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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 "main.h" |
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| 54 | #include "eeprom.h" |
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| 55 | |||
| 56 | char DisplayBuff[80]; |
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| 57 | unsigned char DispPtr = 0; |
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| 58 | |||
| 59 | unsigned char MaxMenue = 19; |
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| 60 | unsigned char MenuePunkt = 0; |
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| 61 | unsigned char RemoteKeys = 0; |
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| 62 | |||
| 63 | #define KEY1 0x01 |
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| 64 | #define KEY2 0x02 |
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| 65 | #define KEY3 0x04 |
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| 66 | #define KEY4 0x08 |
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| 67 | #define KEY5 0x10 |
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| 68 | |||
| 69 | void LcdClear(void) |
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| 70 | { |
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| 71 | unsigned char i; |
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| 72 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
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| 73 | } |
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| 74 | |||
| 75 | void Menu_Putchar(char c) |
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| 76 | { |
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| 77 | if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
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| 78 | } |
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| 79 | |||
| 80 | void Menu(void) |
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| 81 | { |
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| 82 | unsigned char i; |
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| 83 | static char DisableMenu = 0, AccMenu = 0, changed = 0; |
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| 84 | |||
| 85 | if(!DisableMenu) |
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| 86 | { |
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| 87 | if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
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| 88 | if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
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| 89 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
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| 90 | } |
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| 91 | LcdClear(); |
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| 92 | if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
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| 93 | else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
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| 94 | |||
| 95 | switch(MenuePunkt) |
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| 96 | { |
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| 97 | case 0: |
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| 98 | LCD_printfxy(0,0,"+ MikroKopter +"); |
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| 99 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%02d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
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| 100 | LCD_printfxy(0,2,"Set:%d %s", ActiveParamSet,Mixer.Name); |
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| 101 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
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| 102 | |||
| 103 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
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| 104 | else |
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| 105 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 106 | if(NC_ErrorCode) |
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| 107 | { |
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| 108 | LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
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| 109 | _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
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| 110 | } |
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| 111 | else |
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| 112 | #endif |
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| 113 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
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| 114 | else |
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| 115 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d !!",MissingMotor) |
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| 116 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 117 | #else |
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| 118 | else |
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| 119 | if(NC_ErrorCode) |
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| 120 | { |
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| 121 | LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
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| 122 | } |
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| 123 | #endif |
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| 124 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
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| 125 | else |
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| 126 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
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| 127 | else |
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| 128 | if(Capacity.MinOfMaxPWM < 30) LCD_printfxy(0,3,"BL-Selftest Err:%2d",Capacity.MinOfMaxPWM) |
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| 129 | |||
| 130 | break; |
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| 131 | case 1: |
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| 132 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
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| 133 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
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| 134 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
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| 135 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
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| 136 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 137 | if(ACC_AltitudeControl) |
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| 138 | { |
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| 139 | LCD_printfxy(17,2,"(A)"); |
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| 140 | LCD_printfxy(17,3,"%i",CalAthmospheare); |
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| 141 | } |
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| 142 | #endif |
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| 143 | break; |
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| 144 | case 2: |
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| 145 | LCD_printfxy(0,0,"act. bearing"); |
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| 146 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
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| 147 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
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| 148 | LCD_printfxy(0,3,"Compass: %5i",CompassCorrected); |
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| 149 | break; |
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| 150 | case 3: |
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| 151 | for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]); |
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| 152 | break; |
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| 153 | case 4: |
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| 154 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",ChannelNick,ChannelRoll); |
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| 155 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",ChannelGas+127,ChannelYaw); |
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| 156 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
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| 157 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
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| 158 | break; |
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| 159 | case 5: |
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| 160 | LCD_printfxy(0,0,"Gyro - Sensor"); |
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| 161 | LCD_printfxy(0,1,"Nick %4i (%4i)",AdWertNick - AdNeutralNick/8, AdNeutralNick); |
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| 162 | LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll); |
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| 163 | LCD_printfxy(0,3,"Yaw %4i (%4i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
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| 164 | AccMenu = 0; |
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| 165 | break; |
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| 166 | case 6: |
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| 167 | switch(AccMenu) |
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| 168 | { |
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| 169 | case 0: |
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| 170 | LCD_printfxy(0,0,"ACC - Sensor"); |
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| 171 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
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| 172 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
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| 173 | LCD_printfxy(0,3,"Z %4i (%3i)(cal)",AdWertAccHoch,(int)NeutralAccZ); |
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| 174 | if(RemoteKeys & KEY4) AccMenu++; |
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| 175 | changed = 0; |
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| 176 | break; |
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| 177 | case 1: |
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| 178 | LCD_printfxy(0,0,"Calibration:"); |
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| 179 | LCD_printfxy(0,1,"ACC: N:%3i R:%3i ",NeutralAccY,NeutralAccX); |
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| 180 | if(ChannelNick || ChannelRoll) LCD_printfxy(0,2,"Stick: (%i/%i) !! ",ChannelNick,ChannelRoll); |
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| 181 | if((FC_StatusFlags & FC_STATUS_MOTOR_RUN) && ((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-'))) |
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| 182 | { |
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| 183 | DisableMenu = 1; |
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| 184 | if(!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 |
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| 185 | if(RemoteKeys & KEY1) { NeutralAccY--; changed = 1;} |
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| 186 | if(RemoteKeys & KEY2) { NeutralAccY++; changed = 1;} |
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| 187 | if(RemoteKeys & KEY3) { NeutralAccX--; changed = 1;} |
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| 188 | if(RemoteKeys & KEY4) { NeutralAccX++; changed = 1;} |
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| 189 | LCD_printfxy(13,0,"on "); |
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| 190 | if(changed) LCD_printfxy(0,3,"land to save ") |
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| 191 | else LCD_printfxy(0,3,"use keys to trim ACC") |
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| 192 | } |
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| 193 | else |
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| 194 | { |
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| 195 | LCD_printfxy(13,0,"off"); |
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| 196 | DisableMenu = 0; |
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| 197 | if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && changed) |
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| 198 | { |
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| 199 | LCD_printfxy(0,3,"Save? (yes)(no)"); |
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| 200 | if(RemoteKeys & KEY3) { StoreNeutralToEeprom(); AccMenu = 0;} |
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| 201 | if(RemoteKeys & KEY4) { changed = 0;} |
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| 202 | } |
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| 203 | else LCD_printfxy(0,3,"Fly with GPS off"); |
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| 204 | } |
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| 205 | break; |
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| 206 | default: AccMenu = 0; break; |
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| 207 | } |
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| 208 | break; |
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| 209 | case 7: |
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| 210 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
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| 211 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
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| 212 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
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| 213 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
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| 214 | AccMenu = 0; |
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| 215 | break; |
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| 216 | case 8: |
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| 217 | LCD_printfxy(0,0,"Receiver"); |
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| 218 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
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| 219 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
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| 220 | break; |
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| 221 | case 9: |
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| 222 | LCD_printfxy(0,0,"Undervoltages " ); |
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| 223 | LCD_printfxy(0,1,"Warn: %2d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
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| 224 | LCD_printfxy(0,2,"Home: %2d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
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| 225 | LCD_printfxy(0,3,"Land: %2d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
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| 226 | break; |
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| 227 | case 10: |
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| 228 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
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| 229 | break; |
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| 230 | case 11: |
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| 231 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
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| 232 | break; |
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| 233 | case 12: |
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| 234 | LCD_printfxy(0,0,"Flight-Time " ); |
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| 235 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
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| 236 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
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| 237 | LCD_printfxy(13,3,"(reset)"); |
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| 238 | if(RemoteKeys & KEY4) |
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| 239 | { |
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| 240 | FlugMinuten = 0; |
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| 241 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
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| 242 | } |
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| 243 | break; |
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| 244 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 245 | case 13: |
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| 246 | LCD_printfxy(0,0,"Compass"); |
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| 247 | LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
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| 248 | LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
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| 249 | LCD_printfxy(0,3,"True: %5i",CompassCorrected); |
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| 250 | break; |
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| 251 | case 14: |
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| 252 | LCD_printfxy(0,0,"Servo " ); |
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| 253 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
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| 254 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
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| 255 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
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| 256 | break; |
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| 257 | case 15: |
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| 258 | if(RequiredMotors < 13) |
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| 259 | { |
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| 260 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
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| 261 | for(i=0;i<3;i++) |
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| 262 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
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| 263 | } |
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| 264 | else |
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| 265 | { |
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| 266 | for(i=0;i<4;i++) |
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| 267 | LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
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| 268 | LCD_printfxy(16,1,"BL-"); |
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| 269 | LCD_printfxy(16,2,"Err."); |
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| 270 | } |
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| 271 | break; |
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| 272 | case 16: |
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| 273 | if(RequiredMotors < 13) |
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| 274 | { |
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| 275 | LCD_printfxy(0,0,"BL- Temperature" ); |
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| 276 | for(i=0;i<3;i++) |
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| 277 | { |
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| 278 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
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| 279 | } |
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| 280 | } |
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| 281 | else |
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| 282 | { |
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| 283 | for(i=0;i<4;i++) |
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| 284 | { |
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| 285 | LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
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| 286 | } |
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| 287 | LCD_printfxy(16,1,"BL-"); |
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| 288 | LCD_printfxy(16,2,"Temp"); |
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| 289 | } |
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| 290 | LCD_printfxy(18,3,"C"); |
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| 291 | break; |
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| 292 | case 17: |
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| 293 | if(RequiredMotors < 13) |
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| 294 | { |
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| 295 | LCD_printfxy(0,0,"BL Current" ); |
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| 296 | LCD_printfxy(11,3,"(in 0.1A)" ); |
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| 297 | for(i=0;i<3;i++) |
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| 298 | { |
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| 299 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
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| 300 | if(4 + i * 4 >= RequiredMotors) break; |
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| 301 | } |
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| 302 | } |
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| 303 | else |
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| 304 | { |
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| 305 | for(i=0;i<4;i++) |
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| 306 | { |
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| 307 | LCD_printfxy(0,i,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
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| 308 | } |
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| 309 | LCD_printfxy(16,2,"BL-"); |
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| 310 | LCD_printfxy(16,3,"I"); |
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| 311 | } |
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| 312 | break; |
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| 313 | case 18: |
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| 314 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
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| 315 | DispPtr = 20; |
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| 316 | for(i=0; i<MAX_MOTORS; i++) |
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| 317 | { |
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| 318 | if(i == 6 || i == 12) LCD_printf(" "); |
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| 319 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
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| 320 | { |
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| 321 | LCD_printf(" %2i",i+1); |
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| 322 | } |
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| 323 | else LCD_printf(" -"); |
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| 324 | } |
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| 325 | break; |
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| 326 | case 19: |
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| 327 | if(RequiredMotors < 13) |
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| 328 | { |
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| 329 | LCD_printfxy(0,0,"BL Versions" ); |
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| 330 | for(i=0;i<3;i++) |
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| 331 | { |
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| 332 | LCD_printfxy(0,i+1,"%1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
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| 333 | if(4 + i * 4 >= RequiredMotors) break; |
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| 334 | } |
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| 335 | } |
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| 336 | else |
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| 337 | { |
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| 338 | for(i=0;i<4;i++) |
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| 339 | LCD_printfxy(0,i," %1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
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| 340 | } |
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| 341 | break; |
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| 342 | /* case 20: |
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| 343 | LCD_printfxy(0,0,"BL MaxPWM " ); |
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| 344 | for(i=0;i<3;i++) |
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| 345 | { |
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| 346 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].MaxPWM,Motor[i*4+1].MaxPWM,Motor[i*4+2].MaxPWM,Motor[i*4+3].MaxPWM); |
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| 347 | if(4 + i * 4 >= RequiredMotors) break; |
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| 348 | } |
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| 349 | break; |
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| 350 | */ |
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| 351 | #endif |
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| 352 | default: |
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| 353 | if(MenuePunkt == MaxMenue) MaxMenue--; |
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| 354 | MenuePunkt = 0; |
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| 355 | break; |
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| 356 | } |
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| 357 | RemoteKeys = 0; |
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| 358 | } |