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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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| 2570 | holgerb | 61 | unsigned char ToNC_Load_SingePoint = 0, ToNC_Store_SingePoint = 0, Show_Load = 0, Show_Store = 0; |
| 2426 | holgerb | 62 | char WPL_Name[10];// = {" \0"}; |
| 2570 | holgerb | 63 | |
| 1925 | holgerb | 64 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 65 | |||
| 1920 | holgerb | 66 | #define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
| 2527 | holgerb | 67 | #define HoTT_printfxy(x,y,format, args...) { LIBFC_HoTT_SetPos((y) * 21 + (x)); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
| 68 | #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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| 69 | #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 | 70 | #define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
| 71 | #define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
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| 1917 | holgerb | 72 | |
| 1919 | holgerb | 73 | #define VOICE_MINIMALE_EINGANSSPANNUNG 16 |
| 74 | #define VOICE_BEEP 5 |
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| 1920 | holgerb | 75 | #define HoTT_GRAD 96 |
| 76 | #define HoTT_LINKS 123 |
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| 77 | #define HoTT_RECHTS 124 |
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| 78 | #define HoTT_OBEN 125 |
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| 79 | #define HoTT_UNTEN 126 |
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| 1917 | holgerb | 80 | |
| 1949 | holgerb | 81 | #define HOTT_KEY_RIGHT 1 |
| 82 | #define HOTT_KEY_DOWN 2 |
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| 83 | #define HOTT_KEY_UP 4 |
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| 84 | #define HOTT_KEY_SET 6 |
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| 85 | #define HOTT_KEY_LEFT 8 |
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| 86 | |||
| 2322 | holgerb | 87 | #define VARIO_ZERO 30000 |
| 2178 | holgerb | 88 | unsigned int NaviData_TargetDistance = 0; |
| 89 | |||
| 2373 | holgerb | 90 | unsigned char MaxBlTemperture = 0; |
| 91 | unsigned char MinBlTemperture = 0; |
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| 92 | unsigned char HottestBl = 0; |
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| 93 | |||
| 1943 | holgerb | 94 | GPSPacket_t GPSPacket; |
| 95 | VarioPacket_t VarioPacket; |
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| 96 | ASCIIPacket_t ASCIIPacket; |
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| 97 | ElectricAirPacket_t ElectricAirPacket; |
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| 98 | HoTTGeneral_t HoTTGeneral; |
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| 2090 | holgerb | 99 | unsigned char SpeakHoTT = SPEAK_MIKROKOPTER; |
| 2345 | holgerb | 100 | unsigned char ToNC_SpeakHoTT = 0, ShowSettingNameTime = 0; |
| 1944 | holgerb | 101 | int HoTTVarioMeter = 0; |
| 2090 | holgerb | 102 | const char PROGMEM MIKROKOPTER[] = {" MikroKopter "}; |
| 2120 | holgerb | 103 | const char PROGMEM UNDERVOLTAGE[] = {" !! LiPo voltage !! "}; |
| 2390 | holgerb | 104 | const char PROGMEM LANDING[] = {" !! LANDING !! "}; |
| 2475 | holgerb | 105 | const char PROGMEM SIMULATION[] = {" SIMULATION active "}; |
| 106 | const char PROGMEM BOAT_MODE[] = {" MikroKopter (Boat) "}; |
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| 2570 | holgerb | 107 | const char PROGMEM STORE[] = {" Store Position SP1 "}; |
| 108 | const char PROGMEM LOAD[] = {" Load Position SP1 "}; |
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| 2344 | holgerb | 109 | const char PROGMEM SETTING[] = {"Set :"}; |
| 1930 | holgerb | 110 | const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] = |
| 111 | { |
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| 112 | //0123456789123456 |
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| 113 | "No Error \0", // 0 |
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| 114 | "Not compatible \0", // 1 |
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| 115 | "MK3Mag not compa\0", // 2 |
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| 116 | "No FC communicat\0", // 3 |
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| 2188 | holgerb | 117 | "Compass communic\0", // 4 |
| 1930 | holgerb | 118 | "GPS communicatio\0", // 5 |
| 119 | "compass value \0", // 6 |
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| 120 | "RC Signal lost \0", // 7 |
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| 121 | "FC spi rx error \0", // 8 |
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| 122 | "No NC communicat\0", // 9 |
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| 123 | "FC Nick Gyro \0", // 10 |
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| 124 | "FC Roll Gyro \0", // 11 |
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| 125 | "FC Yaw Gyro \0", // 12 |
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| 126 | "FC Nick ACC \0", // 13 |
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| 127 | "FC Roll ACC \0", // 14 |
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| 128 | "FC Z-ACC \0", // 15 |
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| 129 | "Pressure sensor \0", // 16 |
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| 1936 | holgerb | 130 | "I2C FC->BL-Ctrl \0", // 17 |
| 1930 | holgerb | 131 | "Bl Missing \0", // 18 |
| 132 | "Mixer Error \0", // 19 |
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| 1937 | holgerb | 133 | "Carefree Error \0", // 20 |
| 1944 | holgerb | 134 | "GPS Fix lost \0", // 21 |
| 1948 | holgerb | 135 | "Magnet Error \0", // 22 |
| 136 | "Motor restart \0", // 23 |
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| 2008 | holgerb | 137 | "BL Limitation \0", // 24 |
| 138 | "GPS Range \0", // 25 |
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| 2009 | holgerb | 139 | "No SD-Card \0", // 26 |
| 140 | "SD-Logging error\0", // 27 |
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| 2034 | holgerb | 141 | "Flying range! \0", // 28 |
| 2146 | holgerb | 142 | "Max Altitude! \0", // 29 |
| 2186 | holgerb | 143 | "No GPS fix \0", // 30 |
| 2388 | holgerb | 144 | "compass not cal.\0", // 31 |
| 2408 | holgerb | 145 | "BL-Selftest \0", // 32 |
| 146 | "no ext. compass \0", // 33 |
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| 2531 | holgerb | 147 | "compass sensor \0", // 34 |
| 148 | "Failsafe postion\0", // 35 |
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| 149 | "No Redundancy! \0", // 36 |
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| 2561 | holgerb | 150 | "Redundancy test \0", // 37 |
| 151 | "GPS Update Rate \0" // 38 |
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| 152 | }; |
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| 2531 | holgerb | 153 | |
| 1919 | holgerb | 154 | |
| 2090 | holgerb | 155 | const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] = |
| 156 | { // 1 -> only in flight 0 -> also on ground |
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| 157 | //0123456789123456 |
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| 158 | {0,0},// "No Error \0", // 0 |
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| 2531 | holgerb | 159 | {SPEAK_ERROR,0}, // "Not compatible \0", // 1 |
| 160 | {SPEAK_ERROR,0}, // "MK3Mag not compa\0", // 2 |
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| 161 | {SPEAK_ERR_NAVI,1}, // "No FC communicat\0", // 3 |
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| 162 | {SPEAK_ERR_COMPASS,1}, // "MK3Mag communica\0", // 4 |
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| 163 | {SPEAK_ERR_GPS,0}, // "GPS communicatio\0", // 5 |
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| 164 | {SPEAK_ERR_COMPASS,1}, // "compass value \0", // 6 |
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| 165 | {SPEAK_ERR_RECEICER,0},// "RC Signal lost \0", // 7 |
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| 166 | {SPEAK_ERR_NAVI,0}, // "FC spi rx error \0", // 8 |
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| 167 | {SPEAK_ERR_NAVI,0}, // "No NC communicat\0", // 9 |
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| 168 | {SPEAK_ERR_SENSOR,0}, // "FC Nick Gyro \0", // 10 |
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| 169 | {SPEAK_ERR_SENSOR,0}, // "FC Roll Gyro \0", // 11 |
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| 170 | {SPEAK_ERR_SENSOR,0}, // "FC Yaw Gyro \0", // 12 |
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| 171 | {SPEAK_ERR_SENSOR,0}, // "FC Nick ACC \0", // 13 |
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| 172 | {SPEAK_ERR_SENSOR,0}, // "FC Roll ACC \0", // 14 |
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| 173 | {SPEAK_ERR_SENSOR,0}, // "FC Z-ACC \0", // 15 |
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| 174 | {SPEAK_ERR_SENSOR,0}, // "Pressure sensor \0", // 16 |
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| 175 | {SPEAK_ERR_DATABUS,1}, // "I2C FC->BL-Ctrl \0", // 17 |
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| 176 | {SPEAK_ERR_DATABUS,1}, // "Bl Missing \0", // 18 |
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| 177 | {SPEAK_ERROR,0}, // "Mixer Error \0", // 19 |
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| 178 | {SPEAK_CF_OFF,1}, // "Carefree Error \0", // 20 |
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| 179 | {SPEAK_GPS_FIX,1}, // "GPS Fix lost \0", // 21 |
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| 180 | {SPEAK_ERR_COMPASS,0}, // "Magnet Error \0", // 22 |
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| 181 | {SPEAK_ERR_MOTOR,1}, // "Motor restart \0", // 23 |
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| 182 | {SPEAK_MAX_TEMPERAT,1},// "BL Limitation \0", // 24 |
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| 183 | {SPEAK_MAX_RANGE,1}, // "GPS Range \0", // 25 |
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| 184 | {SPEAK_ERROR,1}, // "No SD-Card \0", // 26 |
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| 185 | {SPEAK_ERROR,1}, // "SD-Logging error\0", // 27 |
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| 186 | {SPEAK_MAX_RANGE,1}, // "Flying range! \0", // 28 |
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| 187 | {SPEAK_MAX_ALTITUD,1}, // "Max Altitude! \0" // 29 |
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| 188 | {SPEAK_GPS_FIX,1}, // "No GPS fix \0" // 30 |
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| 189 | {SPEAK_ERR_CALIBARTION,0},// "compass not cal." // 31 |
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| 190 | {SPEAK_ERR_MOTOR,0}, // "BL-Selftest \0" // 32 |
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| 191 | {SPEAK_ERR_COMPASS,0}, // "no ext. compass" // 33 |
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| 192 | {SPEAK_ERR_COMPASS,0}, // "compass sensor" // 34 |
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| 193 | {SPEAK_ERROR,1}, // "Failsafe postion0", // 35 |
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| 194 | {SPEAK_ERROR,0}, // "No Redundancy!", // 36 |
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| 2561 | holgerb | 195 | {0,0}, // "Redundancy test", // 37 |
| 196 | {SPEAK_ERR_GPS,0}, // "GPS Update Rate", // 38 |
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| 2090 | holgerb | 197 | }; |
| 198 | |||
| 2527 | holgerb | 199 | /* |
| 200 | //------------------------------------------------------------------------------------------ |
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| 201 | // HoTT-Plus |
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| 202 | //------------------------------------------------------------------------------------------ |
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| 203 | char dummy=0; |
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| 204 | const Parameter_List_t Parameter_List[] = |
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| 205 | { //offset,min,max,name,variable |
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| 206 | {127, 0, 247,"SP1", (unsigned char *) &PPM_in[13] }, |
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| 207 | {127, 0, 247,"SP2", (unsigned char *) &PPM_in[14] }, |
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| 208 | {127, 0, 247,"SP3", (unsigned char *) &PPM_in[15] }, |
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| 209 | {127, 0, 247,"SP4", (unsigned char *) &PPM_in[16] }, |
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| 210 | { 0, 0, 247,"HD ", (unsigned char *) &EE_Parameter.Luftdruck_D }, |
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| 211 | { 0, 0, 247,"HP ", (unsigned char *) &EE_Parameter.Hoehe_P }, |
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| 212 | { 0, 0, 247,"HA ", (unsigned char *) &EE_Parameter.Hoehe_ACC_Wirkung }, |
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| 213 | { 0, 0, 247,"HM ", (unsigned char *) &EE_Parameter.Hoehe_MinGas }, |
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| 214 | { 0, 0, 247,"HV ", (unsigned char *) &EE_Parameter.Hoehe_HoverBand }, |
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| 215 | { 0, 0, 247,"HG ", (unsigned char *) &EE_Parameter.Hoehe_Verstaerkung }, |
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| 216 | { 0, 0, 247,"NG ", (unsigned char *) &EE_Parameter.NotGas }, |
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| 217 | { 0, 0, 247,"StP", (unsigned char *) &EE_Parameter.Stick_P }, |
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| 218 | { 0, 0, 247,"StD", (unsigned char *) &EE_Parameter.Stick_D }, |
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| 219 | { 0, 0, 247,"SGP", (unsigned char *) &EE_Parameter.StickGier_P }, |
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| 220 | { 0, 0, 247,"DrC", (unsigned char *) &EE_Parameter.Driftkomp }, |
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| 221 | { 0, 0, 247,"GYP", (unsigned char *) &EE_Parameter.Gyro_P }, |
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| 222 | { 0, 0, 247,"GYD", (unsigned char *) &EE_Parameter.Gyro_D }, |
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| 223 | { 0, 0, 247,"GYI", (unsigned char *) &EE_Parameter.Gyro_I }, |
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| 224 | { 0, 0, 247,"MaI", (unsigned char *) &EE_Parameter.I_Faktor }, |
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| 225 | { 0, 0, 247,"GGP", (unsigned char *) &EE_Parameter.Gyro_Gier_P }, |
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| 226 | { 0, 0, 247,"GGI", (unsigned char *) &EE_Parameter.Gyro_Gier_I }, |
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| 227 | { 0, 0, 15,"GSt", (unsigned char *) &EE_Parameter.Gyro_Stability }, |
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| 228 | { 0, 0, 247,"DSt", (unsigned char *) &EE_Parameter.DynamicStability }, |
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| 229 | { 0, 0, 247,"NGG", (unsigned char *) &EE_Parameter.NaviGpsGain }, |
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| 230 | { 0, 0, 247,"NWC", (unsigned char *) &EE_Parameter.NaviWindCorrection }, |
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| 231 | { 0, 0, 247,"NSC", (unsigned char *) &EE_Parameter.NaviAccCompensation }, |
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| 232 | { 0, 0, 247,"NAL", (unsigned char *) &EE_Parameter.NaviAngleLimitation }, |
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| 233 | { 0, 0, 247,"NP ", (unsigned char *) &EE_Parameter.NaviGpsP }, |
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| 234 | { 0, 0, 247,"ND ", (unsigned char *) &EE_Parameter.NaviGpsI }, |
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| 235 | { 0, 0, 247,"NI ", (unsigned char *) &EE_Parameter.NaviGpsD }, |
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| 236 | { 0, 0, 247,"LGL", (unsigned char *) &EE_Parameter.LoopGasLimit }, |
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| 237 | { 0, 0, 247,"LHy", (unsigned char *) &EE_Parameter.LoopHysterese }, |
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| 238 | { 0, 0, 247,"LTh", (unsigned char *) &EE_Parameter.LoopThreshold }, |
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| 239 | { 0, 0, 0," ", (unsigned char *) &dummy }, |
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| 240 | { 0, 0, 247,"FGP", (unsigned char *) &EE_Parameter.AchsKopplung1}, |
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| 241 | { 0, 0, 247,"FNR", (unsigned char *) &EE_Parameter.AchsKopplung2}, |
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| 242 | { 0, 0, 247,"CYC", (unsigned char *) &EE_Parameter.CouplingYawCorrection}, |
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| 243 | { 0, 0, 247,"MSH", (unsigned char *) &EE_Parameter.MotorSmooth}, |
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| 244 | { 0, 0, 247,"NCT", (unsigned char *) &EE_Parameter.ServoNickControl }, |
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| 245 | { 0, 0, 247,"NCP", (unsigned char *) &EE_Parameter.ServoNickComp }, |
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| 246 | { 0, 0, 247,"RCT", (unsigned char *) &EE_Parameter.ServoRollControl }, |
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| 247 | { 0, 0, 247,"RCP", (unsigned char *) &EE_Parameter.ServoRollComp } |
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| 248 | }; |
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| 249 | unsigned char settingdest = 0; |
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| 250 | //------------------------------------------------------------------------------------------ |
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| 251 | // HoTT-Plus |
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| 252 | //------------------------------------------------------------------------------------------ |
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| 253 | */ |
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| 1943 | holgerb | 254 | void GetHottestBl(void) |
| 255 | { |
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| 256 | static unsigned char search = 0,tmp_max,tmp_min,who; |
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| 257 | if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;} |
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| 258 | else |
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| 259 | if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature; |
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| 2373 | holgerb | 260 | if(++search >= MAX_MOTORS) |
| 1943 | holgerb | 261 | { |
| 262 | search = 0; |
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| 2373 | holgerb | 263 | if(tmp_min != 255) MinBlTemperture = tmp_min; else MinBlTemperture = 0; |
| 264 | MaxBlTemperture = tmp_max; |
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| 1943 | holgerb | 265 | HottestBl = who; |
| 266 | tmp_min = 255; |
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| 267 | tmp_max = 0; |
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| 268 | who = 0; |
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| 269 | } |
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| 270 | } |
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| 271 | |||
| 1919 | holgerb | 272 | //--------------------------------------------------------------- |
| 1917 | holgerb | 273 | void Hott_ClearLine(unsigned char line) |
| 274 | { |
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| 275 | HoTT_printfxy(0,line," "); |
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| 276 | } |
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| 1919 | holgerb | 277 | //--------------------------------------------------------------- |
| 1917 | holgerb | 278 | |
| 2178 | holgerb | 279 | |
| 1919 | holgerb | 280 | unsigned char HoTT_Waring(void) |
| 281 | { |
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| 2090 | holgerb | 282 | unsigned char status = 0; |
| 283 | static char old_status = 0; |
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| 284 | static int repeat; |
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| 2531 | holgerb | 285 | //if(Parameter_UserParam1) SpeakHoTT = Parameter_UserParam1; |
| 2190 | holgerb | 286 | ToNC_SpeakHoTT = SpeakHoTT; |
| 2390 | holgerb | 287 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| 288 | { |
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| 289 | if(LowVoltageLandingActive && (EE_Parameter.Receiver == RECEIVER_HOTT)) status = SPEAK_LANDING; |
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| 290 | else status = VOICE_MINIMALE_EINGANSSPANNUNG; // Jeti hat kein wort: "LANDEN" |
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| 2408 | holgerb | 291 | if(SpeakHoTT && old_status == VOICE_MINIMALE_EINGANSSPANNUNG) status = SpeakHoTT; // das soll auch noch durch kommen |
| 2390 | holgerb | 292 | } |
| 2090 | holgerb | 293 | else |
| 2408 | holgerb | 294 | if(NC_ErrorCode && NC_ErrorCode < MAX_ERR_NUMBER) // Fehlercodes |
| 2090 | holgerb | 295 | { |
| 296 | if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]); |
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| 297 | } |
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| 2263 | holgerb | 298 | if(!status) // Sprachansagen |
| 2091 | holgerb | 299 | { |
| 2263 | holgerb | 300 | // if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0; // is the voice wanted? |
| 301 | if(!(EE_Parameter.GlobalConfig3 & CFG3_SPEAK_ALL)) SpeakHoTT = 0; // is the voice wanted? |
||
| 2091 | holgerb | 302 | else status = SpeakHoTT; |
| 2190 | holgerb | 303 | } |
| 304 | else ToNC_SpeakHoTT = status; |
||
| 2090 | holgerb | 305 | |
| 2390 | holgerb | 306 | if(old_status == status) // Gleichen Fehler nur alle 4 sek bringen |
| 2090 | holgerb | 307 | { |
| 308 | if(!CheckDelay(repeat)) return(0); |
||
| 2390 | holgerb | 309 | repeat = SetDelay(4000); |
| 2090 | holgerb | 310 | } |
| 311 | else repeat = SetDelay(2000); |
||
| 312 | |||
| 313 | if(status) |
||
| 314 | { |
||
| 315 | if(status == SpeakHoTT) SpeakHoTT = 0; |
||
| 316 | } |
||
| 317 | old_status = status; |
||
| 2120 | holgerb | 318 | // DebugOut.Analog[16] = status; |
| 2090 | holgerb | 319 | return(status); |
| 1919 | holgerb | 320 | } |
| 321 | |||
| 322 | //--------------------------------------------------------------- |
||
| 1942 | holgerb | 323 | void NC_Fills_HoTT_Telemety(void) |
| 1940 | holgerb | 324 | { |
| 2034 | holgerb | 325 | unsigned char *ptr = NULL; |
| 1940 | holgerb | 326 | unsigned char max = 0,i,z; |
| 327 | switch(FromNaviCtrl.Param.Byte[11]) |
||
| 328 | { |
||
| 329 | case HOTT_VARIO_PACKET_ID: |
||
| 330 | ptr = (unsigned char *) &VarioPacket; |
||
| 331 | max = sizeof(VarioPacket); |
||
| 332 | break; |
||
| 333 | case HOTT_GPS_PACKET_ID: |
||
| 334 | ptr = (unsigned char *) &GPSPacket; |
||
| 335 | max = sizeof(GPSPacket); |
||
| 336 | break; |
||
| 337 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
||
| 338 | ptr = (unsigned char *) &ElectricAirPacket; |
||
| 339 | max = sizeof(ElectricAirPacket); |
||
| 340 | break; |
||
| 1943 | holgerb | 341 | case HOTT_GENERAL_PACKET_ID: |
| 342 | ptr = (unsigned char *) &HoTTGeneral; |
||
| 343 | max = sizeof(HoTTGeneral); |
||
| 344 | break; |
||
| 2377 | holgerb | 345 | case JETI_GPS_PACKET_ID1: |
| 346 | ptr = (unsigned char *) &JetiExData[14].Value; |
||
| 347 | max = sizeof(JetiExData[14].Value); |
||
| 348 | break; |
||
| 349 | case JETI_GPS_PACKET_ID2: |
||
| 350 | ptr = (unsigned char *) &JetiExData[15].Value; |
||
| 351 | max = sizeof(JetiExData[15].Value); |
||
| 352 | break; |
||
| 2424 | holgerb | 353 | case HOTT_WPL_NAME: |
| 354 | ptr = (unsigned char *) WPL_Name; |
||
| 355 | max = sizeof(WPL_Name)-1; |
||
| 356 | break; |
||
| 357 | |||
| 1940 | holgerb | 358 | } |
| 359 | z = FromNaviCtrl.Param.Byte[0]; // Data allocation |
||
| 360 | |||
| 361 | for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++) |
||
| 362 | { |
||
| 363 | if(z >= max) break; |
||
| 364 | ptr[z] = FromNaviCtrl.Param.Byte[2+i]; |
||
| 365 | z++; |
||
| 366 | } |
||
| 367 | } |
||
| 368 | |||
| 1942 | holgerb | 369 | unsigned int BuildHoTT_Vario(void) |
| 370 | { |
||
| 2322 | holgerb | 371 | unsigned int tmp = VARIO_ZERO; |
| 1944 | holgerb | 372 | if(VarioCharacter == '+' || VarioCharacter == '-') |
| 373 | { |
||
| 2322 | holgerb | 374 | tmp = VARIO_ZERO + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3; |
| 375 | if(tmp < VARIO_ZERO && tmp > VARIO_ZERO - 50) tmp = VARIO_ZERO - 50; // weil es sonst erst bei < 0,5m/sek piept |
||
| 1944 | holgerb | 376 | } |
| 1942 | holgerb | 377 | else |
| 1944 | holgerb | 378 | if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY)) |
| 379 | { |
||
| 2322 | holgerb | 380 | tmp = VARIO_ZERO + HoTTVarioMeter; |
| 381 | if(tmp > VARIO_ZERO) |
||
| 1944 | holgerb | 382 | { |
| 2322 | holgerb | 383 | if(tmp < VARIO_ZERO + 100) tmp = VARIO_ZERO; |
| 1944 | holgerb | 384 | else tmp -= 100; |
| 385 | } |
||
| 2322 | holgerb | 386 | if(tmp < VARIO_ZERO) |
| 1944 | holgerb | 387 | { |
| 2322 | holgerb | 388 | if(tmp > VARIO_ZERO - 100) tmp = VARIO_ZERO; |
| 1944 | holgerb | 389 | else tmp += 100; |
| 390 | } |
||
| 391 | } |
||
| 392 | else |
||
| 2322 | holgerb | 393 | if(VarioCharacter == '^') tmp = VARIO_ZERO + FromNC_AltitudeSpeed * 10; |
| 1944 | holgerb | 394 | else |
| 2322 | holgerb | 395 | if(VarioCharacter == 'v') tmp = VARIO_ZERO - FromNC_AltitudeSpeed * 10; |
| 1942 | holgerb | 396 | return(tmp); |
| 397 | } |
||
| 398 | |||
| 1940 | holgerb | 399 | //--------------------------------------------------------------- |
| 1919 | holgerb | 400 | unsigned char HoTT_Telemety(unsigned char packet_request) |
| 401 | { |
||
| 2475 | holgerb | 402 | unsigned char i = 0; |
| 2531 | holgerb | 403 | static unsigned char SpeechMessage = 0; |
| 2090 | holgerb | 404 | //Debug("rqst: %02X",packet_request); |
| 2420 | holgerb | 405 | |
| 1919 | holgerb | 406 | switch(packet_request) |
| 407 | { |
||
| 408 | case HOTT_VARIO_PACKET_ID: |
||
| 2531 | holgerb | 409 | if(GPSPacket.WarnBeep == SpeechMessage) SpeechMessage = HoTT_Waring(); // Achtung: das ist richtig hier, damit der Varioton schon vorher abgestellt wird |
| 410 | |||
| 1921 | holgerb | 411 | VarioPacket.Altitude = HoehenWert/100 + 500; |
| 2531 | holgerb | 412 | if(!SpeechMessage) VarioPacket.m_sec = BuildHoTT_Vario(); else VarioPacket.m_sec = VARIO_ZERO; |
| 1943 | holgerb | 413 | VarioPacket.m_3sec = VarioPacket.m_sec; |
| 414 | VarioPacket.m_10sec = VarioPacket.m_sec; |
||
| 1919 | holgerb | 415 | if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude; |
| 416 | if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude; |
||
| 2090 | holgerb | 417 | VarioPacket.WarnBeep = 0;//HoTT_Waring(); |
| 1919 | holgerb | 418 | HoTT_DataPointer = (unsigned char *) &VarioPacket; |
| 2090 | holgerb | 419 | VarioPacket.FreeCharacters[0] = VarioCharacter; |
| 420 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' '; |
||
| 421 | // VarioPacket.FreeCharacters[2] = ' '; |
||
| 422 | if(NC_ErrorCode) |
||
| 423 | { |
||
| 424 | VarioPacket.Text[0] = NC_ErrorCode/10 + '0'; |
||
| 425 | VarioPacket.Text[1] = NC_ErrorCode%10 + '0'; |
||
| 426 | VarioPacket.Text[2] = ':'; |
||
| 2183 | holgerb | 427 | for(i=0; i<16;i++) VarioPacket.Text[i+3] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]); |
| 2388 | holgerb | 428 | VarioPacket.Text[19] = ' '; |
| 429 | VarioPacket.Text[20] = ' '; |
||
| 2090 | holgerb | 430 | } |
| 2120 | holgerb | 431 | else |
| 2390 | holgerb | 432 | if(LowVoltageLandingActive) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LANDING[i]); // no Error |
| 433 | else |
||
| 2120 | holgerb | 434 | if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error |
| 2348 | holgerb | 435 | else |
| 436 | if(ShowSettingNameTime) // no Error |
||
| 437 | { |
||
| 438 | for(i=0; i<sizeof(SETTING);i++) VarioPacket.Text[i] = pgm_read_byte(&SETTING[i]); |
||
| 439 | VarioPacket.Text[4] = '0' + ActiveParamSet; |
||
| 440 | for(i=0; i<sizeof(EE_Parameter.Name);i++) VarioPacket.Text[i+7] = EE_Parameter.Name[i]; // no Error |
||
| 2475 | holgerb | 441 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) |
| 442 | { |
||
| 443 | VarioPacket.Text[17] = 'B'; |
||
| 444 | VarioPacket.Text[18] = 'O'; |
||
| 445 | VarioPacket.Text[19] = 'A'; |
||
| 446 | VarioPacket.Text[20] = 'T'; |
||
| 447 | } |
||
| 448 | else |
||
| 449 | { |
||
| 450 | VarioPacket.Text[18] = ' '; |
||
| 451 | VarioPacket.Text[19] = ' '; |
||
| 452 | VarioPacket.Text[20] = ' '; |
||
| 453 | } |
||
| 2348 | holgerb | 454 | } |
| 2570 | holgerb | 455 | else |
| 456 | if(Show_Store) |
||
| 457 | { |
||
| 458 | for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&STORE[i]); // no Error and not calibrated |
||
| 459 | } |
||
| 2120 | holgerb | 460 | else |
| 2570 | holgerb | 461 | if(Show_Load) |
| 462 | { |
||
| 463 | for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LOAD[i]); // no Error and not calibrated |
||
| 464 | } |
||
| 465 | else |
||
| 2178 | holgerb | 466 | if(NaviData_WaypointNumber) |
| 467 | { |
||
| 468 | unsigned int tmp_int; |
||
| 469 | unsigned char tmp; |
||
| 470 | VarioPacket.Text[0] = 'W'; VarioPacket.Text[1] = 'P'; |
||
| 471 | VarioPacket.Text[2] = ' '; |
||
| 472 | VarioPacket.Text[3] = '0'+(NaviData_WaypointIndex) / 10; |
||
| 473 | VarioPacket.Text[4] = '0'+(NaviData_WaypointIndex) % 10; |
||
| 474 | VarioPacket.Text[5] = '/'; |
||
| 475 | VarioPacket.Text[6] = '0'+(NaviData_WaypointNumber) / 10; |
||
| 476 | VarioPacket.Text[7] = '0'+(NaviData_WaypointNumber) % 10; |
||
| 477 | VarioPacket.Text[8] = ' '; |
||
| 478 | tmp_int = NaviData_TargetDistance; |
||
| 479 | if(tmp_int > 1000) { VarioPacket.Text[9] = '0'+(tmp_int) / 1000; tmp_int %= 1000;} |
||
| 480 | else VarioPacket.Text[9] = ' '; |
||
| 481 | if(tmp_int > 100) { VarioPacket.Text[10] = '0'+(tmp_int) / 100; tmp_int %= 100;} |
||
| 482 | else VarioPacket.Text[10] = ' '; |
||
| 483 | VarioPacket.Text[11] = '0'+(tmp_int) / 10; |
||
| 484 | VarioPacket.Text[12] = '0'+(tmp_int) % 10; |
||
| 485 | VarioPacket.Text[13] = 'm'; |
||
| 486 | VarioPacket.Text[14] = ' '; |
||
| 487 | tmp = NaviData_TargetHoldTime; |
||
| 488 | if(tmp > 100) { VarioPacket.Text[15] = '0'+(tmp) / 100; tmp %= 100;} else VarioPacket.Text[15] = ' '; |
||
| 489 | VarioPacket.Text[16] = '0'+(tmp) / 10; |
||
| 490 | VarioPacket.Text[17] = '0'+(tmp) % 10; |
||
| 491 | VarioPacket.Text[18] = 's'; |
||
| 492 | VarioPacket.Text[19] = ' '; |
||
| 2407 | holgerb | 493 | VarioPacket.Text[20] = ' '; |
| 2178 | holgerb | 494 | } |
| 495 | else |
||
| 2475 | holgerb | 496 | if(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE) |
| 497 | { |
||
| 498 | for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&SIMULATION[i]); |
||
| 499 | } |
||
| 500 | else |
||
| 2355 | holgerb | 501 | if(!CalibrationDone) |
| 2344 | holgerb | 502 | { |
| 2355 | holgerb | 503 | for(i=0; i<17;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i+2]); // no Error and not calibrated |
| 504 | VarioPacket.Text[16] = '0'+VERSION_MAJOR; |
||
| 505 | VarioPacket.Text[17] = '.'; |
||
| 506 | VarioPacket.Text[18] = '0'+VERSION_MINOR/10; |
||
| 507 | VarioPacket.Text[19] = '0'+VERSION_MINOR%10; |
||
| 508 | VarioPacket.Text[20] = 'a'+VERSION_PATCH; |
||
| 2344 | holgerb | 509 | } |
| 2355 | holgerb | 510 | else |
| 511 | { |
||
| 2475 | holgerb | 512 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&BOAT_MODE[i]); // no Error |
| 513 | else for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error |
||
| 2531 | holgerb | 514 | if(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) VarioPacket.Text[0] = 'R'; |
| 2355 | holgerb | 515 | } |
| 1919 | holgerb | 516 | return(sizeof(VarioPacket)); |
| 517 | break; |
||
| 1921 | holgerb | 518 | |
| 1919 | holgerb | 519 | case HOTT_GPS_PACKET_ID: |
| 2186 | holgerb | 520 | GPSPacket.Altitude = HoehenWert/100 + 500; |
| 1943 | holgerb | 521 | // GPSPacket.Distance = GPSInfo.HomeDistance/10; // macht die NC |
| 522 | // GPSPacket.Heading = GPSInfo.HomeBearing/2; // macht die NC |
||
| 523 | // GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; // macht die NC |
||
| 2531 | holgerb | 524 | GPSPacket.WarnBeep = SpeechMessage; |
| 2322 | holgerb | 525 | if(!GPSPacket.WarnBeep) GPSPacket.m_sec = BuildHoTT_Vario(); else GPSPacket.m_sec = VARIO_ZERO; |
| 1921 | holgerb | 526 | GPSPacket.m_3sec = 120; |
| 2090 | holgerb | 527 | GPSPacket.NumOfSats = GPSInfo.NumOfSats; |
| 528 | if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D'; |
||
| 529 | else |
||
| 530 | if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' '; |
||
| 531 | else GPSPacket.SatFix = '!'; |
||
| 1919 | holgerb | 532 | HoTT_DataPointer = (unsigned char *) &GPSPacket; |
| 2090 | holgerb | 533 | GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter; |
| 534 | GPSPacket.FreeCharacters[2] = GPSPacket.SatFix; |
||
| 535 | GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230; |
||
| 1919 | holgerb | 536 | return(sizeof(GPSPacket)); |
| 537 | break; |
||
| 538 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
||
| 1943 | holgerb | 539 | GetHottestBl(); |
| 1940 | holgerb | 540 | ElectricAirPacket.Altitude = HoehenWert/100 + 500; |
| 1921 | holgerb | 541 | ElectricAirPacket.Battery1 = UBat; |
| 1940 | holgerb | 542 | ElectricAirPacket.Battery2 = UBat; |
| 2437 | holgerb | 543 | ElectricAirPacket.VoltageCell1 = CompassCorrected / 2; |
| 1943 | holgerb | 544 | ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1; |
| 1944 | holgerb | 545 | ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2; |
| 1943 | holgerb | 546 | ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20; |
| 1944 | holgerb | 547 | ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6; |
| 1943 | holgerb | 548 | ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7; |
| 2531 | holgerb | 549 | if(!SpeechMessage) ElectricAirPacket.m_sec = BuildHoTT_Vario(); else ElectricAirPacket.m_sec = VARIO_ZERO; |
| 1940 | holgerb | 550 | ElectricAirPacket.m_3sec = 120; |
| 551 | ElectricAirPacket.InputVoltage = UBat; |
||
| 2373 | holgerb | 552 | ElectricAirPacket.Temperature1 = MinBlTemperture + 20; |
| 553 | ElectricAirPacket.Temperature2 = MaxBlTemperture + 20; |
||
| 1940 | holgerb | 554 | ElectricAirPacket.Capacity = Capacity.UsedCapacity/10; |
| 2531 | holgerb | 555 | ElectricAirPacket.WarnBeep = 0;//HoTT_Waring(); |
| 556 | //ElectricAirPacket.WarnBeep = SpeechMessage; |
||
| 1940 | holgerb | 557 | ElectricAirPacket.Current = Capacity.ActualCurrent; |
| 1919 | holgerb | 558 | HoTT_DataPointer = (unsigned char *) &ElectricAirPacket; |
| 2090 | holgerb | 559 | ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60; |
| 560 | ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60; |
||
| 1919 | holgerb | 561 | return(sizeof(ElectricAirPacket)); |
| 562 | break; |
||
| 1943 | holgerb | 563 | case HOTT_GENERAL_PACKET_ID: |
| 564 | GetHottestBl(); |
||
| 565 | HoTTGeneral.Rpm = GPSInfo.HomeDistance/100; |
||
| 2437 | holgerb | 566 | HoTTGeneral.VoltageCell1 = CompassCorrected / 2; |
| 2373 | holgerb | 567 | HoTTGeneral.VoltageCell2 = KompassValue / 2; |
| 568 | //HoTTGeneral.VoltageCell3 = Magnetstaerke -> macht NC |
||
| 569 | //HoTTGeneral.VoltageCell4 = Inclinition -> macht NC |
||
| 570 | HoTTGeneral.VoltageCell5 = DebugOut.Analog[28]; // I2C ErrorCounter |
||
| 1944 | holgerb | 571 | HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2; |
| 2373 | holgerb | 572 | if(UBat > BattLowVoltageWarning + 2) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 2)) * 3; |
| 1943 | holgerb | 573 | else HoTTGeneral.FuelPercent = 0; |
| 2373 | holgerb | 574 | if(HoTTGeneral.FuelPercent > 100) HoTTGeneral.FuelPercent = 100; |
| 575 | HoTTGeneral.FuelCapacity = NC_ErrorCode;//HoehenWert/100; // Oelpegel |
||
| 576 | // if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0; |
||
| 1943 | holgerb | 577 | HoTTGeneral.Altitude = HoehenWert/100 + 500; |
| 578 | HoTTGeneral.Battery1 = UBat; |
||
| 579 | HoTTGeneral.Battery2 = UBat; |
||
| 2531 | holgerb | 580 | if(!SpeechMessage) HoTTGeneral.m_sec = BuildHoTT_Vario(); else HoTTGeneral.m_sec = VARIO_ZERO; |
| 581 | HoTTGeneral.m_3sec = 120 + SpeechMessage; |
||
| 1943 | holgerb | 582 | HoTTGeneral.InputVoltage = UBat; |
| 2373 | holgerb | 583 | HoTTGeneral.Temperature1 = MinBlTemperture + 20; |
| 584 | HoTTGeneral.Temperature2 = MaxBlTemperture + 20; |
||
| 1943 | holgerb | 585 | HoTTGeneral.Capacity = Capacity.UsedCapacity/10; |
| 2531 | holgerb | 586 | HoTTGeneral.WarnBeep = 0; |
| 1943 | holgerb | 587 | HoTTGeneral.Current = Capacity.ActualCurrent; |
| 2178 | holgerb | 588 | //HoTTGeneral.ErrorNumber = HoTTErrorCode(); |
| 1943 | holgerb | 589 | HoTT_DataPointer = (unsigned char *) &HoTTGeneral; |
| 590 | return(sizeof(HoTTGeneral)); |
||
| 591 | break; |
||
| 1919 | holgerb | 592 | default: return(0); |
| 593 | } |
||
| 594 | } |
||
| 595 | |||
| 596 | //--------------------------------------------------------------- |
||
| 1917 | holgerb | 597 | void HoTT_Menu(void) |
| 598 | { |
||
| 2554 | holgerb | 599 | static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0,hyterese = 1; |
| 1921 | holgerb | 600 | unsigned char tmp; |
| 1944 | holgerb | 601 | HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8; |
| 2561 | holgerb | 602 | static int delay; |
| 2420 | holgerb | 603 | |
| 604 | // if(HottKeyboard) {beeptime = 1000;}; |
||
| 1944 | holgerb | 605 | |
| 2420 | holgerb | 606 | switch(page) |
| 607 | { |
||
| 608 | case 0: |
||
| 1933 | holgerb | 609 | switch(line++) |
| 1917 | holgerb | 610 | { |
| 1919 | holgerb | 611 | case 0: |
| 1923 | holgerb | 612 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| 1939 | holgerb | 613 | HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10) |
| 614 | else |
||
| 615 | HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10) |
||
| 616 | |||
| 617 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
||
| 618 | { |
||
| 619 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter) |
||
| 620 | else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100)) |
||
| 621 | } |
||
| 622 | else HoTT_printfxy(10,0,"ALT:---- "); |
||
| 623 | break; |
||
| 624 | case 1: |
||
| 625 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
| 626 | HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60) |
||
| 627 | else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
| 2437 | holgerb | 628 | HoTT_printfxy(10,1,"DIR: %3d%c",CompassCorrected, HoTT_GRAD); |
| 1949 | holgerb | 629 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," "); |
| 1939 | holgerb | 630 | break; |
| 631 | case 2: |
||
| 632 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
| 633 | HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity) |
||
| 634 | else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity); |
||
| 1940 | holgerb | 635 | HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| 1939 | holgerb | 636 | break; |
| 637 | case 3: |
||
| 2072 | holgerb | 638 | HoTT_printfxy(9,0,":"); |
| 639 | HoTT_printfxy(9,1,":"); |
||
| 640 | HoTT_printfxy(9,2,":"); |
||
| 1939 | holgerb | 641 | HoTT_printfxy(0,3,"---------+-----------"); |
| 2072 | holgerb | 642 | |
| 643 | // HoTT_printfxy(0,3,"---------------------"); |
||
| 1939 | holgerb | 644 | HoTT_printfxy(0,6,"---------------------"); |
| 645 | break; |
||
| 646 | case 4: |
||
| 647 | if(NaviDataOkay) |
||
| 648 | { |
||
| 2072 | holgerb | 649 | HoTT_printfxy(9,4,":"); |
| 1939 | holgerb | 650 | HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats); |
| 651 | HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10); |
||
| 652 | switch (GPSInfo.SatFix) |
||
| 653 | { |
||
| 654 | case SATFIX_3D: |
||
| 655 | if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ") |
||
| 656 | else HoTT_printfxy(7,4,"3D"); |
||
| 657 | break; |
||
| 658 | default: |
||
| 1943 | holgerb | 659 | HoTT_printfxy_BLINK(7,4,"!!"); |
| 1939 | holgerb | 660 | break; |
| 661 | } |
||
| 662 | } |
||
| 663 | else |
||
| 1944 | holgerb | 664 | { |
| 1940 | holgerb | 665 | Hott_ClearLine(4); |
| 1939 | holgerb | 666 | } |
| 667 | break; |
||
| 668 | case 5: |
||
| 669 | if(NaviDataOkay) |
||
| 670 | { |
||
| 1972 | holgerb | 671 | if(show_mag) |
| 672 | { |
||
| 673 | HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField); |
||
| 1939 | holgerb | 674 | HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
| 1972 | holgerb | 675 | HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic); |
| 676 | } |
||
| 677 | else |
||
| 678 | { |
||
| 2072 | holgerb | 679 | HoTT_printfxy(0,5," %2um/s: HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
| 1972 | holgerb | 680 | } |
| 1939 | holgerb | 681 | } |
| 1940 | holgerb | 682 | else Hott_ClearLine(5); |
| 1939 | holgerb | 683 | break; |
| 684 | case 6: |
||
| 685 | break; |
||
| 686 | case 7: if(NC_ErrorCode) |
||
| 687 | { |
||
| 688 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
| 689 | { |
||
| 690 | Hott_ClearLine(7); |
||
| 691 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
| 692 | } |
||
| 693 | else |
||
| 694 | { |
||
| 695 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
| 696 | } |
||
| 2120 | holgerb | 697 | else |
| 698 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
| 1939 | holgerb | 699 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
| 700 | break; |
||
| 2090 | holgerb | 701 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
| 1939 | holgerb | 702 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
| 703 | case 9: |
||
| 704 | case 10: |
||
| 705 | case 11: |
||
| 706 | case 12: |
||
| 707 | case 13: |
||
| 708 | case 14: |
||
| 709 | case 15: |
||
| 710 | case 16: |
||
| 2440 | holgerb | 711 | if(HottKeyboard == HOTT_KEY_DOWN) { LIBFC_HoTT_Clear(); page = 5; line = 0;} |
| 712 | else |
||
| 1972 | holgerb | 713 | if(HottKeyboard == HOTT_KEY_SET) { if(show_mag) show_mag = 0; else show_mag = 1;} |
| 714 | else |
||
| 1949 | holgerb | 715 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
| 1939 | holgerb | 716 | HottKeyboard = 0; |
| 717 | break; |
||
| 718 | default: line = 0; |
||
| 719 | break; |
||
| 720 | } |
||
| 2420 | holgerb | 721 | break; |
| 722 | case 1: |
||
| 1939 | holgerb | 723 | switch(line++) |
| 724 | { |
||
| 725 | case 0: |
||
| 726 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
| 1923 | holgerb | 727 | HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity) |
| 728 | else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity); |
||
| 1917 | holgerb | 729 | break; |
| 730 | case 1: |
||
| 2437 | holgerb | 731 | HoTT_printfxy(0,1,"DIR:%3d%c",CompassCorrected, HoTT_GRAD); |
| 1917 | holgerb | 732 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| 1920 | holgerb | 733 | { |
| 734 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
| 735 | else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
| 736 | } |
||
| 737 | else HoTT_printfxy(10,1,"ALT:---- "); |
||
| 738 | HoTT_printfxy(20,1,"%c",VarioCharacter); |
||
| 1917 | holgerb | 739 | break; |
| 740 | case 2: |
||
| 741 | if(NaviDataOkay) |
||
| 742 | { |
||
| 1923 | holgerb | 743 | HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter); |
| 1917 | holgerb | 744 | } |
| 745 | else |
||
| 746 | { |
||
| 1923 | holgerb | 747 | Hott_ClearLine(2); |
| 1917 | holgerb | 748 | } |
| 749 | break; |
||
| 1923 | holgerb | 750 | case 3: |
| 751 | HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower); |
||
| 1949 | holgerb | 752 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3," "); |
| 1923 | holgerb | 753 | break; |
| 1917 | holgerb | 754 | case 4: |
| 755 | if(NaviDataOkay) |
||
| 756 | { |
||
| 1919 | holgerb | 757 | HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
| 1917 | holgerb | 758 | switch (GPSInfo.SatFix) |
| 759 | { |
||
| 760 | case SATFIX_3D: |
||
| 761 | HoTT_printfxy(16,4," 3D "); |
||
| 762 | break; |
||
| 1925 | holgerb | 763 | //case SATFIX_2D: |
| 764 | //case SATFIX_NONE: |
||
| 1917 | holgerb | 765 | default: |
| 1925 | holgerb | 766 | HoTT_printfxy_BLINK(16,4,"NOFIX"); |
| 1917 | holgerb | 767 | break; |
| 768 | } |
||
| 769 | if(GPSInfo.Flags & FLAG_DIFFSOLN) |
||
| 770 | { |
||
| 771 | HoTT_printfxy(16,4,"DGPS "); |
||
| 772 | } |
||
| 773 | } |
||
| 774 | else |
||
| 775 | { //012345678901234567890 |
||
| 1930 | holgerb | 776 | HoTT_printfxy(0,4," No NaviCtrl "); |
| 1917 | holgerb | 777 | } |
| 778 | break; |
||
| 779 | case 5: |
||
| 1949 | holgerb | 780 | if(show_current) |
| 781 | { |
||
| 2386 | holgerb | 782 | // 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); |
| 783 | 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 | 784 | } |
| 785 | else |
||
| 786 | { |
||
| 787 | HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD); |
||
| 788 | } |
||
| 1917 | holgerb | 789 | break; |
| 790 | case 6: |
||
| 1949 | holgerb | 791 | if(show_current) |
| 792 | { |
||
| 1917 | holgerb | 793 | if(RequiredMotors == 4) Hott_ClearLine(6); |
| 794 | else |
||
| 2386 | holgerb | 795 | // 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) |
| 796 | 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 | 797 | else |
| 2386 | holgerb | 798 | // 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); |
| 799 | 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 | 800 | } |
| 801 | else |
||
| 802 | { |
||
| 803 | if(RequiredMotors == 4) Hott_ClearLine(6); |
||
| 804 | else |
||
| 1923 | holgerb | 805 | if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
| 1917 | holgerb | 806 | else |
| 1923 | holgerb | 807 | 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 | 808 | } |
| 1917 | holgerb | 809 | break; |
| 1930 | holgerb | 810 | case 7: if(NC_ErrorCode) |
| 811 | { |
||
| 812 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
| 813 | { |
||
| 814 | Hott_ClearLine(7); |
||
| 815 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
| 816 | } |
||
| 817 | else |
||
| 818 | { |
||
| 819 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
| 820 | } |
||
| 2120 | holgerb | 821 | else |
| 822 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
| 1937 | holgerb | 823 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
| 1917 | holgerb | 824 | break; |
| 2090 | holgerb | 825 | case 8: // ASCIIPacket.WarnBeep = HoTT_Waring(); |
| 1919 | holgerb | 826 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
| 1921 | holgerb | 827 | case 9: |
| 1917 | holgerb | 828 | case 10: |
| 829 | case 11: |
||
| 830 | case 12: |
||
| 831 | case 13: |
||
| 1919 | holgerb | 832 | case 14: |
| 833 | case 15: |
||
| 834 | case 16: |
||
| 1949 | holgerb | 835 | if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1; Hott_ClearLine(5); Hott_ClearLine(6);} |
| 836 | else |
||
| 2527 | holgerb | 837 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
| 1949 | holgerb | 838 | else |
| 2527 | holgerb | 839 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;} |
| 1949 | holgerb | 840 | //if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard); |
| 1921 | holgerb | 841 | HottKeyboard = 0; |
| 842 | break; |
||
| 1933 | holgerb | 843 | default: line = 0; |
| 1921 | holgerb | 844 | break; |
| 845 | } |
||
| 2420 | holgerb | 846 | break; |
| 847 | case 2: |
||
| 1933 | holgerb | 848 | switch(line++) |
| 1921 | holgerb | 849 | { |
| 850 | case 0: |
||
| 2344 | holgerb | 851 | HoTT_printfxy_INV(0,0,"Setting:%u %s ",ActiveParamSet,EE_Parameter.Name); |
| 1921 | holgerb | 852 | break; |
| 853 | case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
||
| 854 | break; |
||
| 1923 | holgerb | 855 | case 2: HoTT_printfxy(0,2,"ALT:"); |
| 1921 | holgerb | 856 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| 857 | { |
||
| 858 | if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter) |
||
| 859 | else |
||
| 860 | { |
||
| 861 | if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) "); |
||
| 862 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter) |
||
| 863 | else HoTT_printf("VARIO", Parameter_HoehenSchalter); |
||
| 864 | } |
||
| 865 | } |
||
| 866 | else |
||
| 867 | HoTT_printf("DISABLED"); |
||
| 868 | break; |
||
| 1923 | holgerb | 869 | case 3: HoTT_printfxy(0,3,"CF:"); |
| 2342 | holgerb | 870 | if(!EE_Parameter.CareFreeChannel) HoTT_printf("DISABLED") |
| 1921 | holgerb | 871 | else |
| 872 | { |
||
| 873 | if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
||
| 874 | if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH"); |
||
| 875 | } |
||
| 876 | break; |
||
| 1923 | holgerb | 877 | case 4: HoTT_printfxy(0,4,"GPS:"); |
| 878 | if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
||
| 879 | else |
||
| 880 | { |
||
| 2342 | holgerb | 881 | tmp = GetChannelValue(EE_Parameter.NaviGpsModeChannel); |
| 1923 | holgerb | 882 | if(tmp < 50) HoTT_printf("(FREE)") |
| 883 | else |
||
| 884 | if(tmp >= 180) HoTT_printf("(HOME)") |
||
| 885 | else |
||
| 886 | if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ") |
||
| 887 | else HoTT_printf("(HOLD)") |
||
| 888 | } |
||
| 889 | if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime) |
||
| 890 | |||
| 891 | break; |
||
| 892 | case 5: HoTT_printfxy(0,5,"HOME ALT:"); |
||
| 893 | if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD "); |
||
| 894 | break; |
||
| 1921 | holgerb | 895 | case 6: |
| 1982 | holgerb | 896 | if(!show_poti) |
| 897 | { |
||
| 2496 | holgerb | 898 | HoTT_printfxy(0,6,"Ni:%4i Ro:%4i C:%3i",ChannelNick,ChannelRoll, Parameter_ServoNickControl); |
| 899 | HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",ChannelGas+127,ChannelYaw); |
||
| 1982 | holgerb | 900 | } |
| 901 | else |
||
| 902 | { |
||
| 903 | HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3); |
||
| 904 | HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6); |
||
| 905 | } |
||
| 906 | |||
| 1921 | holgerb | 907 | break; |
| 908 | case 7: //HoTT_printfxy(0,6,"WARNINGS:"); |
||
| 909 | if(HoTTBlink) |
||
| 910 | { |
||
| 911 | LIBFC_HoTT_SetPos(6 * 21); |
||
| 912 | if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! "); |
||
| 913 | if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! "); |
||
| 914 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! "); |
||
| 915 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! "); |
||
| 916 | } |
||
| 917 | break; |
||
| 2090 | holgerb | 918 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
| 1921 | holgerb | 919 | break; |
| 920 | case 9: |
||
| 921 | case 10: |
||
| 922 | case 11: |
||
| 923 | case 12: |
||
| 924 | case 13: |
||
| 925 | case 14: |
||
| 926 | case 15: |
||
| 927 | case 16: |
||
| 1982 | holgerb | 928 | if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1; Hott_ClearLine(6); Hott_ClearLine(7);} |
| 929 | else |
||
| 2527 | holgerb | 930 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
| 2418 | holgerb | 931 | else |
| 2527 | holgerb | 932 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
| 1921 | holgerb | 933 | HottKeyboard = 0; |
| 934 | break; |
||
| 1933 | holgerb | 935 | default: line = 0; |
| 1917 | holgerb | 936 | break; |
| 937 | } |
||
| 2420 | holgerb | 938 | break; |
| 939 | case 3: |
||
| 2418 | holgerb | 940 | switch(line++) |
| 941 | { |
||
| 2438 | holgerb | 942 | static unsigned char load_waypoint_tmp2 = 1, changed2; |
| 2418 | holgerb | 943 | case 0: |
| 944 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
| 2420 | holgerb | 945 | HoTT_printfxy(0,1,"(Relative Positions)"); |
| 946 | // HoTT_printfxy(0,1,"(Absolute)"); |
||
| 2418 | holgerb | 947 | break; |
| 2420 | holgerb | 948 | case 1: |
| 949 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber) |
||
| 950 | else HoTT_printfxy(0,6,"No WPs active ") |
||
| 2418 | holgerb | 951 | break; |
| 952 | case 2: |
||
| 2420 | holgerb | 953 | HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10) |
| 2424 | holgerb | 954 | HoTT_printfxy(11,7,"%s",WPL_Name) |
| 2420 | holgerb | 955 | case 3: |
| 956 | case 4: |
||
| 957 | case 5: |
||
| 958 | if(load_waypoint_tmp2) |
||
| 2418 | holgerb | 959 | { |
| 2420 | holgerb | 960 | if(changed2 && HoTTBlink) HoTT_printfxy(10,3," ") |
| 961 | else HoTT_printfxy(10,3,"%2i ",load_waypoint_tmp2); |
||
| 962 | HoTT_printfxy(0,3,"Load list:") |
||
| 2418 | holgerb | 963 | } |
| 964 | else |
||
| 965 | { |
||
| 966 | HoTT_printfxy(0,3,"Load list: -- "); |
||
| 967 | } |
||
| 2420 | holgerb | 968 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ") |
| 969 | else |
||
| 970 | { |
||
| 2425 | holgerb | 971 | if(GPSInfo.SatFix == SATFIX_3D) |
| 972 | { |
||
| 973 | if(changed2 && load_waypoint_tmp2) HoTT_printfxy(0,4,"(Set -> Load)") |
||
| 974 | else HoTT_printfxy(0,4," "); |
||
| 975 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp2) ToNC_Load_WP_List = load_waypoint_tmp2 | 128; changed2 = 0;} |
||
| 976 | } else HoTT_printfxy(0,4,"!No GPS-Fix! "); |
||
| 2420 | holgerb | 977 | } |
| 978 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp2 < NaviData_MaxWpListIndex) { changed2 = 1; load_waypoint_tmp2++;HoTTBlink = 0;} |
||
| 979 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp2 > 1) { changed2 = 1; load_waypoint_tmp2--;HoTTBlink = 0;}; |
||
| 2527 | holgerb | 980 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
| 981 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
||
| 2418 | holgerb | 982 | HottKeyboard = 0; |
| 983 | break; |
||
| 984 | default: line = 0; |
||
| 985 | break; |
||
| 986 | } |
||
| 2420 | holgerb | 987 | break; |
| 988 | case 4: |
||
| 2418 | holgerb | 989 | switch(line++) |
| 990 | { |
||
| 2438 | holgerb | 991 | static unsigned char load_waypoint_tmp = 1, changed; |
| 2418 | holgerb | 992 | case 0: |
| 993 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
| 2420 | holgerb | 994 | HoTT_printfxy(0,1,"(Fixed Positions)"); |
| 2418 | holgerb | 995 | break; |
| 2420 | holgerb | 996 | case 1: |
| 997 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber) |
||
| 998 | else HoTT_printfxy(0,6,"No WPs active ") |
||
| 2418 | holgerb | 999 | break; |
| 1000 | case 2: |
||
| 2420 | holgerb | 1001 | HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10) |
| 2424 | holgerb | 1002 | HoTT_printfxy(11,7,"%s",WPL_Name) |
| 2420 | holgerb | 1003 | case 3: |
| 1004 | case 4: |
||
| 1005 | case 5: |
||
| 2438 | holgerb | 1006 | HoTT_printfxy(0,3,"Load list:") |
| 2420 | holgerb | 1007 | if(load_waypoint_tmp) |
| 2418 | holgerb | 1008 | { |
| 2420 | holgerb | 1009 | if(changed && HoTTBlink) HoTT_printfxy(10,3," ") |
| 1010 | else HoTT_printfxy(10,3,"%2d (FIX)",load_waypoint_tmp); |
||
| 2418 | holgerb | 1011 | } |
| 1012 | else |
||
| 1013 | { |
||
| 2438 | holgerb | 1014 | HoTT_printfxy(10,3," --") |
| 2418 | holgerb | 1015 | } |
| 2420 | holgerb | 1016 | |
| 1017 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ") |
||
| 1018 | else |
||
| 1019 | { |
||
| 2425 | holgerb | 1020 | if(changed && load_waypoint_tmp) HoTT_printfxy(0,4,"(Set -> Load)") |
| 1021 | else HoTT_printfxy(0,4," "); |
||
| 1022 | } |
||
| 2420 | holgerb | 1023 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { changed = 1; load_waypoint_tmp++; HoTTBlink = 0;} |
| 1024 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp > 1) { changed = 1; load_waypoint_tmp--; HoTTBlink = 0;}; |
||
| 1025 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp) ToNC_Load_WP_List = load_waypoint_tmp; changed = 0;} |
||
| 2438 | holgerb | 1026 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
| 1027 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
||
| 2418 | holgerb | 1028 | HottKeyboard = 0; |
| 1029 | break; |
||
| 1030 | default: line = 0; |
||
| 1031 | break; |
||
| 1032 | } |
||
| 2420 | holgerb | 1033 | break; |
| 2438 | holgerb | 1034 | case 5: |
| 1035 | switch(line++) |
||
| 1036 | { |
||
| 1037 | static unsigned char wp_tmp, changed; |
||
| 1038 | case 0: |
||
| 1039 | HoTT_printfxy(0,0,"Store single Position"); |
||
| 1040 | // HoTT_printfxy(0,1,"(Fixed Positions)"); |
||
| 1041 | break; |
||
| 1042 | case 1: |
||
| 1043 | HoTT_printfxy(0,2," %2i.%1iV ",UBat/10, UBat%10) |
||
| 1044 | HoTT_printfxy(0,3," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
| 1045 | // HoTT_printfxy(0,4,"Dist:%3dm",NaviData_TargetDistance) |
||
| 1046 | break; |
||
| 1047 | case 2: |
||
| 1048 | HoTT_printfxy(11,2,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
| 1049 | HoTT_printfxy(11,3,"DIR: %3d%c",CompassCorrected, HoTT_GRAD); |
||
| 1050 | HoTT_printfxy(11,4,"Cam: %3i",Parameter_ServoNickControl); |
||
| 1051 | break; |
||
| 1052 | case 3: |
||
| 1053 | case 4: |
||
| 1054 | case 5: |
||
| 1055 | HoTT_printfxy(0,6,"Store point:") |
||
| 1056 | if(wp_tmp) |
||
| 1057 | { |
||
| 1058 | if(changed && HoTTBlink) HoTT_printfxy(13,6," ") |
||
| 1059 | else HoTT_printfxy(13,6,"%2d ",wp_tmp); |
||
| 1060 | } |
||
| 1061 | else |
||
| 1062 | { |
||
| 2439 | holgerb | 1063 | HoTT_printfxy(13,6,"--") |
| 2438 | holgerb | 1064 | } |
| 2439 | holgerb | 1065 | |
| 1066 | if(GPSInfo.SatFix == SATFIX_3D) |
||
| 1067 | { |
||
| 2438 | holgerb | 1068 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,7,"No SD-Card ") |
| 1069 | else |
||
| 1070 | { |
||
| 1071 | if(changed && wp_tmp) HoTT_printfxy(0,7,"(Set -> Store)") |
||
| 1072 | else Hott_ClearLine(7); |
||
| 1073 | } |
||
| 2439 | holgerb | 1074 | if(HottKeyboard == HOTT_KEY_SET) { if(wp_tmp) ToNC_Store_SingePoint = wp_tmp; changed = 0;} |
| 1075 | } |
||
| 1076 | else HoTT_printfxy(0,7,"!No GPS-Fix! "); |
||
| 1077 | |||
| 2438 | holgerb | 1078 | if(HottKeyboard == HOTT_KEY_UP && wp_tmp < NaviData_MaxWpListIndex) { changed = 1; wp_tmp++; HoTTBlink = 0;} |
| 1079 | if(HottKeyboard == HOTT_KEY_DOWN && wp_tmp > 1) { changed = 1; wp_tmp--; HoTTBlink = 0;}; |
||
| 1080 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
| 1081 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
||
| 1082 | HottKeyboard = 0; |
||
| 2554 | holgerb | 1083 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1084 | // Bedienung per Taster am Sender |
||
| 2570 | holgerb | 1085 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 120) // |
| 2554 | holgerb | 1086 | { |
| 2561 | holgerb | 1087 | hyterese = 2; |
| 1088 | if(CheckDelay(delay)) { wp_tmp = 0; hyterese = 1;} |
||
| 1089 | } |
||
| 1090 | else |
||
| 2570 | holgerb | 1091 | if(PPM_in[EE_Parameter.MenuKeyChannel] < 100) |
| 2561 | holgerb | 1092 | { |
| 1093 | delay = SetDelay(2500); |
||
| 1094 | if(hyterese == 2 && (wp_tmp < NaviData_MaxWpListIndex)) |
||
| 2554 | holgerb | 1095 | { |
| 1096 | wp_tmp++; |
||
| 1097 | ToNC_Store_SingePoint = wp_tmp; |
||
| 1098 | changed = 0; |
||
| 1099 | } |
||
| 1100 | hyterese = 0; |
||
| 1101 | } |
||
| 1102 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 2438 | holgerb | 1103 | break; |
| 1104 | default: line = 0; |
||
| 1105 | break; |
||
| 1106 | } |
||
| 1107 | break; |
||
| 1108 | case 6: |
||
| 1109 | switch(line++) |
||
| 1110 | { |
||
| 1111 | static unsigned char wp_tmp, changed; |
||
| 1112 | case 0: |
||
| 1113 | HoTT_printfxy(0,0,"Load single Position"); |
||
| 1114 | // HoTT_printfxy(0,1,"(Fixed Positions)"); |
||
| 1115 | break; |
||
| 1116 | case 1: |
||
| 1117 | HoTT_printfxy(0,2," %2i.%1iV ",UBat/10, UBat%10) |
||
| 1118 | HoTT_printfxy(0,3," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
| 1119 | // HoTT_printfxy(0,4,"Dist:%3dm",NaviData_TargetDistance) |
||
| 2439 | holgerb | 1120 | if(NaviData_WaypointNumber) HoTT_printfxy(0,5,"WP:%2d/%d Dist:%3dm ",NaviData_WaypointIndex,NaviData_WaypointNumber,NaviData_TargetDistance) |
| 2438 | holgerb | 1121 | else Hott_ClearLine(5); |
| 1122 | break; |
||
| 1123 | case 2: |
||
| 2439 | holgerb | 1124 | if(FromNC_AltitudeSpeed) |
| 1125 | HoTT_printfxy(8,2,"ALT:%4i/%im ", (int16_t)(HoehenWert/100),(int16_t)(FromNC_AltitudeSetpoint/100)) |
||
| 1126 | else |
||
| 1127 | HoTT_printfxy(8,2,"ALT:%4im ",(int16_t)(HoehenWert/100)) |
||
| 1128 | |||
| 1129 | HoTT_printfxy(8,3,"DIR: %3d%c",CompassCorrected, HoTT_GRAD); |
||
| 1130 | HoTT_printfxy(8,4,"Cam: %3i",Parameter_ServoNickControl); |
||
| 2438 | holgerb | 1131 | break; |
| 1132 | // HoTT_printfxy(11,7,"%s",WPL_Name) |
||
| 1133 | case 3: |
||
| 2440 | holgerb | 1134 | case 4: |
| 2438 | holgerb | 1135 | case 5: |
| 1136 | if(HottKeyboard) DebugOut.Analog[17]++; |
||
| 1137 | HoTT_printfxy(0,6,"load point:") |
||
| 1138 | if(wp_tmp) |
||
| 1139 | { |
||
| 1140 | if(changed && HoTTBlink) HoTT_printfxy(11,6," ") |
||
| 1141 | else HoTT_printfxy(11,6,"%2d",wp_tmp); |
||
| 1142 | } |
||
| 1143 | else |
||
| 1144 | { |
||
| 2440 | holgerb | 1145 | HoTT_printfxy(11,6,"--") |
| 2438 | holgerb | 1146 | } |
| 1147 | |||
| 1148 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,7,"No SD-Card ") |
||
| 1149 | else |
||
| 1150 | { |
||
| 1151 | if(changed && wp_tmp) HoTT_printfxy(0,7,"(Set -> Load)") |
||
| 2439 | holgerb | 1152 | else |
| 1153 | { |
||
| 1154 | Hott_ClearLine(7); |
||
| 1155 | if(NaviData_WaypointNumber) HoTT_printfxy(0,7,"%s",WPL_Name); |
||
| 1156 | } |
||
| 2438 | holgerb | 1157 | } |
| 1158 | if(HottKeyboard == HOTT_KEY_UP && wp_tmp < NaviData_MaxWpListIndex) { changed = 1; wp_tmp++; HoTTBlink = 0;} |
||
| 1159 | if(HottKeyboard == HOTT_KEY_DOWN && wp_tmp > 1) { changed = 1; wp_tmp--; HoTTBlink = 0;}; |
||
| 1160 | if(HottKeyboard == HOTT_KEY_SET) { if(wp_tmp) ToNC_Load_SingePoint = wp_tmp; changed = 0;} |
||
| 2527 | holgerb | 1161 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
| 2438 | holgerb | 1162 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;}; |
| 1163 | HottKeyboard = 0; |
||
| 2554 | holgerb | 1164 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1165 | // Bedienung per Taster am Sender |
||
| 2570 | holgerb | 1166 | if(PPM_in[EE_Parameter.MenuKeyChannel] > 120) // |
| 2554 | holgerb | 1167 | { |
| 2561 | holgerb | 1168 | hyterese = 2; |
| 1169 | if(CheckDelay(delay)) { wp_tmp = 0; hyterese = 1;} |
||
| 1170 | } |
||
| 1171 | else |
||
| 2570 | holgerb | 1172 | if(PPM_in[EE_Parameter.MenuKeyChannel] < 100) |
| 2561 | holgerb | 1173 | { |
| 1174 | delay = SetDelay(2500); |
||
| 1175 | if(hyterese == 2 && (wp_tmp < NaviData_MaxWpListIndex)) |
||
| 2554 | holgerb | 1176 | { |
| 1177 | wp_tmp++; |
||
| 1178 | ToNC_Load_SingePoint = wp_tmp; |
||
| 1179 | changed = 0; |
||
| 1180 | } |
||
| 1181 | hyterese = 0; |
||
| 1182 | } |
||
| 1183 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 2438 | holgerb | 1184 | break; |
| 1185 | default: line = 0; |
||
| 1186 | break; |
||
| 1187 | } |
||
| 1188 | break; |
||
| 2527 | holgerb | 1189 | case 7: |
| 1190 | switch(line++) |
||
| 1191 | { |
||
| 1192 | static unsigned char i=0,test=0,set=0; |
||
| 1193 | |||
| 1194 | case 0: HoTT_printfxy(0,0,"Motortest / Setpoints");break; |
||
| 1195 | case 1: //HoTT_printfxy(0,1,"Motor Setpoint Strom "); |
||
| 1196 | case 2: |
||
| 1197 | case 3: |
||
| 1198 | case 4: i=((line-2)*2)+1; |
||
| 1199 | if(MotorenEin) |
||
| 1200 | { |
||
| 1201 | HoTT_printfxy(0,line,"M%i=%2i%2i.%iA M%i=%2i%2i.%iA",i,Motor[i-1].SetPoint,Motor[i-1].Current/10,Motor[i-1].Current%10,i+1,Motor[i].SetPoint,Motor[i].Current/10,Motor[i].Current%10); |
||
| 1202 | } |
||
| 1203 | else |
||
| 1204 | { |
||
| 1205 | HoTT_printfxy(0,line,"M%i=%2i%2i.%iA M%i=%2i%2i.%iA",i,MotorTest[i-1],Motor[i-1].Current/10,Motor[i-1].Current%10,i+1,MotorTest[i],Motor[i].Current/10,Motor[i].Current%10); |
||
| 1206 | } |
||
| 1207 | break; |
||
| 1208 | case 5: if(test) |
||
| 1209 | { |
||
| 1210 | HoTT_printfxy(0,6,"!!!Motortest Aktiv!!!"); |
||
| 1211 | } |
||
| 1212 | case 6: if(test) |
||
| 1213 | { |
||
| 1214 | PC_MotortestActive = 254; |
||
| 1215 | HoTT_printfxy(0,7,"Motor %i",test); |
||
| 1216 | MotorTest[test-1]=set; |
||
| 1217 | } |
||
| 1218 | case 7: |
||
| 1219 | case 8: |
||
| 1220 | case 9: |
||
| 1221 | case 10: |
||
| 1222 | case 11: |
||
| 1223 | case 12: |
||
| 1224 | case 13: |
||
| 1225 | case 14: |
||
| 1226 | case 15: |
||
| 1227 | case 16: |
||
| 1228 | if(HottKeyboard == HOTT_KEY_RIGHT) |
||
| 1229 | { |
||
| 1230 | if(test) |
||
| 1231 | { |
||
| 1232 | set=0; |
||
| 1233 | MotorTest[test-1]=set; |
||
| 1234 | if(test<8) test++; |
||
| 1235 | } |
||
| 1236 | else |
||
| 1237 | { |
||
| 1238 | LIBFC_HoTT_Clear(); |
||
| 1239 | page--; |
||
| 1240 | line=0; |
||
| 1241 | } |
||
| 1242 | } |
||
| 1243 | else |
||
| 1244 | if(HottKeyboard == HOTT_KEY_LEFT) |
||
| 1245 | { |
||
| 1246 | if(test) |
||
| 1247 | { |
||
| 1248 | set=0; |
||
| 1249 | MotorTest[test-1]=set; |
||
| 1250 | if(test>1) test--; |
||
| 1251 | } |
||
| 1252 | else |
||
| 1253 | { |
||
| 1254 | LIBFC_HoTT_Clear(); |
||
| 1255 | page++; |
||
| 1256 | line = 0; |
||
| 1257 | } |
||
| 1258 | } |
||
| 1259 | else |
||
| 1260 | if((HottKeyboard == HOTT_KEY_UP) && (set <98 ) && test) set+=2;//GESCHW |
||
| 1261 | else |
||
| 1262 | if((HottKeyboard == HOTT_KEY_DOWN) && (set >0 ) && test) set-=2; |
||
| 1263 | else |
||
| 1264 | if((HottKeyboard == HOTT_KEY_SET) && !MotorenEin) |
||
| 1265 | { |
||
| 1266 | if(test) test = 0; else test = 1; |
||
| 1267 | set=0; |
||
| 1268 | Hott_ClearLine(6); Hott_ClearLine(7); |
||
| 1269 | } |
||
| 1270 | HottKeyboard = 0; |
||
| 1271 | break; |
||
| 1272 | default: line = 0; |
||
| 1273 | break; |
||
| 1274 | //HoTT_printfxy(10 ,line,"I"); |
||
| 1275 | //line++; |
||
| 1276 | } |
||
| 1277 | break; |
||
| 1278 | case 8: |
||
| 1279 | switch(line++) |
||
| 1280 | { |
||
| 1281 | #define MD_OFF 1 |
||
| 1282 | #define MD_CAL 2 |
||
| 1283 | #define MD_SAV 3 |
||
| 1284 | static unsigned char mode=MD_OFF,cursor=MD_OFF; |
||
| 1285 | |||
| 1286 | case 0: HoTT_printfxy(0,0,"ACC calibration");break; |
||
| 2537 | holgerb | 1287 | case 1: HoTT_printfxy(0,2,"ACC: N:%3i R:%3i ",NeutralAccX,NeutralAccY); |
| 1288 | case 2: HoTT_printfxy(0,3,"Stick: (%i/%i) ",ChannelNick,ChannelRoll); |
||
| 1289 | case 3: if(ChannelNick || ChannelRoll) HoTT_printfxy(7,3,"!!"); |
||
| 1290 | break; |
||
| 2527 | holgerb | 1291 | case 4: HoTT_printfxy(2,4,"Off");break; |
| 1292 | case 5: HoTT_printfxy(2,5,"Calibrate");break; |
||
| 2537 | holgerb | 1293 | case 6: HoTT_printfxy(2,6,"Save "); |
| 1294 | if(mode == MD_SAV && cursor == MD_SAV) |
||
| 1295 | { |
||
| 1296 | HoTT_printfxy(7,6,"(SET)"); |
||
| 1297 | } |
||
| 1298 | else if((mode == MD_CAL) && !((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-'))) |
||
| 1299 | { |
||
| 1300 | HoTT_printfxy(2,6,"Swich GPS off!"); |
||
| 1301 | } |
||
| 2527 | holgerb | 1302 | break; |
| 1303 | case 7: |
||
| 1304 | case 8: HoTT_printfxy(0,cursor+3,">");break; |
||
| 1305 | case 9: HoTT_printfxy(1,mode+3,"*");break; |
||
| 1306 | case 10: |
||
| 1307 | case 11: |
||
| 1308 | case 12: |
||
| 1309 | case 13: |
||
| 1310 | case 14: |
||
| 1311 | case 15: |
||
| 1312 | case 16: |
||
| 1313 | if(HottKeyboard == HOTT_KEY_RIGHT) |
||
| 1314 | { |
||
| 1315 | switch(mode) |
||
| 1316 | { |
||
| 1317 | case MD_OFF: LIBFC_HoTT_Clear(); |
||
| 1318 | page--; // leave menu |
||
| 1319 | line = 0; |
||
| 1320 | break; |
||
| 1321 | case MD_CAL: NeutralAccY++; |
||
| 1322 | break; |
||
| 1323 | case MD_SAV: break; |
||
| 1324 | default: mode=MD_OFF;break; |
||
| 1325 | } |
||
| 1326 | } |
||
| 1327 | else |
||
| 1328 | if(HottKeyboard == HOTT_KEY_LEFT) |
||
| 1329 | { |
||
| 1330 | switch(mode) |
||
| 1331 | { |
||
| 1332 | case MD_OFF: LIBFC_HoTT_Clear(); |
||
| 1333 | page++; // leave menu |
||
| 1334 | line = 0; |
||
| 1335 | break; |
||
| 1336 | case MD_CAL: NeutralAccY--; |
||
| 1337 | break; |
||
| 1338 | case MD_SAV: break; |
||
| 1339 | default: mode=MD_OFF; |
||
| 1340 | break; |
||
| 1341 | } |
||
| 1342 | } |
||
| 1343 | else |
||
| 1344 | if(HottKeyboard == HOTT_KEY_UP) |
||
| 1345 | { |
||
| 1346 | switch(mode) |
||
| 1347 | { |
||
| 1348 | case MD_CAL: NeutralAccX++; |
||
| 1349 | break; |
||
| 1350 | case MD_OFF: |
||
| 1351 | case MD_SAV: if(cursor>1) {HoTT_printfxy(0,cursor+3," ");cursor--;} |
||
| 1352 | HoTT_printfxy(2,6," "); |
||
| 1353 | break; |
||
| 1354 | default: mode=MD_OFF; |
||
| 1355 | break; |
||
| 1356 | } |
||
| 1357 | } |
||
| 1358 | else |
||
| 1359 | if(HottKeyboard == HOTT_KEY_DOWN) |
||
| 1360 | { |
||
| 1361 | switch(mode) |
||
| 1362 | { |
||
| 1363 | case MD_CAL: NeutralAccX--; |
||
| 1364 | break; |
||
| 1365 | case MD_SAV: |
||
| 1366 | case MD_OFF: if(cursor<MD_SAV) {HoTT_printfxy(0,cursor+3," ");cursor++;} |
||
| 1367 | break; |
||
| 1368 | default: mode=MD_OFF; |
||
| 1369 | break; |
||
| 1370 | } |
||
| 1371 | } |
||
| 1372 | else |
||
| 1373 | if(HottKeyboard == HOTT_KEY_SET) |
||
| 1374 | { |
||
| 1375 | switch(mode) |
||
| 1376 | { |
||
| 1377 | case MD_OFF: HoTT_printfxy(1,mode+3," "); |
||
| 1378 | mode = cursor; |
||
| 1379 | if(mode == MD_CAL && !EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 6; // enables the Gyro-Drift compensation to make sure that a litlte calibration error won't effect the attitude |
||
| 1380 | break; |
||
| 1381 | case MD_CAL: HoTT_printfxy(1,mode+3," "); |
||
| 1382 | mode = MD_OFF; |
||
| 1383 | break; |
||
| 1384 | case MD_SAV: |
||
| 1385 | Hott_ClearLine(7); |
||
| 1386 | if(cursor == MD_SAV) |
||
| 1387 | { |
||
| 1388 | if(!MotorenEin) |
||
| 1389 | { |
||
| 2537 | holgerb | 1390 | /* BoatNeutralNick = AdNeutralNick; |
| 1391 | BoatNeutralRoll = AdNeutralRoll; |
||
| 1392 | BoatNeutralGier = AdNeutralGier; |
||
| 2527 | holgerb | 1393 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| 1394 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
| 1395 | SetParamWord(PID_GYRO_NICK,(uint16_t)BoatNeutralNick); |
||
| 1396 | SetParamWord(PID_GYRO_ROLL,(uint16_t)BoatNeutralRoll); |
||
| 1397 | SetParamWord(PID_GYRO_YAW,(uint16_t)BoatNeutralGier); |
||
| 2537 | holgerb | 1398 | */ |
| 1399 | StoreNeutralToEeprom(); |
||
| 2527 | holgerb | 1400 | HoTT_printfxy(7,6," okay "); |
| 1401 | HoTT_printfxy(1,mode+3," "); |
||
| 1402 | mode = MD_OFF; |
||
| 1403 | } |
||
| 1404 | else |
||
| 1405 | { |
||
| 1406 | HoTT_printfxy(0,7,"Motors running!!!"); |
||
| 1407 | mode = MD_OFF; |
||
| 1408 | } |
||
| 1409 | } |
||
| 1410 | else |
||
| 1411 | { |
||
| 1412 | HoTT_printfxy(1,mode+3," "); |
||
| 1413 | mode=cursor; |
||
| 1414 | } |
||
| 1415 | break; |
||
| 1416 | default: mode=MD_OFF; |
||
| 1417 | break; |
||
| 1418 | } |
||
| 1419 | } |
||
| 1420 | HottKeyboard = 0; |
||
| 1421 | break; |
||
| 1422 | default: line = 0; |
||
| 1423 | break; |
||
| 1424 | //HoTT_printfxy(10 ,line,"I"); |
||
| 1425 | //line++; |
||
| 1426 | } |
||
| 1427 | break; |
||
| 1428 | /* |
||
| 1429 | //------------------------------------------------------------------------------------------ |
||
| 1430 | // HoTT-Plus |
||
| 1431 | //------------------------------------------------------------------------------------------ |
||
| 1432 | case 9: |
||
| 1433 | switch(line++) |
||
| 1434 | { |
||
| 1435 | case 0: HoTT_printfxy(0,0,"I2C Schwerpunkt GAS"); |
||
| 1436 | break; |
||
| 1437 | case 1: HoTT_printfxy(0,1,"I2C%3i%3i%3i%3i",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK, Motor[2].State & MOTOR_STATE_ERROR_MASK, Motor[3].State & MOTOR_STATE_ERROR_MASK); |
||
| 1438 | break; |
||
| 1439 | case 2: HoTT_printfxy(0,2," %3i%3i%3i%3i",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK, Motor[6].State & MOTOR_STATE_ERROR_MASK, Motor[7].State & MOTOR_STATE_ERROR_MASK); |
||
| 1440 | break; |
||
| 1441 | |||
| 1442 | case 3: { //0123456789ABCDEF |
||
| 1443 | int r=0; |
||
| 1444 | int n=0; |
||
| 1445 | int g=0; |
||
| 1446 | n=SummeNick >> 9; |
||
| 1447 | r=SummeRoll >> 9; |
||
| 1448 | g=Mess_Integral_Gier >> 9; |
||
| 1449 | |||
| 1450 | HoTT_printfxy(0,5,"%3iN %3iR %3iG",n ,r ,g); |
||
| 1451 | } |
||
| 1452 | |||
| 1453 | break; |
||
| 1454 | case 4: { //0123456789ABCDEF |
||
| 1455 | HoTT_printfxy(0,4,"+ ^ + <"); |
||
| 1456 | } |
||
| 1457 | break; |
||
| 1458 | case 5: { //0123456789ABCDEF |
||
| 1459 | HoTT_printfxy(0,6,"- v - >"); |
||
| 1460 | } |
||
| 1461 | break; |
||
| 1462 | case 6: HoTT_printfxy(0,7,"%3i=HG/4 %3i=Gas",HoverGas/4,StickGas); |
||
| 1463 | |||
| 1464 | break; |
||
| 1465 | case 7: |
||
| 1466 | case 8: |
||
| 1467 | case 9: |
||
| 1468 | case 10: |
||
| 1469 | case 11: |
||
| 1470 | case 12: |
||
| 1471 | case 13: |
||
| 1472 | case 14: |
||
| 1473 | case 15: |
||
| 1474 | case 16: |
||
| 1475 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;} |
||
| 1476 | else |
||
| 1477 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
| 1478 | HottKeyboard = 0; |
||
| 1479 | break; |
||
| 1480 | default: line = 0; |
||
| 1481 | break; |
||
| 1482 | } |
||
| 1483 | break; |
||
| 1484 | //--------------------------------------------------------------------------------------------------- |
||
| 1485 | case 10: |
||
| 1486 | { |
||
| 1487 | static signed char i=0,j=0,Changepos=0; |
||
| 1488 | |||
| 1489 | if(line==9) |
||
| 1490 | { |
||
| 1491 | line=0; |
||
| 1492 | if(HottKeyboard == HOTT_KEY_SET ) { if(Changepos) Changepos = 0; else Changepos = 1;} |
||
| 1493 | else |
||
| 1494 | if(Changepos) |
||
| 1495 | { |
||
| 1496 | unsigned char temp=0; |
||
| 1497 | temp=(Changepos+j)-1; |
||
| 1498 | if((HottKeyboard == HOTT_KEY_RIGHT) && !((unsigned char)(*Parameter_List[temp].Variable + Parameter_List[temp].offset) >= Parameter_List[temp].max )) {*Parameter_List[temp].Variable += 1;} |
||
| 1499 | else |
||
| 1500 | if((HottKeyboard == HOTT_KEY_LEFT) && !((unsigned char)(*Parameter_List[temp].Variable + Parameter_List[temp].offset) <= Parameter_List[temp].min )) {*Parameter_List[temp].Variable -= 1;} |
||
| 1501 | else |
||
| 1502 | if(HottKeyboard == HOTT_KEY_UP ) |
||
| 1503 | { |
||
| 1504 | Changepos--; |
||
| 1505 | line = Changepos/2; |
||
| 1506 | if(Changepos< 1 ) {Changepos=16;} |
||
| 1507 | } |
||
| 1508 | else |
||
| 1509 | if(HottKeyboard == HOTT_KEY_DOWN) |
||
| 1510 | { |
||
| 1511 | Changepos++; |
||
| 1512 | line = Changepos/2; |
||
| 1513 | if(Changepos >= 17 ) {Changepos=1;} |
||
| 1514 | } |
||
| 1515 | } |
||
| 1516 | else |
||
| 1517 | { |
||
| 1518 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;} |
||
| 1519 | else |
||
| 1520 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
| 1521 | else |
||
| 1522 | if(HottKeyboard == HOTT_KEY_UP ) |
||
| 1523 | { |
||
| 1524 | j-=16; |
||
| 1525 | line = 0; |
||
| 1526 | if(j< 0 ) {j=0;} |
||
| 1527 | } |
||
| 1528 | else |
||
| 1529 | if(HottKeyboard == HOTT_KEY_DOWN) |
||
| 1530 | { |
||
| 1531 | LIBFC_HoTT_Clear(); |
||
| 1532 | j+=16; |
||
| 1533 | line = 0; |
||
| 1534 | if(j+14> MAXPARAM ) {j=MAXPARAM-15;} |
||
| 1535 | } |
||
| 1536 | } |
||
| 1537 | |||
| 1538 | Debug("line=%i Changepos=%i j=%i Key=%i",line,Changepos,j,HottKeyboard); |
||
| 1539 | HottKeyboard = 0; |
||
| 1540 | } |
||
| 1541 | |||
| 1542 | HoTT_printfxy(10 ,line,"I"); |
||
| 1543 | i=(line*2)+(j); |
||
| 1544 | if(Changepos==(line*2)+1) |
||
| 1545 | { |
||
| 1546 | HoTT_printfxy(0 ,line,">%3i=%-5.5s%",(unsigned char)(*Parameter_List[i ].Variable + Parameter_List[i ].offset),&Parameter_List[i ].name); |
||
| 1547 | } |
||
| 1548 | else |
||
| 1549 | { |
||
| 1550 | HoTT_printfxy(0 ,line," %3i=%-5.5s%",(unsigned char)(*Parameter_List[i ].Variable + Parameter_List[i ].offset),&Parameter_List[i ].name); |
||
| 1551 | } |
||
| 1552 | if(Changepos==(line*2)+2) |
||
| 1553 | { |
||
| 1554 | HoTT_printfxy(11,line,">%3i=%-5.5s%",(unsigned char)(*Parameter_List[i+1].Variable + Parameter_List[i+1].offset),&Parameter_List[i+1].name); |
||
| 1555 | } |
||
| 1556 | else |
||
| 1557 | { |
||
| 1558 | HoTT_printfxy(11,line," %3i=%-5.5s%",(unsigned char)(*Parameter_List[i+1].Variable + Parameter_List[i+1].offset),&Parameter_List[i+1].name); |
||
| 1559 | } |
||
| 1560 | |||
| 1561 | line++; |
||
| 1562 | |||
| 1563 | } |
||
| 1564 | break; |
||
| 1565 | case 11: |
||
| 1566 | switch(line++) |
||
| 1567 | { |
||
| 1568 | case 0: HoTT_printfxy(0,0,"Setting speichern"); |
||
| 1569 | break; |
||
| 1570 | case 1: HoTT_printfxy(0,1,"Setting%1i= %-11.11s",GetActiveParamSet(),EE_Parameter.Name); |
||
| 1571 | break; //123456789012345678901 |
||
| 1572 | case 2: HoTT_printfxy(0,2,"Speichern nach Set %i",settingdest); |
||
| 1573 | break; |
||
| 1574 | case 3: HoTT_printfxy(0,4,"\"SET\" zum speichern"); |
||
| 1575 | break; |
||
| 1576 | case 4: HoTT_printfxy(0,5,"^ v zum auswaehlen"); |
||
| 1577 | break; |
||
| 2545 | holgerb | 1578 | case 5: |
| 1579 | case 6: |
||
| 2527 | holgerb | 1580 | case 7: |
| 1581 | case 8: |
||
| 1582 | case 9: |
||
| 1583 | case 10: |
||
| 1584 | case 11: |
||
| 1585 | case 12: |
||
| 1586 | case 13: |
||
| 1587 | case 14: |
||
| 1588 | case 15: |
||
| 1589 | case 16: |
||
| 1590 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page--; line = 0;} |
||
| 1591 | else |
||
| 1592 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page++; line = 0;} |
||
| 1593 | else |
||
| 1594 | if((HottKeyboard == HOTT_KEY_UP) & (settingdest <5 )) settingdest++; |
||
| 1595 | else |
||
| 1596 | if((HottKeyboard == HOTT_KEY_DOWN) & (settingdest >1 )) settingdest--; |
||
| 1597 | else |
||
| 1598 | if((HottKeyboard == HOTT_KEY_SET) && !MotorenEin) |
||
| 1599 | { |
||
| 1600 | ParamSet_WriteToEEProm(settingdest); |
||
| 1601 | //JetiBeep = jetibeepcode[GetActiveParamSet()-1]; |
||
| 1602 | Piep(GetActiveParamSet(),120); |
||
| 1603 | HoTT_printfxy(0,7,"Gespeichert!"); |
||
| 1604 | } |
||
| 1605 | HottKeyboard = 0; |
||
| 1606 | break; |
||
| 1607 | default: line = 0; |
||
| 1608 | break; |
||
| 1609 | } |
||
| 1610 | break; |
||
| 1611 | //------------------------------------------------------------------------------------------ |
||
| 1612 | // HoTT-Plus |
||
| 1613 | //------------------------------------------------------------------------------------------ |
||
| 1614 | */ |
||
| 2420 | holgerb | 1615 | default: page = 0; |
| 1616 | break; |
||
| 1617 | } |
||
| 1917 | holgerb | 1618 | } |
| 1619 | |||
| 1925 | holgerb | 1620 | #endif |
| 1917 | holgerb | 1621 | |
| 1622 | |||
| 1623 |