battery1 = UBat; |
||
565 | HoTTGeneral.Battery2 = UBat; |
||
566 | if(!SpeechMessage) HoTTGeneral.m_sec = BuildHoTT_Vario(); else HoTTGeneral.m_sec = VARIO_ZERO; |
||
567 | HoTTGeneral.m_3sec = 120 + SpeechMessage; |
||
568 | HoTTGeneral.InputVoltage = UBat; |
||
569 | HoTTGeneral.Temperature1 = MinBlTemperture + 20; |
||
570 | HoTTGeneral.Temperature2 = MaxBlTemperture + 20; |
||
571 | HoTTGeneral.Capacity = Capacity.UsedCapacity/10; |
||
572 | HoTTGeneral.WarnBeep = 0; |
||
573 | HoTTGeneral.Current = Capacity.ActualCurrent; |
||
574 | //HoTTGeneral.ErrorNumber = HoTTErrorCode(); |
||
575 | HoTT_DataPointer = (unsigned char *) &HoTTGeneral; |
||
576 | return(sizeof(HoTTGeneral)); |
||
577 | break; |
||
578 | default: return(0); |
||
579 | } |
||
580 | } |
||
581 | |||
582 | //--------------------------------------------------------------- |
||
583 | void HoTT_Menu(void) |
||
584 | { |
||
585 | static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0; |
||
586 | unsigned char tmp; |
||
587 | HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8; |
||
588 | |||
589 | // if(HottKeyboard) {beeptime = 1000;}; |
||
590 | |||
591 | switch(page) |
||
592 | { |
||
593 | case 0: |
||
594 | switch(line++) |
||
595 | { |
||
596 | case 0: |
||
597 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
598 | HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10) |
||
599 | else |
||
600 | HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10) |
||
601 | |||
602 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
||
603 | { |
||
604 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter) |
||
605 | else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100)) |
||
606 | } |
||
607 | else HoTT_printfxy(10,0,"ALT:---- "); |
||
608 | break; |
||
609 | case 1: |
||
610 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
611 | HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60) |
||
612 | else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
613 | HoTT_printfxy(10,1,"DIR: %3d%c",CompassCorrected, HoTT_GRAD); |
||
614 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," "); |
||
615 | break; |
||
616 | case 2: |
||
617 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
618 | HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity) |
||
619 | else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity); |
||
620 | HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
||
621 | break; |
||
622 | case 3: |
||
623 | HoTT_printfxy(9,0,":"); |
||
624 | HoTT_printfxy(9,1,":"); |
||
625 | HoTT_printfxy(9,2,":"); |
||
626 | HoTT_printfxy(0,3,"---------+-----------"); |
||
627 | |||
628 | // HoTT_printfxy(0,3,"---------------------"); |
||
629 | HoTT_printfxy(0,6,"---------------------"); |
||
630 | break; |
||
631 | case 4: |
||
632 | if(NaviDataOkay) |
||
633 | { |
||
634 | HoTT_printfxy(9,4,":"); |
||
635 | HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats); |
||
636 | HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10); |
||
637 | switch (GPSInfo.SatFix) |
||
638 | { |
||
639 | case SATFIX_3D: |
||
640 | if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ") |
||
641 | else HoTT_printfxy(7,4,"3D"); |
||
642 | break; |
||
643 | default: |
||
644 | HoTT_printfxy_BLINK(7,4,"!!"); |
||
645 | break; |
||
646 | } |
||
647 | } |
||
648 | else |
||
649 | { |
||
650 | Hott_ClearLine(4); |
||
651 | } |
||
652 | break; |
||
653 | case 5: |
||
654 | if(NaviDataOkay) |
||
655 | { |
||
656 | if(show_mag) |
||
657 | { |
||
658 | HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField); |
||
659 | HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
||
660 | HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic); |
||
661 | } |
||
662 | else |
||
663 | { |
||
664 | HoTT_printfxy(0,5," %2um/s: HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
||
665 | } |
||
666 | } |
||
667 | else Hott_ClearLine(5); |
||
668 | break; |
||
669 | case 6: |
||
670 | break; |
||
671 | case 7: if(NC_ErrorCode) |
||
672 | { |
||
673 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
674 | { |
||
675 | Hott_ClearLine(7); |
||
676 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
677 | } |
||
678 | else |
||
679 | { |
||
680 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
681 | } |
||
682 | else |
||
683 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
684 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
||
685 | break; |
||
686 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
||
687 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
||
688 | case 9: |
||
689 | case 10: |
||
690 | case 11: |
||
691 | case 12: |
||
692 | case 13: |
||
693 | case 14: |
||
694 | case 15: |
||
695 | case 16: |
||
696 | if(HottKeyboard == HOTT_KEY_DOWN) { LIBFC_HoTT_Clear(); page = 5; line = 0;} |
||
697 | else |
||
698 | if(HottKeyboard == HOTT_KEY_SET) { if(show_mag) show_mag = 0; else show_mag = 1;} |
||
699 | else |
||
700 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
||
701 | HottKeyboard = 0; |
||
702 | break; |
||
703 | default: line = 0; |
||
704 | break; |
||
705 | } |
||
706 | break; |
||
707 | case 1: |
||
708 | switch(line++) |
||
709 | { |
||
710 | case 0: |
||
711 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
712 | HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity) |
||
713 | else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity); |
||
714 | break; |
||
715 | case 1: |
||
716 | HoTT_printfxy(0,1,"DIR:%3d%c",CompassCorrected, HoTT_GRAD); |
||
717 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
||
718 | { |
||
719 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
720 | else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
721 | } |
||
722 | else HoTT_printfxy(10,1,"ALT:---- "); |
||
723 | HoTT_printfxy(20,1,"%c",VarioCharacter); |
||
724 | break; |
||
725 | case 2: |
||
726 | if(NaviDataOkay) |
||
727 | { |
||
728 | HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter); |
||
729 | } |
||
730 | else |
||
731 | { |
||
732 | Hott_ClearLine(2); |
||
733 | } |
||
734 | break; |
||
735 | case 3: |
||
736 | HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower); |
||
737 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3," "); |
||
738 | break; |
||
739 | case 4: |
||
740 | if(NaviDataOkay) |
||
741 | { |
||
742 | HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
||
743 | switch (GPSInfo.SatFix) |
||
744 | { |
||
745 | case SATFIX_3D: |
||
746 | HoTT_printfxy(16,4," 3D "); |
||
747 | break; |
||
748 | //case SATFIX_2D: |
||
749 | //case SATFIX_NONE: |
||
750 | default: |
||
751 | HoTT_printfxy_BLINK(16,4,"NOFIX"); |
||
752 | break; |
||
753 | } |
||
754 | if(GPSInfo.Flags & FLAG_DIFFSOLN) |
||
755 | { |
||
756 | HoTT_printfxy(16,4,"DGPS "); |
||
757 | } |
||
758 | } |
||
759 | else |
||
760 | { //012345678901234567890 |
||
761 | HoTT_printfxy(0,4," No NaviCtrl "); |
||
762 | } |
||
763 | break; |
||
764 | case 5: |
||
765 | if(show_current) |
||
766 | { |
||
767 | // 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); |
||
768 | HoTT_printfxy(0,5,"%2i.%i %2i.%i %2i.%i %2i.%iA", BL3_Current(0)/10,BL3_Current(0)%10,BL3_Current(1)/10,BL3_Current(1)%10,BL3_Current(2)/10,BL3_Current(2)%10,BL3_Current(3)/10,BL3_Current(3)%10); |
||
769 | } |
||
770 | else |
||
771 | { |
||
772 | HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD); |
||
773 | } |
||
774 | break; |
||
775 | case 6: |
||
776 | if(show_current) |
||
777 | { |
||
778 | if(RequiredMotors == 4) Hott_ClearLine(6); |
||
779 | else |
||
780 | // 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) |
||
781 | if(RequiredMotors == 6) HoTT_printfxy(0,6,"%2i.%i %2i.%iA", BL3_Current(4)/10,BL3_Current(4)%10, BL3_Current(5)/10,BL3_Current(5)%10) |
||
782 | else |
||
783 | // 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); |
||
784 | if(RequiredMotors > 6) HoTT_printfxy(0,6,"%2i.%i %2i.%i %2i.%i %2i.%iA", BL3_Current(4)/10,BL3_Current(4)%10,BL3_Current(5)/10,BL3_Current(5)%10,BL3_Current(6)/10,BL3_Current(6)%10,BL3_Current(7)/10,BL3_Current(7)%10,BL3_Current(8)/10,BL3_Current(8)%10); |
||
785 | } |
||
786 | else |
||
787 | { |
||
788 | if(RequiredMotors == 4) Hott_ClearLine(6); |
||
789 | else |
||
790 | if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
||
791 | else |
||
792 | 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); |
||
793 | } |
||
794 | break; |
||
795 | case 7: if(NC_ErrorCode) |
||
796 | { |
||
797 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
798 | { |
||
799 | Hott_ClearLine(7); |
||
800 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
801 | } |
||
802 | else |
||
803 | { |
||
804 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
805 | } |
||
806 | else |
||
807 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
808 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
||
809 | break; |
||
810 | case 8: // ASCIIPacket.WarnBeep = HoTT_Waring(); |
||
811 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
||
812 | case 9: |
||
813 | case 10: |
||
814 | case 11: |
||
815 | case 12: |
||
816 | case 13: |
||
817 | case 14: |
||
818 | case 15: |
||
819 | case 16: |
||
820 | if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1; Hott_ClearLine(5); Hott_ClearLine(6);} |
||
821 | else |
||
822 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
823 | else |
||
824 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;} |
||
825 | //if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard); |
||
826 | HottKeyboard = 0; |
||
827 | break; |
||
828 | default: line = 0; |
||
829 | break; |
||
830 | } |
||
831 | break; |
||
832 | case 2: |
||
833 | switch(line++) |
||
834 | { |
||
835 | case 0: |
||
836 | HoTT_printfxy_INV(0,0,"Setting:%u %s ",ActiveParamSet,EE_Parameter.Name); |
||
837 | break; |
||
838 | case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
||
839 | break; |
||
840 | case 2: HoTT_printfxy(0,2,"ALT:"); |
||
841 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
||
842 | { |
||
843 | if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter) |
||
844 | else |
||
845 | { |
||
846 | if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) "); |
||
847 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter) |
||
848 | else HoTT_printf("VARIO", Parameter_HoehenSchalter); |
||
849 | } |
||
850 | } |
||
851 | else |
||
852 | HoTT_printf("DISABLED"); |
||
853 | break; |
||
854 | case 3: HoTT_printfxy(0,3,"CF:"); |
||
855 | if(!EE_Parameter.CareFreeChannel) HoTT_printf("DISABLED") |
||
856 | else |
||
857 | { |
||
858 | if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
||
859 | if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH"); |
||
860 | } |
||
861 | break; |
||
862 | case 4: HoTT_printfxy(0,4,"GPS:"); |
||
863 | if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
||
864 | else |
||
865 | { |
||
866 | tmp = GetChannelValue(EE_Parameter.NaviGpsModeChannel); |
||
867 | if(tmp < 50) HoTT_printf("(FREE)") |
||
868 | else |
||
869 | if(tmp >= 180) HoTT_printf("(HOME)") |
||
870 | else |
||
871 | if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ") |
||
872 | else HoTT_printf("(HOLD)") |
||
873 | } |
||
874 | if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime) |
||
875 | |||
876 | break; |
||
877 | case 5: HoTT_printfxy(0,5,"HOME ALT:"); |
||
878 | if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD "); |
||
879 | break; |
||
880 | case 6: |
||
881 | if(!show_poti) |
||
882 | { |
||
883 | HoTT_printfxy(0,6,"Ni:%4i Ro:%4i C:%3i",ChannelNick,ChannelRoll, Parameter_ServoNickControl); |
||
884 | HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",ChannelGas+127,ChannelYaw); |
||
885 | } |
||
886 | else |
||
887 | { |
||
888 | HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3); |
||
889 | HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6); |
||
890 | } |
||
891 | |||
892 | break; |
||
893 | case 7: //HoTT_printfxy(0,6,"WARNINGS:"); |
||
894 | if(HoTTBlink) |
||
895 | { |
||
896 | LIBFC_HoTT_SetPos(6 * 21); |
||
897 | if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! "); |
||
898 | if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! "); |
||
899 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! "); |
||
900 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! "); |
||
901 | } |
||
902 | break; |
||
903 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
||
904 | break; |
||
905 | case 9: |
||
906 | case 10: |
||
907 | case 11: |
||
908 | case 12: |
||
909 | case 13: |
||
910 | case 14: |
||
911 | case 15: |
||
912 | case 16: |
||
913 | if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1; Hott_ClearLine(6); Hott_ClearLine(7);} |
||
914 | else |
||
915 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
916 | else |
||
917 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
||
918 | HottKeyboard = 0; |
||
919 | break; |
||
920 | default: line = 0; |
||
921 | break; |
||
922 | } |
||
923 | break; |
||
924 | case 3: |
||
925 | switch(line++) |
||
926 | { |
||
927 | static unsigned char load_waypoint_tmp2 = 1, changed2; |
||
928 | case 0: |
||
929 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
930 | HoTT_printfxy(0,1,"(Relative Positions)"); |
||
931 | // HoTT_printfxy(0,1,"(Absolute)"); |
||
932 | break; |
||
933 | case 1: |
||
934 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber) |
||
935 | else HoTT_printfxy(0,6,"No WPs active ") |
||
936 | break; |
||
937 | case 2: |
||
938 | HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10) |
||
939 | HoTT_printfxy(11,7,"%s",WPL_Name) |
||
940 | case 3: |
||
941 | case 4: |
||
942 | case 5: |
||
943 | if(load_waypoint_tmp2) |
||
944 | { |
||
945 | if(changed2 && HoTTBlink) HoTT_printfxy(10,3," ") |
||
946 | else HoTT_printfxy(10,3,"%2i ",load_waypoint_tmp2); |
||
947 | HoTT_printfxy(0,3,"Load list:") |
||
948 | } |
||
949 | else |
||
950 | { |
||
951 | HoTT_printfxy(0,3,"Load list: -- "); |
||
952 | } |
||
953 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ") |
||
954 | else |
||
955 | { |
||
956 | if(GPSInfo.SatFix == SATFIX_3D) |
||
957 | { |
||
958 | if(changed2 && load_waypoint_tmp2) HoTT_printfxy(0,4,"(Set -> Load)") |
||
959 | else HoTT_printfxy(0,4," "); |
||
960 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp2) ToNC_Load_WP_List = load_waypoint_tmp2 | 128; changed2 = 0;} |
||
961 | } else HoTT_printfxy(0,4,"!No GPS-Fix! "); |
||
962 | } |
||
963 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp2 < NaviData_MaxWpListIndex) { changed2 = 1; load_waypoint_tmp2++;HoTTBlink = 0;} |
||
964 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp2 > 1) { changed2 = 1; load_waypoint_tmp2--;HoTTBlink = 0;}; |
||
965 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
966 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
||
967 | HottKeyboard = 0; |
||
968 | break; |
||
969 | default: line = 0; |
||
970 | break; |
||
971 | } |
||
972 | break; |
||
973 | case 4: |
||
974 | switch(line++) |
||
975 | { |
||
976 | static unsigned char load_waypoint_tmp = 1, changed; |
||
977 | case 0: |
||
978 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
979 | HoTT_printfxy(0,1,"(Fixed Positions)"); |
||
980 | break; |
||
981 | case 1: |
||
982 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber) |
||
983 | else HoTT_printfxy(0,6,"No WPs active ") |
||
984 | break; |
||
985 | case 2: |
||
986 | HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10) |
||
987 | HoTT_printfxy(11,7,"%s",WPL_Name) |
||
988 | case 3: |
||
989 | case 4: |
||
990 | case 5: |
||
991 | HoTT_printfxy(0,3,"Load list:") |
||
992 | if(load_waypoint_tmp) |
||
993 | { |
||
994 | if(changed && HoTTBlink) HoTT_printfxy(10,3," ") |
||
995 | else HoTT_printfxy(10,3,"%2d (FIX)",load_waypoint_tmp); |
||
996 | } |
||
997 | else |
||
998 | { |
||
999 | HoTT_printfxy(10,3," --") |
||
1000 | } |
||
1001 | |||
1002 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ") |
||
1003 | else |
||
1004 | { |
||
1005 | if(changed && load_waypoint_tmp) HoTT_printfxy(0,4,"(Set -> Load)") |
||
1006 | else HoTT_printfxy(0,4," "); |
||
1007 | } |
||
1008 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { changed = 1; load_waypoint_tmp++; HoTTBlink = 0;} |
||
1009 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp > 1) { changed = 1; load_waypoint_tmp--; HoTTBlink = 0;}; |
||
1010 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp) ToNC_Load_WP_List = load_waypoint_tmp; changed = 0;} |
||
1011 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
1012 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
||
1013 | HottKeyboard = 0; |
||
1014 | break; |
||
1015 | default: line = 0; |
||
1016 | break; |
||
1017 | } |
||
1018 | break; |
||
1019 | case 5: |
||
1020 | switch(line++) |
||
1021 | { |
||
1022 | static unsigned char wp_tmp, changed; |
||
1023 | case 0: |
||
1024 | HoTT_printfxy(0,0,"Store single Position"); |
||
1025 | // HoTT_printfxy(0,1,"(Fixed Positions)"); |
||
1026 | break; |
||
1027 | case 1: |
||
1028 | HoTT_printfxy(0,2," %2i.%1iV ",UBat/10, UBat%10) |
||
1029 | HoTT_printfxy(0,3," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
1030 | // HoTT_printfxy(0,4,"Dist:%3dm",NaviData_TargetDistance) |
||
1031 | break; |
||
1032 | case 2: |
||
1033 | HoTT_printfxy(11,2,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
1034 | HoTT_printfxy(11,3,"DIR: %3d%c",CompassCorrected, HoTT_GRAD); |
||
1035 | HoTT_printfxy(11,4,"Cam: %3i",Parameter_ServoNickControl); |
||
1036 | break; |
||
1037 | case 3: |
||
1038 | case 4: |
||
1039 | case 5: |
||
1040 | HoTT_printfxy(0,6,"Store point:") |
||
1041 | if(wp_tmp) |
||
1042 | { |
||
1043 | if(changed && HoTTBlink) HoTT_printfxy(13,6," ") |
||
1044 | else HoTT_printfxy(13,6,"%2d ",wp_tmp); |
||
1045 | } |
||
1046 | else |
||
1047 | { |
||
1048 | HoTT_printfxy(13,6,"--") |
||
1049 | } |
||
1050 | |||
1051 | if(GPSInfo.SatFix == SATFIX_3D) |
||
1052 | { |
||
1053 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,7,"No SD-Card ") |
||
1054 | else |
||
1055 | { |
||
1056 | if(changed && wp_tmp) HoTT_printfxy(0,7,"(Set -> Store)") |
||
1057 | else Hott_ClearLine(7); |
||
1058 | } |
||
1059 | if(HottKeyboard == HOTT_KEY_SET) { if(wp_tmp) ToNC_Store_SingePoint = wp_tmp; changed = 0;} |
||
1060 | } |
||
1061 | else HoTT_printfxy(0,7,"!No GPS-Fix! "); |
||
1062 | |||
1063 | if(HottKeyboard == HOTT_KEY_UP && wp_tmp < NaviData_MaxWpListIndex) { changed = 1; wp_tmp++; HoTTBlink = 0;} |
||
1064 | if(HottKeyboard == HOTT_KEY_DOWN && wp_tmp > 1) { changed = 1; wp_tmp--; HoTTBlink = 0;}; |
||
1065 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
1066 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
||
1067 | HottKeyboard = 0; |
||
1068 | break; |
||
1069 | default: line = 0; |
||
1070 | break; |
||
1071 | } |
||
1072 | break; |
||
1073 | case 6: |
||
1074 | switch(line++) |
||
1075 | { |
||
1076 | static unsigned char wp_tmp, changed; |
||
1077 | case 0: |
||
1078 | HoTT_printfxy(0,0,"Load single Position"); |
||
1079 | // HoTT_printfxy(0,1,"(Fixed Positions)"); |
||
1080 | break; |
||
1081 | case 1: |
||
1082 | HoTT_printfxy(0,2," %2i.%1iV ",UBat/10, UBat%10) |
||
1083 | HoTT_printfxy(0,3," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
1084 | // HoTT_printfxy(0,4,"Dist:%3dm",NaviData_TargetDistance) |
||
1085 | if(NaviData_WaypointNumber) HoTT_printfxy(0,5,"WP:%2d/%d Dist:%3dm ",NaviData_WaypointIndex,NaviData_WaypointNumber,NaviData_TargetDistance) |
||
1086 | else Hott_ClearLine(5); |
||
1087 | break; |
||
1088 | case 2: |
||
1089 | if(FromNC_AltitudeSpeed) |
||
1090 | HoTT_printfxy(8,2,"ALT:%4i/%im ", (int16_t)(HoehenWert/100),(int16_t)(FromNC_AltitudeSetpoint/100)) |
||
1091 | else |
||
1092 | HoTT_printfxy(8,2,"ALT:%4im ",(int16_t)(HoehenWert/100)) |
||
1093 | |||
1094 | HoTT_printfxy(8,3,"DIR: %3d%c",CompassCorrected, HoTT_GRAD); |
||
1095 | HoTT_printfxy(8,4,"Cam: %3i",Parameter_ServoNickControl); |
||
1096 | break; |
||
1097 | // HoTT_printfxy(11,7,"%s",WPL_Name) |
||
1098 | case 3: |
||
1099 | case 4: |
||
1100 | case 5: |
||
1101 | if(HottKeyboard) DebugOut.Analog[17]++; |
||
1102 | HoTT_printfxy(0,6,"load point:") |
||
1103 | if(wp_tmp) |
||
1104 | { |
||
1105 | if(changed && HoTTBlink) HoTT_printfxy(11,6," ") |
||
1106 | else HoTT_printfxy(11,6,"%2d",wp_tmp); |
||
1107 | } |
||
1108 | else |
||
1109 | { |
||
1110 | HoTT_printfxy(11,6,"--") |
||
1111 | } |
||
1112 | |||
1113 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,7,"No SD-Card ") |
||
1114 | else |
||
1115 | { |
||
1116 | if(changed && wp_tmp) HoTT_printfxy(0,7,"(Set -> Load)") |
||
1117 | else |
||
1118 | { |
||
1119 | Hott_ClearLine(7); |
||
1120 | if(NaviData_WaypointNumber) HoTT_printfxy(0,7,"%s",WPL_Name); |
||
1121 | } |
||
1122 | } |
||
1123 | if(HottKeyboard == HOTT_KEY_UP && wp_tmp < NaviData_MaxWpListIndex) { changed = 1; wp_tmp++; HoTTBlink = 0;} |
||
1124 | if(HottKeyboard == HOTT_KEY_DOWN && wp_tmp > 1) { changed = 1; wp_tmp--; HoTTBlink = 0;}; |
||
1125 | if(HottKeyboard == HOTT_KEY_SET) { if(wp_tmp) ToNC_Load_SingePoint = wp_tmp; changed = 0;} |
||
1126 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
1127 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
||
1128 | HottKeyboard = 0; |
||
1129 | break; |
||
1130 | default: line = 0; |
||
1131 | break; |
||
1132 | } |
||
1133 | break; |
||
1134 | case 7: |
||
1135 | switch(line++) |
||
1136 | { |
||
1137 | static unsigned char i=0,test=0,set=0; |
||
1138 | |||
1139 | case 0: HoTT_printfxy(0,0,"Motortest / Setpoints");break; |
||
1140 | case 1: //HoTT_printfxy(0,1,"Motor Setpoint Strom "); |
||
1141 | case 2: |
||
1142 | case 3: |
||
1143 | case 4: i=((line-2)*2)+1; |
||
1144 | if(MotorenEin) |
||
1145 | { |
||
1146 | HoTT_printfxy(0,line,"M%i=%2i%2i.%iA M%i=%2i%2i.%iA",i,Motor[i-1].SetPoint,Motor[i-1].Current/10,Motor[i-1].Current%10,i+1,Motor[i].SetPoint,Motor[i].Current/10,Motor[i].Current%10); |
||
1147 | } |
||
1148 | else |
||
1149 | { |
||
1150 | HoTT_printfxy(0,line,"M%i=%2i%2i.%iA M%i=%2i%2i.%iA",i,MotorTest[i-1],Motor[i-1].Current/10,Motor[i-1].Current%10,i+1,MotorTest[i],Motor[i].Current/10,Motor[i].Current%10); |
||
1151 | } |
||
1152 | break; |
||
1153 | case 5: if(test) |
||
1154 | { |
||
1155 | HoTT_printfxy(0,6,"!!!Motortest Aktiv!!!"); |
||
1156 | } |
||
1157 | case 6: if(test) |
||
1158 | { |
||
1159 | PC_MotortestActive = 254; |
||
1160 | HoTT_printfxy(0,7,"Motor %i",test); |
||
1161 | MotorTest[test-1]=set; |
||
1162 | } |
||
1163 | case 7: |
||
1164 | case 8: |
||
1165 | case 9: |
||
1166 | case 10: |
||
1167 | case 11: |
||
1168 | case 12: |
||
1169 | case 13: |
||
1170 | case 14: |
||
1171 | case 15: |
||
1172 | case 16: |
||
1173 | if(HottKeyboard == HOTT_KEY_RIGHT) |
||
1174 | { |
||
1175 | if(test) |
||
1176 | { |
||
1177 | set=0; |
||
1178 | MotorTest[test-1]=set; |
||
1179 | if(test<8) test++; |
||
1180 | } |
||
1181 | else |
||
1182 | { |
||
1183 | LIBFC_HoTT_Clear(); |
||
1184 | page--; |
||
1185 | line=0; |
||
1186 | } |
||
1187 | } |
||
1188 | else |
||
1189 | if(HottKeyboard == HOTT_KEY_LEFT) |
||
1190 | { |
||
1191 | if(test) |
||
1192 | { |
||
1193 | set=0; |
||
1194 | MotorTest[test-1]=set; |
||
1195 | if(test>1) test--; |
||
1196 | } |
||
1197 | else |
||
1198 | { |
||
1199 | LIBFC_HoTT_Clear(); |
||
1200 | page++; |
||
1201 | line = 0; |
||
1202 | } |
||
1203 | } |
||
1204 | else |
||
1205 | if((HottKeyboard == HOTT_KEY_UP) && (set <98 ) && test) set+=2;//GESCHW |
||
1206 | else |
||
1207 | if((HottKeyboard == HOTT_KEY_DOWN) && (set >0 ) && test) set-=2; |
||
1208 | else |
||
1209 | if((HottKeyboard == HOTT_KEY_SET) && !MotorenEin) |
||
1210 | { |
||
1211 | if(test) test = 0; else test = 1; |
||
1212 | set=0; |
||
1213 | Hott_ClearLine(6); Hott_ClearLine(7); |
||
1214 | } |
||
1215 | HottKeyboard = 0; |
||
1216 | break; |
||
1217 | default: line = 0; |
||
1218 | break; |
||
1219 | //HoTT_printfxy(10 ,line,"I"); |
||
1220 | //line++; |
||
1221 | } |
||
1222 | break; |
||
1223 | case 8: |
||
1224 | switch(line++) |
||
1225 | { |
||
1226 | #define MD_OFF 1 |
||
1227 | #define MD_CAL 2 |
||
1228 | #define MD_SAV 3 |
||
1229 | static unsigned char mode=MD_OFF,cursor=MD_OFF; |
||
1230 | |||
1231 | case 0: HoTT_printfxy(0,0,"ACC calibration");break; |
||
1232 | case 1: HoTT_printfxy(0,2,"ACC: N:%3i R:%3i ",NeutralAccX,NeutralAccY); |
||
1233 | case 2: HoTT_printfxy(0,3,"Stick: (%i/%i) ",ChannelNick,ChannelRoll); |
||
1234 | case 3: if(ChannelNick || ChannelRoll) HoTT_printfxy(7,3,"!!"); |
||
1235 | break; |
||
1236 | case 4: HoTT_printfxy(2,4,"Off");break; |
||
1237 | case 5: HoTT_printfxy(2,5,"Calibrate");break; |
||
1238 | case 6: HoTT_printfxy(2,6,"Save "); |
||
1239 | if(mode == MD_SAV && cursor == MD_SAV) |
||
1240 | { |
||
1241 | HoTT_printfxy(7,6,"(SET)"); |
||
1242 | } |
||
1243 | else if((mode == MD_CAL) && !((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-'))) |
||
1244 | { |
||
1245 | HoTT_printfxy(2,6,"Swich GPS off!"); |
||
1246 | } |
||
1247 | break; |
||
1248 | case 7: |
||
1249 | case 8: HoTT_printfxy(0,cursor+3,">");break; |
||
1250 | case 9: HoTT_printfxy(1,mode+3,"*");break; |
||
1251 | case 10: |
||
1252 | case 11: |
||
1253 | case 12: |
||
1254 | case 13: |
||
1255 | case 14: |
||
1256 | case 15: |
||
1257 | case 16: |
||
1258 | if(HottKeyboard == HOTT_KEY_RIGHT) |
||
1259 | { |
||
1260 | switch(mode) |
||
1261 | { |
||
1262 | case MD_OFF: LIBFC_HoTT_Clear(); |
||
1263 | page--; // leave menu |
||
1264 | line = 0; |
||
1265 | break; |
||
1266 | case MD_CAL: NeutralAccY++; |
||
1267 | break; |
||
1268 | case MD_SAV: break; |
||
1269 | default: mode=MD_OFF;break; |
||
1270 | } |
||
1271 | } |
||
1272 | else |
||
1273 | if(HottKeyboard == HOTT_KEY_LEFT) |
||
1274 | { |
||
1275 | switch(mode) |
||
1276 | { |
||
1277 | case MD_OFF: LIBFC_HoTT_Clear(); |
||
1278 | page++; // leave menu |
||
1279 | line = 0; |
||
1280 | break; |
||
1281 | case MD_CAL: NeutralAccY--; |
||
1282 | break; |
||
1283 | case MD_SAV: break; |
||
1284 | default: mode=MD_OFF; |
||
1285 | break; |
||
1286 | } |
||
1287 | } |
||
1288 | else |
||
1289 | if(HottKeyboard == HOTT_KEY_UP) |
||
1290 | { |
||
1291 | switch(mode) |
||
1292 | { |
||
1293 | case MD_CAL: NeutralAccX++; |
||
1294 | break; |
||
1295 | case MD_OFF: |
||
1296 | case MD_SAV: if(cursor>1) {HoTT_printfxy(0,cursor+3," ");cursor--;} |
||
1297 | HoTT_printfxy(2,6," "); |
||
1298 | break; |
||
1299 | default: mode=MD_OFF; |
||
1300 | break; |
||
1301 | } |
||
1302 | } |
||
1303 | else |
||
1304 | if(HottKeyboard == HOTT_KEY_DOWN) |
||
1305 | { |
||
1306 | switch(mode) |
||
1307 | { |
||
1308 | case MD_CAL: NeutralAccX--; |
||
1309 | break; |
||
1310 | case MD_SAV: |
||
1311 | case MD_OFF: if(cursor<MD_SAV) {HoTT_printfxy(0,cursor+3," ");cursor++;} |
||
1312 | break; |
||
1313 | default: mode=MD_OFF; |
||
1314 | break; |
||
1315 | } |
||
1316 | } |
||
1317 | else |
||
1318 | if(HottKeyboard == HOTT_KEY_SET) |
||
1319 | { |
||
1320 | switch(mode) |
||
1321 | { |
||
1322 | case MD_OFF: HoTT_printfxy(1,mode+3," "); |
||
1323 | mode = cursor; |
||
1324 | if(mode == MD_CAL && !EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 6; // enables the Gyro-Drift compensation to make sure that a litlte calibration error won't effect the attitude |
||
1325 | break; |
||
1326 | case MD_CAL: HoTT_printfxy(1,mode+3," "); |
||
1327 | mode = MD_OFF; |
||
1328 | break; |
||
1329 | case MD_SAV: |
||
1330 | Hott_ClearLine(7); |
||
1331 | if(cursor == MD_SAV) |
||
1332 | { |
||
1333 | if(!MotorenEin) |
||
1334 | { |
||
1335 | /* BoatNeutralNick = AdNeutralNick; |
||
1336 | BoatNeutralRoll = AdNeutralRoll; |
||
1337 | BoatNeutralGier = AdNeutralGier; |
||
1338 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
||
1339 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
1340 | SetParamWord(PID_GYRO_NICK,(uint16_t)BoatNeutralNick); |
||
1341 | SetParamWord(PID_GYRO_ROLL,(uint16_t)BoatNeutralRoll); |
||
1342 | SetParamWord(PID_GYRO_YAW,(uint16_t)BoatNeutralGier); |
||
1343 | */ |
||
1344 | StoreNeutralToEeprom(); |
||
1345 | HoTT_printfxy(7,6," okay "); |
||
1346 | HoTT_printfxy(1,mode+3," "); |
||
1347 | mode = MD_OFF; |
||
1348 | } |
||
1349 | else |
||
1350 | { |
||
1351 | HoTT_printfxy(0,7,"Motors running!!!"); |
||
1352 | mode = MD_OFF; |
||
1353 | } |
||
1354 | } |
||
1355 | else |
||
1356 | { |
||
1357 | HoTT_printfxy(1,mode+3," "); |
||
1358 | mode=cursor; |
||
1359 | } |
||
1360 | break; |
||
1361 | default: mode=MD_OFF; |
||
1362 | break; |
||
1363 | } |
||
1364 | } |
||
1365 | HottKeyboard = 0; |
||
1366 | break; |
||
1367 | default: line = 0; |
||
1368 | break; |
||
1369 | //HoTT_printfxy(10 ,line,"I"); |
||
1370 | //line++; |
||
1371 | } |
||
1372 | break; |
||
1373 | /* |
||
1374 | //------------------------------------------------------------------------------------------ |
||
1375 | // HoTT-Plus |
||
1376 | //------------------------------------------------------------------------------------------ |
||
1377 | case 9: |
||
1378 | switch(line++) |
||
1379 | { |
||
1380 | case 0: HoTT_printfxy(0,0,"I2C Schwerpunkt GAS"); |
||
1381 | break; |
||
1382 | case 1: HoTT_printfxy(0,1,"I2C%3i%3i%3i%3i",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK, Motor[2].State & MOTOR_STATE_ERROR_MASK, Motor[3].State & MOTOR_STATE_ERROR_MASK); |
||
1383 | break; |
||
1384 | case 2: HoTT_printfxy(0,2," %3i%3i%3i%3i",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK, Motor[6].State & MOTOR_STATE_ERROR_MASK, Motor[7].State & MOTOR_STATE_ERROR_MASK); |
||
1385 | break; |
||
1386 | |||
1387 | case 3: { //0123456789ABCDEF |
||
1388 | int r=0; |
||
1389 | int n=0; |
||
1390 | int g=0; |
||
1391 | n=SummeNick >> 9; |
||
1392 | r=SummeRoll >> 9; |
||
1393 | g=Mess_Integral_Gier >> 9; |
||
1394 | |||
1395 | HoTT_printfxy(0,5,"%3iN %3iR %3iG",n ,r ,g); |
||
1396 | } |
||
1397 | |||
1398 | break; |
||
1399 | case 4: { //0123456789ABCDEF |
||
1400 | HoTT_printfxy(0,4,"+ ^ + <"); |
||
1401 | } |
||
1402 | break; |
||
1403 | case 5: { //0123456789ABCDEF |
||
1404 | HoTT_printfxy(0,6,"- v - >"); |
||
1405 | } |
||
1406 | break; |
||
1407 | case 6: HoTT_printfxy(0,7,"%3i=HG/4 %3i=Gas",HoverGas/4,StickGas); |
||
1408 | |||
1409 | break; |
||
1410 | case 7: |
||
1411 | case 8: |
||
1412 | case 9: |
||
1413 | case 10: |
||
1414 | case 11: |
||
1415 | case 12: |
||
1416 | case 13: |
||
1417 | case 14: |
||
1418 | case 15: |
||
1419 | case 16: |
||
1420 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;} |
||
1421 | else |
||
1422 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
1423 | HottKeyboard = 0; |
||
1424 | break; |
||
1425 | default: line = 0; |
||
1426 | break; |
||
1427 | } |
||
1428 | break; |
||
1429 | //--------------------------------------------------------------------------------------------------- |
||
1430 | case 10: |
||
1431 | { |
||
1432 | static signed char i=0,j=0,Changepos=0; |
||
1433 | |||
1434 | if(line==9) |
||
1435 | { |
||
1436 | line=0; |
||
1437 | if(HottKeyboard == HOTT_KEY_SET ) { if(Changepos) Changepos = 0; else Changepos = 1;} |
||
1438 | else |
||
1439 | if(Changepos) |
||
1440 | { |
||
1441 | unsigned char temp=0; |
||
1442 | temp=(Changepos+j)-1; |
||
1443 | if((HottKeyboard == HOTT_KEY_RIGHT) && !((unsigned char)(*Parameter_List[temp].Variable + Parameter_List[temp].offset) >= Parameter_List[temp].max )) {*Parameter_List[temp].Variable += 1;} |
||
1444 | else |
||
1445 | if((HottKeyboard == HOTT_KEY_LEFT) && !((unsigned char)(*Parameter_List[temp].Variable + Parameter_List[temp].offset) <= Parameter_List[temp].min )) {*Parameter_List[temp].Variable -= 1;} |
||
1446 | else |
||
1447 | if(HottKeyboard == HOTT_KEY_UP ) |
||
1448 | { |
||
1449 | Changepos--; |
||
1450 | line = Changepos/2; |
||
1451 | if(Changepos< 1 ) {Changepos=16;} |
||
1452 | } |
||
1453 | else |
||
1454 | if(HottKeyboard == HOTT_KEY_DOWN) |
||
1455 | { |
||
1456 | Changepos++; |
||
1457 | line = Changepos/2; |
||
1458 | if(Changepos >= 17 ) {Changepos=1;} |
||
1459 | } |
||
1460 | } |
||
1461 | else |
||
1462 | { |
||
1463 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;} |
||
1464 | else |
||
1465 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
1466 | else |
||
1467 | if(HottKeyboard == HOTT_KEY_UP ) |
||
1468 | { |
||
1469 | j-=16; |
||
1470 | line = 0; |
||
1471 | if(j< 0 ) {j=0;} |
||
1472 | } |
||
1473 | else |
||
1474 | if(HottKeyboard == HOTT_KEY_DOWN) |
||
1475 | { |
||
1476 | LIBFC_HoTT_Clear(); |
||
1477 | j+=16; |
||
1478 | line = 0; |
||
1479 | if(j+14> MAXPARAM ) {j=MAXPARAM-15;} |
||
1480 | } |
||
1481 | } |
||
1482 | |||
1483 | Debug("line=%i Changepos=%i j=%i Key=%i",line,Changepos,j,HottKeyboard); |
||
1484 | HottKeyboard = 0; |
||
1485 | } |
||
1486 | |||
1487 | HoTT_printfxy(10 ,line,"I"); |
||
1488 | i=(line*2)+(j); |
||
1489 | if(Changepos==(line*2)+1) |
||
1490 | { |
||
1491 | HoTT_printfxy(0 ,line,">%3i=%-5.5s%",(unsigned char)(*Parameter_List[i ].Variable + Parameter_List[i ].offset),&Parameter_List[i ].name); |
||
1492 | } |
||
1493 | else |
||
1494 | { |
||
1495 | HoTT_printfxy(0 ,line," %3i=%-5.5s%",(unsigned char)(*Parameter_List[i ].Variable + Parameter_List[i ].offset),&Parameter_List[i ].name); |
||
1496 | } |
||
1497 | if(Changepos==(line*2)+2) |
||
1498 | { |
||
1499 | HoTT_printfxy(11,line,">%3i=%-5.5s%",(unsigned char)(*Parameter_List[i+1].Variable + Parameter_List[i+1].offset),&Parameter_List[i+1].name); |
||
1500 | } |
||
1501 | else |
||
1502 | { |
||
1503 | HoTT_printfxy(11,line," %3i=%-5.5s%",(unsigned char)(*Parameter_List[i+1].Variable + Parameter_List[i+1].offset),&Parameter_List[i+1].name); |
||
1504 | } |
||
1505 | |||
1506 | line++; |
||
1507 | |||
1508 | } |
||
1509 | break; |
||
1510 | case 11: |
||
1511 | switch(line++) |
||
1512 | { |
||
1513 | case 0: HoTT_printfxy(0,0,"Setting speichern"); |
||
1514 | break; |
||
1515 | case 1: HoTT_printfxy(0,1,"Setting%1i= %-11.11s",GetActiveParamSet(),EE_Parameter.Name); |
||
1516 | break; //123456789012345678901 |
||
1517 | case 2: HoTT_printfxy(0,2,"Speichern nach Set %i",settingdest); |
||
1518 | break; |
||
1519 | case 3: HoTT_printfxy(0,4,"\"SET\" zum speichern"); |
||
1520 | break; |
||
1521 | case 4: HoTT_printfxy(0,5,"^ v zum auswaehlen"); |
||
1522 | break; |
||
1523 | case 5: |
||
1524 | case 6: |
||
1525 | case 7: |
||
1526 | case 8: |
||
1527 | case 9: |
||
1528 | case 10: |
||
1529 | case 11: |
||
1530 | case 12: |
||
1531 | case 13: |
||
1532 | case 14: |
||
1533 | case 15: |
||
1534 | case 16: |
||
1535 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;} |
||
1536 | else |
||
1537 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
1538 | else |
||
1539 | if((HottKeyboard == HOTT_KEY_UP) & (settingdest <5 )) settingdest++; |
||
1540 | else |
||
1541 | if((HottKeyboard == HOTT_KEY_DOWN) & (settingdest >1 )) settingdest--; |
||
1542 | else |
||
1543 | if((HottKeyboard == HOTT_KEY_SET) && !MotorenEin) |
||
1544 | { |
||
1545 | ParamSet_WriteToEEProm(settingdest); |
||
1546 | //JetiBeep = jetibeepcode[GetActiveParamSet()-1]; |
||
1547 | Piep(GetActiveParamSet(),120); |
||
1548 | HoTT_printfxy(0,7,"Gespeichert!"); |
||
1549 | } |
||
1550 | HottKeyboard = 0; |
||
1551 | break; |
||
1552 | default: line = 0; |
||
1553 | break; |
||
1554 | } |
||
1555 | break; |
||
1556 | //------------------------------------------------------------------------------------------ |
||
1557 | // HoTT-Plus |
||
1558 | //------------------------------------------------------------------------------------------ |
||
1559 | */ |
||
1560 | default: page = 0; |
||
1561 | break; |
||
1562 | } |
||
1563 | } |
||
1564 | |||
1565 | #endif |
||
1566 | |||
1567 | |||
1568 |