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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + see the File "License.txt" for further Informations |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 685 | killagreg | 7 | |
| 8 | |||
| 9 | #include <inttypes.h> |
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| 1 | ingob | 10 | #include "main.h" |
| 687 | killagreg | 11 | #include "eeprom.h" |
| 685 | killagreg | 12 | #include "timer2.h" |
| 13 | #include "fc.h" |
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| 14 | #include "rc.h" |
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| 15 | #include "uart.h" |
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| 16 | #include "printf_P.h" |
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| 17 | #include "analog.h" |
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| 694 | killagreg | 18 | #include "mm3.h" |
| 702 | killagreg | 19 | #include "ubx.h" |
| 685 | killagreg | 20 | #include "_Settings.h" |
| 1 | ingob | 21 | |
| 685 | killagreg | 22 | #define ARRAYSIZE 10 |
| 23 | uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
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| 24 | #define DISPLAYBUFFSIZE 80 |
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| 25 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
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| 26 | uint8_t DispPtr = 0; |
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| 27 | uint8_t RemoteButtons = 0; |
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| 1 | ingob | 28 | |
| 29 | #define KEY1 0x01 |
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| 30 | #define KEY2 0x02 |
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| 31 | #define KEY3 0x04 |
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| 32 | #define KEY4 0x08 |
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| 33 | #define KEY5 0x10 |
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| 34 | |||
| 685 | killagreg | 35 | /************************************/ |
| 36 | /* Clear LCD Buffer */ |
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| 37 | /************************************/ |
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| 38 | void LCD_Clear(void) |
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| 1 | ingob | 39 | { |
| 685 | killagreg | 40 | uint8_t i; |
| 41 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 42 | } |
| 43 | |||
| 685 | killagreg | 44 | |
| 45 | /************************************/ |
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| 46 | /* Update Menu on LCD */ |
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| 47 | /************************************/ |
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| 48 | // Display with 20 characters in 4 lines |
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| 49 | void LCD_PrintMenu(void) |
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| 1 | ingob | 50 | { |
| 702 | killagreg | 51 | static uint8_t MaxMenuItem = 14, MenuItem=0; |
| 683 | killagreg | 52 | |
| 685 | killagreg | 53 | // if KEY1 is activated goto previous menu item |
| 54 | if(RemoteButtons & KEY1) |
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| 55 | { |
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| 56 | if(MenuItem) MenuItem--; |
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| 57 | else MenuItem = MaxMenuItem; |
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| 58 | LCD_Clear(); |
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| 59 | RemotePollDisplayLine = -1; |
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| 60 | } |
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| 61 | // if KEY2 is activated goto next menu item |
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| 62 | if(RemoteButtons & KEY2) |
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| 63 | { |
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| 64 | if (MenuItem == MaxMenuItem) MenuItem = 0; |
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| 65 | else MenuItem++; |
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| 66 | LCD_Clear(); |
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| 67 | RemotePollDisplayLine = -1; |
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| 68 | } |
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| 69 | |||
| 70 | // if KEY1 and KEY2 is activated goto initial menu item |
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| 71 | if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
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| 72 | |||
| 73 | // print menu item number in the upper right corner |
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| 74 | if(MenuItem < 10) |
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| 75 | { |
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| 76 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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| 77 | } |
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| 78 | else |
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| 79 | { |
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| 80 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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| 81 | } |
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| 82 | |||
| 83 | switch(MenuItem) |
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| 84 | { |
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| 85 | case 0:// Version Info Menu Item |
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| 595 | hbuss | 86 | LCD_printfxy(0,0,"+ MikroKopter +"); |
| 685 | killagreg | 87 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
| 687 | killagreg | 88 | LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
| 1 | ingob | 89 | LCD_printfxy(0,3,"(c) Holger Buss"); |
| 90 | break; |
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| 685 | killagreg | 91 | case 1:// Hight Control Menu Item |
| 690 | killagreg | 92 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| 683 | killagreg | 93 | { |
| 701 | killagreg | 94 | LCD_printfxy(0,0,"Hight: %5i",ReadingHight); |
| 95 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHight); |
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| 96 | LCD_printfxy(0,2,"Air Press.: %5i",ReadingAirPressure); |
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| 694 | killagreg | 97 | LCD_printfxy(0,3,"Offset : %5i",DruckOffsetSetting); |
| 1 | ingob | 98 | } |
| 683 | killagreg | 99 | else |
| 100 | { |
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| 694 | killagreg | 101 | LCD_printfxy(0,1,"No "); |
| 102 | LCD_printfxy(0,2,"Hight Control"); |
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| 1 | ingob | 103 | } |
| 683 | killagreg | 104 | |
| 1 | ingob | 105 | break; |
| 685 | killagreg | 106 | case 2:// Attitude Menu Item |
| 694 | killagreg | 107 | LCD_printfxy(0,0,"Attitude"); |
| 701 | killagreg | 108 | LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024); |
| 1 | ingob | 109 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| 701 | killagreg | 110 | LCD_printfxy(0,3,"Compass: %5i",CompassHeading); |
| 1 | ingob | 111 | break; |
| 685 | killagreg | 112 | case 3:// Remote Control Channel Menu Item |
| 694 | killagreg | 113 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| 114 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
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| 115 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
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| 116 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
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| 1 | ingob | 117 | break; |
| 685 | killagreg | 118 | case 4:// Remote Control Mapping Menu Item |
| 701 | killagreg | 119 | LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| 707 | killagreg | 120 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| 690 | killagreg | 121 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
| 122 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
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| 1 | ingob | 123 | break; |
| 685 | killagreg | 124 | case 5:// Gyro Sensor Menu Item |
| 1 | ingob | 125 | LCD_printfxy(0,0,"Gyro - Sensor"); |
| 685 | killagreg | 126 | if(BoardRelease == 10) |
| 401 | hbuss | 127 | { |
| 701 | killagreg | 128 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch); |
| 129 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
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| 130 | LCD_printfxy(0,3,"Yaw %4i (%3i)",ReadingYaw, AdNeutralYaw); |
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| 401 | hbuss | 131 | } |
| 683 | killagreg | 132 | else |
| 401 | hbuss | 133 | { |
| 701 | killagreg | 134 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2); |
| 135 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
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| 136 | LCD_printfxy(0,3,"Yaw %4i (%3i)",ReadingYaw, AdNeutralYaw/2); |
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| 401 | hbuss | 137 | } |
| 1 | ingob | 138 | break; |
| 685 | killagreg | 139 | case 6:// Acceleration Sensor Menu Item |
| 1 | ingob | 140 | LCD_printfxy(0,0,"ACC - Sensor"); |
| 703 | killagreg | 141 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX); |
| 142 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
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| 143 | LCD_printfxy(0,3,"Hight %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
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| 1 | ingob | 144 | break; |
| 685 | killagreg | 145 | case 7:// Accumulator Voltage / Remote Control Level |
| 694 | killagreg | 146 | LCD_printfxy(0,1,"Voltage: %5i",UBat); |
| 147 | LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay); |
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| 1 | ingob | 148 | break; |
| 685 | killagreg | 149 | case 8:// Compass Menu Item |
| 694 | killagreg | 150 | LCD_printfxy(0,0,"Compass "); |
| 701 | killagreg | 151 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
| 152 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
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| 153 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
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| 1 | ingob | 154 | break; |
| 685 | killagreg | 155 | case 9:// Poti Menu Item |
| 1 | ingob | 156 | LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| 157 | LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
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| 158 | LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
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| 159 | LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
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| 160 | break; |
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| 685 | killagreg | 161 | case 10:// Servo Menu Item |
| 1 | ingob | 162 | LCD_printfxy(0,0,"Servo " ); |
| 703 | killagreg | 163 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl); |
| 694 | killagreg | 164 | LCD_printfxy(0,2,"Position: %3i",ServoValue); |
| 703 | killagreg | 165 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax); |
| 1 | ingob | 166 | break; |
| 685 | killagreg | 167 | case 11://Extern Control |
| 595 | hbuss | 168 | LCD_printfxy(0,0,"ExternControl " ); |
| 703 | killagreg | 169 | LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll); |
| 707 | killagreg | 170 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw); |
| 703 | killagreg | 171 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight, ExternControl.Config); |
| 595 | hbuss | 172 | break; |
| 694 | killagreg | 173 | case 12:// MM3 Kompass |
| 174 | LCD_printfxy(0,0,"MM3 Offset"); |
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| 175 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
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| 176 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
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| 177 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
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| 178 | break; |
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| 179 | case 13://MM3 Range |
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| 180 | LCD_printfxy(0,0,"MM3 Range"); |
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| 181 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
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| 182 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
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| 183 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
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| 702 | killagreg | 184 | break; |
| 185 | case 14://GPS Status |
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| 186 | LCD_printfxy(0,0,"GPS Status"); |
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| 187 | if (GPSInfo.status == INVALID) |
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| 188 | { |
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| 189 | LCD_printfxy(0,1,"No data available!"); |
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| 190 | } |
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| 191 | else |
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| 192 | { |
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| 193 | switch (GPSInfo.satfix) |
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| 194 | { |
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| 195 | case SATFIX_NONE: |
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| 196 | LCD_printfxy(0,1,"Satfix: None"); |
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| 197 | break; |
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| 198 | case SATFIX_2D: |
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| 199 | LCD_printfxy(0,1,"Satfix: 2D"); |
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| 200 | break; |
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| 201 | case SATFIX_3D: |
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| 202 | LCD_printfxy(0,1,"Satfix: 3D"); |
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| 203 | break; |
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| 204 | default: |
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| 205 | LCD_printfxy(0,1,"Satfix: Unknown"); |
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| 206 | break; |
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| 207 | } |
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| 208 | } |
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| 209 | break; |
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| 685 | killagreg | 210 | default: MaxMenuItem = MenuItem - 1; |
| 211 | MenuItem = 0; |
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| 1 | ingob | 212 | break; |
| 213 | } |
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| 685 | killagreg | 214 | RemoteButtons = 0; |
| 304 | ingob | 215 | } |