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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 | |||
1925 | holgerb | 59 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
60 | |||
1920 | holgerb | 61 | #define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
62 | #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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63 | #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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64 | #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 | 65 | #define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
66 | #define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
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1917 | holgerb | 67 | |
1919 | holgerb | 68 | #define VOICE_MINIMALE_EINGANSSPANNUNG 16 |
69 | #define VOICE_BEEP 5 |
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1920 | holgerb | 70 | #define HoTT_GRAD 96 |
71 | #define HoTT_LINKS 123 |
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72 | #define HoTT_RECHTS 124 |
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73 | #define HoTT_OBEN 125 |
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74 | #define HoTT_UNTEN 126 |
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1917 | holgerb | 75 | |
1949 | holgerb | 76 | #define HOTT_KEY_RIGHT 1 |
77 | #define HOTT_KEY_DOWN 2 |
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78 | #define HOTT_KEY_UP 4 |
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79 | #define HOTT_KEY_SET 6 |
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80 | #define HOTT_KEY_LEFT 8 |
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81 | |||
2322 | holgerb | 82 | #define VARIO_ZERO 30000 |
2418 | holgerb | 83 | unsigned char NaviData_WaypointIndex = 0, NaviData_WaypointNumber = 0, NaviData_TargetHoldTime = 0, ToNC_Load_WP_List = 0; |
2178 | holgerb | 84 | unsigned int NaviData_TargetDistance = 0; |
85 | |||
2373 | holgerb | 86 | unsigned char MaxBlTemperture = 0; |
87 | unsigned char MinBlTemperture = 0; |
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88 | unsigned char HottestBl = 0; |
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89 | |||
1943 | holgerb | 90 | GPSPacket_t GPSPacket; |
91 | VarioPacket_t VarioPacket; |
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92 | ASCIIPacket_t ASCIIPacket; |
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93 | ElectricAirPacket_t ElectricAirPacket; |
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94 | HoTTGeneral_t HoTTGeneral; |
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2090 | holgerb | 95 | unsigned char SpeakHoTT = SPEAK_MIKROKOPTER; |
2345 | holgerb | 96 | unsigned char ToNC_SpeakHoTT = 0, ShowSettingNameTime = 0; |
1944 | holgerb | 97 | int HoTTVarioMeter = 0; |
2090 | holgerb | 98 | const char PROGMEM MIKROKOPTER[] = {" MikroKopter "}; |
2120 | holgerb | 99 | const char PROGMEM UNDERVOLTAGE[] = {" !! LiPo voltage !! "}; |
2390 | holgerb | 100 | const char PROGMEM LANDING[] = {" !! LANDING !! "}; |
2344 | holgerb | 101 | const char PROGMEM SETTING[] = {"Set :"}; |
1930 | holgerb | 102 | const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] = |
103 | { |
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104 | //0123456789123456 |
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105 | "No Error \0", // 0 |
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106 | "Not compatible \0", // 1 |
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107 | "MK3Mag not compa\0", // 2 |
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108 | "No FC communicat\0", // 3 |
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2188 | holgerb | 109 | "Compass communic\0", // 4 |
1930 | holgerb | 110 | "GPS communicatio\0", // 5 |
111 | "compass value \0", // 6 |
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112 | "RC Signal lost \0", // 7 |
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113 | "FC spi rx error \0", // 8 |
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114 | "No NC communicat\0", // 9 |
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115 | "FC Nick Gyro \0", // 10 |
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116 | "FC Roll Gyro \0", // 11 |
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117 | "FC Yaw Gyro \0", // 12 |
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118 | "FC Nick ACC \0", // 13 |
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119 | "FC Roll ACC \0", // 14 |
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120 | "FC Z-ACC \0", // 15 |
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121 | "Pressure sensor \0", // 16 |
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1936 | holgerb | 122 | "I2C FC->BL-Ctrl \0", // 17 |
1930 | holgerb | 123 | "Bl Missing \0", // 18 |
124 | "Mixer Error \0", // 19 |
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1937 | holgerb | 125 | "Carefree Error \0", // 20 |
1944 | holgerb | 126 | "GPS Fix lost \0", // 21 |
1948 | holgerb | 127 | "Magnet Error \0", // 22 |
128 | "Motor restart \0", // 23 |
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2008 | holgerb | 129 | "BL Limitation \0", // 24 |
130 | "GPS Range \0", // 25 |
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2009 | holgerb | 131 | "No SD-Card \0", // 26 |
132 | "SD-Logging error\0", // 27 |
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2034 | holgerb | 133 | "Flying range! \0", // 28 |
2146 | holgerb | 134 | "Max Altitude! \0", // 29 |
2186 | holgerb | 135 | "No GPS fix \0", // 30 |
2388 | holgerb | 136 | "compass not cal.\0", // 31 |
2408 | holgerb | 137 | "BL-Selftest \0", // 32 |
138 | "no ext. compass \0", // 33 |
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139 | "compass sensor \0" // 34 |
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1930 | holgerb | 140 | }; |
1919 | holgerb | 141 | |
2090 | holgerb | 142 | |
143 | const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] = |
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144 | { // 1 -> only in flight 0 -> also on ground |
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145 | //0123456789123456 |
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146 | {0,0},// "No Error \0", // 0 |
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2388 | holgerb | 147 | {SPEAK_ERROR,0}, // "Not compatible \0", // 1 |
148 | {SPEAK_ERROR,0}, // "MK3Mag not compa\0", // 2 |
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149 | {SPEAK_ERR_NAVI,1}, // "No FC communicat\0", // 3 |
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150 | {SPEAK_ERR_COMPASS,1}, // "MK3Mag communica\0", // 4 |
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151 | {SPEAK_ERR_GPS,0}, // "GPS communicatio\0", // 5 |
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152 | {SPEAK_ERR_COMPASS,1}, // "compass value \0", // 6 |
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2090 | holgerb | 153 | {SPEAK_ERR_RECEICER,0},// "RC Signal lost \0", // 7 |
2388 | holgerb | 154 | {SPEAK_ERR_NAVI,0}, // "FC spi rx error \0", // 8 |
155 | {SPEAK_ERR_NAVI,0}, // "No NC communicat\0", // 9 |
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156 | {SPEAK_ERR_SENSOR,0}, // "FC Nick Gyro \0", // 10 |
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157 | {SPEAK_ERR_SENSOR,0}, // "FC Roll Gyro \0", // 11 |
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158 | {SPEAK_ERR_SENSOR,0}, // "FC Yaw Gyro \0", // 12 |
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159 | {SPEAK_ERR_SENSOR,0}, // "FC Nick ACC \0", // 13 |
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160 | {SPEAK_ERR_SENSOR,0}, // "FC Roll ACC \0", // 14 |
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161 | {SPEAK_ERR_SENSOR,0}, // "FC Z-ACC \0", // 15 |
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162 | {SPEAK_ERR_SENSOR,0}, // "Pressure sensor \0", // 16 |
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163 | {SPEAK_ERR_DATABUS,1}, // "I2C FC->BL-Ctrl \0", // 17 |
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164 | {SPEAK_ERR_DATABUS,1}, // "Bl Missing \0", // 18 |
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165 | {SPEAK_ERROR,0}, // "Mixer Error \0", // 19 |
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166 | {SPEAK_CF_OFF,1}, // "Carefree Error \0", // 20 |
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167 | {SPEAK_GPS_FIX,1}, // "GPS Fix lost \0", // 21 |
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168 | {SPEAK_ERR_COMPASS,0}, // "Magnet Error \0", // 22 |
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169 | {SPEAK_ERR_MOTOR,1}, // "Motor restart \0", // 23 |
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2090 | holgerb | 170 | {SPEAK_MAX_TEMPERAT,1},// "BL Limitation \0", // 24 |
2388 | holgerb | 171 | {SPEAK_MAX_RANGE,1}, // "GPS Range \0", // 25 |
172 | {SPEAK_ERROR,1}, // "No SD-Card \0", // 26 |
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173 | {SPEAK_ERROR,1}, // "SD-Logging error\0", // 27 |
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174 | {SPEAK_MAX_RANGE,1}, // "Flying range! \0", // 28 |
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175 | {SPEAK_MAX_ALTITUD,1}, // "Max Altitude! \0" // 29 |
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176 | {SPEAK_GPS_FIX,1}, // "No GPS fix \0" // 30 |
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177 | {SPEAK_ERR_CALIBARTION,0},// "compass not cal." // 31 |
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2408 | holgerb | 178 | {SPEAK_ERR_MOTOR,0}, // "BL-Selftest \0" // 32 |
179 | {SPEAK_ERR_COMPASS,0}, // "no ext. compass" // 33 |
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180 | {SPEAK_ERR_COMPASS,0} // "compass sensor" // 34 |
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2090 | holgerb | 181 | }; |
182 | |||
183 | |||
1943 | holgerb | 184 | void GetHottestBl(void) |
185 | { |
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186 | static unsigned char search = 0,tmp_max,tmp_min,who; |
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187 | if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;} |
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188 | else |
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189 | if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature; |
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2373 | holgerb | 190 | if(++search >= MAX_MOTORS) |
1943 | holgerb | 191 | { |
192 | search = 0; |
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2373 | holgerb | 193 | if(tmp_min != 255) MinBlTemperture = tmp_min; else MinBlTemperture = 0; |
194 | MaxBlTemperture = tmp_max; |
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1943 | holgerb | 195 | HottestBl = who; |
196 | tmp_min = 255; |
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197 | tmp_max = 0; |
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198 | who = 0; |
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199 | } |
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200 | } |
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201 | |||
1919 | holgerb | 202 | //--------------------------------------------------------------- |
1917 | holgerb | 203 | void Hott_ClearLine(unsigned char line) |
204 | { |
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205 | HoTT_printfxy(0,line," "); |
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206 | } |
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1919 | holgerb | 207 | //--------------------------------------------------------------- |
1917 | holgerb | 208 | |
2178 | holgerb | 209 | |
1919 | holgerb | 210 | unsigned char HoTT_Waring(void) |
211 | { |
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2090 | holgerb | 212 | unsigned char status = 0; |
213 | static char old_status = 0; |
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214 | static int repeat; |
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2120 | holgerb | 215 | //if(Parameter_UserParam1) return(Parameter_UserParam1); |
2190 | holgerb | 216 | ToNC_SpeakHoTT = SpeakHoTT; |
2390 | holgerb | 217 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
218 | { |
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219 | if(LowVoltageLandingActive && (EE_Parameter.Receiver == RECEIVER_HOTT)) status = SPEAK_LANDING; |
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220 | else status = VOICE_MINIMALE_EINGANSSPANNUNG; // Jeti hat kein wort: "LANDEN" |
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2408 | holgerb | 221 | if(SpeakHoTT && old_status == VOICE_MINIMALE_EINGANSSPANNUNG) status = SpeakHoTT; // das soll auch noch durch kommen |
2390 | holgerb | 222 | } |
2090 | holgerb | 223 | else |
2408 | holgerb | 224 | if(NC_ErrorCode && NC_ErrorCode < MAX_ERR_NUMBER) // Fehlercodes |
2090 | holgerb | 225 | { |
226 | if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]); |
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227 | } |
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2263 | holgerb | 228 | if(!status) // Sprachansagen |
2091 | holgerb | 229 | { |
2263 | holgerb | 230 | // if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0; // is the voice wanted? |
231 | if(!(EE_Parameter.GlobalConfig3 & CFG3_SPEAK_ALL)) SpeakHoTT = 0; // is the voice wanted? |
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2091 | holgerb | 232 | else status = SpeakHoTT; |
2190 | holgerb | 233 | } |
234 | else ToNC_SpeakHoTT = status; |
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2090 | holgerb | 235 | |
2390 | holgerb | 236 | if(old_status == status) // Gleichen Fehler nur alle 4 sek bringen |
2090 | holgerb | 237 | { |
238 | if(!CheckDelay(repeat)) return(0); |
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2390 | holgerb | 239 | repeat = SetDelay(4000); |
2090 | holgerb | 240 | } |
241 | else repeat = SetDelay(2000); |
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242 | |||
243 | if(status) |
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244 | { |
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245 | if(status == SpeakHoTT) SpeakHoTT = 0; |
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246 | } |
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247 | old_status = status; |
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2120 | holgerb | 248 | // DebugOut.Analog[16] = status; |
2090 | holgerb | 249 | return(status); |
1919 | holgerb | 250 | } |
251 | |||
2178 | holgerb | 252 | /* |
253 | unsigned char HoTTErrorCode(void) |
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254 | { |
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255 | return(NC_ErrorCode); |
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256 | } |
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257 | */ |
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1919 | holgerb | 258 | //--------------------------------------------------------------- |
1942 | holgerb | 259 | void NC_Fills_HoTT_Telemety(void) |
1940 | holgerb | 260 | { |
2034 | holgerb | 261 | unsigned char *ptr = NULL; |
1940 | holgerb | 262 | unsigned char max = 0,i,z; |
263 | switch(FromNaviCtrl.Param.Byte[11]) |
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264 | { |
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265 | case HOTT_VARIO_PACKET_ID: |
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266 | ptr = (unsigned char *) &VarioPacket; |
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267 | max = sizeof(VarioPacket); |
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268 | break; |
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269 | case HOTT_GPS_PACKET_ID: |
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270 | ptr = (unsigned char *) &GPSPacket; |
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271 | max = sizeof(GPSPacket); |
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272 | break; |
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273 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
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274 | ptr = (unsigned char *) &ElectricAirPacket; |
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275 | max = sizeof(ElectricAirPacket); |
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276 | break; |
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1943 | holgerb | 277 | case HOTT_GENERAL_PACKET_ID: |
278 | ptr = (unsigned char *) &HoTTGeneral; |
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279 | max = sizeof(HoTTGeneral); |
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280 | break; |
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2377 | holgerb | 281 | case JETI_GPS_PACKET_ID1: |
282 | ptr = (unsigned char *) &JetiExData[14].Value; |
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283 | max = sizeof(JetiExData[14].Value); |
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284 | break; |
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285 | case JETI_GPS_PACKET_ID2: |
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286 | ptr = (unsigned char *) &JetiExData[15].Value; |
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287 | max = sizeof(JetiExData[15].Value); |
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288 | break; |
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1940 | holgerb | 289 | } |
290 | z = FromNaviCtrl.Param.Byte[0]; // Data allocation |
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291 | |||
292 | for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++) |
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293 | { |
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294 | if(z >= max) break; |
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295 | ptr[z] = FromNaviCtrl.Param.Byte[2+i]; |
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296 | z++; |
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297 | } |
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298 | } |
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299 | |||
1942 | holgerb | 300 | unsigned int BuildHoTT_Vario(void) |
301 | { |
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2322 | holgerb | 302 | unsigned int tmp = VARIO_ZERO; |
1944 | holgerb | 303 | if(VarioCharacter == '+' || VarioCharacter == '-') |
304 | { |
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2322 | holgerb | 305 | tmp = VARIO_ZERO + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3; |
306 | 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 | 307 | } |
1942 | holgerb | 308 | else |
1944 | holgerb | 309 | if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY)) |
310 | { |
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2322 | holgerb | 311 | tmp = VARIO_ZERO + HoTTVarioMeter; |
312 | if(tmp > VARIO_ZERO) |
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1944 | holgerb | 313 | { |
2322 | holgerb | 314 | if(tmp < VARIO_ZERO + 100) tmp = VARIO_ZERO; |
1944 | holgerb | 315 | else tmp -= 100; |
316 | } |
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2322 | holgerb | 317 | if(tmp < VARIO_ZERO) |
1944 | holgerb | 318 | { |
2322 | holgerb | 319 | if(tmp > VARIO_ZERO - 100) tmp = VARIO_ZERO; |
1944 | holgerb | 320 | else tmp += 100; |
321 | } |
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322 | } |
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323 | else |
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2322 | holgerb | 324 | if(VarioCharacter == '^') tmp = VARIO_ZERO + FromNC_AltitudeSpeed * 10; |
1944 | holgerb | 325 | else |
2322 | holgerb | 326 | if(VarioCharacter == 'v') tmp = VARIO_ZERO - FromNC_AltitudeSpeed * 10; |
1942 | holgerb | 327 | return(tmp); |
328 | } |
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329 | |||
1940 | holgerb | 330 | //--------------------------------------------------------------- |
1919 | holgerb | 331 | unsigned char HoTT_Telemety(unsigned char packet_request) |
332 | { |
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2322 | holgerb | 333 | unsigned char i; |
2090 | holgerb | 334 | //Debug("rqst: %02X",packet_request); |
1919 | holgerb | 335 | switch(packet_request) |
336 | { |
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337 | case HOTT_VARIO_PACKET_ID: |
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2322 | holgerb | 338 | GPSPacket.WarnBeep = HoTT_Waring(); // Achtung: das ist richtig hier, damit der Varioton schon vorher abgestellt wird |
1921 | holgerb | 339 | VarioPacket.Altitude = HoehenWert/100 + 500; |
2322 | holgerb | 340 | if(!GPSPacket.WarnBeep) VarioPacket.m_sec = BuildHoTT_Vario(); else VarioPacket.m_sec = VARIO_ZERO; |
1943 | holgerb | 341 | VarioPacket.m_3sec = VarioPacket.m_sec; |
342 | VarioPacket.m_10sec = VarioPacket.m_sec; |
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1919 | holgerb | 343 | if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude; |
344 | if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude; |
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2090 | holgerb | 345 | VarioPacket.WarnBeep = 0;//HoTT_Waring(); |
1919 | holgerb | 346 | HoTT_DataPointer = (unsigned char *) &VarioPacket; |
2090 | holgerb | 347 | VarioPacket.FreeCharacters[0] = VarioCharacter; |
348 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' '; |
||
349 | // VarioPacket.FreeCharacters[2] = ' '; |
||
350 | if(NC_ErrorCode) |
||
351 | { |
||
352 | VarioPacket.Text[0] = NC_ErrorCode/10 + '0'; |
||
353 | VarioPacket.Text[1] = NC_ErrorCode%10 + '0'; |
||
354 | VarioPacket.Text[2] = ':'; |
||
2183 | holgerb | 355 | for(i=0; i<16;i++) VarioPacket.Text[i+3] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]); |
2388 | holgerb | 356 | VarioPacket.Text[19] = ' '; |
357 | VarioPacket.Text[20] = ' '; |
||
2090 | holgerb | 358 | } |
2120 | holgerb | 359 | else |
2390 | holgerb | 360 | if(LowVoltageLandingActive) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LANDING[i]); // no Error |
361 | else |
||
2120 | holgerb | 362 | if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error |
2348 | holgerb | 363 | else |
364 | if(ShowSettingNameTime) // no Error |
||
365 | { |
||
366 | for(i=0; i<sizeof(SETTING);i++) VarioPacket.Text[i] = pgm_read_byte(&SETTING[i]); |
||
367 | VarioPacket.Text[4] = '0' + ActiveParamSet; |
||
368 | for(i=0; i<sizeof(EE_Parameter.Name);i++) VarioPacket.Text[i+7] = EE_Parameter.Name[i]; // no Error |
||
369 | VarioPacket.Text[18] = ' '; |
||
370 | VarioPacket.Text[19] = ' '; |
||
371 | VarioPacket.Text[20] = ' '; |
||
372 | } |
||
2120 | holgerb | 373 | else |
2178 | holgerb | 374 | if(NaviData_WaypointNumber) |
375 | { |
||
376 | unsigned int tmp_int; |
||
377 | unsigned char tmp; |
||
378 | VarioPacket.Text[0] = 'W'; VarioPacket.Text[1] = 'P'; |
||
379 | VarioPacket.Text[2] = ' '; |
||
380 | VarioPacket.Text[3] = '0'+(NaviData_WaypointIndex) / 10; |
||
381 | VarioPacket.Text[4] = '0'+(NaviData_WaypointIndex) % 10; |
||
382 | VarioPacket.Text[5] = '/'; |
||
383 | VarioPacket.Text[6] = '0'+(NaviData_WaypointNumber) / 10; |
||
384 | VarioPacket.Text[7] = '0'+(NaviData_WaypointNumber) % 10; |
||
385 | VarioPacket.Text[8] = ' '; |
||
386 | tmp_int = NaviData_TargetDistance; |
||
387 | if(tmp_int > 1000) { VarioPacket.Text[9] = '0'+(tmp_int) / 1000; tmp_int %= 1000;} |
||
388 | else VarioPacket.Text[9] = ' '; |
||
389 | if(tmp_int > 100) { VarioPacket.Text[10] = '0'+(tmp_int) / 100; tmp_int %= 100;} |
||
390 | else VarioPacket.Text[10] = ' '; |
||
391 | VarioPacket.Text[11] = '0'+(tmp_int) / 10; |
||
392 | VarioPacket.Text[12] = '0'+(tmp_int) % 10; |
||
393 | VarioPacket.Text[13] = 'm'; |
||
394 | VarioPacket.Text[14] = ' '; |
||
395 | tmp = NaviData_TargetHoldTime; |
||
396 | if(tmp > 100) { VarioPacket.Text[15] = '0'+(tmp) / 100; tmp %= 100;} else VarioPacket.Text[15] = ' '; |
||
397 | VarioPacket.Text[16] = '0'+(tmp) / 10; |
||
398 | VarioPacket.Text[17] = '0'+(tmp) % 10; |
||
399 | VarioPacket.Text[18] = 's'; |
||
400 | VarioPacket.Text[19] = ' '; |
||
2407 | holgerb | 401 | VarioPacket.Text[20] = ' '; |
2178 | holgerb | 402 | } |
403 | else |
||
2355 | holgerb | 404 | if(!CalibrationDone) |
2344 | holgerb | 405 | { |
2355 | holgerb | 406 | for(i=0; i<17;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i+2]); // no Error and not calibrated |
407 | VarioPacket.Text[16] = '0'+VERSION_MAJOR; |
||
408 | VarioPacket.Text[17] = '.'; |
||
409 | VarioPacket.Text[18] = '0'+VERSION_MINOR/10; |
||
410 | VarioPacket.Text[19] = '0'+VERSION_MINOR%10; |
||
411 | VarioPacket.Text[20] = 'a'+VERSION_PATCH; |
||
2344 | holgerb | 412 | } |
2355 | holgerb | 413 | else |
414 | { |
||
415 | for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error |
||
2418 | holgerb | 416 | if(RedundanceBlOperation) VarioPacket.Text[0] = 'R'; |
2355 | holgerb | 417 | } |
1919 | holgerb | 418 | return(sizeof(VarioPacket)); |
419 | break; |
||
1921 | holgerb | 420 | |
1919 | holgerb | 421 | case HOTT_GPS_PACKET_ID: |
2186 | holgerb | 422 | GPSPacket.Altitude = HoehenWert/100 + 500; |
1943 | holgerb | 423 | // GPSPacket.Distance = GPSInfo.HomeDistance/10; // macht die NC |
424 | // GPSPacket.Heading = GPSInfo.HomeBearing/2; // macht die NC |
||
425 | // GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; // macht die NC |
||
2322 | holgerb | 426 | // GPSPacket.WarnBeep = HoTT_Waring(); //(wird jetzt weiter oben gemacht) |
427 | if(!GPSPacket.WarnBeep) GPSPacket.m_sec = BuildHoTT_Vario(); else GPSPacket.m_sec = VARIO_ZERO; |
||
1921 | holgerb | 428 | GPSPacket.m_3sec = 120; |
2090 | holgerb | 429 | GPSPacket.NumOfSats = GPSInfo.NumOfSats; |
430 | if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D'; |
||
431 | else |
||
432 | if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' '; |
||
433 | else GPSPacket.SatFix = '!'; |
||
1919 | holgerb | 434 | HoTT_DataPointer = (unsigned char *) &GPSPacket; |
2090 | holgerb | 435 | GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter; |
436 | GPSPacket.FreeCharacters[2] = GPSPacket.SatFix; |
||
437 | GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230; |
||
1919 | holgerb | 438 | return(sizeof(GPSPacket)); |
439 | break; |
||
440 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
||
1943 | holgerb | 441 | GetHottestBl(); |
1940 | holgerb | 442 | ElectricAirPacket.Altitude = HoehenWert/100 + 500; |
1921 | holgerb | 443 | ElectricAirPacket.Battery1 = UBat; |
1940 | holgerb | 444 | ElectricAirPacket.Battery2 = UBat; |
1943 | holgerb | 445 | ElectricAirPacket.VoltageCell1 = ErsatzKompassInGrad / 2; |
446 | ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1; |
||
1944 | holgerb | 447 | ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2; |
1943 | holgerb | 448 | ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20; |
1944 | holgerb | 449 | ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6; |
1943 | holgerb | 450 | ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7; |
2322 | holgerb | 451 | if(!GPSPacket.WarnBeep) ElectricAirPacket.m_sec = BuildHoTT_Vario(); else ElectricAirPacket.m_sec = VARIO_ZERO; |
1940 | holgerb | 452 | ElectricAirPacket.m_3sec = 120; |
453 | ElectricAirPacket.InputVoltage = UBat; |
||
2373 | holgerb | 454 | ElectricAirPacket.Temperature1 = MinBlTemperture + 20; |
455 | ElectricAirPacket.Temperature2 = MaxBlTemperture + 20; |
||
1940 | holgerb | 456 | ElectricAirPacket.Capacity = Capacity.UsedCapacity/10; |
2373 | holgerb | 457 | // ElectricAirPacket.WarnBeep = 0;//HoTT_Waring(); |
458 | ElectricAirPacket.WarnBeep = GPSPacket.WarnBeep; |
||
1940 | holgerb | 459 | ElectricAirPacket.Current = Capacity.ActualCurrent; |
1919 | holgerb | 460 | HoTT_DataPointer = (unsigned char *) &ElectricAirPacket; |
2090 | holgerb | 461 | ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60; |
462 | ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60; |
||
1919 | holgerb | 463 | return(sizeof(ElectricAirPacket)); |
464 | break; |
||
1943 | holgerb | 465 | case HOTT_GENERAL_PACKET_ID: |
466 | GetHottestBl(); |
||
467 | HoTTGeneral.Rpm = GPSInfo.HomeDistance/100; |
||
468 | HoTTGeneral.VoltageCell1 = ErsatzKompassInGrad / 2; |
||
2373 | holgerb | 469 | HoTTGeneral.VoltageCell2 = KompassValue / 2; |
470 | //HoTTGeneral.VoltageCell3 = Magnetstaerke -> macht NC |
||
471 | //HoTTGeneral.VoltageCell4 = Inclinition -> macht NC |
||
472 | HoTTGeneral.VoltageCell5 = DebugOut.Analog[28]; // I2C ErrorCounter |
||
1944 | holgerb | 473 | HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2; |
2373 | holgerb | 474 | if(UBat > BattLowVoltageWarning + 2) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 2)) * 3; |
1943 | holgerb | 475 | else HoTTGeneral.FuelPercent = 0; |
2373 | holgerb | 476 | if(HoTTGeneral.FuelPercent > 100) HoTTGeneral.FuelPercent = 100; |
477 | HoTTGeneral.FuelCapacity = NC_ErrorCode;//HoehenWert/100; // Oelpegel |
||
478 | // if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0; |
||
1943 | holgerb | 479 | HoTTGeneral.Altitude = HoehenWert/100 + 500; |
480 | HoTTGeneral.Battery1 = UBat; |
||
481 | HoTTGeneral.Battery2 = UBat; |
||
2322 | holgerb | 482 | if(!GPSPacket.WarnBeep) HoTTGeneral.m_sec = BuildHoTT_Vario(); else HoTTGeneral.m_sec = VARIO_ZERO; |
2373 | holgerb | 483 | HoTTGeneral.m_3sec = 120 + GPSPacket.WarnBeep; |
1943 | holgerb | 484 | HoTTGeneral.InputVoltage = UBat; |
2373 | holgerb | 485 | HoTTGeneral.Temperature1 = MinBlTemperture + 20; |
486 | HoTTGeneral.Temperature2 = MaxBlTemperture + 20; |
||
1943 | holgerb | 487 | HoTTGeneral.Capacity = Capacity.UsedCapacity/10; |
2090 | holgerb | 488 | HoTTGeneral.WarnBeep = 0;//HoTT_Waring(); |
1943 | holgerb | 489 | HoTTGeneral.Current = Capacity.ActualCurrent; |
2178 | holgerb | 490 | //HoTTGeneral.ErrorNumber = HoTTErrorCode(); |
1943 | holgerb | 491 | HoTT_DataPointer = (unsigned char *) &HoTTGeneral; |
492 | return(sizeof(HoTTGeneral)); |
||
493 | break; |
||
1919 | holgerb | 494 | default: return(0); |
495 | } |
||
496 | } |
||
497 | |||
498 | //--------------------------------------------------------------- |
||
1917 | holgerb | 499 | void HoTT_Menu(void) |
500 | { |
||
2418 | holgerb | 501 | static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0, load_waypoint_tmp, changed, load_waypoint_tmp2, changed2; |
1921 | holgerb | 502 | unsigned char tmp; |
1944 | holgerb | 503 | HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8; |
504 | |||
1921 | holgerb | 505 | if(page == 0) |
1933 | holgerb | 506 | switch(line++) |
1917 | holgerb | 507 | { |
1919 | holgerb | 508 | case 0: |
1923 | holgerb | 509 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
1939 | holgerb | 510 | HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10) |
511 | else |
||
512 | HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10) |
||
513 | |||
514 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
||
515 | { |
||
516 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter) |
||
517 | else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100)) |
||
518 | } |
||
519 | else HoTT_printfxy(10,0,"ALT:---- "); |
||
520 | break; |
||
521 | case 1: |
||
522 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
523 | HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60) |
||
524 | else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
1941 | holgerb | 525 | HoTT_printfxy(10,1,"DIR: %3d%c",ErsatzKompassInGrad, HoTT_GRAD); |
1949 | holgerb | 526 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," "); |
1939 | holgerb | 527 | break; |
528 | case 2: |
||
529 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
530 | HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity) |
||
531 | else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity); |
||
1940 | holgerb | 532 | HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
1939 | holgerb | 533 | break; |
534 | case 3: |
||
2072 | holgerb | 535 | HoTT_printfxy(9,0,":"); |
536 | HoTT_printfxy(9,1,":"); |
||
537 | HoTT_printfxy(9,2,":"); |
||
1939 | holgerb | 538 | HoTT_printfxy(0,3,"---------+-----------"); |
2072 | holgerb | 539 | |
540 | // HoTT_printfxy(0,3,"---------------------"); |
||
1939 | holgerb | 541 | HoTT_printfxy(0,6,"---------------------"); |
542 | break; |
||
543 | case 4: |
||
544 | if(NaviDataOkay) |
||
545 | { |
||
2072 | holgerb | 546 | HoTT_printfxy(9,4,":"); |
1939 | holgerb | 547 | HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats); |
548 | HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10); |
||
549 | switch (GPSInfo.SatFix) |
||
550 | { |
||
551 | case SATFIX_3D: |
||
552 | if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ") |
||
553 | else HoTT_printfxy(7,4,"3D"); |
||
554 | break; |
||
555 | default: |
||
1943 | holgerb | 556 | HoTT_printfxy_BLINK(7,4,"!!"); |
1939 | holgerb | 557 | break; |
558 | } |
||
559 | } |
||
560 | else |
||
1944 | holgerb | 561 | { |
1940 | holgerb | 562 | Hott_ClearLine(4); |
1939 | holgerb | 563 | } |
564 | break; |
||
565 | case 5: |
||
566 | if(NaviDataOkay) |
||
567 | { |
||
1972 | holgerb | 568 | if(show_mag) |
569 | { |
||
570 | HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField); |
||
1939 | holgerb | 571 | HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
1972 | holgerb | 572 | HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic); |
573 | } |
||
574 | else |
||
575 | { |
||
2072 | holgerb | 576 | HoTT_printfxy(0,5," %2um/s: HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
1972 | holgerb | 577 | } |
1939 | holgerb | 578 | } |
1940 | holgerb | 579 | else Hott_ClearLine(5); |
1939 | holgerb | 580 | break; |
581 | case 6: |
||
582 | break; |
||
583 | case 7: if(NC_ErrorCode) |
||
584 | { |
||
585 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
586 | { |
||
587 | Hott_ClearLine(7); |
||
588 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
589 | } |
||
590 | else |
||
591 | { |
||
592 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
593 | } |
||
2120 | holgerb | 594 | else |
595 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
1939 | holgerb | 596 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
597 | break; |
||
2090 | holgerb | 598 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
1939 | holgerb | 599 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
600 | case 9: |
||
601 | case 10: |
||
602 | case 11: |
||
603 | case 12: |
||
604 | case 13: |
||
605 | case 14: |
||
606 | case 15: |
||
607 | case 16: |
||
1972 | holgerb | 608 | if(HottKeyboard == HOTT_KEY_SET) { if(show_mag) show_mag = 0; else show_mag = 1;} |
609 | else |
||
1949 | holgerb | 610 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
1939 | holgerb | 611 | HottKeyboard = 0; |
612 | break; |
||
613 | default: line = 0; |
||
614 | break; |
||
615 | } |
||
616 | else |
||
617 | if(page == 1) |
||
618 | switch(line++) |
||
619 | { |
||
620 | case 0: |
||
621 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
1923 | holgerb | 622 | HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity) |
623 | else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity); |
||
1917 | holgerb | 624 | break; |
625 | case 1: |
||
1921 | holgerb | 626 | HoTT_printfxy(0,1,"DIR:%3d%c",KompassValue, HoTT_GRAD); |
1917 | holgerb | 627 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
1920 | holgerb | 628 | { |
629 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
630 | else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
631 | } |
||
632 | else HoTT_printfxy(10,1,"ALT:---- "); |
||
633 | HoTT_printfxy(20,1,"%c",VarioCharacter); |
||
1917 | holgerb | 634 | break; |
635 | case 2: |
||
636 | if(NaviDataOkay) |
||
637 | { |
||
1923 | holgerb | 638 | HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter); |
1917 | holgerb | 639 | } |
640 | else |
||
641 | { |
||
1923 | holgerb | 642 | Hott_ClearLine(2); |
1917 | holgerb | 643 | } |
644 | break; |
||
1923 | holgerb | 645 | case 3: |
646 | HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower); |
||
1949 | holgerb | 647 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3," "); |
1923 | holgerb | 648 | break; |
1917 | holgerb | 649 | case 4: |
650 | if(NaviDataOkay) |
||
651 | { |
||
1919 | holgerb | 652 | HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
1917 | holgerb | 653 | switch (GPSInfo.SatFix) |
654 | { |
||
655 | case SATFIX_3D: |
||
656 | HoTT_printfxy(16,4," 3D "); |
||
657 | break; |
||
1925 | holgerb | 658 | //case SATFIX_2D: |
659 | //case SATFIX_NONE: |
||
1917 | holgerb | 660 | default: |
1925 | holgerb | 661 | HoTT_printfxy_BLINK(16,4,"NOFIX"); |
1917 | holgerb | 662 | break; |
663 | } |
||
664 | if(GPSInfo.Flags & FLAG_DIFFSOLN) |
||
665 | { |
||
666 | HoTT_printfxy(16,4,"DGPS "); |
||
667 | } |
||
668 | } |
||
669 | else |
||
670 | { //012345678901234567890 |
||
1930 | holgerb | 671 | HoTT_printfxy(0,4," No NaviCtrl "); |
1917 | holgerb | 672 | } |
673 | break; |
||
674 | case 5: |
||
1949 | holgerb | 675 | if(show_current) |
676 | { |
||
2386 | holgerb | 677 | // 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); |
678 | 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 | 679 | } |
680 | else |
||
681 | { |
||
682 | HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD); |
||
683 | } |
||
1917 | holgerb | 684 | break; |
685 | case 6: |
||
1949 | holgerb | 686 | if(show_current) |
687 | { |
||
1917 | holgerb | 688 | if(RequiredMotors == 4) Hott_ClearLine(6); |
689 | else |
||
2386 | holgerb | 690 | // 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) |
691 | 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 | 692 | else |
2386 | holgerb | 693 | // 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); |
694 | 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 | 695 | } |
696 | else |
||
697 | { |
||
698 | if(RequiredMotors == 4) Hott_ClearLine(6); |
||
699 | else |
||
1923 | holgerb | 700 | if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
1917 | holgerb | 701 | else |
1923 | holgerb | 702 | 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 | 703 | } |
1917 | holgerb | 704 | break; |
1930 | holgerb | 705 | case 7: if(NC_ErrorCode) |
706 | { |
||
707 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
708 | { |
||
709 | Hott_ClearLine(7); |
||
710 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
711 | } |
||
712 | else |
||
713 | { |
||
714 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
715 | } |
||
2120 | holgerb | 716 | else |
717 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
1937 | holgerb | 718 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
1917 | holgerb | 719 | break; |
2090 | holgerb | 720 | case 8: // ASCIIPacket.WarnBeep = HoTT_Waring(); |
1919 | holgerb | 721 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
1921 | holgerb | 722 | case 9: |
1917 | holgerb | 723 | case 10: |
724 | case 11: |
||
725 | case 12: |
||
726 | case 13: |
||
1919 | holgerb | 727 | case 14: |
728 | case 15: |
||
729 | case 16: |
||
1949 | holgerb | 730 | if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1; Hott_ClearLine(5); Hott_ClearLine(6);} |
731 | else |
||
732 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 2; line = 0;} |
||
733 | else |
||
734 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 0; line = 0;} |
||
735 | //if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard); |
||
1921 | holgerb | 736 | HottKeyboard = 0; |
737 | break; |
||
1933 | holgerb | 738 | default: line = 0; |
1921 | holgerb | 739 | break; |
740 | } |
||
741 | else |
||
1939 | holgerb | 742 | if(page == 2) |
1933 | holgerb | 743 | switch(line++) |
1921 | holgerb | 744 | { |
745 | case 0: |
||
2344 | holgerb | 746 | HoTT_printfxy_INV(0,0,"Setting:%u %s ",ActiveParamSet,EE_Parameter.Name); |
1921 | holgerb | 747 | break; |
748 | case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
||
749 | break; |
||
1923 | holgerb | 750 | case 2: HoTT_printfxy(0,2,"ALT:"); |
1921 | holgerb | 751 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
752 | { |
||
753 | if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter) |
||
754 | else |
||
755 | { |
||
756 | if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) "); |
||
757 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter) |
||
758 | else HoTT_printf("VARIO", Parameter_HoehenSchalter); |
||
759 | } |
||
760 | } |
||
761 | else |
||
762 | HoTT_printf("DISABLED"); |
||
763 | break; |
||
1923 | holgerb | 764 | case 3: HoTT_printfxy(0,3,"CF:"); |
2342 | holgerb | 765 | if(!EE_Parameter.CareFreeChannel) HoTT_printf("DISABLED") |
1921 | holgerb | 766 | else |
767 | { |
||
768 | if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
||
769 | if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH"); |
||
770 | } |
||
771 | break; |
||
1923 | holgerb | 772 | case 4: HoTT_printfxy(0,4,"GPS:"); |
773 | if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
||
774 | else |
||
775 | { |
||
2342 | holgerb | 776 | tmp = GetChannelValue(EE_Parameter.NaviGpsModeChannel); |
1923 | holgerb | 777 | if(tmp < 50) HoTT_printf("(FREE)") |
778 | else |
||
779 | if(tmp >= 180) HoTT_printf("(HOME)") |
||
780 | else |
||
781 | if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ") |
||
782 | else HoTT_printf("(HOLD)") |
||
783 | } |
||
784 | if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime) |
||
785 | |||
786 | break; |
||
787 | case 5: HoTT_printfxy(0,5,"HOME ALT:"); |
||
788 | if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD "); |
||
789 | break; |
||
1921 | holgerb | 790 | case 6: |
1982 | holgerb | 791 | if(!show_poti) |
792 | { |
||
793 | 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); |
||
794 | HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
||
795 | } |
||
796 | else |
||
797 | { |
||
798 | HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3); |
||
799 | HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6); |
||
800 | } |
||
801 | |||
1921 | holgerb | 802 | break; |
803 | case 7: //HoTT_printfxy(0,6,"WARNINGS:"); |
||
804 | if(HoTTBlink) |
||
805 | { |
||
806 | LIBFC_HoTT_SetPos(6 * 21); |
||
807 | if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! "); |
||
808 | if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! "); |
||
809 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! "); |
||
810 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! "); |
||
811 | } |
||
812 | break; |
||
2090 | holgerb | 813 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
1921 | holgerb | 814 | break; |
815 | case 9: |
||
816 | case 10: |
||
817 | case 11: |
||
818 | case 12: |
||
819 | case 13: |
||
820 | case 14: |
||
821 | case 15: |
||
822 | case 16: |
||
1982 | holgerb | 823 | if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1; Hott_ClearLine(6); Hott_ClearLine(7);} |
824 | else |
||
2418 | holgerb | 825 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 3; line = 0;} |
826 | else |
||
1949 | holgerb | 827 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
1921 | holgerb | 828 | HottKeyboard = 0; |
829 | break; |
||
1933 | holgerb | 830 | default: line = 0; |
1917 | holgerb | 831 | break; |
832 | } |
||
2418 | holgerb | 833 | else |
834 | if(page == 3) |
||
835 | switch(line++) |
||
836 | { |
||
837 | case 0: |
||
838 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
839 | break; |
||
840 | case 1: //HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
||
841 | HoTT_printfxy(0,1,"(Absolute)"); |
||
842 | break; |
||
843 | case 2: |
||
844 | if(load_waypoint_tmp) |
||
845 | { |
||
846 | HoTT_printfxy(0,3,"Load list: ") |
||
847 | if(changed && HoTTBlink) HoTT_printfxy(10,3," ", load_waypoint_tmp) |
||
848 | else HoTT_printfxy(10,3,"%2d ", load_waypoint_tmp); |
||
849 | } |
||
850 | else |
||
851 | { |
||
852 | HoTT_printfxy(0,3,"Load list: -- "); |
||
853 | } |
||
854 | break; |
||
855 | case 3: |
||
856 | if(changed && load_waypoint_tmp) HoTT_printfxy(0,4,"(Set -> Load)") |
||
857 | else HoTT_printfxy(0,4," "); |
||
858 | break; |
||
859 | case 4: |
||
860 | break; |
||
861 | case 5: |
||
862 | break; |
||
863 | case 6: |
||
864 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active: %2d WPs",NaviData_WaypointNumber) |
||
865 | else HoTT_printfxy(0,6,"No WPs active ") |
||
866 | break; |
||
867 | case 7: |
||
868 | case 8: |
||
869 | case 9: |
||
870 | case 10: |
||
871 | case 11: |
||
872 | case 12: |
||
873 | case 13: |
||
874 | case 14: |
||
875 | case 15: |
||
876 | case 16: |
||
877 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp < 99) { changed = 1; load_waypoint_tmp++;} |
||
878 | else |
||
879 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp) { changed = 1; load_waypoint_tmp--;}; |
||
880 | |||
881 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp) ToNC_Load_WP_List = load_waypoint_tmp; changed = 0;} |
||
882 | else |
||
883 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 4; line = 0;} |
||
884 | else |
||
885 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 2; line = 0;}; |
||
886 | HottKeyboard = 0; |
||
887 | break; |
||
888 | default: line = 0; |
||
889 | break; |
||
890 | } |
||
891 | else |
||
892 | if(page == 4) |
||
893 | switch(line++) |
||
894 | { |
||
895 | case 0: |
||
896 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
897 | break; |
||
898 | case 1: //HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
||
899 | HoTT_printfxy(0,1,"(Relative)"); |
||
900 | break; |
||
901 | case 2: |
||
902 | if(load_waypoint_tmp2) |
||
903 | { |
||
904 | HoTT_printfxy(0,3,"Load list: ") |
||
905 | if(changed && HoTTBlink) HoTT_printfxy(10,3," ", load_waypoint_tmp2) |
||
906 | else HoTT_printfxy(10,3,"%2d ", load_waypoint_tmp2); |
||
907 | } |
||
908 | else |
||
909 | { |
||
910 | HoTT_printfxy(0,3,"Load list: -- "); |
||
911 | } |
||
912 | break; |
||
913 | case 3: |
||
914 | if(changed2 && load_waypoint_tmp2) HoTT_printfxy(0,4,"(Set -> Load)") |
||
915 | else HoTT_printfxy(0,4," "); |
||
916 | break; |
||
917 | case 4: |
||
918 | break; |
||
919 | case 5: |
||
920 | break; |
||
921 | case 6: |
||
922 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active: %2d WPs",NaviData_WaypointNumber) |
||
923 | else HoTT_printfxy(0,6,"No WPs active ") |
||
924 | break; |
||
925 | case 7: |
||
926 | case 8: |
||
927 | case 9: |
||
928 | case 10: |
||
929 | case 11: |
||
930 | case 12: |
||
931 | case 13: |
||
932 | case 14: |
||
933 | case 15: |
||
934 | case 16: |
||
935 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp2 < 99) { changed2 = 1; load_waypoint_tmp2++;} |
||
936 | else |
||
937 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp2) { changed2 = 1; load_waypoint_tmp2--;}; |
||
938 | |||
939 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp2) ToNC_Load_WP_List = load_waypoint_tmp2 | 128; changed2 = 0;} |
||
940 | // else |
||
941 | // if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 5; line = 0;} |
||
942 | else |
||
943 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 3; line = 0;}; |
||
944 | HottKeyboard = 0; |
||
945 | break; |
||
946 | default: line = 0; |
||
947 | break; |
||
948 | } |
||
949 | |||
2263 | holgerb | 950 | /* else |
2091 | holgerb | 951 | if(page == 3) |
952 | switch(line++) |
||
953 | { |
||
954 | case 0: |
||
955 | HoTT_printfxy(0,2,"Speak:"); |
||
956 | break; |
||
957 | case 1: |
||
2263 | holgerb | 958 | // if(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01) |
959 | if(!(GlobalConfig3 & CFG3_SPEAK_ALL) & 0x01)) HoTT_printfxy_INV(7,2,"All Messages ") |
||
2091 | holgerb | 960 | else HoTT_printfxy_INV(7,2,"Warnings only"); |
961 | break; |
||
962 | case 2: |
||
963 | HoTT_printfxy(1,4,"Use (set) to select"); |
||
964 | break; |
||
965 | default: |
||
966 | if(HottKeyboard == HOTT_KEY_SET) |
||
967 | { |
||
968 | SetParamByte(PID_SPEAK_HOTT_CFG, GetParamByte(PID_SPEAK_HOTT_CFG) ^ 0x01); |
||
969 | } |
||
970 | else |
||
971 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 2; line = 0;}; |
||
972 | HottKeyboard = 0; |
||
973 | line = 0; |
||
974 | break; |
||
975 | } |
||
2263 | holgerb | 976 | */ |
1921 | holgerb | 977 | else page = 0; |
1917 | holgerb | 978 | } |
979 | |||
1925 | holgerb | 980 | #endif |
1917 | holgerb | 981 | |
982 | |||
983 |