Subversion Repositories FlightCtrl

Rev

Rev 1984 | Details | Compare with Previous | 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
 
1925 holgerb 11
char DisplayBuff[80];
1051 killagreg 12
unsigned char DispPtr = 0;
1 ingob 13
 
1925 holgerb 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
{
1934 holgerb 32
 if(DispPtr < 80) DisplayBuff[DispPtr++] = c;
1444 ingob 33
}
34
 
1 ingob 35
void Menu(void)
36
 {
1936 holgerb 37
  unsigned char i;
1053 killagreg 38
  if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;}
1060 killagreg 39
  if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;}
1053 killagreg 40
  if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0;
41
  LcdClear();
42
  if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);}
43
  else {LCD_printfxy(16,0,"[%i]",MenuePunkt);};
44
 
1 ingob 45
  switch(MenuePunkt)
46
   {
1051 killagreg 47
    case 0:
595 hbuss 48
           LCD_printfxy(0,0,"+ MikroKopter +");
1051 killagreg 49
           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 50
           LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name);
1944 holgerb 51
 
52
            if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!")
53
                    else
54
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1934 holgerb 55
                        if(NC_ErrorCode)
56
                        {
1936 holgerb 57
                                LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode);
1934 holgerb 58
                                _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);
59
                        }
60
                   else
1944 holgerb 61
#endif
1702 holgerb 62
                   if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0])
1210 hbuss 63
                   else
64
           if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor)
1944 holgerb 65
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
66
#else
1702 holgerb 67
                   else
1944 holgerb 68
                        if(NC_ErrorCode)
69
                        {
70
                                LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode);
71
                        }
72
#endif
73
//                 if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1])
1702 holgerb 74
                   else
75
           if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!")
1 ingob 76
           break;
1051 killagreg 77
    case 1:
1916 holgerb 78
          if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 79
           {
1419 ingob 80
           LCD_printfxy(0,0,"Height:  %5i",(int)(HoehenWert/5));
81
           LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5));
82
           LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);
83
           LCD_printfxy(0,3,"Offset:  %5i",OCR0A);
1 ingob 84
           }
1051 killagreg 85
           else
86
           {
1419 ingob 87
           LCD_printfxy(0,0,"Height control");
88
           LCD_printfxy(0,1,"DISABLED");
1941 holgerb 89
           //LCD_printfxy(0,2,"Height control");
90
           //LCD_printfxy(0,3,"DISABLED");
1 ingob 91
           }
1051 killagreg 92
 
1 ingob 93
           break;
1051 killagreg 94
    case 2:
1419 ingob 95
           LCD_printfxy(0,0,"act. bearing");
1 ingob 96
           LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);
97
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
1941 holgerb 98
           LCD_printfxy(0,3,"Compass:   %5i",ErsatzKompassInGrad);
1 ingob 99
           break;
1051 killagreg 100
    case 3:
1966 holgerb 101
           for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i  K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]);
1 ingob 102
           break;
1051 killagreg 103
    case 4:
1 ingob 104
           LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);
1933 holgerb 105
           LCD_printfxy(0,1,"Gs:%4i  Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
1876 holgerb 106
           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127);
107
           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127);
1 ingob 108
           break;
1051 killagreg 109
    case 5:
1 ingob 110
           LCD_printfxy(0,0,"Gyro - Sensor");
401 hbuss 111
          if(PlatinenVersion == 10)
112
          {
1419 ingob 113
           LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8);
114
           LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8);
115
           LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier);
401 hbuss 116
          }
1051 killagreg 117
          else
1660 holgerb 118
          if((PlatinenVersion == 11) || (PlatinenVersion >= 20))
401 hbuss 119
          {
1173 hbuss 120
           LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2);
121
           LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2);
1419 ingob 122
           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2);
401 hbuss 123
          }
918 hbuss 124
          else
1021 hbuss 125
          if(PlatinenVersion == 13)
918 hbuss 126
          {
1174 hbuss 127
           LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick);
128
           LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll);
1419 ingob 129
           LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier);
918 hbuss 130
          }
1 ingob 131
           break;
1051 killagreg 132
    case 6:
1 ingob 133
           LCD_printfxy(0,0,"ACC - Sensor");
395 hbuss 134
           LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX);
135
           LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY);
1703 holgerb 136
           LCD_printfxy(0,3,"Z    %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ);
1 ingob 137
           break;
1051 killagreg 138
    case 7:
1526 killagreg 139
                        LCD_printfxy(0,0,"Voltage:   %3i.%1iV",UBat/10, UBat%10);
140
                        LCD_printfxy(0,1,"Current:   %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
1529 killagreg 141
                        LCD_printfxy(0,2,"Power:     %4iW",Capacity.ActualPower);
1486 killagreg 142
                        LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity);
143
           break;
144
    case 8:
145
           LCD_printfxy(0,0,"Receiver");
146
           LCD_printfxy(0,1,"RC-RSSI:    %4i", PPM_in[0]);
147
           LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay);
148
           LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1);
1 ingob 149
           break;
1486 killagreg 150
    case 9:
1419 ingob 151
           LCD_printfxy(0,0,"Compass");
1941 holgerb 152
           LCD_printfxy(0,1,"Magnet:   %5i",KompassValue);
153
           LCD_printfxy(0,2,"Gyro:     %5i",ErsatzKompassInGrad);
154
           LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert);
1 ingob 155
           break;
1486 killagreg 156
    case 10:
1925 holgerb 157
           for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i:  %3i",i+1,Poti[i]);
1 ingob 158
           break;
1486 killagreg 159
    case 11:
1925 holgerb 160
           for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i:  %3i",i+5,Poti[i+4]);
1377 hbuss 161
           break;
1486 killagreg 162
    case 12:
1 ingob 163
           LCD_printfxy(0,0,"Servo  " );
164
           LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoNickControl);
1763 killagreg 165
           LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4);
1 ingob 166
           LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);
167
           break;
1925 holgerb 168
/*    case 13:
595 hbuss 169
           LCD_printfxy(0,0,"ExternControl  " );
170
           LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick,ExternControl.Roll);
171
           LCD_printfxy(0,2,"Gs:%4i  Gi:%4i ",ExternControl.Gas,ExternControl.Gier);
172
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);
173
           break;
1925 holgerb 174
*/
175
    case 13:
1211 hbuss 176
           LCD_printfxy(0,0,"BL-Ctrl Errors " );
1936 holgerb 177
                   for(i=0;i<3;i++)                                                              
1935 holgerb 178
                   {
1936 holgerb 179
                    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);
180
//                      if(i*4 >= RequiredMotors) break;
1935 holgerb 181
                   }   
1211 hbuss 182
           break;
1925 holgerb 183
    case 14:
1638 holgerb 184
           LCD_printfxy(0,0,"BL Temperature" );
1936 holgerb 185
                   for(i=0;i<3;i++)
1935 holgerb 186
                    {
1936 holgerb 187
                     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);
188
//                       if(4 + i * 4 >= RequiredMotors) break;
1935 holgerb 189
                        }                      
1638 holgerb 190
           break;
1925 holgerb 191
    case 15:
1210 hbuss 192
           LCD_printfxy(0,0,"BL-Ctrl found " );
1479 killagreg 193
                   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));
194
                   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));
195
                   LCD_printfxy(0,3," %c   -   -   - ",'-' + 12 * (Motor[8].State>>7));
196
                   if(Motor[9].State>>7)  LCD_printfxy(4,3,"10");
197
                   if(Motor[10].State>>7) LCD_printfxy(8,3,"11");
198
                   if(Motor[11].State>>7) LCD_printfxy(12,3,"12");
1210 hbuss 199
           break;
1925 holgerb 200
    case 16:
1298 hbuss 201
           LCD_printfxy(0,0,"Flight-Time  " );
1419 ingob 202
           LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt);
203
           LCD_printfxy(0,2,"Act:  %5umin",FlugMinuten);
1298 hbuss 204
           LCD_printfxy(13,3,"(reset)");
205
                   if(RemoteKeys & KEY4)
206
             {
207
               FlugMinuten = 0;
1622 killagreg 208
               SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
1407 killagreg 209
                         }
1298 hbuss 210
           break;
1510 killagreg 211
    default:
212
           if(MenuePunkt == MaxMenue) MaxMenue--;
213
           MenuePunkt = 0;
1 ingob 214
           break;
215
    }
1053 killagreg 216
    RemoteKeys = 0;
304 ingob 217
}