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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 = 19; |
59 | unsigned char MaxMenue = 19; |
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.%02d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
94 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%02d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
95 | LCD_printfxy(0,2,"Set:%d %s", ActiveParamSet,Mixer.Name); |
95 | LCD_printfxy(0,2,"Set:%d %s", ActiveParamSet,Mixer.Name); |
96 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
96 | if(FC_StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
97 | 97 | ||
98 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
98 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
99 | else |
99 | else |
100 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
100 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
101 | if(NC_ErrorCode) |
101 | if(NC_ErrorCode) |
102 | { |
102 | { |
103 | LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
103 | LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
104 | _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
104 | _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
105 | } |
105 | } |
106 | else |
106 | else |
107 | #endif |
107 | #endif |
108 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
108 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
109 | else |
109 | else |
110 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d !!",MissingMotor) |
110 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d !!",MissingMotor) |
111 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
111 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
112 | #else |
112 | #else |
113 | else |
113 | else |
114 | if(NC_ErrorCode) |
114 | if(NC_ErrorCode) |
115 | { |
115 | { |
116 | LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
116 | LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
117 | } |
117 | } |
118 | #endif |
118 | #endif |
119 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
119 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
120 | else |
120 | else |
121 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
121 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
122 | else |
122 | else |
123 | if(Capacity.MinOfMaxPWM < 30) LCD_printfxy(0,3,"BL-Selftest Err:%2d",Capacity.MinOfMaxPWM) |
123 | if(Capacity.MinOfMaxPWM < 30) LCD_printfxy(0,3,"BL-Selftest Err:%2d",Capacity.MinOfMaxPWM) |
124 | 124 | ||
125 | break; |
125 | break; |
126 | case 1: |
126 | case 1: |
127 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
127 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
128 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
128 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
129 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
129 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
130 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
130 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
131 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
131 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
132 | if(ACC_AltitudeControl) |
132 | if(ACC_AltitudeControl) |
133 | { |
133 | { |
134 | LCD_printfxy(17,2,"(A)"); |
134 | LCD_printfxy(17,2,"(A)"); |
135 | LCD_printfxy(17,3,"%i",CalAthmospheare); |
135 | LCD_printfxy(17,3,"%i",CalAthmospheare); |
136 | } |
136 | } |
137 | #endif |
137 | #endif |
138 | break; |
138 | break; |
139 | case 2: |
139 | case 2: |
140 | LCD_printfxy(0,0,"act. bearing"); |
140 | LCD_printfxy(0,0,"act. bearing"); |
141 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
141 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
142 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
142 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
143 | LCD_printfxy(0,3,"Compass: %5i",CompassCorrected); |
143 | LCD_printfxy(0,3,"Compass: %5i",CompassCorrected); |
144 | break; |
144 | break; |
145 | case 3: |
145 | 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]); |
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]); |
147 | break; |
147 | break; |
148 | case 4: |
148 | case 4: |
149 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",ChannelNick,ChannelRoll); |
149 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",ChannelNick,ChannelRoll); |
150 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",ChannelGas+127,ChannelYaw); |
150 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",ChannelGas+127,ChannelYaw); |
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); |
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); |
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); |
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); |
153 | break; |
153 | break; |
154 | case 5: |
154 | case 5: |
155 | LCD_printfxy(0,0,"Gyro - Sensor"); |
155 | LCD_printfxy(0,0,"Gyro - Sensor"); |
156 | LCD_printfxy(0,1,"Nick %4i (%4i)",AdWertNick - AdNeutralNick/8, AdNeutralNick); |
156 | LCD_printfxy(0,1,"Nick %4i (%4i)",AdWertNick - AdNeutralNick/8, AdNeutralNick); |
157 | LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll); |
157 | LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll); |
158 | LCD_printfxy(0,3,"Yaw %4i (%4i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
158 | LCD_printfxy(0,3,"Yaw %4i (%4i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
159 | // LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
159 | // LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
160 | // LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
160 | // LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
161 | // LCD_printfxy(0,1,"Nick %4i (%4i)",AdWertNickFilter, AdNeutralNick); |
161 | // LCD_printfxy(0,1,"Nick %4i (%4i)",AdWertNickFilter, AdNeutralNick); |
162 | // LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRollFilter, AdNeutralRoll); |
162 | // LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRollFilter, AdNeutralRoll); |
163 | // LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
163 | // LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
164 | 164 | ||
165 | /* |
165 | /* |
166 | // entfernt aus Platzmangel |
166 | // entfernt aus Platzmangel |
167 | if(PlatinenVersion == 10) |
167 | if(PlatinenVersion == 10) |
168 | { |
168 | { |
169 | LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
169 | LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
170 | LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
170 | LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
171 | LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
171 | LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
172 | } |
172 | } |
173 | else |
173 | else |
174 | if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
174 | if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
175 | { |
175 | { |
176 | LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
176 | LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
177 | LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
177 | LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
178 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
178 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
179 | } |
179 | } |
180 | else |
180 | else |
181 | if(PlatinenVersion == 13) |
181 | if(PlatinenVersion == 13) |
182 | { |
182 | { |
183 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
183 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
184 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
184 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
185 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
185 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
186 | } |
186 | } |
187 | */ |
187 | */ |
188 | break; |
188 | break; |
189 | case 6: |
189 | case 6: |
190 | LCD_printfxy(0,0,"ACC - Sensor"); |
190 | LCD_printfxy(0,0,"ACC - Sensor"); |
191 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
191 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
192 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
192 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
193 | LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
193 | LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
194 | break; |
194 | break; |
195 | case 7: |
195 | case 7: |
196 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
196 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
197 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
197 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
198 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
198 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
199 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
199 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
200 | break; |
200 | break; |
201 | case 8: |
201 | case 8: |
202 | LCD_printfxy(0,0,"Receiver"); |
202 | LCD_printfxy(0,0,"Receiver"); |
203 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
203 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
204 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
204 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
205 | break; |
205 | break; |
206 | case 9: |
206 | case 9: |
207 | LCD_printfxy(0,0,"Undervoltages " ); |
207 | LCD_printfxy(0,0,"Undervoltages " ); |
208 | LCD_printfxy(0,1,"Warn: %2d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
208 | LCD_printfxy(0,1,"Warn: %2d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
209 | LCD_printfxy(0,2,"Home: %2d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
209 | LCD_printfxy(0,2,"Home: %2d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
210 | LCD_printfxy(0,3,"Land: %2d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
210 | LCD_printfxy(0,3,"Land: %2d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
211 | break; |
211 | break; |
212 | case 10: |
212 | case 10: |
213 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
213 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
214 | break; |
214 | break; |
215 | case 11: |
215 | case 11: |
216 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
216 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
217 | break; |
217 | break; |
218 | case 12: |
218 | case 12: |
219 | LCD_printfxy(0,0,"Flight-Time " ); |
219 | LCD_printfxy(0,0,"Flight-Time " ); |
220 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
220 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
221 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
221 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
222 | LCD_printfxy(13,3,"(reset)"); |
222 | LCD_printfxy(13,3,"(reset)"); |
223 | if(RemoteKeys & KEY4) |
223 | if(RemoteKeys & KEY4) |
224 | { |
224 | { |
225 | FlugMinuten = 0; |
225 | FlugMinuten = 0; |
226 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
226 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
227 | } |
227 | } |
228 | break; |
228 | break; |
229 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
229 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
230 | case 13: |
230 | case 13: |
231 | LCD_printfxy(0,0,"Compass"); |
231 | LCD_printfxy(0,0,"Compass"); |
232 | LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
232 | LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
233 | LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
233 | LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
234 | LCD_printfxy(0,3,"True: %5i",CompassCorrected); |
234 | LCD_printfxy(0,3,"True: %5i",CompassCorrected); |
235 | break; |
235 | break; |
236 | case 14: |
236 | case 14: |
237 | LCD_printfxy(0,0,"Servo " ); |
237 | LCD_printfxy(0,0,"Servo " ); |
238 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
238 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
239 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
239 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
240 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
240 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
241 | break; |
241 | break; |
242 | case 15: |
242 | case 15: |
- | 243 | if(RequiredMotors < 13) |
|
- | 244 | { |
|
243 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
245 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
244 | for(i=0;i<3;i++) |
246 | for(i=0;i<3;i++) |
- | 247 | 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); |
|
- | 248 | } |
|
- | 249 | else |
|
245 | { |
250 | { |
- | 251 | for(i=0;i<4;i++) |
|
246 | 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); |
252 | LCD_printfxy(0,i,"%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); |
- | 253 | LCD_printfxy(16,1,"BL-"); |
|
- | 254 | LCD_printfxy(16,2,"Err."); |
|
247 | } |
255 | } |
248 | break; |
256 | break; |
249 | case 16: |
257 | case 16: |
- | 258 | if(RequiredMotors < 13) |
|
- | 259 | { |
|
250 | LCD_printfxy(0,0,"BL Temperature" ); |
260 | LCD_printfxy(0,0,"BL- Temperature" ); |
251 | for(i=0;i<3;i++) |
261 | for(i=0;i<3;i++) |
- | 262 | { |
|
- | 263 | 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); |
|
- | 264 | } |
|
- | 265 | } |
|
- | 266 | else |
|
252 | { |
267 | { |
- | 268 | for(i=0;i<4;i++) |
|
- | 269 | { |
|
253 | 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); |
270 | LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
- | 271 | } |
|
- | 272 | LCD_printfxy(16,1,"BL-"); |
|
- | 273 | LCD_printfxy(16,2,"Temp"); |
|
254 | } |
274 | } |
- | 275 | LCD_printfxy(18,3,"C"); |
|
255 | break; |
276 | break; |
256 | case 17: |
277 | case 17: |
- | 278 | if(RequiredMotors < 13) |
|
- | 279 | { |
|
257 | LCD_printfxy(0,0,"BL Current" ); |
280 | LCD_printfxy(0,0,"BL Current" ); |
258 | LCD_printfxy(11,3,"(in 0.1A)" ); |
281 | LCD_printfxy(11,3,"(in 0.1A)" ); |
259 | for(i=0;i<3;i++) |
282 | for(i=0;i<3;i++) |
260 | { |
283 | { |
261 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
284 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
262 | if(4 + i * 4 >= RequiredMotors) break; |
285 | if(4 + i * 4 >= RequiredMotors) break; |
- | 286 | } |
|
- | 287 | } |
|
- | 288 | else |
|
- | 289 | { |
|
- | 290 | for(i=0;i<4;i++) |
|
- | 291 | { |
|
- | 292 | LCD_printfxy(0,i,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
|
- | 293 | } |
|
- | 294 | LCD_printfxy(16,2,"BL-"); |
|
- | 295 | LCD_printfxy(16,3,"I"); |
|
263 | } |
296 | } |
264 | break; |
297 | break; |
265 | case 18: |
298 | case 18: |
266 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
299 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
- | 300 | DispPtr = 20; |
|
267 | 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)); |
301 | for(i=0; i<MAX_MOTORS; i++) |
268 | 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)); |
- | |
- | 302 | { |
|
269 | LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
303 | if(i == 6 || i == 12) LCD_printf(" "); |
270 | if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
304 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
- | 305 | { |
|
271 | if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
306 | LCD_printf(" %2i",i+1); |
- | 307 | } |
|
272 | if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
308 | else LCD_printf(" -"); |
- | 309 | } |
|
273 | break; |
310 | break; |
274 | case 19: |
311 | case 19: |
- | 312 | if(RequiredMotors < 13) |
|
- | 313 | { |
|
275 | LCD_printfxy(0,0,"BL Versions" ); |
314 | LCD_printfxy(0,0,"BL Versions" ); |
276 | for(i=0;i<3;i++) |
315 | for(i=0;i<3;i++) |
- | 316 | { |
|
277 | { |
317 | LCD_printfxy(0,i+1,"%1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
- | 318 | if(4 + i * 4 >= RequiredMotors) break; |
|
- | 319 | } |
|
- | 320 | } |
|
- | 321 | else |
|
- | 322 | { |
|
278 | LCD_printfxy(0,i+1,"%1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
323 | for(i=0;i<4;i++) |
279 | if(4 + i * 4 >= RequiredMotors) break; |
324 | LCD_printfxy(0,i," %1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
280 | } |
325 | } |
281 | break; |
326 | break; |
282 | /* |
327 | /* |
283 | case 19: |
328 | case 19: |
284 | LCD_printfxy(0,0,"BL MaxPWM " ); |
329 | LCD_printfxy(0,0,"BL MaxPWM " ); |
285 | for(i=0;i<3;i++) |
330 | for(i=0;i<3;i++) |
286 | { |
331 | { |
287 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].MaxPWM,Motor[i*4+1].MaxPWM,Motor[i*4+2].MaxPWM,Motor[i*4+3].MaxPWM); |
332 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].MaxPWM,Motor[i*4+1].MaxPWM,Motor[i*4+2].MaxPWM,Motor[i*4+3].MaxPWM); |
288 | if(4 + i * 4 >= RequiredMotors) break; |
333 | if(4 + i * 4 >= RequiredMotors) break; |
289 | } |
334 | } |
290 | break; |
335 | break; |
291 | */ |
336 | */ |
292 | #endif |
337 | #endif |
293 | default: |
338 | default: |
294 | if(MenuePunkt == MaxMenue) MaxMenue--; |
339 | if(MenuePunkt == MaxMenue) MaxMenue--; |
295 | MenuePunkt = 0; |
340 | MenuePunkt = 0; |
296 | break; |
341 | break; |
297 | } |
342 | } |
298 | RemoteKeys = 0; |
343 | RemoteKeys = 0; |
299 | } |
344 | } |
300 | 345 |