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2050 | holgerb | 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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1917 | holgerb | 53 | #include "libfc.h" |
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 | |||
2426 | holgerb | 59 | unsigned char NaviData_WaypointIndex = 0; |
60 | unsigned char NaviData_WaypointNumber = 0, NaviData_TargetHoldTime = 0, ToNC_Load_WP_List = 0, NaviData_MaxWpListIndex = 0; |
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61 | char WPL_Name[10];// = {" \0"}; |
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1925 | holgerb | 62 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
63 | |||
1920 | holgerb | 64 | #define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
65 | #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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66 | #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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67 | #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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1921 | holgerb | 68 | #define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
69 | #define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
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1917 | holgerb | 70 | |
1919 | holgerb | 71 | #define VOICE_MINIMALE_EINGANSSPANNUNG 16 |
72 | #define VOICE_BEEP 5 |
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1920 | holgerb | 73 | #define HoTT_GRAD 96 |
74 | #define HoTT_LINKS 123 |
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75 | #define HoTT_RECHTS 124 |
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76 | #define HoTT_OBEN 125 |
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77 | #define HoTT_UNTEN 126 |
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1917 | holgerb | 78 | |
1949 | holgerb | 79 | #define HOTT_KEY_RIGHT 1 |
80 | #define HOTT_KEY_DOWN 2 |
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81 | #define HOTT_KEY_UP 4 |
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82 | #define HOTT_KEY_SET 6 |
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83 | #define HOTT_KEY_LEFT 8 |
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84 | |||
2322 | holgerb | 85 | #define VARIO_ZERO 30000 |
2178 | holgerb | 86 | unsigned int NaviData_TargetDistance = 0; |
87 | |||
2373 | holgerb | 88 | unsigned char MaxBlTemperture = 0; |
89 | unsigned char MinBlTemperture = 0; |
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90 | unsigned char HottestBl = 0; |
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91 | |||
1943 | holgerb | 92 | GPSPacket_t GPSPacket; |
93 | VarioPacket_t VarioPacket; |
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94 | ASCIIPacket_t ASCIIPacket; |
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95 | ElectricAirPacket_t ElectricAirPacket; |
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96 | HoTTGeneral_t HoTTGeneral; |
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2090 | holgerb | 97 | unsigned char SpeakHoTT = SPEAK_MIKROKOPTER; |
2345 | holgerb | 98 | unsigned char ToNC_SpeakHoTT = 0, ShowSettingNameTime = 0; |
1944 | holgerb | 99 | int HoTTVarioMeter = 0; |
2090 | holgerb | 100 | const char PROGMEM MIKROKOPTER[] = {" MikroKopter "}; |
2120 | holgerb | 101 | const char PROGMEM UNDERVOLTAGE[] = {" !! LiPo voltage !! "}; |
2390 | holgerb | 102 | const char PROGMEM LANDING[] = {" !! LANDING !! "}; |
2344 | holgerb | 103 | const char PROGMEM SETTING[] = {"Set :"}; |
1930 | holgerb | 104 | const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] = |
105 | { |
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106 | //0123456789123456 |
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107 | "No Error \0", // 0 |
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108 | "Not compatible \0", // 1 |
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109 | "MK3Mag not compa\0", // 2 |
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110 | "No FC communicat\0", // 3 |
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2188 | holgerb | 111 | "Compass communic\0", // 4 |
1930 | holgerb | 112 | "GPS communicatio\0", // 5 |
113 | "compass value \0", // 6 |
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114 | "RC Signal lost \0", // 7 |
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115 | "FC spi rx error \0", // 8 |
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116 | "No NC communicat\0", // 9 |
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117 | "FC Nick Gyro \0", // 10 |
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118 | "FC Roll Gyro \0", // 11 |
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119 | "FC Yaw Gyro \0", // 12 |
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120 | "FC Nick ACC \0", // 13 |
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121 | "FC Roll ACC \0", // 14 |
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122 | "FC Z-ACC \0", // 15 |
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123 | "Pressure sensor \0", // 16 |
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1936 | holgerb | 124 | "I2C FC->BL-Ctrl \0", // 17 |
1930 | holgerb | 125 | "Bl Missing \0", // 18 |
126 | "Mixer Error \0", // 19 |
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1937 | holgerb | 127 | "Carefree Error \0", // 20 |
1944 | holgerb | 128 | "GPS Fix lost \0", // 21 |
1948 | holgerb | 129 | "Magnet Error \0", // 22 |
130 | "Motor restart \0", // 23 |
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2008 | holgerb | 131 | "BL Limitation \0", // 24 |
132 | "GPS Range \0", // 25 |
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2009 | holgerb | 133 | "No SD-Card \0", // 26 |
134 | "SD-Logging error\0", // 27 |
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2034 | holgerb | 135 | "Flying range! \0", // 28 |
2146 | holgerb | 136 | "Max Altitude! \0", // 29 |
2186 | holgerb | 137 | "No GPS fix \0", // 30 |
2388 | holgerb | 138 | "compass not cal.\0", // 31 |
2408 | holgerb | 139 | "BL-Selftest \0", // 32 |
140 | "no ext. compass \0", // 33 |
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141 | "compass sensor \0" // 34 |
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1930 | holgerb | 142 | }; |
1919 | holgerb | 143 | |
2090 | holgerb | 144 | |
145 | const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] = |
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146 | { // 1 -> only in flight 0 -> also on ground |
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147 | //0123456789123456 |
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148 | {0,0},// "No Error \0", // 0 |
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2388 | holgerb | 149 | {SPEAK_ERROR,0}, // "Not compatible \0", // 1 |
150 | {SPEAK_ERROR,0}, // "MK3Mag not compa\0", // 2 |
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151 | {SPEAK_ERR_NAVI,1}, // "No FC communicat\0", // 3 |
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152 | {SPEAK_ERR_COMPASS,1}, // "MK3Mag communica\0", // 4 |
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153 | {SPEAK_ERR_GPS,0}, // "GPS communicatio\0", // 5 |
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154 | {SPEAK_ERR_COMPASS,1}, // "compass value \0", // 6 |
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2090 | holgerb | 155 | {SPEAK_ERR_RECEICER,0},// "RC Signal lost \0", // 7 |
2388 | holgerb | 156 | {SPEAK_ERR_NAVI,0}, // "FC spi rx error \0", // 8 |
157 | {SPEAK_ERR_NAVI,0}, // "No NC communicat\0", // 9 |
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158 | {SPEAK_ERR_SENSOR,0}, // "FC Nick Gyro \0", // 10 |
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159 | {SPEAK_ERR_SENSOR,0}, // "FC Roll Gyro \0", // 11 |
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160 | {SPEAK_ERR_SENSOR,0}, // "FC Yaw Gyro \0", // 12 |
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161 | {SPEAK_ERR_SENSOR,0}, // "FC Nick ACC \0", // 13 |
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162 | {SPEAK_ERR_SENSOR,0}, // "FC Roll ACC \0", // 14 |
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163 | {SPEAK_ERR_SENSOR,0}, // "FC Z-ACC \0", // 15 |
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164 | {SPEAK_ERR_SENSOR,0}, // "Pressure sensor \0", // 16 |
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165 | {SPEAK_ERR_DATABUS,1}, // "I2C FC->BL-Ctrl \0", // 17 |
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166 | {SPEAK_ERR_DATABUS,1}, // "Bl Missing \0", // 18 |
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167 | {SPEAK_ERROR,0}, // "Mixer Error \0", // 19 |
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168 | {SPEAK_CF_OFF,1}, // "Carefree Error \0", // 20 |
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169 | {SPEAK_GPS_FIX,1}, // "GPS Fix lost \0", // 21 |
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170 | {SPEAK_ERR_COMPASS,0}, // "Magnet Error \0", // 22 |
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171 | {SPEAK_ERR_MOTOR,1}, // "Motor restart \0", // 23 |
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2090 | holgerb | 172 | {SPEAK_MAX_TEMPERAT,1},// "BL Limitation \0", // 24 |
2388 | holgerb | 173 | {SPEAK_MAX_RANGE,1}, // "GPS Range \0", // 25 |
174 | {SPEAK_ERROR,1}, // "No SD-Card \0", // 26 |
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175 | {SPEAK_ERROR,1}, // "SD-Logging error\0", // 27 |
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176 | {SPEAK_MAX_RANGE,1}, // "Flying range! \0", // 28 |
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177 | {SPEAK_MAX_ALTITUD,1}, // "Max Altitude! \0" // 29 |
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178 | {SPEAK_GPS_FIX,1}, // "No GPS fix \0" // 30 |
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179 | {SPEAK_ERR_CALIBARTION,0},// "compass not cal." // 31 |
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2408 | holgerb | 180 | {SPEAK_ERR_MOTOR,0}, // "BL-Selftest \0" // 32 |
181 | {SPEAK_ERR_COMPASS,0}, // "no ext. compass" // 33 |
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182 | {SPEAK_ERR_COMPASS,0} // "compass sensor" // 34 |
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2090 | holgerb | 183 | }; |
184 | |||
185 | |||
1943 | holgerb | 186 | void GetHottestBl(void) |
187 | { |
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188 | static unsigned char search = 0,tmp_max,tmp_min,who; |
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189 | if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;} |
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190 | else |
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191 | if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature; |
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2373 | holgerb | 192 | if(++search >= MAX_MOTORS) |
1943 | holgerb | 193 | { |
194 | search = 0; |
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2373 | holgerb | 195 | if(tmp_min != 255) MinBlTemperture = tmp_min; else MinBlTemperture = 0; |
196 | MaxBlTemperture = tmp_max; |
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1943 | holgerb | 197 | HottestBl = who; |
198 | tmp_min = 255; |
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199 | tmp_max = 0; |
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200 | who = 0; |
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201 | } |
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202 | } |
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203 | |||
1919 | holgerb | 204 | //--------------------------------------------------------------- |
1917 | holgerb | 205 | void Hott_ClearLine(unsigned char line) |
206 | { |
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207 | HoTT_printfxy(0,line," "); |
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208 | } |
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1919 | holgerb | 209 | //--------------------------------------------------------------- |
1917 | holgerb | 210 | |
2178 | holgerb | 211 | |
1919 | holgerb | 212 | unsigned char HoTT_Waring(void) |
213 | { |
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2090 | holgerb | 214 | unsigned char status = 0; |
215 | static char old_status = 0; |
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216 | static int repeat; |
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2120 | holgerb | 217 | //if(Parameter_UserParam1) return(Parameter_UserParam1); |
2190 | holgerb | 218 | ToNC_SpeakHoTT = SpeakHoTT; |
2390 | holgerb | 219 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
220 | { |
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221 | if(LowVoltageLandingActive && (EE_Parameter.Receiver == RECEIVER_HOTT)) status = SPEAK_LANDING; |
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222 | else status = VOICE_MINIMALE_EINGANSSPANNUNG; // Jeti hat kein wort: "LANDEN" |
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2408 | holgerb | 223 | if(SpeakHoTT && old_status == VOICE_MINIMALE_EINGANSSPANNUNG) status = SpeakHoTT; // das soll auch noch durch kommen |
2390 | holgerb | 224 | } |
2090 | holgerb | 225 | else |
2408 | holgerb | 226 | if(NC_ErrorCode && NC_ErrorCode < MAX_ERR_NUMBER) // Fehlercodes |
2090 | holgerb | 227 | { |
228 | if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]); |
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229 | } |
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2263 | holgerb | 230 | if(!status) // Sprachansagen |
2091 | holgerb | 231 | { |
2263 | holgerb | 232 | // if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0; // is the voice wanted? |
233 | if(!(EE_Parameter.GlobalConfig3 & CFG3_SPEAK_ALL)) SpeakHoTT = 0; // is the voice wanted? |
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2091 | holgerb | 234 | else status = SpeakHoTT; |
2190 | holgerb | 235 | } |
236 | else ToNC_SpeakHoTT = status; |
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2090 | holgerb | 237 | |
2390 | holgerb | 238 | if(old_status == status) // Gleichen Fehler nur alle 4 sek bringen |
2090 | holgerb | 239 | { |
240 | if(!CheckDelay(repeat)) return(0); |
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2390 | holgerb | 241 | repeat = SetDelay(4000); |
2090 | holgerb | 242 | } |
243 | else repeat = SetDelay(2000); |
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244 | |||
245 | if(status) |
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246 | { |
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247 | if(status == SpeakHoTT) SpeakHoTT = 0; |
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248 | } |
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249 | old_status = status; |
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2120 | holgerb | 250 | // DebugOut.Analog[16] = status; |
2090 | holgerb | 251 | return(status); |
1919 | holgerb | 252 | } |
253 | |||
2178 | holgerb | 254 | /* |
255 | unsigned char HoTTErrorCode(void) |
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256 | { |
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257 | return(NC_ErrorCode); |
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258 | } |
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259 | */ |
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1919 | holgerb | 260 | //--------------------------------------------------------------- |
1942 | holgerb | 261 | void NC_Fills_HoTT_Telemety(void) |
1940 | holgerb | 262 | { |
2034 | holgerb | 263 | unsigned char *ptr = NULL; |
1940 | holgerb | 264 | unsigned char max = 0,i,z; |
265 | switch(FromNaviCtrl.Param.Byte[11]) |
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266 | { |
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267 | case HOTT_VARIO_PACKET_ID: |
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268 | ptr = (unsigned char *) &VarioPacket; |
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269 | max = sizeof(VarioPacket); |
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270 | break; |
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271 | case HOTT_GPS_PACKET_ID: |
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272 | ptr = (unsigned char *) &GPSPacket; |
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273 | max = sizeof(GPSPacket); |
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274 | break; |
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275 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
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276 | ptr = (unsigned char *) &ElectricAirPacket; |
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277 | max = sizeof(ElectricAirPacket); |
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278 | break; |
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1943 | holgerb | 279 | case HOTT_GENERAL_PACKET_ID: |
280 | ptr = (unsigned char *) &HoTTGeneral; |
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281 | max = sizeof(HoTTGeneral); |
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282 | break; |
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2377 | holgerb | 283 | case JETI_GPS_PACKET_ID1: |
284 | ptr = (unsigned char *) &JetiExData[14].Value; |
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285 | max = sizeof(JetiExData[14].Value); |
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286 | break; |
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287 | case JETI_GPS_PACKET_ID2: |
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288 | ptr = (unsigned char *) &JetiExData[15].Value; |
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289 | max = sizeof(JetiExData[15].Value); |
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290 | break; |
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2424 | holgerb | 291 | case HOTT_WPL_NAME: |
292 | ptr = (unsigned char *) WPL_Name; |
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293 | max = sizeof(WPL_Name)-1; |
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294 | break; |
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295 | |||
1940 | holgerb | 296 | } |
297 | z = FromNaviCtrl.Param.Byte[0]; // Data allocation |
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298 | |||
299 | for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++) |
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300 | { |
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301 | if(z >= max) break; |
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302 | ptr[z] = FromNaviCtrl.Param.Byte[2+i]; |
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303 | z++; |
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304 | } |
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305 | } |
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306 | |||
1942 | holgerb | 307 | unsigned int BuildHoTT_Vario(void) |
308 | { |
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2322 | holgerb | 309 | unsigned int tmp = VARIO_ZERO; |
1944 | holgerb | 310 | if(VarioCharacter == '+' || VarioCharacter == '-') |
311 | { |
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2322 | holgerb | 312 | tmp = VARIO_ZERO + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3; |
313 | if(tmp < VARIO_ZERO && tmp > VARIO_ZERO - 50) tmp = VARIO_ZERO - 50; // weil es sonst erst bei < 0,5m/sek piept |
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1944 | holgerb | 314 | } |
1942 | holgerb | 315 | else |
1944 | holgerb | 316 | if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY)) |
317 | { |
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2322 | holgerb | 318 | tmp = VARIO_ZERO + HoTTVarioMeter; |
319 | if(tmp > VARIO_ZERO) |
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1944 | holgerb | 320 | { |
2322 | holgerb | 321 | if(tmp < VARIO_ZERO + 100) tmp = VARIO_ZERO; |
1944 | holgerb | 322 | else tmp -= 100; |
323 | } |
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2322 | holgerb | 324 | if(tmp < VARIO_ZERO) |
1944 | holgerb | 325 | { |
2322 | holgerb | 326 | if(tmp > VARIO_ZERO - 100) tmp = VARIO_ZERO; |
1944 | holgerb | 327 | else tmp += 100; |
328 | } |
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329 | } |
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330 | else |
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2322 | holgerb | 331 | if(VarioCharacter == '^') tmp = VARIO_ZERO + FromNC_AltitudeSpeed * 10; |
1944 | holgerb | 332 | else |
2322 | holgerb | 333 | if(VarioCharacter == 'v') tmp = VARIO_ZERO - FromNC_AltitudeSpeed * 10; |
1942 | holgerb | 334 | return(tmp); |
335 | } |
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336 | |||
1940 | holgerb | 337 | //--------------------------------------------------------------- |
1919 | holgerb | 338 | unsigned char HoTT_Telemety(unsigned char packet_request) |
339 | { |
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2322 | holgerb | 340 | unsigned char i; |
2090 | holgerb | 341 | //Debug("rqst: %02X",packet_request); |
2420 | holgerb | 342 | |
1919 | holgerb | 343 | switch(packet_request) |
344 | { |
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345 | case HOTT_VARIO_PACKET_ID: |
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2322 | holgerb | 346 | GPSPacket.WarnBeep = HoTT_Waring(); // Achtung: das ist richtig hier, damit der Varioton schon vorher abgestellt wird |
1921 | holgerb | 347 | VarioPacket.Altitude = HoehenWert/100 + 500; |
2322 | holgerb | 348 | if(!GPSPacket.WarnBeep) VarioPacket.m_sec = BuildHoTT_Vario(); else VarioPacket.m_sec = VARIO_ZERO; |
1943 | holgerb | 349 | VarioPacket.m_3sec = VarioPacket.m_sec; |
350 | VarioPacket.m_10sec = VarioPacket.m_sec; |
||
1919 | holgerb | 351 | if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude; |
352 | if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude; |
||
2090 | holgerb | 353 | VarioPacket.WarnBeep = 0;//HoTT_Waring(); |
1919 | holgerb | 354 | HoTT_DataPointer = (unsigned char *) &VarioPacket; |
2090 | holgerb | 355 | VarioPacket.FreeCharacters[0] = VarioCharacter; |
356 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' '; |
||
357 | // VarioPacket.FreeCharacters[2] = ' '; |
||
358 | if(NC_ErrorCode) |
||
359 | { |
||
360 | VarioPacket.Text[0] = NC_ErrorCode/10 + '0'; |
||
361 | VarioPacket.Text[1] = NC_ErrorCode%10 + '0'; |
||
362 | VarioPacket.Text[2] = ':'; |
||
2183 | holgerb | 363 | for(i=0; i<16;i++) VarioPacket.Text[i+3] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]); |
2388 | holgerb | 364 | VarioPacket.Text[19] = ' '; |
365 | VarioPacket.Text[20] = ' '; |
||
2090 | holgerb | 366 | } |
2120 | holgerb | 367 | else |
2390 | holgerb | 368 | if(LowVoltageLandingActive) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LANDING[i]); // no Error |
369 | else |
||
2120 | holgerb | 370 | if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error |
2348 | holgerb | 371 | else |
372 | if(ShowSettingNameTime) // no Error |
||
373 | { |
||
374 | for(i=0; i<sizeof(SETTING);i++) VarioPacket.Text[i] = pgm_read_byte(&SETTING[i]); |
||
375 | VarioPacket.Text[4] = '0' + ActiveParamSet; |
||
376 | for(i=0; i<sizeof(EE_Parameter.Name);i++) VarioPacket.Text[i+7] = EE_Parameter.Name[i]; // no Error |
||
377 | VarioPacket.Text[18] = ' '; |
||
378 | VarioPacket.Text[19] = ' '; |
||
379 | VarioPacket.Text[20] = ' '; |
||
380 | } |
||
2120 | holgerb | 381 | else |
2178 | holgerb | 382 | if(NaviData_WaypointNumber) |
383 | { |
||
384 | unsigned int tmp_int; |
||
385 | unsigned char tmp; |
||
386 | VarioPacket.Text[0] = 'W'; VarioPacket.Text[1] = 'P'; |
||
387 | VarioPacket.Text[2] = ' '; |
||
388 | VarioPacket.Text[3] = '0'+(NaviData_WaypointIndex) / 10; |
||
389 | VarioPacket.Text[4] = '0'+(NaviData_WaypointIndex) % 10; |
||
390 | VarioPacket.Text[5] = '/'; |
||
391 | VarioPacket.Text[6] = '0'+(NaviData_WaypointNumber) / 10; |
||
392 | VarioPacket.Text[7] = '0'+(NaviData_WaypointNumber) % 10; |
||
393 | VarioPacket.Text[8] = ' '; |
||
394 | tmp_int = NaviData_TargetDistance; |
||
395 | if(tmp_int > 1000) { VarioPacket.Text[9] = '0'+(tmp_int) / 1000; tmp_int %= 1000;} |
||
396 | else VarioPacket.Text[9] = ' '; |
||
397 | if(tmp_int > 100) { VarioPacket.Text[10] = '0'+(tmp_int) / 100; tmp_int %= 100;} |
||
398 | else VarioPacket.Text[10] = ' '; |
||
399 | VarioPacket.Text[11] = '0'+(tmp_int) / 10; |
||
400 | VarioPacket.Text[12] = '0'+(tmp_int) % 10; |
||
401 | VarioPacket.Text[13] = 'm'; |
||
402 | VarioPacket.Text[14] = ' '; |
||
403 | tmp = NaviData_TargetHoldTime; |
||
404 | if(tmp > 100) { VarioPacket.Text[15] = '0'+(tmp) / 100; tmp %= 100;} else VarioPacket.Text[15] = ' '; |
||
405 | VarioPacket.Text[16] = '0'+(tmp) / 10; |
||
406 | VarioPacket.Text[17] = '0'+(tmp) % 10; |
||
407 | VarioPacket.Text[18] = 's'; |
||
408 | VarioPacket.Text[19] = ' '; |
||
2407 | holgerb | 409 | VarioPacket.Text[20] = ' '; |
2178 | holgerb | 410 | } |
411 | else |
||
2355 | holgerb | 412 | if(!CalibrationDone) |
2344 | holgerb | 413 | { |
2355 | holgerb | 414 | for(i=0; i<17;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i+2]); // no Error and not calibrated |
415 | VarioPacket.Text[16] = '0'+VERSION_MAJOR; |
||
416 | VarioPacket.Text[17] = '.'; |
||
417 | VarioPacket.Text[18] = '0'+VERSION_MINOR/10; |
||
418 | VarioPacket.Text[19] = '0'+VERSION_MINOR%10; |
||
419 | VarioPacket.Text[20] = 'a'+VERSION_PATCH; |
||
2344 | holgerb | 420 | } |
2355 | holgerb | 421 | else |
422 | { |
||
423 | for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error |
||
2418 | holgerb | 424 | if(RedundanceBlOperation) VarioPacket.Text[0] = 'R'; |
2355 | holgerb | 425 | } |
1919 | holgerb | 426 | return(sizeof(VarioPacket)); |
427 | break; |
||
1921 | holgerb | 428 | |
1919 | holgerb | 429 | case HOTT_GPS_PACKET_ID: |
2186 | holgerb | 430 | GPSPacket.Altitude = HoehenWert/100 + 500; |
1943 | holgerb | 431 | // GPSPacket.Distance = GPSInfo.HomeDistance/10; // macht die NC |
432 | // GPSPacket.Heading = GPSInfo.HomeBearing/2; // macht die NC |
||
433 | // GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; // macht die NC |
||
2322 | holgerb | 434 | // GPSPacket.WarnBeep = HoTT_Waring(); //(wird jetzt weiter oben gemacht) |
435 | if(!GPSPacket.WarnBeep) GPSPacket.m_sec = BuildHoTT_Vario(); else GPSPacket.m_sec = VARIO_ZERO; |
||
1921 | holgerb | 436 | GPSPacket.m_3sec = 120; |
2090 | holgerb | 437 | GPSPacket.NumOfSats = GPSInfo.NumOfSats; |
438 | if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D'; |
||
439 | else |
||
440 | if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' '; |
||
441 | else GPSPacket.SatFix = '!'; |
||
1919 | holgerb | 442 | HoTT_DataPointer = (unsigned char *) &GPSPacket; |
2090 | holgerb | 443 | GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter; |
444 | GPSPacket.FreeCharacters[2] = GPSPacket.SatFix; |
||
445 | GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230; |
||
1919 | holgerb | 446 | return(sizeof(GPSPacket)); |
447 | break; |
||
448 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
||
1943 | holgerb | 449 | GetHottestBl(); |
1940 | holgerb | 450 | ElectricAirPacket.Altitude = HoehenWert/100 + 500; |
1921 | holgerb | 451 | ElectricAirPacket.Battery1 = UBat; |
1940 | holgerb | 452 | ElectricAirPacket.Battery2 = UBat; |
1943 | holgerb | 453 | ElectricAirPacket.VoltageCell1 = ErsatzKompassInGrad / 2; |
454 | ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1; |
||
1944 | holgerb | 455 | ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2; |
1943 | holgerb | 456 | ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20; |
1944 | holgerb | 457 | ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6; |
1943 | holgerb | 458 | ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7; |
2322 | holgerb | 459 | if(!GPSPacket.WarnBeep) ElectricAirPacket.m_sec = BuildHoTT_Vario(); else ElectricAirPacket.m_sec = VARIO_ZERO; |
1940 | holgerb | 460 | ElectricAirPacket.m_3sec = 120; |
461 | ElectricAirPacket.InputVoltage = UBat; |
||
2373 | holgerb | 462 | ElectricAirPacket.Temperature1 = MinBlTemperture + 20; |
463 | ElectricAirPacket.Temperature2 = MaxBlTemperture + 20; |
||
1940 | holgerb | 464 | ElectricAirPacket.Capacity = Capacity.UsedCapacity/10; |
2373 | holgerb | 465 | // ElectricAirPacket.WarnBeep = 0;//HoTT_Waring(); |
466 | ElectricAirPacket.WarnBeep = GPSPacket.WarnBeep; |
||
1940 | holgerb | 467 | ElectricAirPacket.Current = Capacity.ActualCurrent; |
1919 | holgerb | 468 | HoTT_DataPointer = (unsigned char *) &ElectricAirPacket; |
2090 | holgerb | 469 | ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60; |
470 | ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60; |
||
1919 | holgerb | 471 | return(sizeof(ElectricAirPacket)); |
472 | break; |
||
1943 | holgerb | 473 | case HOTT_GENERAL_PACKET_ID: |
474 | GetHottestBl(); |
||
475 | HoTTGeneral.Rpm = GPSInfo.HomeDistance/100; |
||
476 | HoTTGeneral.VoltageCell1 = ErsatzKompassInGrad / 2; |
||
2373 | holgerb | 477 | HoTTGeneral.VoltageCell2 = KompassValue / 2; |
478 | //HoTTGeneral.VoltageCell3 = Magnetstaerke -> macht NC |
||
479 | //HoTTGeneral.VoltageCell4 = Inclinition -> macht NC |
||
480 | HoTTGeneral.VoltageCell5 = DebugOut.Analog[28]; // I2C ErrorCounter |
||
1944 | holgerb | 481 | HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2; |
2373 | holgerb | 482 | if(UBat > BattLowVoltageWarning + 2) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 2)) * 3; |
1943 | holgerb | 483 | else HoTTGeneral.FuelPercent = 0; |
2373 | holgerb | 484 | if(HoTTGeneral.FuelPercent > 100) HoTTGeneral.FuelPercent = 100; |
485 | HoTTGeneral.FuelCapacity = NC_ErrorCode;//HoehenWert/100; // Oelpegel |
||
486 | // if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0; |
||
1943 | holgerb | 487 | HoTTGeneral.Altitude = HoehenWert/100 + 500; |
488 | HoTTGeneral.Battery1 = UBat; |
||
489 | HoTTGeneral.Battery2 = UBat; |
||
2322 | holgerb | 490 | if(!GPSPacket.WarnBeep) HoTTGeneral.m_sec = BuildHoTT_Vario(); else HoTTGeneral.m_sec = VARIO_ZERO; |
2373 | holgerb | 491 | HoTTGeneral.m_3sec = 120 + GPSPacket.WarnBeep; |
1943 | holgerb | 492 | HoTTGeneral.InputVoltage = UBat; |
2373 | holgerb | 493 | HoTTGeneral.Temperature1 = MinBlTemperture + 20; |
494 | HoTTGeneral.Temperature2 = MaxBlTemperture + 20; |
||
1943 | holgerb | 495 | HoTTGeneral.Capacity = Capacity.UsedCapacity/10; |
2090 | holgerb | 496 | HoTTGeneral.WarnBeep = 0;//HoTT_Waring(); |
1943 | holgerb | 497 | HoTTGeneral.Current = Capacity.ActualCurrent; |
2178 | holgerb | 498 | //HoTTGeneral.ErrorNumber = HoTTErrorCode(); |
1943 | holgerb | 499 | HoTT_DataPointer = (unsigned char *) &HoTTGeneral; |
500 | return(sizeof(HoTTGeneral)); |
||
501 | break; |
||
1919 | holgerb | 502 | default: return(0); |
503 | } |
||
504 | } |
||
505 | |||
506 | //--------------------------------------------------------------- |
||
1917 | holgerb | 507 | void HoTT_Menu(void) |
508 | { |
||
2420 | holgerb | 509 | static unsigned char load_waypoint_tmp2 = 1, changed, load_waypoint_tmp = 1, changed2; |
510 | static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0; |
||
1921 | holgerb | 511 | unsigned char tmp; |
1944 | holgerb | 512 | HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8; |
2420 | holgerb | 513 | |
514 | // if(HottKeyboard) {beeptime = 1000;}; |
||
1944 | holgerb | 515 | |
2420 | holgerb | 516 | switch(page) |
517 | { |
||
518 | case 0: |
||
1933 | holgerb | 519 | switch(line++) |
1917 | holgerb | 520 | { |
1919 | holgerb | 521 | case 0: |
1923 | holgerb | 522 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
1939 | holgerb | 523 | HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10) |
524 | else |
||
525 | HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10) |
||
526 | |||
527 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
||
528 | { |
||
529 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter) |
||
530 | else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100)) |
||
531 | } |
||
532 | else HoTT_printfxy(10,0,"ALT:---- "); |
||
533 | break; |
||
534 | case 1: |
||
535 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
536 | HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60) |
||
537 | else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
1941 | holgerb | 538 | HoTT_printfxy(10,1,"DIR: %3d%c",ErsatzKompassInGrad, HoTT_GRAD); |
1949 | holgerb | 539 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," "); |
1939 | holgerb | 540 | break; |
541 | case 2: |
||
542 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
543 | HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity) |
||
544 | else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity); |
||
1940 | holgerb | 545 | HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
1939 | holgerb | 546 | break; |
547 | case 3: |
||
2072 | holgerb | 548 | HoTT_printfxy(9,0,":"); |
549 | HoTT_printfxy(9,1,":"); |
||
550 | HoTT_printfxy(9,2,":"); |
||
1939 | holgerb | 551 | HoTT_printfxy(0,3,"---------+-----------"); |
2072 | holgerb | 552 | |
553 | // HoTT_printfxy(0,3,"---------------------"); |
||
1939 | holgerb | 554 | HoTT_printfxy(0,6,"---------------------"); |
555 | break; |
||
556 | case 4: |
||
557 | if(NaviDataOkay) |
||
558 | { |
||
2072 | holgerb | 559 | HoTT_printfxy(9,4,":"); |
1939 | holgerb | 560 | HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats); |
561 | HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10); |
||
562 | switch (GPSInfo.SatFix) |
||
563 | { |
||
564 | case SATFIX_3D: |
||
565 | if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ") |
||
566 | else HoTT_printfxy(7,4,"3D"); |
||
567 | break; |
||
568 | default: |
||
1943 | holgerb | 569 | HoTT_printfxy_BLINK(7,4,"!!"); |
1939 | holgerb | 570 | break; |
571 | } |
||
572 | } |
||
573 | else |
||
1944 | holgerb | 574 | { |
1940 | holgerb | 575 | Hott_ClearLine(4); |
1939 | holgerb | 576 | } |
577 | break; |
||
578 | case 5: |
||
579 | if(NaviDataOkay) |
||
580 | { |
||
1972 | holgerb | 581 | if(show_mag) |
582 | { |
||
583 | HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField); |
||
1939 | holgerb | 584 | HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
1972 | holgerb | 585 | HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic); |
586 | } |
||
587 | else |
||
588 | { |
||
2072 | holgerb | 589 | HoTT_printfxy(0,5," %2um/s: HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
1972 | holgerb | 590 | } |
1939 | holgerb | 591 | } |
1940 | holgerb | 592 | else Hott_ClearLine(5); |
1939 | holgerb | 593 | break; |
594 | case 6: |
||
595 | break; |
||
596 | case 7: if(NC_ErrorCode) |
||
597 | { |
||
598 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
599 | { |
||
600 | Hott_ClearLine(7); |
||
601 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
602 | } |
||
603 | else |
||
604 | { |
||
605 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
606 | } |
||
2120 | holgerb | 607 | else |
608 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
1939 | holgerb | 609 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
610 | break; |
||
2090 | holgerb | 611 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
1939 | holgerb | 612 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
613 | case 9: |
||
614 | case 10: |
||
615 | case 11: |
||
616 | case 12: |
||
617 | case 13: |
||
618 | case 14: |
||
619 | case 15: |
||
620 | case 16: |
||
1972 | holgerb | 621 | if(HottKeyboard == HOTT_KEY_SET) { if(show_mag) show_mag = 0; else show_mag = 1;} |
622 | else |
||
1949 | holgerb | 623 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
1939 | holgerb | 624 | HottKeyboard = 0; |
625 | break; |
||
626 | default: line = 0; |
||
627 | break; |
||
628 | } |
||
2420 | holgerb | 629 | break; |
630 | case 1: |
||
1939 | holgerb | 631 | switch(line++) |
632 | { |
||
633 | case 0: |
||
634 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
1923 | holgerb | 635 | HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity) |
636 | else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity); |
||
1917 | holgerb | 637 | break; |
638 | case 1: |
||
1921 | holgerb | 639 | HoTT_printfxy(0,1,"DIR:%3d%c",KompassValue, HoTT_GRAD); |
1917 | holgerb | 640 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
1920 | holgerb | 641 | { |
642 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
643 | else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
644 | } |
||
645 | else HoTT_printfxy(10,1,"ALT:---- "); |
||
646 | HoTT_printfxy(20,1,"%c",VarioCharacter); |
||
1917 | holgerb | 647 | break; |
648 | case 2: |
||
649 | if(NaviDataOkay) |
||
650 | { |
||
1923 | holgerb | 651 | HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter); |
1917 | holgerb | 652 | } |
653 | else |
||
654 | { |
||
1923 | holgerb | 655 | Hott_ClearLine(2); |
1917 | holgerb | 656 | } |
657 | break; |
||
1923 | holgerb | 658 | case 3: |
659 | HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower); |
||
1949 | holgerb | 660 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3," "); |
1923 | holgerb | 661 | break; |
1917 | holgerb | 662 | case 4: |
663 | if(NaviDataOkay) |
||
664 | { |
||
1919 | holgerb | 665 | HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
1917 | holgerb | 666 | switch (GPSInfo.SatFix) |
667 | { |
||
668 | case SATFIX_3D: |
||
669 | HoTT_printfxy(16,4," 3D "); |
||
670 | break; |
||
1925 | holgerb | 671 | //case SATFIX_2D: |
672 | //case SATFIX_NONE: |
||
1917 | holgerb | 673 | default: |
1925 | holgerb | 674 | HoTT_printfxy_BLINK(16,4,"NOFIX"); |
1917 | holgerb | 675 | break; |
676 | } |
||
677 | if(GPSInfo.Flags & FLAG_DIFFSOLN) |
||
678 | { |
||
679 | HoTT_printfxy(16,4,"DGPS "); |
||
680 | } |
||
681 | } |
||
682 | else |
||
683 | { //012345678901234567890 |
||
1930 | holgerb | 684 | HoTT_printfxy(0,4," No NaviCtrl "); |
1917 | holgerb | 685 | } |
686 | break; |
||
687 | case 5: |
||
1949 | holgerb | 688 | if(show_current) |
689 | { |
||
2386 | holgerb | 690 | // 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); |
691 | 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); |
||
1949 | holgerb | 692 | } |
693 | else |
||
694 | { |
||
695 | HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD); |
||
696 | } |
||
1917 | holgerb | 697 | break; |
698 | case 6: |
||
1949 | holgerb | 699 | if(show_current) |
700 | { |
||
1917 | holgerb | 701 | if(RequiredMotors == 4) Hott_ClearLine(6); |
702 | else |
||
2386 | holgerb | 703 | // 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) |
704 | 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) |
||
1949 | holgerb | 705 | else |
2386 | holgerb | 706 | // 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); |
707 | 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); |
||
1949 | holgerb | 708 | } |
709 | else |
||
710 | { |
||
711 | if(RequiredMotors == 4) Hott_ClearLine(6); |
||
712 | else |
||
1923 | holgerb | 713 | if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
1917 | holgerb | 714 | else |
1923 | holgerb | 715 | 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); |
1949 | holgerb | 716 | } |
1917 | holgerb | 717 | break; |
1930 | holgerb | 718 | case 7: if(NC_ErrorCode) |
719 | { |
||
720 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
721 | { |
||
722 | Hott_ClearLine(7); |
||
723 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
724 | } |
||
725 | else |
||
726 | { |
||
727 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
728 | } |
||
2120 | holgerb | 729 | else |
730 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
1937 | holgerb | 731 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
1917 | holgerb | 732 | break; |
2090 | holgerb | 733 | case 8: // ASCIIPacket.WarnBeep = HoTT_Waring(); |
1919 | holgerb | 734 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
1921 | holgerb | 735 | case 9: |
1917 | holgerb | 736 | case 10: |
737 | case 11: |
||
738 | case 12: |
||
739 | case 13: |
||
1919 | holgerb | 740 | case 14: |
741 | case 15: |
||
742 | case 16: |
||
1949 | holgerb | 743 | if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1; Hott_ClearLine(5); Hott_ClearLine(6);} |
744 | else |
||
745 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 2; line = 0;} |
||
746 | else |
||
747 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 0; line = 0;} |
||
748 | //if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard); |
||
1921 | holgerb | 749 | HottKeyboard = 0; |
750 | break; |
||
1933 | holgerb | 751 | default: line = 0; |
1921 | holgerb | 752 | break; |
753 | } |
||
2420 | holgerb | 754 | break; |
755 | case 2: |
||
1933 | holgerb | 756 | switch(line++) |
1921 | holgerb | 757 | { |
758 | case 0: |
||
2344 | holgerb | 759 | HoTT_printfxy_INV(0,0,"Setting:%u %s ",ActiveParamSet,EE_Parameter.Name); |
1921 | holgerb | 760 | break; |
761 | case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
||
762 | break; |
||
1923 | holgerb | 763 | case 2: HoTT_printfxy(0,2,"ALT:"); |
1921 | holgerb | 764 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
765 | { |
||
766 | if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter) |
||
767 | else |
||
768 | { |
||
769 | if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) "); |
||
770 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter) |
||
771 | else HoTT_printf("VARIO", Parameter_HoehenSchalter); |
||
772 | } |
||
773 | } |
||
774 | else |
||
775 | HoTT_printf("DISABLED"); |
||
776 | break; |
||
1923 | holgerb | 777 | case 3: HoTT_printfxy(0,3,"CF:"); |
2342 | holgerb | 778 | if(!EE_Parameter.CareFreeChannel) HoTT_printf("DISABLED") |
1921 | holgerb | 779 | else |
780 | { |
||
781 | if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
||
782 | if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH"); |
||
783 | } |
||
784 | break; |
||
1923 | holgerb | 785 | case 4: HoTT_printfxy(0,4,"GPS:"); |
786 | if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
||
787 | else |
||
788 | { |
||
2342 | holgerb | 789 | tmp = GetChannelValue(EE_Parameter.NaviGpsModeChannel); |
1923 | holgerb | 790 | if(tmp < 50) HoTT_printf("(FREE)") |
791 | else |
||
792 | if(tmp >= 180) HoTT_printf("(HOME)") |
||
793 | else |
||
794 | if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ") |
||
795 | else HoTT_printf("(HOLD)") |
||
796 | } |
||
797 | if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime) |
||
798 | |||
799 | break; |
||
800 | case 5: HoTT_printfxy(0,5,"HOME ALT:"); |
||
801 | if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD "); |
||
802 | break; |
||
1921 | holgerb | 803 | case 6: |
1982 | holgerb | 804 | if(!show_poti) |
805 | { |
||
806 | HoTT_printfxy(0,6,"Ni:%4i Ro:%4i C:%3i",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]], Parameter_ServoNickControl); |
||
807 | HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
||
808 | } |
||
809 | else |
||
810 | { |
||
811 | HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3); |
||
812 | HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6); |
||
813 | } |
||
814 | |||
1921 | holgerb | 815 | break; |
816 | case 7: //HoTT_printfxy(0,6,"WARNINGS:"); |
||
817 | if(HoTTBlink) |
||
818 | { |
||
819 | LIBFC_HoTT_SetPos(6 * 21); |
||
820 | if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! "); |
||
821 | if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! "); |
||
822 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! "); |
||
823 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! "); |
||
824 | } |
||
825 | break; |
||
2090 | holgerb | 826 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
1921 | holgerb | 827 | break; |
828 | case 9: |
||
829 | case 10: |
||
830 | case 11: |
||
831 | case 12: |
||
832 | case 13: |
||
833 | case 14: |
||
834 | case 15: |
||
835 | case 16: |
||
1982 | holgerb | 836 | if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1; Hott_ClearLine(6); Hott_ClearLine(7);} |
837 | else |
||
2418 | holgerb | 838 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 3; line = 0;} |
839 | else |
||
1949 | holgerb | 840 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
1921 | holgerb | 841 | HottKeyboard = 0; |
842 | break; |
||
1933 | holgerb | 843 | default: line = 0; |
1917 | holgerb | 844 | break; |
845 | } |
||
2420 | holgerb | 846 | break; |
847 | case 3: |
||
2418 | holgerb | 848 | switch(line++) |
849 | { |
||
850 | case 0: |
||
851 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
2420 | holgerb | 852 | HoTT_printfxy(0,1,"(Relative Positions)"); |
853 | // HoTT_printfxy(0,1,"(Absolute)"); |
||
2418 | holgerb | 854 | break; |
2420 | holgerb | 855 | case 1: |
856 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber) |
||
857 | else HoTT_printfxy(0,6,"No WPs active ") |
||
2418 | holgerb | 858 | break; |
859 | case 2: |
||
2420 | holgerb | 860 | HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10) |
2424 | holgerb | 861 | HoTT_printfxy(11,7,"%s",WPL_Name) |
2420 | holgerb | 862 | case 3: |
863 | case 4: |
||
864 | case 5: |
||
865 | if(load_waypoint_tmp2) |
||
2418 | holgerb | 866 | { |
2420 | holgerb | 867 | if(changed2 && HoTTBlink) HoTT_printfxy(10,3," ") |
868 | else HoTT_printfxy(10,3,"%2i ",load_waypoint_tmp2); |
||
869 | HoTT_printfxy(0,3,"Load list:") |
||
2418 | holgerb | 870 | } |
871 | else |
||
872 | { |
||
873 | HoTT_printfxy(0,3,"Load list: -- "); |
||
874 | } |
||
2420 | holgerb | 875 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ") |
876 | else |
||
877 | { |
||
2425 | holgerb | 878 | if(GPSInfo.SatFix == SATFIX_3D) |
879 | { |
||
880 | if(changed2 && load_waypoint_tmp2) HoTT_printfxy(0,4,"(Set -> Load)") |
||
881 | else HoTT_printfxy(0,4," "); |
||
882 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp2) ToNC_Load_WP_List = load_waypoint_tmp2 | 128; changed2 = 0;} |
||
883 | } else HoTT_printfxy(0,4,"!No GPS-Fix! "); |
||
2420 | holgerb | 884 | } |
885 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp2 < NaviData_MaxWpListIndex) { changed2 = 1; load_waypoint_tmp2++;HoTTBlink = 0;} |
||
886 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp2 > 1) { changed2 = 1; load_waypoint_tmp2--;HoTTBlink = 0;}; |
||
2418 | holgerb | 887 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 4; line = 0;} |
888 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 2; line = 0;}; |
||
889 | HottKeyboard = 0; |
||
890 | break; |
||
891 | default: line = 0; |
||
892 | break; |
||
893 | } |
||
2420 | holgerb | 894 | break; |
895 | case 4: |
||
2418 | holgerb | 896 | switch(line++) |
897 | { |
||
898 | case 0: |
||
899 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
2420 | holgerb | 900 | HoTT_printfxy(0,1,"(Fixed Positions)"); |
2418 | holgerb | 901 | break; |
2420 | holgerb | 902 | case 1: |
903 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber) |
||
904 | else HoTT_printfxy(0,6,"No WPs active ") |
||
2418 | holgerb | 905 | break; |
906 | case 2: |
||
2420 | holgerb | 907 | HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10) |
2424 | holgerb | 908 | HoTT_printfxy(11,7,"%s",WPL_Name) |
2420 | holgerb | 909 | case 3: |
910 | case 4: |
||
911 | case 5: |
||
912 | if(HottKeyboard) DebugOut.Analog[17]++; |
||
913 | if(load_waypoint_tmp) |
||
2418 | holgerb | 914 | { |
2420 | holgerb | 915 | if(changed && HoTTBlink) HoTT_printfxy(10,3," ") |
916 | else HoTT_printfxy(10,3,"%2d (FIX)",load_waypoint_tmp); |
||
917 | HoTT_printfxy(0,3,"Load list:") |
||
2418 | holgerb | 918 | } |
919 | else |
||
920 | { |
||
921 | HoTT_printfxy(0,3,"Load list: -- "); |
||
922 | } |
||
2420 | holgerb | 923 | |
924 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ") |
||
925 | else |
||
926 | { |
||
2425 | holgerb | 927 | if(changed && load_waypoint_tmp) HoTT_printfxy(0,4,"(Set -> Load)") |
928 | else HoTT_printfxy(0,4," "); |
||
929 | } |
||
2420 | holgerb | 930 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { changed = 1; load_waypoint_tmp++; HoTTBlink = 0;} |
931 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp > 1) { changed = 1; load_waypoint_tmp--; HoTTBlink = 0;}; |
||
932 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp) ToNC_Load_WP_List = load_waypoint_tmp; changed = 0;} |
||
933 | // if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 4; line = 0;} |
||
2418 | holgerb | 934 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 3; line = 0;}; |
935 | HottKeyboard = 0; |
||
936 | break; |
||
937 | default: line = 0; |
||
938 | break; |
||
939 | } |
||
2420 | holgerb | 940 | break; |
941 | default: page = 0; |
||
942 | break; |
||
943 | } |
||
1917 | holgerb | 944 | } |
945 | |||
1925 | holgerb | 946 | #endif |
1917 | holgerb | 947 | |
948 | |||
949 |