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Rev 2496 | Rev 2522 | ||
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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++) |