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Rev | Author | Line No. | Line |
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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 "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 | } |