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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
1180 killagreg 3
// + Nur für den privaten Gebrauch
1 ingob 4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1180 killagreg 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25
// + mit unserer Zustimmung zulässig
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34
// +     for non-commercial use (directly or indirectly)
35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36
// +     with our written permission
37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49
// +  POSSIBILITY OF SUCH DAMAGE.
50
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 51
#include <stdlib.h>
52
#include <inttypes.h>
1 ingob 53
#include "main.h"
886 killagreg 54
#include "eeprom.h"
55
#include "timer2.h"
56
#include "fc.h"
57
#include "rc.h"
1180 killagreg 58
#include "uart0.h"
886 killagreg 59
#include "printf_P.h"
60
#include "analog.h"
1078 killagreg 61
 
886 killagreg 62
#ifdef USE_KILLAGREG
63
#include "mm3.h"
908 killagreg 64
#endif
1078 killagreg 65
 
953 killagreg 66
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
886 killagreg 67
#include "ubx.h"
68
#endif
1078 killagreg 69
 
70
#if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG))
71
uint8_t MaxMenuItem = 11;
72
#else
73
#ifdef USE_MK3MAG
74
uint8_t MaxMenuItem = 12;
75
#endif
1 ingob 76
 
1078 killagreg 77
#ifdef USE_KILLAGREG
78
uint8_t MaxMenuItem = 14;
79
#endif
80
#endif
81
uint8_t MenuItem = 0;
82
uint8_t RemoteKeys = 0;
886 killagreg 83
 
1 ingob 84
#define KEY1    0x01
85
#define KEY2    0x02
86
#define KEY3    0x04
87
#define KEY4    0x08
88
#define KEY5    0x10
89
 
1078 killagreg 90
 
91
 
92
#define DISPLAYBUFFSIZE 80
93
int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
94
uint8_t DispPtr = 0;
95
 
96
 
886 killagreg 97
/************************************/
98
/*        Clear LCD Buffer          */
99
/************************************/
100
void LCD_Clear(void)
1 ingob 101
{
886 killagreg 102
 uint8_t i;
103
 for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
1 ingob 104
}
105
 
886 killagreg 106
 
107
/************************************/
108
/*        Update Menu on LCD        */
109
/************************************/
110
// Display with 20 characters in 4 lines
111
void LCD_PrintMenu(void)
908 killagreg 112
{
1078 killagreg 113
        if(RemoteKeys & KEY1)
114
        {
115
                if(MenuItem) MenuItem--;
116
                else MenuItem = MaxMenuItem;
117
        }
118
        if(RemoteKeys  & KEY2)
119
        {
120
                if(MenuItem == MaxMenuItem) MenuItem = 0;
121
                else MenuItem++;
122
        }
123
        if((RemoteKeys  & KEY1) && (RemoteKeys  & KEY2)) MenuItem = 0;
908 killagreg 124
 
1078 killagreg 125
        LCD_Clear();
886 killagreg 126
 
1078 killagreg 127
        if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
128
        // print menu item number in the upper right corner
129
        if(MenuItem < 10)
130
        {
886 killagreg 131
          LCD_printfxy(17,0,"[%i]",MenuItem);
1078 killagreg 132
        }
133
        else
134
        {
886 killagreg 135
          LCD_printfxy(16,0,"[%i]",MenuItem);
1078 killagreg 136
        }
886 killagreg 137
 
1078 killagreg 138
        switch(MenuItem)
139
        {
886 killagreg 140
    case 0:// Version Info Menu Item
595 hbuss 141
           LCD_printfxy(0,0,"+ MikroKopter +");
1078 killagreg 142
           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');
1180 killagreg 143
           #ifndef USE_QUADRO
144
                   LCD_printfxy(0,2,"OCTO    Setting: %d ", GetActiveParamSet());
145
           #else
146
           LCD_printfxy(0,2,"QUADRO  Setting: %d ", GetActiveParamSet());
147
           #endif
1 ingob 148
           LCD_printfxy(0,3,"(c) Holger Buss");
149
           break;
886 killagreg 150
    case 1:// Height Control Menu Item
151
          if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
152
           {
153
           LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
154
           LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
155
           LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure);
156
           LCD_printfxy(0,3,"Offset    :%5i",PressureSensorOffset);
1 ingob 157
           }
886 killagreg 158
           else
159
           {
160
           LCD_printfxy(0,1,"No ");
161
           LCD_printfxy(0,2,"Height Control");
1 ingob 162
           }
886 killagreg 163
 
1 ingob 164
           break;
886 killagreg 165
    case 2:// Attitude Menu Item
166
           LCD_printfxy(0,0,"Attitude");
1180 killagreg 167
           LCD_printfxy(0,1,"Nick:      %5i",IntegralGyroNick/1024);
168
           LCD_printfxy(0,2,"Roll:      %5i",IntegralGyroRoll/1024);
886 killagreg 169
           LCD_printfxy(0,3,"Heading:   %5i",CompassHeading);
1 ingob 170
           break;
886 killagreg 171
    case 3:// Remote Control Channel Menu Item
172
           LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
173
           LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
174
           LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
175
           LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
1 ingob 176
           break;
886 killagreg 177
    case 4:// Remote Control Mapping Menu Item
912 killagreg 178
           LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
911 killagreg 179
           LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
886 killagreg 180
           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
181
           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
1 ingob 182
           break;
1078 killagreg 183
        case 5:// Gyro Sensor Menu Item
1 ingob 184
           LCD_printfxy(0,0,"Gyro - Sensor");
936 killagreg 185
           switch(BoardRelease)
186
           {
187
                        case 10:
1180 killagreg 188
                           LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY);
189
                           LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY);
190
                           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw);
936 killagreg 191
                           break;
192
 
193
                        case 11:
1078 killagreg 194
                        case 12:
1180 killagreg 195
                        case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
196
                           LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
197
                           LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
198
                           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw/2);
936 killagreg 199
                           break;
200
 
1078 killagreg 201
                        case 13:
1180 killagreg 202
                        default: // divice Offests by 2 becuse 2 samples are added in adc isr
203
                           LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7)
204
                           LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7)
205
                           LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw );
936 killagreg 206
                           break;
401 hbuss 207
          }
936 killagreg 208
          break;
886 killagreg 209
    case 6:// Acceleration Sensor Menu Item
1 ingob 210
           LCD_printfxy(0,0,"ACC - Sensor");
1180 killagreg 211
           LCD_printfxy(0,1,"Nick   %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR
212
           LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR
213
           LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop);
1 ingob 214
           break;
886 killagreg 215
    case 7:// Accumulator Voltage / Remote Control Level
1180 killagreg 216
           LCD_printfxy(0,1,"Voltage:  %3i.%1iV",UBat/10, UBat%10);
886 killagreg 217
           LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
1 ingob 218
           break;
886 killagreg 219
    case 8:// Compass Menu Item
220
           LCD_printfxy(0,0,"Compass       ");
221
           LCD_printfxy(0,1,"Course:    %5i",CompassCourse);
222
           LCD_printfxy(0,2,"Heading:   %5i",CompassHeading);
223
           LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
1 ingob 224
           break;
886 killagreg 225
    case 9:// Poti Menu Item
226
                   LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion
227
                   LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion
228
                   LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion
229
                   LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion
1 ingob 230
           break;
886 killagreg 231
    case 10:// Servo Menu Item
1 ingob 232
           LCD_printfxy(0,0,"Servo  " );
911 killagreg 233
           LCD_printfxy(0,1,"Setpoint  %3i",FCParam.ServoNickControl);
1180 killagreg 234
           LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
911 killagreg 235
           LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax);
1 ingob 236
           break;
886 killagreg 237
    case 11://Extern Control
595 hbuss 238
           LCD_printfxy(0,0,"ExternControl  " );
912 killagreg 239
           LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick, ExternControl.Roll);
240
           LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",ExternControl.Gas, ExternControl.Yaw);
886 killagreg 241
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Height, ExternControl.Config);
595 hbuss 242
           break;
886 killagreg 243
 
938 killagreg 244
    #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
886 killagreg 245
        case 12://GPS Lat/Lon coords
246
                        if (GPSInfo.status == INVALID)
247
                        {
248
                                LCD_printfxy(0,0,"No GPS data!");
249
                        }
250
                        else
251
                        {
252
                                switch (GPSInfo.satfix)
253
                                {
254
                                case SATFIX_NONE:
255
                                        LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
256
                                        break;
257
                                case SATFIX_2D:
258
                                        LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
259
                                        break;
260
                                case SATFIX_3D:
261
                                        LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
262
                                        break;
263
                                default:
264
                                        LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
265
                                        break;
266
                                }
267
                                int16_t i1,i2,i3;
268
                                i1 = (int16_t)(GPSInfo.longitude/10000000L);
269
                                i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
270
                                i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
271
                                LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3);
272
                                i1 = (int16_t)(GPSInfo.latitude/10000000L);
273
                                i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
274
                                i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
275
                                LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3);
276
                                i1 = (int16_t)(GPSInfo.altitude/1000L);
277
                                i2 = abs((int16_t)(GPSInfo.altitude%1000L));
278
                                LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2);
279
                        }
280
                        break;
908 killagreg 281
        #endif
282
        #ifdef USE_KILLAGREG
886 killagreg 283
        case 13:// MM3 Kompass
284
                        LCD_printfxy(0,0,"MM3 Offset");
285
                        LCD_printfxy(0,1,"X_Offset:  %3i",MM3_calib.X_off);
286
                        LCD_printfxy(0,2,"Y_Offset:  %3i",MM3_calib.Y_off);
287
                        LCD_printfxy(0,3,"Z_Offset:  %3i",MM3_calib.Z_off);
288
                        break;
289
        case 14://MM3 Range
290
                        LCD_printfxy(0,0,"MM3 Range");
291
                        LCD_printfxy(0,1,"X_Range:  %4i",MM3_calib.X_range);
292
                        LCD_printfxy(0,2,"Y_Range:  %4i",MM3_calib.Y_range);
293
                        LCD_printfxy(0,3,"Z_Range:  %4i",MM3_calib.Z_range);
294
                        break;
295
        #endif
296
 
297
    default: MaxMenuItem = MenuItem - 1;
298
             MenuItem = 0;
1 ingob 299
           break;
300
    }
1078 killagreg 301
    RemoteKeys = 0;
304 ingob 302
}