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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 911 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 6 | // + see the File "License.txt" for further Informations |
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| 7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 8 | #include "main.h" |
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| 9 | #include "eeprom.h" |
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| 10 | |||
| 11 | char DisplayBuff[80] = "Hello World"; |
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| 12 | unsigned char DispPtr = 0; |
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| 13 | |||
| 14 | unsigned char MaxMenue = 17; |
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| 15 | unsigned char MenuePunkt = 0; |
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| 16 | unsigned char RemoteKeys = 0; |
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| 17 | |||
| 18 | #define KEY1 0x01 |
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| 19 | #define KEY2 0x02 |
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| 20 | #define KEY3 0x04 |
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| 21 | #define KEY4 0x08 |
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| 22 | #define KEY5 0x10 |
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| 23 | |||
| 24 | void LcdClear(void) |
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| 25 | { |
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| 26 | unsigned char i; |
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| 27 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
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| 28 | } |
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| 29 | |||
| 30 | void Menu_Putchar(char c) |
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| 31 | { |
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| 32 | DisplayBuff[DispPtr++] = c; |
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| 33 | } |
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| 34 | |||
| 35 | void Menu(void) |
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| 36 | { |
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| 37 | if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
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| 38 | if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
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| 39 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
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| 40 | LcdClear(); |
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| 41 | if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
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| 42 | else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
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| 43 | |||
| 44 | switch(MenuePunkt) |
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| 45 | { |
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| 46 | case 0: |
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| 47 | LCD_printfxy(0,0,"+ MikroKopter +"); |
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| 48 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
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| 49 | LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
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| 50 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
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| 51 | else |
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| 52 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
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| 53 | else |
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| 54 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
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| 55 | else |
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| 56 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
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| 57 | // else |
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| 58 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
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| 59 | break; |
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| 60 | case 1: |
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| 61 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
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| 62 | { |
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| 63 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
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| 64 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
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| 65 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
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| 66 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
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| 67 | } |
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| 68 | else |
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| 69 | { |
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| 70 | LCD_printfxy(0,0,"Height control"); |
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| 71 | LCD_printfxy(0,1,"DISABLED"); |
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| 72 | LCD_printfxy(0,2,"Height control"); |
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| 73 | LCD_printfxy(0,3,"DISABLED"); |
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| 74 | } |
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| 75 | |||
| 76 | break; |
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| 77 | case 2: |
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| 78 | LCD_printfxy(0,0,"act. bearing"); |
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| 79 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
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| 80 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
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| 81 | LCD_printfxy(0,3,"Compass: %5i",KompassValue); |
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| 82 | break; |
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| 83 | case 3: |
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| 84 | LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
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| 85 | LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
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| 86 | LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
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| 87 | LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]); |
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| 88 | break; |
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| 89 | case 4: |
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| 90 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
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| 91 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
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| 92 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+110); |
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| 93 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+110); |
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| 94 | break; |
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| 95 | case 5: |
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| 96 | LCD_printfxy(0,0,"Gyro - Sensor"); |
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| 97 | if(PlatinenVersion == 10) |
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| 98 | { |
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| 99 | LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
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| 100 | LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
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| 101 | LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
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| 102 | } |
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| 103 | else |
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| 104 | if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
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| 105 | { |
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| 106 | LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
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| 107 | LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
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| 108 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
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| 109 | } |
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| 110 | else |
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| 111 | if(PlatinenVersion == 13) |
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| 112 | { |
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| 113 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
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| 114 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
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| 115 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
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| 116 | } |
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| 117 | break; |
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| 118 | case 6: |
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| 119 | LCD_printfxy(0,0,"ACC - Sensor"); |
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| 120 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
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| 121 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
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| 122 | LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
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| 123 | break; |
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| 124 | case 7: |
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| 125 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
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| 126 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
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| 127 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
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| 128 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
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| 129 | break; |
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| 130 | case 8: |
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| 131 | LCD_printfxy(0,0,"Receiver"); |
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| 132 | LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
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| 133 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
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| 134 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
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| 135 | break; |
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| 136 | case 9: |
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| 137 | LCD_printfxy(0,0,"Compass"); |
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| 138 | LCD_printfxy(0,1,"Heading: %5i",KompassRichtung); |
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| 139 | LCD_printfxy(0,2,"Value: %5i",KompassValue); |
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| 140 | LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
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| 141 | break; |
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| 142 | case 10: |
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| 143 | LCD_printfxy(0,0,"Poti1: %3i",Poti[0]); |
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| 144 | LCD_printfxy(0,1,"Poti2: %3i",Poti[1]); |
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| 145 | LCD_printfxy(0,2,"Poti3: %3i",Poti[2]); |
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| 146 | LCD_printfxy(0,3,"Poti4: %3i",Poti[3]); |
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| 147 | break; |
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| 148 | case 11: |
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| 149 | LCD_printfxy(0,0,"Poti5: %3i",Poti[4]); |
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| 150 | LCD_printfxy(0,1,"Poti6: %3i",Poti[5]); |
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| 151 | LCD_printfxy(0,2,"Poti7: %3i",Poti[6]); |
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| 152 | LCD_printfxy(0,3,"Poti8: %3i",Poti[7]); |
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| 153 | break; |
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| 154 | case 12: |
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| 155 | LCD_printfxy(0,0,"Servo " ); |
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| 156 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
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| 157 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
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| 158 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
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| 159 | break; |
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| 160 | case 13: |
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| 161 | LCD_printfxy(0,0,"ExternControl " ); |
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| 162 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
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| 163 | LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
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| 164 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
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| 165 | break; |
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| 166 | case 14: |
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| 167 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
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| 168 | LCD_printfxy(0,1,"%3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK); |
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| 169 | LCD_printfxy(0,2,"%3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK); |
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| 170 | LCD_printfxy(0,3,"%3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK); |
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| 171 | break; |
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| 172 | case 15: |
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| 173 | LCD_printfxy(0,0,"BL Temperature" ); |
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| 174 | LCD_printfxy(0,1,"%3i %3i %3i %3i ",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
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| 175 | LCD_printfxy(0,2,"%3i %3i %3i %3i ",Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature); |
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| 176 | LCD_printfxy(0,3,"%3i %3i %3i %3i ",Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature); |
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| 177 | break; |
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| 178 | case 16: |
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| 179 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
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| 180 | LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
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| 181 | LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
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| 182 | LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
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| 183 | if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
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| 184 | if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
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| 185 | if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
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| 186 | break; |
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| 187 | case 17: |
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| 188 | LCD_printfxy(0,0,"Flight-Time " ); |
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| 189 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
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| 190 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
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| 191 | LCD_printfxy(13,3,"(reset)"); |
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| 192 | if(RemoteKeys & KEY4) |
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| 193 | { |
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| 194 | FlugMinuten = 0; |
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| 195 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
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| 196 | } |
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| 197 | break; |
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| 198 | default: |
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| 199 | if(MenuePunkt == MaxMenue) MaxMenue--; |
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| 200 | MenuePunkt = 0; |
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| 201 | break; |
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| 202 | } |
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| 203 | RemoteKeys = 0; |
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| 204 | } |