Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 2
// + Copyright (c) Holger Buss, Ingo Busker
1 ingob 3
// + only for non-profit use
4
// + www.MikroKopter.com
1356 hbuss 5
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1 ingob 6
// + see the File "License.txt" for further Informations
7
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
8
#include "main.h"
1622 killagreg 9
#include "eeprom.h"
1 ingob 10
 
1622 killagreg 11
char DisplayBuff[80] = "Hello World";
1051 killagreg 12
unsigned char DispPtr = 0;
1 ingob 13
 
1510 killagreg 14
unsigned char MaxMenue = 16;
1174 hbuss 15
unsigned char MenuePunkt = 0;
1053 killagreg 16
unsigned char RemoteKeys = 0;
1 ingob 17
 
1053 killagreg 18
#define KEY1    0x01
19
#define KEY2    0x02
20
#define KEY3    0x04
21
#define KEY4    0x08
22
#define KEY5    0x10
1051 killagreg 23
 
1 ingob 24
void LcdClear(void)
25
{
1051 killagreg 26
 unsigned char i;
27
 for(i=0;i<80;i++) DisplayBuff[i] = ' ';
1 ingob 28
}
29
 
1444 ingob 30
void Menu_Putchar(char c)
31
{
32
        DisplayBuff[DispPtr++] = c;
33
}
34
 
1 ingob 35
void Menu(void)
36
 {
1053 killagreg 37
  if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;}
1060 killagreg 38
  if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;}
1053 killagreg 39
  if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0;
40
  LcdClear();
41
  if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);}
42
  else {LCD_printfxy(16,0,"[%i]",MenuePunkt);};
43
 
1 ingob 44
  switch(MenuePunkt)
45
   {
1051 killagreg 46
    case 0:
595 hbuss 47
           LCD_printfxy(0,0,"+ MikroKopter +");
1051 killagreg 48
           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a');
1622 killagreg 49
           LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name);
1210 hbuss 50
           if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!")
51
                   else
52
           if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor)
1 ingob 53
           break;
1051 killagreg 54
    case 1:
1 ingob 55
          if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 56
           {
1419 ingob 57
           LCD_printfxy(0,0,"Height:  %5i",(int)(HoehenWert/5));
58
           LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5));
59
           LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);
60
           LCD_printfxy(0,3,"Offset:  %5i",OCR0A);
1 ingob 61
           }
1051 killagreg 62
           else
63
           {
1419 ingob 64
           LCD_printfxy(0,0,"Height control");
65
           LCD_printfxy(0,1,"DISABLED");
66
           LCD_printfxy(0,2,"Height control");
67
           LCD_printfxy(0,3,"DISABLED");
1 ingob 68
           }
1051 killagreg 69
 
1 ingob 70
           break;
1051 killagreg 71
    case 2:
1419 ingob 72
           LCD_printfxy(0,0,"act. bearing");
1 ingob 73
           LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);
74
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
1419 ingob 75
           LCD_printfxy(0,3,"Compass:   %5i",KompassValue);
1 ingob 76
           break;
1051 killagreg 77
    case 3:
1 ingob 78
           LCD_printfxy(0,0,"K1:%4i  K2:%4i ",PPM_in[1],PPM_in[2]);
79
           LCD_printfxy(0,1,"K3:%4i  K4:%4i ",PPM_in[3],PPM_in[4]);
80
           LCD_printfxy(0,2,"K5:%4i  K6:%4i ",PPM_in[5],PPM_in[6]);
31 ingob 81
           LCD_printfxy(0,3,"K7:%4i  K8:%4i ",PPM_in[7],PPM_in[8]);
1 ingob 82
           break;
1051 killagreg 83
    case 4:
1 ingob 84
           LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);
1320 hbuss 85
           LCD_printfxy(0,1,"Gs:%4i  Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
1322 hbuss 86
           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+110);
87
           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+110);
1 ingob 88
           break;
1051 killagreg 89
    case 5:
1 ingob 90
           LCD_printfxy(0,0,"Gyro - Sensor");
401 hbuss 91
          if(PlatinenVersion == 10)
92
          {
1419 ingob 93
           LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8);
94
           LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8);
95
           LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier);
401 hbuss 96
          }
1051 killagreg 97
          else
1021 hbuss 98
          if((PlatinenVersion == 11) || (PlatinenVersion == 20))
401 hbuss 99
          {
1173 hbuss 100
           LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2);
101
           LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2);
1419 ingob 102
           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2);
401 hbuss 103
          }
918 hbuss 104
          else
1021 hbuss 105
          if(PlatinenVersion == 13)
918 hbuss 106
          {
1174 hbuss 107
           LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick);
108
           LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll);
1419 ingob 109
           LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier);
918 hbuss 110
          }
1 ingob 111
           break;
1051 killagreg 112
    case 6:
1 ingob 113
           LCD_printfxy(0,0,"ACC - Sensor");
395 hbuss 114
           LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX);
115
           LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY);
1419 ingob 116
           LCD_printfxy(0,3,"Z    %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ);
1 ingob 117
           break;
1051 killagreg 118
    case 7:
1526 killagreg 119
                        LCD_printfxy(0,0,"Voltage:   %3i.%1iV",UBat/10, UBat%10);
120
                        LCD_printfxy(0,1,"Current:   %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
1529 killagreg 121
                        LCD_printfxy(0,2,"Power:     %4iW",Capacity.ActualPower);
1486 killagreg 122
                        LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity);
123
           break;
124
    case 8:
125
           LCD_printfxy(0,0,"Receiver");
126
           LCD_printfxy(0,1,"RC-RSSI:    %4i", PPM_in[0]);
127
           LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay);
128
           LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1);
1 ingob 129
           break;
1486 killagreg 130
    case 9:
1419 ingob 131
           LCD_printfxy(0,0,"Compass");
132
           LCD_printfxy(0,1,"Heading:  %5i",KompassRichtung);
133
           LCD_printfxy(0,2,"Value:    %5i",KompassValue);
134
           LCD_printfxy(0,3,"Start:    %5i",KompassStartwert);
1 ingob 135
           break;
1486 killagreg 136
    case 10:
1377 hbuss 137
           LCD_printfxy(0,0,"Poti1:  %3i",Poti[0]);
138
           LCD_printfxy(0,1,"Poti2:  %3i",Poti[1]);
139
           LCD_printfxy(0,2,"Poti3:  %3i",Poti[2]);
140
           LCD_printfxy(0,3,"Poti4:  %3i",Poti[3]);
1 ingob 141
           break;
1486 killagreg 142
    case 11:
1377 hbuss 143
           LCD_printfxy(0,0,"Poti5:  %3i",Poti[4]);
144
           LCD_printfxy(0,1,"Poti6:  %3i",Poti[5]);
145
           LCD_printfxy(0,2,"Poti7:  %3i",Poti[6]);
146
           LCD_printfxy(0,3,"Poti8:  %3i",Poti[7]);
147
           break;
1486 killagreg 148
    case 12:
1 ingob 149
           LCD_printfxy(0,0,"Servo  " );
150
           LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoNickControl);
1419 ingob 151
           LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
1 ingob 152
           LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);
153
           break;
1486 killagreg 154
    case 13:
595 hbuss 155
           LCD_printfxy(0,0,"ExternControl  " );
156
           LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick,ExternControl.Roll);
157
           LCD_printfxy(0,2,"Gs:%4i  Gi:%4i ",ExternControl.Gas,ExternControl.Gier);
158
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);
159
           break;
1486 killagreg 160
    case 14:
1211 hbuss 161
           LCD_printfxy(0,0,"BL-Ctrl Errors " );
1479 killagreg 162
                   LCD_printfxy(0,1,"%3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK);
163
                   LCD_printfxy(0,2,"%3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK);
164
                   LCD_printfxy(0,3,"%3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK);
1211 hbuss 165
           break;
1486 killagreg 166
    case 15:
1210 hbuss 167
           LCD_printfxy(0,0,"BL-Ctrl found " );
1479 killagreg 168
                   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));
169
                   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));
170
                   LCD_printfxy(0,3," %c   -   -   - ",'-' + 12 * (Motor[8].State>>7));
171
                   if(Motor[9].State>>7)  LCD_printfxy(4,3,"10");
172
                   if(Motor[10].State>>7) LCD_printfxy(8,3,"11");
173
                   if(Motor[11].State>>7) LCD_printfxy(12,3,"12");
1210 hbuss 174
           break;
1486 killagreg 175
    case 16:
1298 hbuss 176
           LCD_printfxy(0,0,"Flight-Time  " );
1419 ingob 177
           LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt);
178
           LCD_printfxy(0,2,"Act:  %5umin",FlugMinuten);
1298 hbuss 179
           LCD_printfxy(13,3,"(reset)");
180
                   if(RemoteKeys & KEY4)
181
             {
182
               FlugMinuten = 0;
1622 killagreg 183
               SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
1407 killagreg 184
                         }
1298 hbuss 185
           break;
1510 killagreg 186
    default:
187
           if(MenuePunkt == MaxMenue) MaxMenue--;
188
           MenuePunkt = 0;
1 ingob 189
           break;
190
    }
1053 killagreg 191
    RemoteKeys = 0;
304 ingob 192
}