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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
2 | // + www.MikroKopter.com |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // + Software Nutzungsbedingungen (english version: see below) |
4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
19 | // + des Mitverschuldens offen. |
19 | // + des Mitverschuldens offen. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Software LICENSING TERMS |
29 | // + Software LICENSING TERMS |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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 |
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 |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
34 | // + The Software may only be used with the Licensor's products. |
34 | // + The Software may only be used with the Licensor's products. |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
37 | // + agreement shall be the property of the Licensor. |
37 | // + agreement shall be the property of the Licensor. |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
40 | // + The customer shall be responsible for taking reasonable precautions |
40 | // + The customer shall be responsible for taking reasonable precautions |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
50 | // + #### END OF LICENSING TERMS #### |
50 | // + #### END OF LICENSING TERMS #### |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | #include "main.h" |
53 | #include "main.h" |
54 | #include "eeprom.h" |
54 | #include "eeprom.h" |
55 | 55 | ||
56 | char DisplayBuff[80]; |
56 | char DisplayBuff[80]; |
57 | unsigned char DispPtr = 0; |
57 | unsigned char DispPtr = 0; |
58 | 58 | ||
59 | unsigned char MaxMenue = 16; |
59 | unsigned char MaxMenue = 16; |
60 | unsigned char MenuePunkt = 0; |
60 | unsigned char MenuePunkt = 0; |
61 | unsigned char RemoteKeys = 0; |
61 | unsigned char RemoteKeys = 0; |
62 | 62 | ||
63 | #define KEY1 0x01 |
63 | #define KEY1 0x01 |
64 | #define KEY2 0x02 |
64 | #define KEY2 0x02 |
65 | #define KEY3 0x04 |
65 | #define KEY3 0x04 |
66 | #define KEY4 0x08 |
66 | #define KEY4 0x08 |
67 | #define KEY5 0x10 |
67 | #define KEY5 0x10 |
68 | 68 | ||
69 | void LcdClear(void) |
69 | void LcdClear(void) |
70 | { |
70 | { |
71 | unsigned char i; |
71 | unsigned char i; |
72 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
72 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
73 | } |
73 | } |
74 | 74 | ||
75 | void Menu_Putchar(char c) |
75 | void Menu_Putchar(char c) |
76 | { |
76 | { |
77 | if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
77 | if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
78 | } |
78 | } |
79 | 79 | ||
80 | void Menu(void) |
80 | void Menu(void) |
81 | { |
81 | { |
82 | unsigned char i; |
82 | unsigned char i; |
83 | if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
83 | if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
84 | if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
84 | if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
85 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
85 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
86 | LcdClear(); |
86 | LcdClear(); |
87 | if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
87 | if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
88 | else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
88 | else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
89 | 89 | ||
90 | switch(MenuePunkt) |
90 | switch(MenuePunkt) |
91 | { |
91 | { |
92 | case 0: |
92 | case 0: |
93 | LCD_printfxy(0,0,"+ MikroKopter +"); |
93 | LCD_printfxy(0,0,"+ MikroKopter +"); |
94 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c V4",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
94 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c V4",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
95 | LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
95 | LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
96 | 96 | ||
97 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
97 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
98 | else |
98 | else |
99 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
99 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
100 | if(NC_ErrorCode) |
100 | if(NC_ErrorCode) |
101 | { |
101 | { |
102 | LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
102 | LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
103 | _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
103 | _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
104 | } |
104 | } |
105 | else |
105 | else |
106 | #endif |
106 | #endif |
107 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
107 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
108 | else |
108 | else |
109 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
109 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
110 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
110 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
111 | #else |
111 | #else |
112 | else |
112 | else |
113 | if(NC_ErrorCode) |
113 | if(NC_ErrorCode) |
114 | { |
114 | { |
115 | LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
115 | LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
116 | } |
116 | } |
117 | #endif |
117 | #endif |
118 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
118 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
119 | else |
119 | else |
120 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
120 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
121 | break; |
121 | break; |
122 | case 1: |
122 | case 1: |
123 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
123 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
124 | { |
124 | { |
125 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
125 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
126 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
126 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
127 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
127 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
128 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
128 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
- | 129 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
- | 130 | if(ACC_AltitudeControl) LCD_printfxy(17,3,"(A)",OCR0A); |
|
- | 131 | #endif |
|
129 | } |
132 | } |
130 | else |
133 | else |
131 | { |
134 | { |
132 | LCD_printfxy(0,0,"Height control"); |
135 | LCD_printfxy(0,0,"Height control"); |
133 | LCD_printfxy(0,1,"DISABLED"); |
136 | LCD_printfxy(0,1,"DISABLED"); |
134 | //LCD_printfxy(0,2,"Height control"); |
137 | //LCD_printfxy(0,2,"Height control"); |
135 | //LCD_printfxy(0,3,"DISABLED"); |
138 | //LCD_printfxy(0,3,"DISABLED"); |
136 | } |
139 | } |
137 | 140 | ||
138 | break; |
141 | break; |
139 | case 2: |
142 | case 2: |
140 | LCD_printfxy(0,0,"act. bearing"); |
143 | LCD_printfxy(0,0,"act. bearing"); |
141 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
144 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
142 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
145 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
143 | LCD_printfxy(0,3,"Compass: %5i",ErsatzKompassInGrad); |
146 | LCD_printfxy(0,3,"Compass: %5i",ErsatzKompassInGrad); |
144 | break; |
147 | break; |
145 | case 3: |
148 | case 3: |
146 | for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]); |
149 | for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]); |
147 | break; |
150 | break; |
148 | case 4: |
151 | case 4: |
149 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
152 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
150 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
153 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
151 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
154 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
152 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
155 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
153 | break; |
156 | break; |
154 | case 5: |
157 | case 5: |
155 | LCD_printfxy(0,0,"Gyro - Sensor"); |
158 | LCD_printfxy(0,0,"Gyro - Sensor"); |
156 | if(PlatinenVersion == 10) |
159 | if(PlatinenVersion == 10) |
157 | { |
160 | { |
158 | LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
161 | LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
159 | LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
162 | LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
160 | LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
163 | LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
161 | } |
164 | } |
162 | else |
165 | else |
163 | if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
166 | if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
164 | { |
167 | { |
165 | LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
168 | LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
166 | LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
169 | LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
167 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
170 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
168 | } |
171 | } |
169 | else |
172 | else |
170 | if(PlatinenVersion == 13) |
173 | if(PlatinenVersion == 13) |
171 | { |
174 | { |
172 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
175 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
173 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
176 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
174 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
177 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
175 | } |
178 | } |
176 | break; |
179 | break; |
177 | case 6: |
180 | case 6: |
178 | LCD_printfxy(0,0,"ACC - Sensor"); |
181 | LCD_printfxy(0,0,"ACC - Sensor"); |
179 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
182 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
180 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
183 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
181 | LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
184 | LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
182 | break; |
185 | break; |
183 | case 7: |
186 | case 7: |
184 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
187 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
185 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
188 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
186 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
189 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
187 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
190 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
188 | break; |
191 | break; |
189 | case 8: |
192 | case 8: |
190 | LCD_printfxy(0,0,"Receiver"); |
193 | LCD_printfxy(0,0,"Receiver"); |
191 | LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
194 | LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
192 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
195 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
193 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
196 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
194 | break; |
197 | break; |
195 | case 9: |
198 | case 9: |
196 | LCD_printfxy(0,0,"Compass"); |
199 | LCD_printfxy(0,0,"Compass"); |
197 | LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
200 | LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
198 | LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
201 | LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
199 | LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert); |
202 | LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert); |
200 | break; |
203 | break; |
201 | case 10: |
204 | case 10: |
202 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
205 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
203 | break; |
206 | break; |
204 | case 11: |
207 | case 11: |
205 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
208 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
206 | break; |
209 | break; |
207 | case 12: |
210 | case 12: |
208 | LCD_printfxy(0,0,"Servo " ); |
211 | LCD_printfxy(0,0,"Servo " ); |
209 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
212 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
210 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
213 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
211 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
214 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
212 | break; |
215 | break; |
213 | /* case 13: |
216 | /* case 13: |
214 | LCD_printfxy(0,0,"ExternControl " ); |
217 | LCD_printfxy(0,0,"ExternControl " ); |
215 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
218 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
216 | LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
219 | LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
217 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
220 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
218 | break; |
221 | break; |
219 | */ |
222 | */ |
220 | case 13: |
223 | case 13: |
221 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
224 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
222 | for(i=0;i<3;i++) |
225 | for(i=0;i<3;i++) |
223 | { |
226 | { |
224 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
227 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
225 | // if(i*4 >= RequiredMotors) break; |
228 | // if(i*4 >= RequiredMotors) break; |
226 | } |
229 | } |
227 | break; |
230 | break; |
228 | case 14: |
231 | case 14: |
229 | LCD_printfxy(0,0,"BL Temperature" ); |
232 | LCD_printfxy(0,0,"BL Temperature" ); |
230 | for(i=0;i<3;i++) |
233 | for(i=0;i<3;i++) |
231 | { |
234 | { |
232 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
235 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
233 | // if(4 + i * 4 >= RequiredMotors) break; |
236 | // if(4 + i * 4 >= RequiredMotors) break; |
234 | } |
237 | } |
235 | break; |
238 | break; |
236 | case 15: |
239 | case 15: |
237 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
240 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
238 | 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)); |
241 | 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)); |
239 | 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)); |
242 | 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)); |
240 | LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
243 | LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
241 | if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
244 | if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
242 | if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
245 | if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
243 | if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
246 | if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
244 | break; |
247 | break; |
245 | case 16: |
248 | case 16: |
246 | LCD_printfxy(0,0,"Flight-Time " ); |
249 | LCD_printfxy(0,0,"Flight-Time " ); |
247 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
250 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
248 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
251 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
249 | LCD_printfxy(13,3,"(reset)"); |
252 | LCD_printfxy(13,3,"(reset)"); |
250 | if(RemoteKeys & KEY4) |
253 | if(RemoteKeys & KEY4) |
251 | { |
254 | { |
252 | FlugMinuten = 0; |
255 | FlugMinuten = 0; |
253 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
256 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
254 | } |
257 | } |
255 | break; |
258 | break; |
256 | default: |
259 | default: |
257 | if(MenuePunkt == MaxMenue) MaxMenue--; |
260 | if(MenuePunkt == MaxMenue) MaxMenue--; |
258 | MenuePunkt = 0; |
261 | MenuePunkt = 0; |
259 | break; |
262 | break; |
260 | } |
263 | } |
261 | RemoteKeys = 0; |
264 | RemoteKeys = 0; |
262 | } |
265 | } |
263 | 266 |