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#include "libfc.h"
#include "printf_P.h"
#include "main.h"
#include "spi.h"
#include "capacity.h"
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
#define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);}
#define HoTT_printfxy(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);}
#define HoTT_printfxy_INV(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);}
#define HoTT_printfxy_BLINK(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);}
#define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);}
#define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);}
#define VOICE_MINIMALE_EINGANSSPANNUNG 16
#define VOICE_BEEP 5
#define HoTT_GRAD 96
#define HoTT_LINKS 123
#define HoTT_RECHTS 124
#define HoTT_OBEN 125
#define HoTT_UNTEN 126
const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] =
{
//0123456789123456
"No Error \0", // 0
"Not compatible \0", // 1
"MK3Mag not compa\0", // 2
"No FC communicat\0", // 3
"MK3Mag communica\0", // 4
"GPS communicatio\0", // 5
"compass value \0", // 6
"RC Signal lost \0", // 7
"FC spi rx error \0", // 8
"No NC communicat\0", // 9
"FC Nick Gyro \0", // 10
"FC Roll Gyro \0", // 11
"FC Yaw Gyro \0", // 12
"FC Nick ACC \0", // 13
"FC Roll ACC \0", // 14
"FC Z-ACC \0", // 15
"Pressure sensor \0", // 16
"FC I2C \0", // 17
"Bl Missing \0", // 18
"Mixer Error \0", // 19
"Carefree Error \0" // 20
};
//---------------------------------------------------------------
void Hott_ClearLine(unsigned char line)
{
HoTT_printfxy(0,line," ");
}
//---------------------------------------------------------------
unsigned char HoTT_Waring(void)
{
if(FC_StatusFlags & FC_STATUS_LOWBAT) return(VOICE_MINIMALE_EINGANSSPANNUNG);
if(MotorenEin && NC_ErrorCode) return(VOICE_BEEP);
return(0);
}
//---------------------------------------------------------------
unsigned char HoTT_Telemety(unsigned char packet_request)
{
switch(packet_request)
{
case HOTT_VARIO_PACKET_ID:
VarioPacket.Altitude = HoehenWert/100 + 500;
if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude;
if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude;
VarioPacket.WarnBeep = HoTT_Waring();
HoTT_DataPointer = (unsigned char *) &VarioPacket;
return(sizeof(VarioPacket));
break;
case HOTT_GPS_PACKET_ID:
GPSPacket.Altitude = HoehenWert/100 + 500;
GPSPacket.Distance = GPSInfo.HomeDistance/10;
GPSPacket.Heading = KompassValue/2;
GPSPacket.Speed = (GPSInfo.Speed * 36) / 10;
GPSPacket.m_sec = GPSInfo.Speed+120;
GPSPacket.m_3sec = 120;
GPSPacket.m_10sec = 0;
GPSPacket.WarnBeep = HoTT_Waring();
HoTT_DataPointer = (unsigned char *) &GPSPacket;
return(sizeof(GPSPacket));
break;
case HOTT_ELECTRIC_AIR_PACKET_ID:
ElectricAirPacket.Altitude = HoehenWert/1000 + 500; ;
ElectricAirPacket.Battery1 = UBat;
ElectricAirPacket.Capacity = Capacity.UsedCapacity;
ElectricAirPacket.WarnBeep = HoTT_Waring();
HoTT_DataPointer = (unsigned char *) &ElectricAirPacket;
return(sizeof(ElectricAirPacket));
break;
default: return(0);
}
}
//---------------------------------------------------------------
void HoTT_Menu(void)
{
static unsigned char line, page = 0;
unsigned char tmp;
if(page == 0)
switch(line++)
{
case 0:
if(FC_StatusFlags & FC_STATUS_LOWBAT)
HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity)
else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity);
break;
case 1:
HoTT_printfxy(0,1,"DIR:%3d%c",KompassValue, HoTT_GRAD);
if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
{
if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100))
else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100))
}
else HoTT_printfxy(10,1,"ALT:---- ");
HoTT_printfxy(20,1,"%c",VarioCharacter);
break;
case 2:
if(NaviDataOkay)
{
HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter);
}
else
{
Hott_ClearLine(2);
}
break;
case 3:
HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower);
break;
case 4:
if(NaviDataOkay)
{
HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats);
switch (GPSInfo.SatFix)
{
case SATFIX_3D:
HoTT_printfxy(16,4," 3D ");
break;
//case SATFIX_2D:
//case SATFIX_NONE:
default:
HoTT_printfxy_BLINK(16,4,"NOFIX");
break;
}
if(GPSInfo.Flags & FLAG_DIFFSOLN)
{
HoTT_printfxy(16,4,"DGPS ");
}
}
else
{ //012345678901234567890
HoTT_printfxy(0,4," No NaviCtrl ");
}
break;
case 5:
HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD);
if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(18,5,"CF") else HoTT_printfxy(18,5," ");
break;
case 6:
if(RequiredMotors == 4) Hott_ClearLine(6);
else
if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD)
else
if(RequiredMotors > 6) HoTT_printfxy(0,6,"%3i %3i %3i %3i%cC", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature,HoTT_GRAD);
//HoTT_printfxy(15,6,"%KEY:%02x",HottKeyboard);
break;
case 7: if(NC_ErrorCode)
{
if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER)
{
Hott_ClearLine(7);
HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode);
}
else
{
HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);};
}
else HoTT_printfxy(0,7," www.MikroKopter.de ");
break;
case 8: ASCIIPacket.WarnBeep = HoTT_Waring();
// ASCIIPacket.WarnBeep = Parameter_UserParam1;
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == 8) { LIBFC_HoTT_Clear(); page = 1; line = 0;};
HottKeyboard = 0;
break;
default: line = 0;
break;
}
else
if(page == 1)
switch(line++)
{
case 0:
HoTT_printfxy_INV(0,0,"Setting:%u %s ",GetActiveParamSet(),EE_Parameter.Name);
break;
case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name);
break;
case 2: HoTT_printfxy(0,2,"ALT:");
if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
{
if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter)
else
{
if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) ");
if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter)
else HoTT_printf("VARIO", Parameter_HoehenSchalter);
}
}
else
HoTT_printf("DISABLED");
break;
case 3: HoTT_printfxy(0,3,"CF:");
if(!EE_Parameter.CareFreeModeControl) HoTT_printf("DISABLED")
else
{
if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)");
if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH");
}
break;
case 4: HoTT_printfxy(0,4,"GPS:");
if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED")
else
{
CHK_POTI(tmp,EE_Parameter.NaviGpsModeControl);
if(tmp < 50) HoTT_printf("(FREE)")
else
if(tmp >= 180) HoTT_printf("(HOME)")
else
if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ")
else HoTT_printf("(HOLD)")
}
if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime)
break;
case 5: HoTT_printfxy(0,5,"HOME ALT:");
if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD ");
break;
case 6:
HoTT_printfxy(0,6,"Ni:%4i Ro:%4i C:%3i",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]], Parameter_ServoNickControl);
HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
break;
case 7: //HoTT_printfxy(0,6,"WARNINGS:");
if(HoTTBlink)
{
LIBFC_HoTT_SetPos(6 * 21);
if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! ");
if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! ");
if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! ");
if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! ");
}
break;
case 8: ASCIIPacket.WarnBeep = HoTT_Waring();
break;
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
if(HottKeyboard == 1) { LIBFC_HoTT_Clear(); page = 0; line = 0;};
HottKeyboard = 0;
break;
default: line = 0;
break;
}
else page = 0;
}
#endif