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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 |
2420 | holgerb | 83 | unsigned char NaviData_WaypointIndex = 0, NaviData_WaypointNumber = 0, NaviData_TargetHoldTime = 0, ToNC_Load_WP_List = 0, NaviData_MaxWpListIndex = 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); |
2420 | holgerb | 335 | |
1919 | holgerb | 336 | switch(packet_request) |
337 | { |
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338 | case HOTT_VARIO_PACKET_ID: |
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2322 | holgerb | 339 | GPSPacket.WarnBeep = HoTT_Waring(); // Achtung: das ist richtig hier, damit der Varioton schon vorher abgestellt wird |
1921 | holgerb | 340 | VarioPacket.Altitude = HoehenWert/100 + 500; |
2322 | holgerb | 341 | if(!GPSPacket.WarnBeep) VarioPacket.m_sec = BuildHoTT_Vario(); else VarioPacket.m_sec = VARIO_ZERO; |
1943 | holgerb | 342 | VarioPacket.m_3sec = VarioPacket.m_sec; |
343 | VarioPacket.m_10sec = VarioPacket.m_sec; |
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1919 | holgerb | 344 | if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude; |
345 | if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude; |
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2090 | holgerb | 346 | VarioPacket.WarnBeep = 0;//HoTT_Waring(); |
1919 | holgerb | 347 | HoTT_DataPointer = (unsigned char *) &VarioPacket; |
2090 | holgerb | 348 | VarioPacket.FreeCharacters[0] = VarioCharacter; |
349 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' '; |
||
350 | // VarioPacket.FreeCharacters[2] = ' '; |
||
351 | if(NC_ErrorCode) |
||
352 | { |
||
353 | VarioPacket.Text[0] = NC_ErrorCode/10 + '0'; |
||
354 | VarioPacket.Text[1] = NC_ErrorCode%10 + '0'; |
||
355 | VarioPacket.Text[2] = ':'; |
||
2183 | holgerb | 356 | for(i=0; i<16;i++) VarioPacket.Text[i+3] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]); |
2388 | holgerb | 357 | VarioPacket.Text[19] = ' '; |
358 | VarioPacket.Text[20] = ' '; |
||
2090 | holgerb | 359 | } |
2120 | holgerb | 360 | else |
2390 | holgerb | 361 | if(LowVoltageLandingActive) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&LANDING[i]); // no Error |
362 | else |
||
2120 | holgerb | 363 | if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error |
2348 | holgerb | 364 | else |
365 | if(ShowSettingNameTime) // no Error |
||
366 | { |
||
367 | for(i=0; i<sizeof(SETTING);i++) VarioPacket.Text[i] = pgm_read_byte(&SETTING[i]); |
||
368 | VarioPacket.Text[4] = '0' + ActiveParamSet; |
||
369 | for(i=0; i<sizeof(EE_Parameter.Name);i++) VarioPacket.Text[i+7] = EE_Parameter.Name[i]; // no Error |
||
370 | VarioPacket.Text[18] = ' '; |
||
371 | VarioPacket.Text[19] = ' '; |
||
372 | VarioPacket.Text[20] = ' '; |
||
373 | } |
||
2120 | holgerb | 374 | else |
2178 | holgerb | 375 | if(NaviData_WaypointNumber) |
376 | { |
||
377 | unsigned int tmp_int; |
||
378 | unsigned char tmp; |
||
379 | VarioPacket.Text[0] = 'W'; VarioPacket.Text[1] = 'P'; |
||
380 | VarioPacket.Text[2] = ' '; |
||
381 | VarioPacket.Text[3] = '0'+(NaviData_WaypointIndex) / 10; |
||
382 | VarioPacket.Text[4] = '0'+(NaviData_WaypointIndex) % 10; |
||
383 | VarioPacket.Text[5] = '/'; |
||
384 | VarioPacket.Text[6] = '0'+(NaviData_WaypointNumber) / 10; |
||
385 | VarioPacket.Text[7] = '0'+(NaviData_WaypointNumber) % 10; |
||
386 | VarioPacket.Text[8] = ' '; |
||
387 | tmp_int = NaviData_TargetDistance; |
||
388 | if(tmp_int > 1000) { VarioPacket.Text[9] = '0'+(tmp_int) / 1000; tmp_int %= 1000;} |
||
389 | else VarioPacket.Text[9] = ' '; |
||
390 | if(tmp_int > 100) { VarioPacket.Text[10] = '0'+(tmp_int) / 100; tmp_int %= 100;} |
||
391 | else VarioPacket.Text[10] = ' '; |
||
392 | VarioPacket.Text[11] = '0'+(tmp_int) / 10; |
||
393 | VarioPacket.Text[12] = '0'+(tmp_int) % 10; |
||
394 | VarioPacket.Text[13] = 'm'; |
||
395 | VarioPacket.Text[14] = ' '; |
||
396 | tmp = NaviData_TargetHoldTime; |
||
397 | if(tmp > 100) { VarioPacket.Text[15] = '0'+(tmp) / 100; tmp %= 100;} else VarioPacket.Text[15] = ' '; |
||
398 | VarioPacket.Text[16] = '0'+(tmp) / 10; |
||
399 | VarioPacket.Text[17] = '0'+(tmp) % 10; |
||
400 | VarioPacket.Text[18] = 's'; |
||
401 | VarioPacket.Text[19] = ' '; |
||
2407 | holgerb | 402 | VarioPacket.Text[20] = ' '; |
2178 | holgerb | 403 | } |
404 | else |
||
2355 | holgerb | 405 | if(!CalibrationDone) |
2344 | holgerb | 406 | { |
2355 | holgerb | 407 | for(i=0; i<17;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i+2]); // no Error and not calibrated |
408 | VarioPacket.Text[16] = '0'+VERSION_MAJOR; |
||
409 | VarioPacket.Text[17] = '.'; |
||
410 | VarioPacket.Text[18] = '0'+VERSION_MINOR/10; |
||
411 | VarioPacket.Text[19] = '0'+VERSION_MINOR%10; |
||
412 | VarioPacket.Text[20] = 'a'+VERSION_PATCH; |
||
2344 | holgerb | 413 | } |
2355 | holgerb | 414 | else |
415 | { |
||
416 | for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error |
||
2418 | holgerb | 417 | if(RedundanceBlOperation) VarioPacket.Text[0] = 'R'; |
2355 | holgerb | 418 | } |
1919 | holgerb | 419 | return(sizeof(VarioPacket)); |
420 | break; |
||
1921 | holgerb | 421 | |
1919 | holgerb | 422 | case HOTT_GPS_PACKET_ID: |
2186 | holgerb | 423 | GPSPacket.Altitude = HoehenWert/100 + 500; |
1943 | holgerb | 424 | // GPSPacket.Distance = GPSInfo.HomeDistance/10; // macht die NC |
425 | // GPSPacket.Heading = GPSInfo.HomeBearing/2; // macht die NC |
||
426 | // GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; // macht die NC |
||
2322 | holgerb | 427 | // GPSPacket.WarnBeep = HoTT_Waring(); //(wird jetzt weiter oben gemacht) |
428 | if(!GPSPacket.WarnBeep) GPSPacket.m_sec = BuildHoTT_Vario(); else GPSPacket.m_sec = VARIO_ZERO; |
||
1921 | holgerb | 429 | GPSPacket.m_3sec = 120; |
2090 | holgerb | 430 | GPSPacket.NumOfSats = GPSInfo.NumOfSats; |
431 | if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D'; |
||
432 | else |
||
433 | if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' '; |
||
434 | else GPSPacket.SatFix = '!'; |
||
1919 | holgerb | 435 | HoTT_DataPointer = (unsigned char *) &GPSPacket; |
2090 | holgerb | 436 | GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter; |
437 | GPSPacket.FreeCharacters[2] = GPSPacket.SatFix; |
||
438 | GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230; |
||
1919 | holgerb | 439 | return(sizeof(GPSPacket)); |
440 | break; |
||
441 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
||
1943 | holgerb | 442 | GetHottestBl(); |
1940 | holgerb | 443 | ElectricAirPacket.Altitude = HoehenWert/100 + 500; |
1921 | holgerb | 444 | ElectricAirPacket.Battery1 = UBat; |
1940 | holgerb | 445 | ElectricAirPacket.Battery2 = UBat; |
1943 | holgerb | 446 | ElectricAirPacket.VoltageCell1 = ErsatzKompassInGrad / 2; |
447 | ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1; |
||
1944 | holgerb | 448 | ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2; |
1943 | holgerb | 449 | ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20; |
1944 | holgerb | 450 | ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6; |
1943 | holgerb | 451 | ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7; |
2322 | holgerb | 452 | if(!GPSPacket.WarnBeep) ElectricAirPacket.m_sec = BuildHoTT_Vario(); else ElectricAirPacket.m_sec = VARIO_ZERO; |
1940 | holgerb | 453 | ElectricAirPacket.m_3sec = 120; |
454 | ElectricAirPacket.InputVoltage = UBat; |
||
2373 | holgerb | 455 | ElectricAirPacket.Temperature1 = MinBlTemperture + 20; |
456 | ElectricAirPacket.Temperature2 = MaxBlTemperture + 20; |
||
1940 | holgerb | 457 | ElectricAirPacket.Capacity = Capacity.UsedCapacity/10; |
2373 | holgerb | 458 | // ElectricAirPacket.WarnBeep = 0;//HoTT_Waring(); |
459 | ElectricAirPacket.WarnBeep = GPSPacket.WarnBeep; |
||
1940 | holgerb | 460 | ElectricAirPacket.Current = Capacity.ActualCurrent; |
1919 | holgerb | 461 | HoTT_DataPointer = (unsigned char *) &ElectricAirPacket; |
2090 | holgerb | 462 | ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60; |
463 | ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60; |
||
1919 | holgerb | 464 | return(sizeof(ElectricAirPacket)); |
465 | break; |
||
1943 | holgerb | 466 | case HOTT_GENERAL_PACKET_ID: |
467 | GetHottestBl(); |
||
468 | HoTTGeneral.Rpm = GPSInfo.HomeDistance/100; |
||
469 | HoTTGeneral.VoltageCell1 = ErsatzKompassInGrad / 2; |
||
2373 | holgerb | 470 | HoTTGeneral.VoltageCell2 = KompassValue / 2; |
471 | //HoTTGeneral.VoltageCell3 = Magnetstaerke -> macht NC |
||
472 | //HoTTGeneral.VoltageCell4 = Inclinition -> macht NC |
||
473 | HoTTGeneral.VoltageCell5 = DebugOut.Analog[28]; // I2C ErrorCounter |
||
1944 | holgerb | 474 | HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2; |
2373 | holgerb | 475 | if(UBat > BattLowVoltageWarning + 2) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 2)) * 3; |
1943 | holgerb | 476 | else HoTTGeneral.FuelPercent = 0; |
2373 | holgerb | 477 | if(HoTTGeneral.FuelPercent > 100) HoTTGeneral.FuelPercent = 100; |
478 | HoTTGeneral.FuelCapacity = NC_ErrorCode;//HoehenWert/100; // Oelpegel |
||
479 | // if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0; |
||
1943 | holgerb | 480 | HoTTGeneral.Altitude = HoehenWert/100 + 500; |
481 | HoTTGeneral.Battery1 = UBat; |
||
482 | HoTTGeneral.Battery2 = UBat; |
||
2322 | holgerb | 483 | if(!GPSPacket.WarnBeep) HoTTGeneral.m_sec = BuildHoTT_Vario(); else HoTTGeneral.m_sec = VARIO_ZERO; |
2373 | holgerb | 484 | HoTTGeneral.m_3sec = 120 + GPSPacket.WarnBeep; |
1943 | holgerb | 485 | HoTTGeneral.InputVoltage = UBat; |
2373 | holgerb | 486 | HoTTGeneral.Temperature1 = MinBlTemperture + 20; |
487 | HoTTGeneral.Temperature2 = MaxBlTemperture + 20; |
||
1943 | holgerb | 488 | HoTTGeneral.Capacity = Capacity.UsedCapacity/10; |
2090 | holgerb | 489 | HoTTGeneral.WarnBeep = 0;//HoTT_Waring(); |
1943 | holgerb | 490 | HoTTGeneral.Current = Capacity.ActualCurrent; |
2178 | holgerb | 491 | //HoTTGeneral.ErrorNumber = HoTTErrorCode(); |
1943 | holgerb | 492 | HoTT_DataPointer = (unsigned char *) &HoTTGeneral; |
493 | return(sizeof(HoTTGeneral)); |
||
494 | break; |
||
1919 | holgerb | 495 | default: return(0); |
496 | } |
||
497 | } |
||
498 | |||
499 | //--------------------------------------------------------------- |
||
1917 | holgerb | 500 | void HoTT_Menu(void) |
501 | { |
||
2420 | holgerb | 502 | static unsigned char load_waypoint_tmp2 = 1, changed, load_waypoint_tmp = 1, changed2; |
503 | static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0; |
||
1921 | holgerb | 504 | unsigned char tmp; |
1944 | holgerb | 505 | HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8; |
2420 | holgerb | 506 | |
507 | // if(HottKeyboard) {beeptime = 1000;}; |
||
1944 | holgerb | 508 | |
2420 | holgerb | 509 | switch(page) |
510 | { |
||
511 | case 0: |
||
1933 | holgerb | 512 | switch(line++) |
1917 | holgerb | 513 | { |
1919 | holgerb | 514 | case 0: |
1923 | holgerb | 515 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
1939 | holgerb | 516 | HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10) |
517 | else |
||
518 | HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10) |
||
519 | |||
520 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
||
521 | { |
||
522 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter) |
||
523 | else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100)) |
||
524 | } |
||
525 | else HoTT_printfxy(10,0,"ALT:---- "); |
||
526 | break; |
||
527 | case 1: |
||
528 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
529 | HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60) |
||
530 | else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
||
1941 | holgerb | 531 | HoTT_printfxy(10,1,"DIR: %3d%c",ErsatzKompassInGrad, HoTT_GRAD); |
1949 | holgerb | 532 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," "); |
1939 | holgerb | 533 | break; |
534 | case 2: |
||
535 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
536 | HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity) |
||
537 | else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity); |
||
1940 | holgerb | 538 | HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
1939 | holgerb | 539 | break; |
540 | case 3: |
||
2072 | holgerb | 541 | HoTT_printfxy(9,0,":"); |
542 | HoTT_printfxy(9,1,":"); |
||
543 | HoTT_printfxy(9,2,":"); |
||
1939 | holgerb | 544 | HoTT_printfxy(0,3,"---------+-----------"); |
2072 | holgerb | 545 | |
546 | // HoTT_printfxy(0,3,"---------------------"); |
||
1939 | holgerb | 547 | HoTT_printfxy(0,6,"---------------------"); |
548 | break; |
||
549 | case 4: |
||
550 | if(NaviDataOkay) |
||
551 | { |
||
2072 | holgerb | 552 | HoTT_printfxy(9,4,":"); |
1939 | holgerb | 553 | HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats); |
554 | HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10); |
||
555 | switch (GPSInfo.SatFix) |
||
556 | { |
||
557 | case SATFIX_3D: |
||
558 | if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ") |
||
559 | else HoTT_printfxy(7,4,"3D"); |
||
560 | break; |
||
561 | default: |
||
1943 | holgerb | 562 | HoTT_printfxy_BLINK(7,4,"!!"); |
1939 | holgerb | 563 | break; |
564 | } |
||
565 | } |
||
566 | else |
||
1944 | holgerb | 567 | { |
1940 | holgerb | 568 | Hott_ClearLine(4); |
1939 | holgerb | 569 | } |
570 | break; |
||
571 | case 5: |
||
572 | if(NaviDataOkay) |
||
573 | { |
||
1972 | holgerb | 574 | if(show_mag) |
575 | { |
||
576 | HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField); |
||
1939 | holgerb | 577 | HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
1972 | holgerb | 578 | HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic); |
579 | } |
||
580 | else |
||
581 | { |
||
2072 | holgerb | 582 | HoTT_printfxy(0,5," %2um/s: HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
1972 | holgerb | 583 | } |
1939 | holgerb | 584 | } |
1940 | holgerb | 585 | else Hott_ClearLine(5); |
1939 | holgerb | 586 | break; |
587 | case 6: |
||
588 | break; |
||
589 | case 7: if(NC_ErrorCode) |
||
590 | { |
||
591 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
592 | { |
||
593 | Hott_ClearLine(7); |
||
594 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
595 | } |
||
596 | else |
||
597 | { |
||
598 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
599 | } |
||
2120 | holgerb | 600 | else |
601 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
1939 | holgerb | 602 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
603 | break; |
||
2090 | holgerb | 604 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
1939 | holgerb | 605 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
606 | case 9: |
||
607 | case 10: |
||
608 | case 11: |
||
609 | case 12: |
||
610 | case 13: |
||
611 | case 14: |
||
612 | case 15: |
||
613 | case 16: |
||
1972 | holgerb | 614 | if(HottKeyboard == HOTT_KEY_SET) { if(show_mag) show_mag = 0; else show_mag = 1;} |
615 | else |
||
1949 | holgerb | 616 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
1939 | holgerb | 617 | HottKeyboard = 0; |
618 | break; |
||
619 | default: line = 0; |
||
620 | break; |
||
621 | } |
||
2420 | holgerb | 622 | break; |
623 | case 1: |
||
1939 | holgerb | 624 | switch(line++) |
625 | { |
||
626 | case 0: |
||
627 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
||
1923 | holgerb | 628 | HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity) |
629 | else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity); |
||
1917 | holgerb | 630 | break; |
631 | case 1: |
||
1921 | holgerb | 632 | HoTT_printfxy(0,1,"DIR:%3d%c",KompassValue, HoTT_GRAD); |
1917 | holgerb | 633 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
1920 | holgerb | 634 | { |
635 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
636 | else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
||
637 | } |
||
638 | else HoTT_printfxy(10,1,"ALT:---- "); |
||
639 | HoTT_printfxy(20,1,"%c",VarioCharacter); |
||
1917 | holgerb | 640 | break; |
641 | case 2: |
||
642 | if(NaviDataOkay) |
||
643 | { |
||
1923 | holgerb | 644 | HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter); |
1917 | holgerb | 645 | } |
646 | else |
||
647 | { |
||
1923 | holgerb | 648 | Hott_ClearLine(2); |
1917 | holgerb | 649 | } |
650 | break; |
||
1923 | holgerb | 651 | case 3: |
652 | HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower); |
||
1949 | holgerb | 653 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3," "); |
1923 | holgerb | 654 | break; |
1917 | holgerb | 655 | case 4: |
656 | if(NaviDataOkay) |
||
657 | { |
||
1919 | holgerb | 658 | HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
1917 | holgerb | 659 | switch (GPSInfo.SatFix) |
660 | { |
||
661 | case SATFIX_3D: |
||
662 | HoTT_printfxy(16,4," 3D "); |
||
663 | break; |
||
1925 | holgerb | 664 | //case SATFIX_2D: |
665 | //case SATFIX_NONE: |
||
1917 | holgerb | 666 | default: |
1925 | holgerb | 667 | HoTT_printfxy_BLINK(16,4,"NOFIX"); |
1917 | holgerb | 668 | break; |
669 | } |
||
670 | if(GPSInfo.Flags & FLAG_DIFFSOLN) |
||
671 | { |
||
672 | HoTT_printfxy(16,4,"DGPS "); |
||
673 | } |
||
674 | } |
||
675 | else |
||
676 | { //012345678901234567890 |
||
1930 | holgerb | 677 | HoTT_printfxy(0,4," No NaviCtrl "); |
1917 | holgerb | 678 | } |
679 | break; |
||
680 | case 5: |
||
1949 | holgerb | 681 | if(show_current) |
682 | { |
||
2386 | holgerb | 683 | // 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); |
684 | 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 | 685 | } |
686 | else |
||
687 | { |
||
688 | HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD); |
||
689 | } |
||
1917 | holgerb | 690 | break; |
691 | case 6: |
||
1949 | holgerb | 692 | if(show_current) |
693 | { |
||
1917 | holgerb | 694 | if(RequiredMotors == 4) Hott_ClearLine(6); |
695 | else |
||
2386 | holgerb | 696 | // 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) |
697 | 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 | 698 | else |
2386 | holgerb | 699 | // 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); |
700 | 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 | 701 | } |
702 | else |
||
703 | { |
||
704 | if(RequiredMotors == 4) Hott_ClearLine(6); |
||
705 | else |
||
1923 | holgerb | 706 | if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
1917 | holgerb | 707 | else |
1923 | holgerb | 708 | 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 | 709 | } |
1917 | holgerb | 710 | break; |
1930 | holgerb | 711 | case 7: if(NC_ErrorCode) |
712 | { |
||
713 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
||
714 | { |
||
715 | Hott_ClearLine(7); |
||
716 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
||
717 | } |
||
718 | else |
||
719 | { |
||
720 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
||
721 | } |
||
2120 | holgerb | 722 | else |
723 | if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
||
1937 | holgerb | 724 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
1917 | holgerb | 725 | break; |
2090 | holgerb | 726 | case 8: // ASCIIPacket.WarnBeep = HoTT_Waring(); |
1919 | holgerb | 727 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
1921 | holgerb | 728 | case 9: |
1917 | holgerb | 729 | case 10: |
730 | case 11: |
||
731 | case 12: |
||
732 | case 13: |
||
1919 | holgerb | 733 | case 14: |
734 | case 15: |
||
735 | case 16: |
||
1949 | holgerb | 736 | if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1; Hott_ClearLine(5); Hott_ClearLine(6);} |
737 | else |
||
738 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 2; line = 0;} |
||
739 | else |
||
740 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 0; line = 0;} |
||
741 | //if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard); |
||
1921 | holgerb | 742 | HottKeyboard = 0; |
743 | break; |
||
1933 | holgerb | 744 | default: line = 0; |
1921 | holgerb | 745 | break; |
746 | } |
||
2420 | holgerb | 747 | break; |
748 | case 2: |
||
1933 | holgerb | 749 | switch(line++) |
1921 | holgerb | 750 | { |
751 | case 0: |
||
2344 | holgerb | 752 | HoTT_printfxy_INV(0,0,"Setting:%u %s ",ActiveParamSet,EE_Parameter.Name); |
1921 | holgerb | 753 | break; |
754 | case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
||
755 | break; |
||
1923 | holgerb | 756 | case 2: HoTT_printfxy(0,2,"ALT:"); |
1921 | holgerb | 757 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
758 | { |
||
759 | if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter) |
||
760 | else |
||
761 | { |
||
762 | if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) "); |
||
763 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter) |
||
764 | else HoTT_printf("VARIO", Parameter_HoehenSchalter); |
||
765 | } |
||
766 | } |
||
767 | else |
||
768 | HoTT_printf("DISABLED"); |
||
769 | break; |
||
1923 | holgerb | 770 | case 3: HoTT_printfxy(0,3,"CF:"); |
2342 | holgerb | 771 | if(!EE_Parameter.CareFreeChannel) HoTT_printf("DISABLED") |
1921 | holgerb | 772 | else |
773 | { |
||
774 | if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
||
775 | if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH"); |
||
776 | } |
||
777 | break; |
||
1923 | holgerb | 778 | case 4: HoTT_printfxy(0,4,"GPS:"); |
779 | if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
||
780 | else |
||
781 | { |
||
2342 | holgerb | 782 | tmp = GetChannelValue(EE_Parameter.NaviGpsModeChannel); |
1923 | holgerb | 783 | if(tmp < 50) HoTT_printf("(FREE)") |
784 | else |
||
785 | if(tmp >= 180) HoTT_printf("(HOME)") |
||
786 | else |
||
787 | if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ") |
||
788 | else HoTT_printf("(HOLD)") |
||
789 | } |
||
790 | if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime) |
||
791 | |||
792 | break; |
||
793 | case 5: HoTT_printfxy(0,5,"HOME ALT:"); |
||
794 | if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD "); |
||
795 | break; |
||
1921 | holgerb | 796 | case 6: |
1982 | holgerb | 797 | if(!show_poti) |
798 | { |
||
799 | 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); |
||
800 | HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
||
801 | } |
||
802 | else |
||
803 | { |
||
804 | HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3); |
||
805 | HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6); |
||
806 | } |
||
807 | |||
1921 | holgerb | 808 | break; |
809 | case 7: //HoTT_printfxy(0,6,"WARNINGS:"); |
||
810 | if(HoTTBlink) |
||
811 | { |
||
812 | LIBFC_HoTT_SetPos(6 * 21); |
||
813 | if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! "); |
||
814 | if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! "); |
||
815 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! "); |
||
816 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! "); |
||
817 | } |
||
818 | break; |
||
2090 | holgerb | 819 | case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
1921 | holgerb | 820 | break; |
821 | case 9: |
||
822 | case 10: |
||
823 | case 11: |
||
824 | case 12: |
||
825 | case 13: |
||
826 | case 14: |
||
827 | case 15: |
||
828 | case 16: |
||
1982 | holgerb | 829 | if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1; Hott_ClearLine(6); Hott_ClearLine(7);} |
830 | else |
||
2418 | holgerb | 831 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 3; line = 0;} |
832 | else |
||
1949 | holgerb | 833 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
1921 | holgerb | 834 | HottKeyboard = 0; |
835 | break; |
||
1933 | holgerb | 836 | default: line = 0; |
1917 | holgerb | 837 | break; |
838 | } |
||
2420 | holgerb | 839 | break; |
840 | case 3: |
||
2418 | holgerb | 841 | switch(line++) |
842 | { |
||
843 | case 0: |
||
844 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
2420 | holgerb | 845 | HoTT_printfxy(0,1,"(Relative Positions)"); |
846 | // HoTT_printfxy(0,1,"(Absolute)"); |
||
2418 | holgerb | 847 | break; |
2420 | holgerb | 848 | case 1: |
849 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber) |
||
850 | else HoTT_printfxy(0,6,"No WPs active ") |
||
2418 | holgerb | 851 | break; |
852 | case 2: |
||
2420 | holgerb | 853 | HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10) |
854 | case 3: |
||
855 | case 4: |
||
856 | case 5: |
||
857 | if(load_waypoint_tmp2) |
||
2418 | holgerb | 858 | { |
2420 | holgerb | 859 | if(changed2 && HoTTBlink) HoTT_printfxy(10,3," ") |
860 | else HoTT_printfxy(10,3,"%2i ",load_waypoint_tmp2); |
||
861 | HoTT_printfxy(0,3,"Load list:") |
||
2418 | holgerb | 862 | } |
863 | else |
||
864 | { |
||
865 | HoTT_printfxy(0,3,"Load list: -- "); |
||
866 | } |
||
2420 | holgerb | 867 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ") |
868 | else |
||
869 | { |
||
870 | if(changed2 && load_waypoint_tmp2) HoTT_printfxy(0,4,"(Set -> Load)") |
||
871 | else HoTT_printfxy(0,4," "); |
||
872 | } |
||
873 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp2 < NaviData_MaxWpListIndex) { changed2 = 1; load_waypoint_tmp2++;HoTTBlink = 0;} |
||
874 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp2 > 1) { changed2 = 1; load_waypoint_tmp2--;HoTTBlink = 0;}; |
||
875 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp2) ToNC_Load_WP_List = load_waypoint_tmp2 | 128; changed2 = 0;} |
||
2418 | holgerb | 876 | if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 4; line = 0;} |
877 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 2; line = 0;}; |
||
878 | HottKeyboard = 0; |
||
879 | break; |
||
880 | default: line = 0; |
||
881 | break; |
||
882 | } |
||
2420 | holgerb | 883 | break; |
884 | case 4: |
||
2418 | holgerb | 885 | switch(line++) |
886 | { |
||
887 | case 0: |
||
888 | HoTT_printfxy(0,0,"Load Waypoints"); |
||
2420 | holgerb | 889 | HoTT_printfxy(0,1,"(Fixed Positions)"); |
2418 | holgerb | 890 | break; |
2420 | holgerb | 891 | case 1: |
892 | if(NaviData_WaypointNumber) HoTT_printfxy(0,6,"Active WP:%2d/%d ",NaviData_WaypointIndex,NaviData_WaypointNumber) |
||
893 | else HoTT_printfxy(0,6,"No WPs active ") |
||
2418 | holgerb | 894 | break; |
895 | case 2: |
||
2420 | holgerb | 896 | HoTT_printfxy(0,7,"%2i.%1iV ",UBat/10, UBat%10) |
897 | case 3: |
||
898 | case 4: |
||
899 | case 5: |
||
900 | if(HottKeyboard) DebugOut.Analog[17]++; |
||
901 | if(load_waypoint_tmp) |
||
2418 | holgerb | 902 | { |
2420 | holgerb | 903 | if(changed && HoTTBlink) HoTT_printfxy(10,3," ") |
904 | else HoTT_printfxy(10,3,"%2d (FIX)",load_waypoint_tmp); |
||
905 | HoTT_printfxy(0,3,"Load list:") |
||
2418 | holgerb | 906 | } |
907 | else |
||
908 | { |
||
909 | HoTT_printfxy(0,3,"Load list: -- "); |
||
910 | } |
||
2420 | holgerb | 911 | |
912 | if(NaviData_MaxWpListIndex == 0) HoTT_printfxy(0,4,"No SD-Card ") |
||
913 | else |
||
914 | { |
||
915 | if(changed && load_waypoint_tmp) HoTT_printfxy(0,4,"(Set -> Load)") |
||
916 | else HoTT_printfxy(0,4," "); |
||
917 | } |
||
918 | if(HottKeyboard == HOTT_KEY_UP && load_waypoint_tmp < NaviData_MaxWpListIndex) { changed = 1; load_waypoint_tmp++; HoTTBlink = 0;} |
||
919 | if(HottKeyboard == HOTT_KEY_DOWN && load_waypoint_tmp > 1) { changed = 1; load_waypoint_tmp--; HoTTBlink = 0;}; |
||
920 | if(HottKeyboard == HOTT_KEY_SET) { if(load_waypoint_tmp) ToNC_Load_WP_List = load_waypoint_tmp; changed = 0;} |
||
921 | // if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 4; line = 0;} |
||
2418 | holgerb | 922 | if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 3; line = 0;}; |
923 | HottKeyboard = 0; |
||
924 | break; |
||
925 | default: line = 0; |
||
926 | break; |
||
927 | } |
||
2420 | holgerb | 928 | break; |
929 | default: page = 0; |
||
930 | break; |
||
931 | } |
||
1917 | holgerb | 932 | } |
933 | |||
1925 | holgerb | 934 | #endif |
1917 | holgerb | 935 | |
936 | |||
937 |