0,0 → 1,1780 |
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/****************************************************************/ |
/* */ |
/* NG-Video 5,8GHz */ |
/* */ |
/* Copyright (C) 2011 - gebad */ |
/* */ |
/* This code is distributed under the GNU Public License */ |
/* which can be found at http://www.gnu.org/licenses/gpl.txt */ |
/* */ |
/****************************************************************/ |
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#include <stdio.h> |
#include <stdlib.h> |
#include <string.h> |
#include <math.h> |
#include "../cpu.h" |
#include <util/delay.h> |
#include <avr/pgmspace.h> |
#include <avr/interrupt.h> |
#include "../main.h" |
#include "../timer/timer.h" |
#include "servo_setup.h" |
#include "tracking.h" |
#include "../lcd/lcd.h" |
#include "../timer/timer.h" |
#include "../menu.h" |
#include "../messages.h" |
#include "../mk-data-structs.h" |
#include "mymath.h" |
#include "../uart/usart.h" |
#include "../osd/osd.h" |
#include "../eeprom/eeprom.h" |
#include "../setup/setup.h" |
#include "tools.h" |
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//#include "ng_usart.h" |
//#include "ng_config.h" |
//#include "servo.h" |
//#include "tools.h" |
//#include "mk.h" |
//#include "keys.h" |
//#include "mymath.h" |
// |
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//GPS_Pos_t last5pos[7]; |
//uint8_t error1 = 0; |
//NaviData_t *naviData; |
//HomePos_t MK_pos; // Home position of station |
//GPS_Pos_t currentPos; // Current position of flying object |
//int8_t satsInUse; // Number of satelites currently in use |
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//uint8_t tracking = TRACKING_MIN; |
//uint8_t track_hyst = TRACKING_HYSTERESE; |
//uint8_t track_tx = 0; |
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//geo_t geo; |
//int16_t anglePan, angleTilt; // Servo Winkel |
//uint8_t coldstart = 1; |
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uint8_t servo_nr; // zwischen Servo 1 und 2 wird nur mit global servo_nr unterschieden |
//uint8_t FCStatusFlags; |
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//-------------------------------------------------------------- |
#define ITEMS_SERVO 4 |
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const prog_char servo_menuitems[ITEMS_SERVO][NUM_LANG][18]= // Zeilen,Zeichen+1 |
{ |
{"Servoschritte ","servo steps ","servo steps "}, |
{"Servo 1 \x1d","servo 1 \x1d","servo 1 \x1d"}, |
{"Servo 2 \x1d","servo 2 \x1d","servo 2 \x1d"}, |
{"Servotest \x1d","servotest \x1d","servotest \x1d"}, |
}; |
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//-------------------------------------------------------------- |
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#define ITEMS_SERVOTEST 4 |
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const prog_char servotest_menuitems[ITEMS_SERVOTEST][NUM_LANG][18]= // Zeilen,Zeichen+1 |
{ |
{"Test Pulslänge ","test puls width","test puls width "}, |
{"Test fortlaufend\x1d","test cont. \x1d","test cont. \x1d"}, |
{"Servo ","servo ","servo "}, |
{"Periode ","frame ","frame "}, |
}; |
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//-------------------------------------------------------------- |
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#define ITEMS_SERVOTEST_CONT 5 |
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const prog_char servotest_cont_menuitems[ITEMS_SERVOTEST_CONT][NUM_LANG][18]= // Zeilen,Zeichen+1 |
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{ {"Start Test ","start test ","start test "}, |
{"Einzelschritt ","single step ","single step "}, |
{"Anzahl Test ","number of test ","number of test "}, |
{"Pause Endposition","pause end pos ","pasue end pos "}, |
{"Pause pro Inc. ","pause proc inc. ","pause proc inc. "}, |
}; |
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//-------------------------------------------------------------- |
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#define ITEMS_SERVOADJUST 4 |
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const prog_char servo_adjust_menuitems[ITEMS_SERVOADJUST][NUM_LANG][18]= // Zeilen,Zeichen+1 |
{ |
{"Reverse ","reverse ","reverse "}, |
{"Links ","left ","left "}, |
{"Rechts ","right ","rigth "}, |
{"Mitte ","middle ","middle "}, |
}; |
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///************************************************************************************/ |
///* */ |
///* Ändern der Werte mit Tasten +,- und Anzeige */ |
///* z.B. für U-Offset, Batterie leer Eingabe ... */ |
///* */ |
///* Parameter: */ |
///* uint16_t val :zu ändernter Wert */ |
///* uint16_t min_val, max_val :min, max Grenze Wert ändern darf */ |
///* uint8_t posX, posY :Darstellung Wert xPos, YPos auf LCD */ |
///* Displ_Fnct_t Displ_Fnct :Index um variable Display Funktion aufzurufen */ |
///* uint8_t cycle :0 begrenzt Anzeige bei man_val, bzw. max_val */ |
///* :1 springt nach max_val auf min_val und umgedreht */ |
///* uint8_t vrepeat :beschleunigte Repeat-Funktion aus/ein */ |
///* uint16_t Change_Value_plmi(...) :Rückgabe geänderter Wert */ |
///* */ |
///************************************************************************************/ |
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void Servo_tmp_Original(uint8_t track) |
{ |
servoSetDefaultPos(); |
// tracking = track; // ursprünglicher Wert Tracking aus, RSSI oder GPS |
// NoTracking_ServosOff(); // Servos sind nur zum Tracking oder bei Kalibrierung eingeschaltet |
// Jump_Menu(pmenu); |
} |
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uint8_t Servo_tmp_on(uint8_t servo_period) |
{ |
// uint8_t tmp_tracking = tracking; |
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// tracking = 0; // Servopositionierung durch tracking abschalten |
// if (tracking == TRACKING_MIN) servoInit(servo_period); // falls aus, Servos einschalten |
servoInit(servo_period); |
// lcdGotoXY(0, 0); // lcd Cursor vorpositionieren |
// return(tmp_tracking); |
return (0); |
} |
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void Displ_Off_On(uint16_t val) |
{ |
if (val == 0) lcd_puts_at(17, 2, strGet(OFF), 0); else lcd_puts_at(17, 2, strGet(ON), 0); |
} |
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uint16_t Change_Value_plmi(uint16_t val, uint16_t min_val, uint16_t max_val, uint8_t posX, uint8_t posY,Displ_Fnct_t Displ_Fnct) |
{ |
uint16_t tmp_val; |
// >> Menueauswahl nach oben |
tmp_val = val; |
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if (get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 3)) |
{ |
if (val < max_val) { |
edit = 1; |
val++; |
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} |
else |
{ |
val = min_val; |
} |
Displ_Fnct(val); // geänderten Wert darstellen, je nach Menüpunkt |
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} |
// >> Menueauswahl nach unten |
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if (get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 3)) |
{ |
if (val > min_val) { |
val--; |
edit = 1; |
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} |
else |
{ |
val = max_val; |
} |
Displ_Fnct(val); // geänderten Wert darstellen, je nach Menüpunkt |
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} |
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return(val); |
} |
// |
///************************************************************************************/ |
///* */ |
///* Ändern der Werte mit Tasten +,- repetierend; (long)Entertaste und Anzeige */ |
///* z.B. für U-Offset, Batterie leer Eingabe ... */ |
///* */ |
///* Parameter: */ |
///* uint16_t *val :zu ändernter Wert */ |
///* uint16_t min_val, max_val :min, max Grenze Wert ändern darf */ |
///* uint8_t fl_pos :Bit 7 beschleunigte Repeat-Funktion aus/ein */ |
///* Bit 6 zyklische Werteänderung aus/ein */ |
///* Bit 4-5 z.Z. ohne Funktion */ |
///* Bit 0-3 Wert xPos auf LCD */ |
///* Displ_Fnct_t Displ_Fnct :Index um variable Display Funktion aufzurufen */ |
///* uint8_t Change_Value(...) :Rückgabe geändert ergibt TRUE */ |
///* */ |
///************************************************************************************/ |
//// Bei Bedarf könnte einfach innerhalp fl_pos auch noch pos_y (Bit 4-5) übergeben werden |
uint8_t Change_Value(uint16_t *val, uint16_t min_val, uint16_t max_val,Displ_Fnct_t Displ_Fnct) |
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{ uint16_t tmp_val; |
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tmp_val = *val; |
Displ_Fnct(tmp_val); // initiale Wertdarstellung, je nach Menüpunkt |
while(!get_key_press(1<<KEY_ENTER) && !get_key_press(1<<KEY_ESC)) |
*val = Change_Value_plmi(*val, min_val, max_val, 16,2, Displ_Fnct); |
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if (*val == tmp_val) { |
edit = 0; |
// lcd_printp_at (0, 5, PSTR("Edit=0"), 0); |
// _delay_ms(500); |
//// return (*val); |
} |
// |
else |
{ |
edit = 1; |
// lcd_printp_at (0, 5, PSTR("Edit=1"), 0); |
// _delay_ms(500); |
} |
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return (tmp_val != *val); |
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} |
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uint16_t calc_range(int16_t PosProzent, int16_t min, int16_t max, int16_t mid) |
{ uint16_t range; |
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if (PosProzent < 0) { |
range = mid - min; |
// if (chrxs == CHRRS) { // falls Richtung geändert, anderen Zeichensatz laden |
// chrxs = CHRLS; |
//// lcdWriteCGRAM_Array(lcdSpecialChrLs, 5);// LCD-Char mit Rahmensymbole vom Graph |
// } |
} |
else { |
range = max - mid; |
// if (chrxs == CHRLS) { // falls Richtung geändert, anderen Zeichensatz laden |
//// lcdWriteCGRAM_Array(lcdSpecialChrRs, 5);// LCD-Char mit Rahmensymbole vom Graph |
// chrxs = CHRRS; |
// } |
} |
return(range); |
} |
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/************************************************************************************/ |
/* zeigt einen max. 3-stelligen Integerwert auf Display an */ |
/* Parameter: */ |
/* uint16_t val :anzuzeigender Wert, */ |
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
/* */ |
/************************************************************************************/ |
void Displ_Format_Int(uint16_t val) |
{ |
// lcdPuts(my_itoa(val, 3, 0, 0)); |
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// lcdPuts(my_itoa(mid_val, 4, 0, 0)); |
lcd_puts_at(16,2,my_itoa(val, 3, 0, 0),0); |
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} |
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void Displ_PulseWidth(uint16_t val) |
{ int16_t PosProzent, range; |
uint16_t Pos_us; |
char me[3] = {"ms"}; |
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servoSetPositionRaw(servo_nr, val); |
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PosProzent = val - steps_pw[Config.sIdxSteps].mid; |
range = calc_range(PosProzent, steps_pw[Config.sIdxSteps].min, steps_pw[Config.sIdxSteps].max, steps_pw[Config.sIdxSteps].mid); |
// draw_bar(PosProzent, range, 2); // auf 3. Display-Zeile |
PosProzent = (int32_t)1000 * PosProzent / range; |
// lcdGotoXY(1, 1); |
Pos_us = pw_us(val); // Zeit in µs bei x Servoschritte |
if (Pos_us < 1000) { |
me[0] = 'u'; // soll 'µ' => programmierbarer Zeichensatz zu klein |
// lcdPuts(" "); |
Displ_Format_Int(Pos_us); |
} |
else { |
// lcdPuts(my_itoa(Pos_us, 5, 3, 3)); |
lcd_puts_at(14,2,my_itoa(Pos_us, 5, 3, 3),0); |
} |
// lcdPuts(me); |
// lcdGotoXY(8, 1); |
// lcdPuts(my_itoa(PosProzent, 6, 1, 1)); |
lcd_puts_at(14,2,my_itoa(PosProzent, 6, 1, 1),0); |
// lcdPutc('%'); |
} |
/************************************************************************************/ |
/* zeigt Pausenlänge der Links-, Mittel- und Rechtsposition auf Display an */ |
/* Parameter: */ |
/* uint16_t val : Zeit in 1ms * 100 */ |
/* */ |
/************************************************************************************/ |
void Displ_Pause(uint16_t val) |
{ |
if (val > 9) { |
// lcdPuts(my_itoa(val, 3, 1, 1)); |
lcd_puts_at(16,2,my_itoa(val, 3, 1, 1),0); |
// lcdPuts("s "); |
} |
else { |
Displ_Format_Int(val * 100); |
// lcdPuts("ms"); |
} |
} |
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/************************************************************************************/ |
/* zeigt aus oder Integerwert auf Display an */ |
/* Parameter: */ |
/* uint16_t val : val = 0 ==> aus, sont Integerwert */ |
/* */ |
/************************************************************************************/ |
void Displ_Off_Format_Int(uint16_t val) |
{ |
if (val == 0) |
// lcdPutStrMid(Msg(MSG_OFF), ZLE_VAL); |
lcd_puts_at(17, 2, strGet(OFF), 0); |
else { |
// write_ndigit_number_u (16, 2, val, 5, 0,0); |
// lcdGotoXY(5,ZLE_VAL); |
Displ_Format_Int(val); |
// lcdPutc(' '); |
} |
} |
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/************************************************************************************/ |
/* zeigt aus oder Pausenzeit zwischen 2 Servoschritte auf Display an */ |
/* Parameter: */ |
/* uint16_t val : val = 0 ==> aus, sont Integerwert */ |
/* */ |
/************************************************************************************/ |
void Displ_Pause_Step(uint16_t val) |
{ |
Displ_Off_Format_Int(val); |
if (val > 0) { |
// lcdGotoXY(8,ZLE_VAL); |
// lcdPuts("ms"); |
} |
} |
/************************************************************************************/ |
/* zeigt zu testende Servonummer zur Auswahl auf Display an */ |
/* Parameter: */ |
/* uint16_t val :0 = Servo 1 oder 1 = Servo 2, */ |
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
/* */ |
/************************************************************************************/ |
void Displ_ServoNr(uint16_t val) |
{ |
// if (val == 0) lcdPuts(Msg(MSG_SERVO1)); else lcdPuts(Msg(MSG_SERVO2)); |
lcd_printp_at (0, 2, PSTR("Servo:"), 0); |
if (val == 0) lcd_printp_at (14, 2, PSTR("Servo 1"), 0); else lcd_printp_at (14, 2, PSTR("Servo 2"), 0); |
} |
/**************************/ |
/* */ |
/* Servos-Tests */ |
/* */ |
/**************************/ |
//void Menu_Servo_Test(void) |
//{ uint8_t scr_sub_menu[SCROLL_MAX_6] = {SCROLL_MAX_6 - 2, MSG_RETURN, MSG_PULSE_WIDTH, MSG_CONTINOUS, MSG_SERVO, MSG_FRAME}; |
// |
// Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
// servo_nr = eeprom_read_byte(&ep_servo_nr); |
// Jump_Menu(pmenu); |
//} |
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void Menu_Test_Frame(void) |
{ uint16_t tmp_val; |
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// Displ_Title(MSG_FRAME); |
// lcdGotoXY(8, ZLE_VAL); |
lcd_cls (); |
lcd_puts_at(0, 0, strGet(SV_TEST3),2); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
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// lcdPuts("ms"); |
tmp_val = Config.servo_frame; |
if (Change_Value(&tmp_val, SERVO_PERIODE_MIN, SERVO_PERIODE_MAX,Displ_Format_Int)) { // pmenu global |
Config.servo_frame = tmp_val; |
// eeprom_write_byte(&ep_servo_frame, servo_frame); |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
// Jump_Menu(pmenu); |
} |
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void Menu_Test_ServoNr(void) |
{ uint16_t tmp_val; |
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// Displ_Title(MSG_SERVO); |
lcd_cls (); |
lcd_puts_at(0, 0, strGet(SV_TEST2),2); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
tmp_val = servo_nr; |
if (Change_Value(&tmp_val, 0, 1,Displ_ServoNr)) { // pmenu global; es gibt nur 0=Servo1, 1=Servo2 |
servo_nr = tmp_val; |
// eeprom_write_byte(&ep_servo_nr, servo_nr); |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
// Jump_Menu(pmenu); |
} |
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// Dieser Test im raw-Modus ohne Anschlagkalibrierung (normiert) z.B.: für Modelleinstellungen ohne Empfänger |
void Menu_Test_PulseWidth(void) |
{ uint8_t tmp_tracking; |
uint16_t tmp_val; |
lcd_cls (); |
lcd_puts_at(0, 0, strGet(SERVO_TEST1),2); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
tmp_tracking = Servo_tmp_on(Config.servo_frame); |
// lcdWriteCGRAM_Array(lcdSpecialChrLs, 8); // LCD-Char mit Rahmensymbole vom Graph |
// chrxs = CHRLS; // verhindert wiederholtes Lesen bereits geladener LCD-Char |
// Displ_Title(MSG_PULSE_WIDTH); |
tmp_val = steps_pw[Config.sIdxSteps].mid; |
Change_Value(&tmp_val, steps_pw[Config.sIdxSteps].min, steps_pw[Config.sIdxSteps].max,Displ_PulseWidth); // pmenu global |
// lcdWriteCGRAM_Array(lcdSpecialChr, 7); // LCD-Char für Bargraph zurückschreiben |
cli(); |
servoInit(SERVO_PERIODE); |
sei(); |
Servo_tmp_Original(tmp_tracking); |
} |
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//void Menu_Test_Continuous(void) |
//{ uint8_t scr_sub_menu[SCROLL_MAX_7] = {SCROLL_MAX_7 - 2, MSG_RETURN, MSG_START, MSG_SINGLE_STEP, MSG_REPEAT, MSG_PAUSE, MSG_PAUSE_STEP}; |
// |
// Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global |
// Jump_Menu(pmenu); |
//} |
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void Menu_Test_SingleStep(void) |
{uint16_t tmp_val; |
//TODO: |
// Displ_Title(MSG_SINGLE_STEP); |
lcd_cls (); |
tmp_val = Config.single_step; |
lcd_puts_at(0, 0, strGet(SV_SINGLESTEP),2); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
if (Change_Value(&tmp_val, SINGLE_STEP_MIN, SINGLE_STEP_MAX, Displ_Off_Format_Int)) { // pmenu global |
Config.single_step = tmp_val; |
// eeprom_write_byte(&ep_single_step, single_step); |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
// Jump_Menu(pmenu); |
} |
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void Menu_Test_Repeat(void) |
{uint16_t tmp_val; |
//TODO: |
// Displ_Title(MSG_REPEAT); |
tmp_val = Config.repeat; |
lcd_cls (); |
lcd_puts_at(0, 0, strGet(SV_COUNTTEST),2); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
if (Change_Value(&tmp_val, REPEAT_MIN, REPEAT_MAX,Displ_Format_Int)) { // pmenu global |
Config.repeat = tmp_val; |
// eeprom_write_byte(&ep_repeat, repeat); |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
// Jump_Menu(pmenu); |
} |
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void Menu_Test_Pause(void) |
{uint16_t tmp_val; |
//TODO: |
// Displ_Title(MSG_PAUSE); |
lcd_cls (); |
lcd_puts_at(0, 0, strGet(SV_PAUSEEND),2); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
tmp_val = Config.pause; |
if (Change_Value(&tmp_val, PAUSE_MIN, PAUSE_MAX,Displ_Pause)) { // pmenu global |
Config.pause = tmp_val; |
// eeprom_write_byte(&ep_pause, pause); |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
// Jump_Menu(pmenu); |
} |
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void Menu_Test_Pause_Step(void) |
{uint16_t tmp_val; |
//TODO: |
// Displ_Title(MSG_PAUSE_STEP); |
lcd_cls (); |
lcd_puts_at(0, 0, strGet(SV_PAUSEINC),2); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
tmp_val = Config.pause_step; |
if (Change_Value(&tmp_val, PAUSE_STEP_MIN, PAUSE_STEP_MAX,Displ_Pause_Step)) { // pmenu global |
Config.pause_step = tmp_val; |
// eeprom_write_byte(&ep_pause_step, pause_step); |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
// Jump_Menu(pmenu); |
} |
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int8_t calc_dir(uint8_t idx, int16_t *Position) |
{ uint8_t nextIdx; |
int8_t nextDir = 1; |
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nextIdx = idx; |
if ((idx + 1) < POSIDX_MAX) |
nextIdx++; |
else |
nextIdx = 0; |
if (Position[PosIdx[idx]] > Position[PosIdx[nextIdx]]) nextDir = -1; |
return(nextDir); |
} |
void Displ_LoopCounter(uint8_t val) |
{ |
// lcdGotoXY(2,2); |
// lcdPuts(Msg(MSG_COUNTER)); |
// lcdPuts(my_itoa(val, 4, 0, 0)); |
lcd_puts_at(16,2,my_itoa(val, 4, 0, 0),0); |
} |
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// Test über Scalierung der Servos mit Anschlagkalibrierung |
void Menu_Test_Start(void) |
{ uint8_t tmp_tracking, idx, rep; |
int8_t dir; |
int16_t sPos; |
int16_t Position[3]; |
int16_t range; |
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tmp_tracking = Servo_tmp_on(Config.servo_frame); |
// lcdWriteCGRAM_Array(lcdSpecialChrLs, 8); // LCD-Char mit Rahmensymbole vom Graph |
// chrxs = CHRLS; // Flag, welche Kästchensymbole geladen |
// Displ_Title(MSG_CONTINOUS); |
lcd_cls (); |
lcd_puts_at(0, 0, strGet(SV_TESTCONT),2); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
Displ_LoopCounter(Config.repeat); |
Position[0] = 0; // skalierte Servoposition aber unterschiedliche Schrittanzahl möglich |
Position[1] = ServoSteps()/2; |
Position[2] = ServoSteps(); |
// init Einzelschritt |
idx = 0; |
dir = calc_dir(idx, Position); |
sPos = Position[PosIdx[idx]]; |
idx++; |
rep = Config.repeat; |
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// Test bis Ende der Wiederholungen oder irgendein Enter |
while(!get_key_press(1<<KEY_ENTER) && !get_key_press(1<<KEY_ESC)) { |
range = calc_range(sPos - Position[1], Position[0], Position[2], Position[1]); |
// draw_bar(sPos - Position[1], range, 1); // eingerahmter Balkengraph auf 2. Display-Zeile |
servoSetPosition(servo_nr, sPos); |
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if ( sPos != Position[PosIdx[idx]]) { // Links-, Mittel- oder Rechtsposotion erreicht? |
sPos += (Config.single_step * dir); // variable Schrittweite subtrahieren oder addieren |
if (((dir < 0) && (sPos < Position[PosIdx[idx]])) || ((dir > 0) && (sPos > Position[PosIdx[idx]])) || !(Config.single_step)) |
sPos = Position[PosIdx[idx]]; // Überlauf bei variabler Schrittweite berücksichtigen oder Einzelschritt |
Delay_ms(Config.servo_frame + 1 + Config.pause_step);// Bei Schrittweite um 1 würden welche übersprungen, zusätzlich pro Servoschritt verzögert |
} |
else { |
dir = calc_dir(idx, Position); // Richtungsänderung |
if (idx < (POSIDX_MAX - 1)) { |
if (idx == 0) { |
rep--; // bei jeden vollen Durchlauf Wiederholzähler verringern |
Displ_LoopCounter(rep); |
} |
idx++; // Index für nächsten Positionswert ==> Array PosIdx[] bestimmt Anschlagreihenfolge |
} |
else |
idx = 0; |
delay_ms100x(Config.pause); // variable Pause bei Links-, Mittel- und Rechtsposotion Mindestzeit 400ms (Servolauf) |
} |
} |
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// lcdClear(); |
// if (pmenu[0] == '\0') |
// Displ_Main_Disp(); |
// else |
// return_m_pkt(strlen(pmenu)); // um bei Rücksprung auf ursprünglichen Menüpunkt zeigen oder Displ_Main_Disp() |
// lcdWriteCGRAM_Array(lcdSpecialChr, 7); // LCD-Char für Bargraph zurückschreiben |
cli(); |
servoInit(SERVO_PERIODE); |
sei(); |
Servo_tmp_Original(tmp_tracking); |
} |
|
|
//-------------------------------------------------------------- |
|
void test_servo_menu(void) |
{ |
|
// uint8_t ii = 0; |
// uint8_t Offset = 0; |
// uint8_t dmode = 0; |
uint8_t target_pos = 1; |
// uint8_t val = 0; |
|
while(1) |
{ |
size = ITEMS_SERVOTEST; |
lcd_cls (); |
lcd_printpns_at(0, 0, PSTR("test_servo_menu "), 2); |
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// while(2) |
// { |
// ii = 0; |
// if(Offset > 0) |
// { |
// lcd_printp_at(1,1, PSTR("\x12"), 0); |
// } |
// for(ii = 0;ii < 6 ; ii++) |
// { |
// if((ii+Offset) < size) |
// { |
// lcd_printp_at(3,ii+1,servotest_menuitems[ii+Offset][Config.DisplayLanguage], 0); |
// } |
// if((ii == 5)&&(ii+Offset < (size-1))) |
// { |
// lcd_printp_at(1,6, PSTR("\x13"), 0); |
// } |
// } |
// if(dmode == 0) |
// { |
// if(Offset == 0) |
// { |
// if(size > 6) |
// { |
// val = menu_choose2 (1, 5, target_pos,0,1); |
// } |
// else |
// { |
// val = menu_choose2 (1, size, target_pos,0,0); |
// } |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(dmode == 1) |
// { |
// if(Offset+7 > size) |
// { |
// val = menu_choose2 (2, 6, target_pos,1,0); |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(val == 254) |
// { |
// Offset++; |
// dmode = 1; |
// target_pos = 5; |
// } |
// else if(val == 253) |
// { |
// Offset--; |
// dmode = 0; |
// target_pos = 2; |
// } |
// else if(val == 255) |
// { |
// return; |
// } |
// else |
// { |
// break; |
// } |
// } |
val = menu_select(servotest_menuitems,size,target_pos); |
if (val==255) break; |
target_pos = val; |
|
// {"Test Pulslänge ","test puls width","test puls width "}, |
// {"Test fortlaufend\x1d","test cont. \x1d","test cont. \x1d"}, |
// {"Servo ","servo ","servo "}, |
// {"Periode ","frame ","frame "}, |
|
if(val == 1 ) |
Menu_Test_PulseWidth(); |
if(val == 2 ) |
servotest_cont_menu(); |
if(val == 3 ) |
Menu_Test_ServoNr(); |
|
if(val == 4 ) |
Menu_Test_Frame(); |
|
} |
} |
|
//-------------------------------------------------------------- |
|
|
|
//-------------------------------------------------------------- |
|
|
void servotest_cont_menu(void) |
{ |
|
// uint8_t ii = 0; |
// uint8_t Offset = 0; |
// uint8_t dmode = 0; |
uint8_t target_pos = 1; |
// uint8_t val = 0; |
|
while(1) |
{ |
size = ITEMS_SERVOTEST_CONT; |
lcd_cls (); |
lcd_printpns_at(0, 0, PSTR("Servotest cont."), 2); |
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// while(2) |
// { |
// ii = 0; |
// if(Offset > 0) |
// { |
// lcd_printp_at(1,1, PSTR("\x12"), 0); |
// } |
// for(ii = 0;ii < 6 ; ii++) |
// { |
// if((ii+Offset) < size) |
// { |
// lcd_printp_at(3,ii+1,servotest_cont_menuitems[ii+Offset][Config.DisplayLanguage], 0); |
// } |
// if((ii == 5)&&(ii+Offset < (size-1))) |
// { |
// lcd_printp_at(1,6, PSTR("\x13"), 0); |
// } |
// } |
// if(dmode == 0) |
// { |
// if(Offset == 0) |
// { |
// if(size > 6) |
// { |
// val = menu_choose2 (1, 5, target_pos,0,1); |
// } |
// else |
// { |
// val = menu_choose2 (1, size, target_pos,0,0); |
// } |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(dmode == 1) |
// { |
// if(Offset+7 > size) |
// { |
// val = menu_choose2 (2, 6, target_pos,1,0); |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(val == 254) |
// { |
// Offset++; |
// dmode = 1; |
// target_pos = 5; |
// } |
// else if(val == 253) |
// { |
// Offset--; |
// dmode = 0; |
// target_pos = 2; |
// } |
// else if(val == 255) |
// { |
// if (edit == 1) |
// { |
//// WriteParameter(); |
// edit = 0; |
// return; |
// } |
// return; |
// } |
// else |
// { |
// break; |
// } |
// } |
val = menu_select(servotest_cont_menuitems,size,target_pos); |
if (val==255) break; |
target_pos = val; |
if(val == 1 ) |
Menu_Test_Start(); |
if(val == 2 ) |
Menu_Test_SingleStep(); |
if(val == 3) |
Menu_Test_Repeat(); |
if(val == 4 ) |
Menu_Test_Pause(); |
if(val == 5) |
Menu_Test_Pause_Step(); |
|
} |
} |
|
//-------------------------------------------------------------- |
void Servo_rev(void) |
{ uint16_t tmp_val; |
uint8_t tmp_tracking; |
lcd_puts_at(0, 2, strGet(SERVO_REVERSE),0); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
tmp_tracking = Servo_tmp_on(SERVO_PERIODE); |
tmp_val = Config.servo[servo_nr].rev; |
if (Change_Value(&tmp_val , 0, 1, Displ_Off_On)) |
{ //reverse gibt es nur 0=off, 1=on |
Config.servo[servo_nr].rev = tmp_val ; |
servoSet_rev(servo_nr, tmp_val ); |
} |
Servo_tmp_Original(tmp_tracking); |
} |
|
|
void Menu_Servotext(void) |
{ |
lcd_cls (); |
if (servo_nr == 0) |
lcd_puts_at(0, 0, strGet(SERVO1_TEXT), 2); |
else |
lcd_puts_at(0, 0, strGet(SERVO2_TEXT), 2); |
|
} |
|
|
void Menu_Servo_rev(void) |
{ |
Menu_Servotext(); |
Servo_rev(); |
} |
/********************************************************************************/ |
/* zeigt Servo-Anschlagposition links auf Display an */ |
/* mit sofortiger Wirkung auf Servo */ |
/* Parameter: */ |
/* uint16_t val :anzuzeigender Wert, */ |
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
/* */ |
/********************************************************************************/ |
void Displ_Servo_Min(uint16_t val) |
{ uint16_t steps = 0; |
|
// Displ_Format_Int(val); |
write_ndigit_number_s (16, 2, val, 5, 0,0); |
servoSet_min(servo_nr, val); // Wert setzen damit nachfolgend die |
if (Config.servo[servo_nr].rev) steps = ServoSteps(); |
servoSetPosition(servo_nr, steps); // Änderung direkt am Servo sichtbar ist |
} |
|
/************************************************************************************/ |
/* zeigt Servo-Anschlagposition rechts auf Display an */ |
/* mit sofortiger Wirkung auf Servo */ |
/* Parameter: */ |
/* uint16_t val :anzuzeigender Wert, */ |
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
/* */ |
/************************************************************************************/ |
void Displ_Servo_Max(uint16_t val) |
{ uint16_t steps = ServoSteps(); |
|
// Displ_Format_Int(val); |
write_ndigit_number_u (16, 2, val, 5, 0,0); |
servoSet_max(servo_nr, val); // Wert setzen damit nachfolgend die |
if (Config.servo[servo_nr].rev) steps = 0; |
servoSetPosition(servo_nr, steps); // Änderung direkt am Servo sichtbar ist |
} |
|
/************************************************************************************/ |
/* zeigt Servo-Anschlagposition Mitte auf Display an */ |
/* mit sofortiger Wirkung auf Servo */ |
/* Parameter: */ |
/* uint16_t val :anzuzeigender Wert, */ |
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
/* */ |
/************************************************************************************/ |
void Displ_Servo_Mid(uint16_t val) |
{ int16_t mid_val; |
|
mid_val = val - ServoSteps()/2; |
// lcdPuts(my_itoa(mid_val, 4, 0, 0)); |
lcd_puts_at(16,2,my_itoa(mid_val, 4, 0, 0),0); |
|
servoSet_mid(servo_nr, val); // Wert setzen damit nachfolgend die |
servoSetPosition(servo_nr, ServoSteps()/2); // Änderung direkt am Servo sichtbar ist |
} |
|
|
void Servo_left(void) |
{ uint16_t tmp_val; |
uint8_t tmp_tracking; |
lcd_puts_at(0, 2, strGet(SERVO_LEFT),0); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
tmp_tracking = Servo_tmp_on(SERVO_PERIODE); |
servoSetPosition(servo_nr, ServoSteps()); // Linkssanschlag um Kalibrierung am Servo zu sehen |
tmp_val = Config.servo[servo_nr].max; |
// if (Change_Value(&tmp_val, servo_limit[sIdxSteps][LEFT].min, servo_limit[sIdxSteps][LEFT].max, 6|(1<<V_REPEAT), Displ_Servo_Max)) { // pmenu global |
if (Change_Value(&tmp_val , servo_limit[Config.sIdxSteps][LEFT].min, servo_limit[Config.sIdxSteps][LEFT].max, Displ_Servo_Max)) |
{ |
Config.servo[servo_nr].max = tmp_val; |
// eeprom_write_block(&servo[servo_nr],&ep_servo[servo_nr],sizeof(servo_t)); |
servoSet_mid(servo_nr, Config.servo[servo_nr].mid); // Mittelposition muss sich bei Ausschlagsänderung verschieben |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
Servo_tmp_Original(tmp_tracking); |
} |
|
void Menu_Servo_left(void) |
{ |
// Displ_Title(MSG_CALIB1_LEFT); |
Menu_Servotext(); |
Servo_left(); |
|
} |
|
|
void Servo_right(void) |
{ uint16_t tmp_val; |
uint8_t tmp_tracking; |
lcd_puts_at(0, 2, strGet(SERVO_RIGTH),0); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
tmp_tracking = Servo_tmp_on(SERVO_PERIODE); |
servoSetPosition(servo_nr, 0); // Rechtsanschlag um Kalibrierung am Servo zu sehen |
tmp_val = Config.servo[servo_nr].min; |
// if (Change_Value(&tmp_val, servo_limit[sIdxSteps][RIGHT].min, servo_limit[sIdxSteps][RIGHT].max, 6|(1<<V_REPEAT), Displ_Servo_Min)) { // pmenu global |
if (Change_Value(&tmp_val , servo_limit[Config.sIdxSteps][RIGHT].min, servo_limit[Config.sIdxSteps][RIGHT].max, Displ_Servo_Min)) |
{Config.servo[servo_nr].min = tmp_val; |
// eeprom_write_block(&servo[servo_nr],&ep_servo[servo_nr],sizeof(servo_t)); |
servoSet_mid(servo_nr, Config.servo[servo_nr].mid); // Mittelposition muss sich bei Ausschlagsänderung verschieben |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
Servo_tmp_Original(tmp_tracking); |
} |
|
void Menu_Servo_rigth(void) |
{ |
Menu_Servotext(); |
Servo_right(); |
} |
|
void Servo_middle(void) |
{ uint16_t tmp_val; |
uint8_t tmp_tracking; |
lcd_puts_at(0, 2, strGet(SERVO_MID),0); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
tmp_tracking = Servo_tmp_on(SERVO_PERIODE); |
servoSetPosition(servo_nr, ServoSteps()/2); // Mittelposition um Kalibrierung am Servo zu sehen |
tmp_val = Config.servo[servo_nr].mid; |
// if (Change_Value(&tmp_val, servo_limit[sIdxSteps][MIDDLE].min, servo_limit[sIdxSteps][MIDDLE].max, 5|(1<<V_REPEAT), Displ_Servo_Mid)) { // pmenu global |
if (Change_Value(&tmp_val , servo_limit[Config.sIdxSteps][MIDDLE].min, servo_limit[Config.sIdxSteps][MIDDLE].max, Displ_Servo_Mid)) |
{ Config.servo[servo_nr].mid = tmp_val; |
// eeprom_write_block(&servo[servo_nr], &ep_servo[servo_nr], sizeof(servo_t)); |
// Double_Beep(DBEEPWR, DBEEPWRP); |
} |
Servo_tmp_Original(tmp_tracking); |
} |
|
void Menu_Servo_mid(void) |
{ |
Menu_Servotext(); |
Servo_middle(); |
} |
|
|
void Servo_NewValues(uint8_t idx_presc) |
{ |
for (uint8_t i = 0; i < SERVO_NUM_CHANNELS; i++) { |
if (idx_presc == STEPS_255) { // Werte umrechnen für Prescaler = 256 |
Config.servo[i].min /= 4; |
Config.servo[i].max /= 4; |
Config.servo[i].mid /= 4; |
} |
else { // Werte umrechnen für Prescaler = 64 |
Config.servo[i].min *= 4; |
Config.servo[i].max *= 4; |
Config.servo[i].mid = (Config.servo[i].mid + 1) * 4 - 1; |
} |
servoSet_min(i, Config.servo[i].min); |
servoSet_max(i, Config.servo[i].max); |
servoSet_mid(i, Config.servo[i].mid); |
// eeprom_write_block(&servo[i],&ep_servo[i],sizeof(servo_t)); |
} |
// Vorberechnung von ServoChannels[channel].duty |
servoSetDefaultPos(); // Ausgangsstellung beider Servos |
|
} |
|
/************************************************************************************/ |
/* zeigt Servoschritte zur Auswahl auf Display an */ |
/* Parameter: */ |
/* uint16_t val :0 = 255 oder 1 = 1023, */ |
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */ |
/* */ |
/************************************************************************************/ |
void Displ_Servo_Steps(uint16_t val) |
{ |
if (val==0) |
lcd_puts_at(16,2,INTERNAT_STEPS_255,0 ); |
else |
lcd_puts_at(16,2,INTERNAT_STEPS_1023,0 ); |
|
} |
|
void Menu_Servo_Steps(void) |
{ uint16_t tmp_val; |
|
lcd_cls (); |
lcd_puts_at(0, 0, strGet(SERVOSTEPS), 2); |
lcd_puts_at(0, 2, strGet(SERVOSTEPS),0); |
lcd_puts_at(0, 7, strGet(KEYLINE2), 0); |
|
tmp_val = Config.sIdxSteps; |
if (Change_Value(&tmp_val, STEPS_255, STEPS_1023,Displ_Servo_Steps)) |
{ |
cli(); |
Config.sIdxSteps = tmp_val; |
|
Servo_NewValues(Config.sIdxSteps); // hier ist der neue Index anzugeben! |
servoInit(SERVO_PERIODE); |
sei(); |
|
|
} |
|
} |
|
void adjust_servo_menu(uint8_t servo) |
{ |
|
// uint8_t ii = 0; |
// uint8_t Offset = 0; |
// uint8_t dmode = 0; |
uint8_t target_pos = 1; |
// uint8_t val = 0; |
char ServoNr; |
servo_nr = servo; |
if (servo_nr == 0) ServoNr = '1'; else ServoNr = '2'; |
|
|
while(1) |
{ |
size = ITEMS_SERVOADJUST; |
lcd_cls (); |
lcd_printpns_at(0, 0, PSTR("adjust servo "), 2); |
lcd_putc (18, 0, ServoNr, 2); |
lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// while(2) |
// { |
// ii = 0; |
// if(Offset > 0) |
// { |
// lcd_printp_at(1,1, PSTR("\x12"), 0); |
// } |
// for(ii = 0;ii < 6 ; ii++) |
// { |
// if((ii+Offset) < size) |
// { |
// lcd_printp_at(3,ii+1,servo_adjust_menuitems[ii+Offset][Config.DisplayLanguage], 0); |
// } |
// if((ii == 5)&&(ii+Offset < (size-1))) |
// { |
// lcd_printp_at(1,6, PSTR("\x13"), 0); |
// } |
// } |
// if(dmode == 0) |
// { |
// if(Offset == 0) |
// { |
// if(size > 6) |
// { |
// val = menu_choose2 (1, 5, target_pos,0,1); |
// } |
// else |
// { |
// val = menu_choose2 (1, size, target_pos,0,0); |
// } |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(dmode == 1) |
// { |
// if(Offset+7 > size) |
// { |
// val = menu_choose2 (2, 6, target_pos,1,0); |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(val == 254) |
// { |
// Offset++; |
// dmode = 1; |
// target_pos = 5; |
// } |
// else if(val == 253) |
// { |
// Offset--; |
// dmode = 0; |
// target_pos = 2; |
// } |
// else if(val == 255) |
// { |
// if (edit == 1) |
// { |
// |
//// WriteParameter(); |
// edit = 0; |
// return; |
// } |
// return; |
// } |
// else |
// { |
// break; |
// } |
// } |
val = menu_select(servo_adjust_menuitems,size,target_pos); |
if (val==255) break; |
target_pos = val; |
|
// {"Reverse ","reverse ","reverse "}, |
// {"Links ","left ","left "}, |
// {"Rechts ","right ","rigth "}, |
// {"Mitte ","middle ","middle "}, |
|
|
|
if(val == 1 ) |
{ |
Menu_Servo_rev(); |
|
} |
|
if(val == 2 ) |
{ |
Menu_Servo_left(); |
} |
|
if(val == 3 ) |
{ |
Menu_Servo_rigth(); |
} |
|
if(val == 4 ) |
{ |
Menu_Servo_mid(); |
} |
|
|
|
} |
} |
|
//-------------------------------------------------------------- |
|
void servo_menu(void) |
{ |
|
// uint8_t ii = 0; |
// uint8_t Offset = 0; |
// uint8_t dmode = 0; |
uint8_t target_pos = 1; |
// uint8_t val = 0; |
edit =0; |
|
while(1) |
{ |
size = ITEMS_SERVO; |
lcd_cls (); |
lcd_printpns_at(0, 0, PSTR("servo_menu"), 2); |
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// while(2) |
// { |
// ii = 0; |
// if(Offset > 0) |
// { |
// lcd_printp_at(1,1, PSTR("\x12"), 0); |
// } |
// for(ii = 0;ii < 6 ; ii++) |
// { |
// if((ii+Offset) < size) |
// { |
// lcd_printp_at(3,ii+1,servo_menuitems[ii+Offset][Config.DisplayLanguage], 0); |
// } |
// if((ii == 5)&&(ii+Offset < (size-1))) |
// { |
// lcd_printp_at(1,6, PSTR("\x13"), 0); |
// } |
// } |
// if(dmode == 0) |
// { |
// if(Offset == 0) |
// { |
// if(size > 6) |
// { |
// val = menu_choose2 (1, 5, target_pos,0,1); |
// } |
// else |
// { |
// val = menu_choose2 (1, size, target_pos,0,0); |
// } |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(dmode == 1) |
// { |
// if(Offset+7 > size) |
// { |
// val = menu_choose2 (2, 6, target_pos,1,0); |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(val == 254) |
// { |
// Offset++; |
// dmode = 1; |
// target_pos = 5; |
// } |
// else if(val == 253) |
// { |
// Offset--; |
// dmode = 0; |
// target_pos = 2; |
// } |
// else if(val == 255) |
// { |
// if (edit == 1) |
// { |
//// WriteParameter(); |
// edit = 0; |
// return; |
// } |
// return; |
// } |
// else |
// { |
// break; |
// } |
// } |
val = menu_select(servo_menuitems,size,target_pos); |
if (val==255) break; |
target_pos = val; |
// Edit_generic(uint8_t Value, uint8_t min, uint8_t max,uint8_t Text, uint8_t what |
// if(val == 1 ) sIdxSteps=Edit_generic (sIdxSteps, STEPS_255, STEPS_1023,SERVOSTEPS,0); |
|
if(val == 1 ) Menu_Servo_Steps(); |
if(val == 2 ) |
adjust_servo_menu(0); |
if(val == 3 ) |
adjust_servo_menu(1); |
if(val == 4 ) |
test_servo_menu(); |
} |
} |
|
//-------------------------------------------------------------- |
|
|
//-------------------------------------------------------------- |
|
//void start_tracking(void) |
//{ |
// #define TIMEOUT 200 // 2 sec |
// |
// uint16_t old_anglePan = 0; |
// uint16_t old_angleTilt = 0; |
// |
// //uint16_t old_hh = 0; |
// uint8_t flag; |
// uint8_t tmp_dat; |
// |
// lcd_cls (); |
// //lcd_printpns_at(0, 0, PSTR("start_tracking "), 2); |
// |
// //lcd_printpns_at(0, 1, PSTR("ab jetzt Tracking"), 0); |
// |
// lcd_ecircle(22, 35, 16, 1); |
// lcd_ecircle(88, 35, 16, 1); |
// lcd_putc (10, 1, 0x1e, 0); // degree symbol |
// lcd_putc (20, 1, 0x1e, 0); // degree symbol |
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// SwitchToNC(); |
// |
// mode = 'O'; |
// |
// // disable debug... |
// // RS232_request_mk_data (0, 'd', 0); |
// tmp_dat = 0; |
// SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1); |
// |
// // request OSD Data from NC every 100ms |
// // RS232_request_mk_data (1, 'o', 100); |
// tmp_dat = 10; |
// SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
// |
// if (rxd_buffer_locked) |
// { |
// timer = TIMEOUT; |
// Decode64 (); |
// naviData = (NaviData_t *) pRxData; |
// |
// if(error1 == 1) |
// lcd_cls(); |
// } |
// |
// GPS_Pos_t currpos; |
// currpos.Latitude = naviData->CurrentPosition.Latitude; |
// currpos.Longitude = naviData->CurrentPosition.Longitude; |
// |
// flag = 0; |
// timer = TIMEOUT; |
// abo_timer = ABO_TIMEOUT; |
// |
// coldstart = 1; |
// |
// do |
// { |
// if (rxd_buffer_locked) |
// { |
// timer = TIMEOUT; |
// Decode64 (); |
// naviData = (NaviData_t *) pRxData; |
// |
// |
////CB uint8_t FCStatusFlag = naviData->FCFlags; |
// uint8_t FCStatusFlag = naviData->FCStatusFlags; |
// //write_ndigit_number_u (0, 0, FCStatusFlag); |
// |
// Tracking_GPS(); |
// |
// //uint16_t heading_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360; |
// |
// // alte Linien löschen |
// //lcd_ecirc_line (22, 35, 15, old_hh, 0); |
// //old_hh = heading_home; |
// lcd_ecirc_line (22, 35, 15, old_anglePan, 0); |
// old_anglePan = anglePan; |
// lcd_ecirc_line (88, 35, 15, old_angleTilt, 0); |
// old_angleTilt = angleTilt; |
// |
// lcd_ecirc_line (22, 35, 15, anglePan, 1); |
// write_ndigit_number_u (7, 1, anglePan, 3, 0,0); |
// lcd_ecirc_line (88, 35, 15, angleTilt, 1); |
// write_ndigit_number_u (17, 1, angleTilt, 3, 0,0); |
// |
// rxd_buffer_locked = FALSE; |
// |
// if (!abo_timer) |
// { // renew abo every 3 sec |
// // request OSD Data from NC every 100ms |
// // RS232_request_mk_data (1, 'o', 100); |
// tmp_dat = 10; |
// SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1); |
// |
// abo_timer = ABO_TIMEOUT; |
// } |
// } |
// |
// if (!timer) |
// { |
// OSD_Timeout(flag); |
// flag = 0; |
// } |
// } |
// while(!get_key_press (1 << KEY_ESC)); |
// |
// //lcd_cls(); |
// //return; |
//} |
|
//-------------------------------------------------------------- |
// |
//void conect2at_unit(void) |
//{ |
// lcd_cls (); |
// lcd_printpns_at(0, 0, PSTR("conect2at_unit "), 2); |
// |
// lcd_printpns_at(0, 3, PSTR("work in progress ;)"), 2); |
// |
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// |
// while(!get_key_press (1 << KEY_ESC)); |
// |
// lcd_cls(); |
// return; |
//} |
// |
////-------------------------------------------------------------- |
// |
//void conect2gps_ser (void) |
//{ |
// lcd_cls (); |
// lcd_printpns_at(0, 0, PSTR("conect2gps_ser "), 2); |
// |
// lcd_printpns_at(0, 3, PSTR("work in progress ;)"), 2); |
// |
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// while(!get_key_press (1 << KEY_ESC)); |
// |
// lcd_cls(); |
// return; |
//} |
// |
////-------------------------------------------------------------- |
// |
//void conect2gps_bt (void) |
//{ |
// lcd_cls (); |
// lcd_printpns_at(0, 0, PSTR("conect2gps_bt "), 2); |
// |
// lcd_printpns_at(0, 3, PSTR("work in progress ;)"), 2); |
// |
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// while(!get_key_press (1 << KEY_ESC)); |
// |
// lcd_cls(); |
// return; |
//} |
|
//-------------------------------------------------------------- |
|
//void conect2gps_menu(void) |
//{ |
// uint8_t ii = 0; |
// uint8_t Offset = 0; |
// uint8_t size = ITEMS_CONECT_GPS; |
// uint8_t dmode = 0; |
// uint8_t target_pos = 1; |
// uint8_t val = 0; |
// |
// while(1) |
// { |
// lcd_cls (); |
// lcd_printpns_at(0, 0, PSTR("conect2gps_menu "), 2); |
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// while(2) |
// { |
// ii = 0; |
// if(Offset > 0) |
// { |
// lcd_printp_at(1,1, PSTR("\x12"), 0); |
// } |
// for(ii = 0;ii < 6 ; ii++) |
// { |
// if((ii+Offset) < size) |
// { |
// lcd_printp_at(3,ii+1,conect_gps_menuitems[ii+Offset], 0); |
// } |
// if((ii == 5)&&(ii+Offset < (size-1))) |
// { |
// lcd_printp_at(1,6, PSTR("\x13"), 0); |
// } |
// } |
// if(dmode == 0) |
// { |
// if(Offset == 0) |
// { |
// if(size > 6) |
// { |
// val = menu_choose2 (1, 5, target_pos,0,1); |
// } |
// else |
// { |
// val = menu_choose2 (1, size, target_pos,0,0); |
// } |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(dmode == 1) |
// { |
// if(Offset+7 > size) |
// { |
// val = menu_choose2 (2, 6, target_pos,1,0); |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(val == 254) |
// { |
// Offset++; |
// dmode = 1; |
// target_pos = 5; |
// } |
// else if(val == 253) |
// { |
// Offset--; |
// dmode = 0; |
// target_pos = 2; |
// } |
// else if(val == 255) |
// { |
// return; |
// } |
// else |
// { |
// break; |
// } |
// } |
// target_pos = val; |
// |
// if((val+Offset) == 1 ) |
// conect2gps_ser(); |
// if((val+Offset) == 2 ) |
// conect2gps_bt(); |
// } |
//} |
//-------------------------------------------------------------- |
//void tracking_menu(void) |
//{ |
// uint8_t ii = 0; |
// uint8_t Offset = 0; |
// uint8_t size = ITEMS_AT; |
// uint8_t dmode = 0; |
// uint8_t target_pos = 1; |
// uint8_t val = 0; |
// |
// while(1) |
// { |
// lcd_cls (); |
// lcd_printpns_at(1, 0, PSTR("Tracking Men\x06 V.01 "), 2); |
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0); |
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0); |
// while(2) |
// { |
// ii = 0; |
// if(Offset > 0) |
// { |
// lcd_printp_at(1,1, PSTR("\x12"), 0); |
// } |
// for(ii = 0;ii < 6 ; ii++) |
// { |
// if((ii+Offset) < size) |
// { |
// lcd_printp_at(3,ii+1,at_menuitems[ii+Offset], 0); |
// } |
// if((ii == 5)&&(ii+Offset < (size-1))) |
// { |
// lcd_printp_at(1,6, PSTR("\x13"), 0); |
// } |
// } |
// if(dmode == 0) |
// { |
// if(Offset == 0) |
// { |
// if(size > 6) |
// { |
// val = menu_choose2 (1, 5, target_pos,0,1); |
// } |
// else |
// { |
// val = menu_choose2 (1, size, target_pos,0,0); |
// } |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(dmode == 1) |
// { |
// if(Offset+7 > size) |
// { |
// val = menu_choose2 (2, 6, target_pos,1,0); |
// } |
// else |
// { |
// val = menu_choose2 (2, 5, target_pos,1,1); |
// } |
// } |
// if(val == 254) |
// { |
// Offset++; |
// dmode = 1; |
// target_pos = 5; |
// } |
// else if(val == 253) |
// { |
// Offset--; |
// dmode = 0; |
// target_pos = 2; |
// } |
// else if(val == 255) |
// { |
// return; |
// } |
// else |
// { |
// break; |
// } |
// } |
// target_pos = val; |
// |
// if((val+Offset) == 1 ) |
// test_servo_menu(); |
// if((val+Offset) == 2 ) |
// adjust_servo_menu(); |
// if((val+Offset) == 3 ) |
// show_angle(); |
// if((val+Offset) == 4 ) |
////TODO: start_tracking(); |
// if((val+Offset) == 5 ) |
// conect2at_unit(); |
// if((val+Offset) == 6 ) |
// conect2gps_menu(); |
// } |
//} |
|
//-------------------------------------------------------------- |
// kapeschi Ant.Treking Funktionen |
//-------------------------------------------------------------- |
|
// Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet) |
// zur aktuellen Position(nach Motorstart) |
//geo_t calc_geo(HomePos_t *home, GPS_Pos_t *pos) |
//{ int32_t lat1, lon1, lat2, lon2; |
// int32_t d1, dlat; |
// geo_t geo; |
// |
// lon1 = MK_pos.Home_Lon; |
// lat1 = MK_pos.Home_Lat; |
// lon2 = pos->Longitude; |
// lat2 = pos->Latitude; |
// |
// // Formel verwendet von http://www.kompf.de/gps/distcalc.html |
// // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator |
// // es wird jedoch in dm Meter weiter gerechnet |
// // (tlon1 - tlon2)/10) sonst uint32_t-Überlauf bei cos(0) gleich 1 |
// d1 = (1359 * (int32_t)(c_cos_8192((lat1 + lat2) / 20000000)) * ((lon1 - lon2)/10))/ 10000000; |
// dlat = 1113 * (lat1 - lat2) / 10000; |
// geo.bearing = (my_atan2(d1, dlat) + 540) % 360; // 360 +180 besserer Vergleich mit MkCockpit |
// geo.distance = sqrt32(d1 * d1 + dlat * dlat); |
// return(geo); |
//} |
|
//void do_tracking(void) |
//{ //static uint8_t hysteresis = 0; |
// // aus MkCockpit http://forum.mikrokopter.de/topic-post216136.html#post216136 |
// // (4 * (........))/5 ==> Wichtung Luftdruck-Höhe zu GPS |
// currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)(naviData->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5; |
// |
// geo = calc_geo(&MK_pos, ¤tPos); |
// angleTilt = RAD_TO_DEG * (double)atan2((double)(currentPos.Altitude - MK_pos.Home_Alt) / 1000, geo.distance); |
// //if (geo.distance < 4 || (geo.distance < 6 && hysteresis)) { // < 4m ==> Pan-Servo in Mittelstellung. Hysterese bis 6m, damit Servo im Grenzbereich nicht wild rumschlägt |
// //geo.bearing = MK_pos.direction; |
// //angleTilt = 0; |
// //hysteresis = 1; |
// //} |
// //else { |
// //hysteresis = 0; |
// //} |
//// |
// //// egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen |
// //// 360 grd negative Winkelwerte als positive |
// anglePan = (geo.bearing + 450 - MK_pos.direction) % 360; // 450 = 360 + 90 |
// |
// //if (angleTilt < 0) angleTilt = 0; |
// //if (angleTilt > 180) angleTilt = 180; |
//// |
// //if (anglePan >= 180) { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo |
// //anglePan = anglePan - 180; |
// //angleTilt = 180 - angleTilt; |
// // |
// //} |
////angleTilt = 180; |
////angleTilt = 180; |
// |
//// servoSetAngle(0, anglePan); |
//// servoSetAngle(1, angleTilt); |
//} |
|
|
/****************************************************************/ |
/* */ |
/* MK GPS Tracking */ |
/* */ |
/****************************************************************/ |
|
// MK OSD-Daten lesen und verifizieren |
//uint8_t OSD_Data_valid(NaviData_t **navi_data) |
//{ uint8_t ret = 0; |
//char *tx_osd = {"#co?]==EH\r"}; |
//// char interval[2] = {10, '\0'}; |
// |
//if (rx_line_decode('O')) { // OSD-Datensatz prüfen/dekodieren |
////*navi_data = (NaviData_t*)data_decode; // dekodierte Daten mit Struktur OSD-Daten versehen |
//if (rx_timeout < RX_TIME_OLD) { // GPS-Daten nicht zu alt und ok. |
//currentPos = (*navi_data)->CurrentPosition; |
//if ((*navi_data)->NCFlags & NC_FLAG_GPS_OK) |
//ret = 1; |
//// aus MkCockpit http://forum.mikrokopter.de/topic-post216136.html#post216136 |
//// (4 * (........))/5 ==> Wichtung Luftdruck-Höhe zu GPS |
//currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)((*navi_data)->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5; |
//satsInUse = (*navi_data)->SatsInUse; |
//} |
//} |
//// ca. 210ms keine OSD-Daten empfangen ==> sende neue Anforderung an MK |
//// if ((track_tx) && (rx_timeout > RX_TIMEOUT)) tx_Mk(NC_ADDRESS, 'o', interval, 1); // 420 * 0.5ms interval |
//if ((track_tx) && (rx_timeout > RX_TIMEOUT)) SendOutData(tx_osd); // 420 * 0.5ms interval |
//return ret; |
//} |
// |
|
// MK eingeschaltet und GPS-ok, danach Motoren gestartet ==> Berechnung horizontaler/vertikaler Servowinkel |
// Hauptprogramm von GPS Antennen-Nachführung |
//void Tracking_GPS(void) |
//{ //NaviData_t *navidata; |
// static uint8_t track_running = 0; |
// |
// if (!track_running) |
// { |
// //track_running = 1; // verhindert doppelten Aufruf, wenn in Eingabeschleife Menu_MK_BatteryChangeNr() !!! |
// //if (OSD_Data_valid(&naviData)) { |
// if (coldstart) |
// { |
// //// erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen |
// //if (naviData->FCFlags & FC_FLAG_MOTOR_START) |
// //{ |
// MK_pos.Home_Lon = (double)naviData->HomePosition.Longitude / 10000000.0; |
// MK_pos.Home_Lat = (double)naviData->HomePosition.Latitude / 10000000.0; |
// MK_pos.Home_Lon7 = naviData->HomePosition.Longitude; |
// MK_pos.Home_Lat7 = naviData->HomePosition.Latitude; |
// MK_pos.Home_Alt = naviData->HomePosition.Altitude; |
// MK_pos.direction = naviData->CompassHeading; |
// coldstart = 0; |
// //} |
// //} |
// //else { |
// //do_tracking(); |
// } |
// //} |
// track_running = 0; |
// } |
// do_tracking(); |
//} |
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