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| 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 |
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| 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 8 | #include "main.h" |
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| 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 |
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| 20 | #define KEY3 0x04 |
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| 21 | #define KEY4 0x08 |
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| 22 | #define KEY5 0x10 |
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| 1051 | killagreg | 23 | |
| 1 | ingob | 24 | void LcdClear(void) |
| 25 | { |
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| 1051 | killagreg | 26 | unsigned char i; |
| 27 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 28 | } |
| 29 | |||
| 1444 | ingob | 30 | void Menu_Putchar(char c) |
| 31 | { |
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| 32 | DisplayBuff[DispPtr++] = c; |
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| 33 | } |
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| 34 | |||
| 1 | ingob | 35 | void Menu(void) |
| 36 | { |
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| 1925 | holgerb | 37 | 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(); |
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| 42 | if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
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| 43 | else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
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| 44 | |||
| 1 | ingob | 45 | switch(MenuePunkt) |
| 46 | { |
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| 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); |
| 1702 | holgerb | 51 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
| 1210 | hbuss | 52 | else |
| 53 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
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| 1702 | holgerb | 54 | else |
| 1765 | killagreg | 55 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
| 1702 | holgerb | 56 | else |
| 57 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
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| 58 | // else |
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| 59 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
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| 1 | ingob | 60 | break; |
| 1051 | killagreg | 61 | case 1: |
| 1916 | holgerb | 62 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| 1051 | killagreg | 63 | { |
| 1419 | ingob | 64 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
| 65 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
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| 66 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
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| 67 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
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| 1 | ingob | 68 | } |
| 1051 | killagreg | 69 | else |
| 70 | { |
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| 1419 | ingob | 71 | LCD_printfxy(0,0,"Height control"); |
| 72 | LCD_printfxy(0,1,"DISABLED"); |
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| 73 | LCD_printfxy(0,2,"Height control"); |
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| 74 | LCD_printfxy(0,3,"DISABLED"); |
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| 1 | ingob | 75 | } |
| 1051 | killagreg | 76 | |
| 1 | ingob | 77 | break; |
| 1051 | killagreg | 78 | case 2: |
| 1419 | ingob | 79 | LCD_printfxy(0,0,"act. bearing"); |
| 1 | ingob | 80 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| 81 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
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| 1419 | ingob | 82 | LCD_printfxy(0,3,"Compass: %5i",KompassValue); |
| 1 | ingob | 83 | break; |
| 1051 | killagreg | 84 | case 3: |
| 1925 | holgerb | 85 | for(i=0;i<8;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[1],i+1,PPM_in[2]); |
| 1 | ingob | 86 | break; |
| 1051 | killagreg | 87 | case 4: |
| 1 | ingob | 88 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| 1320 | hbuss | 89 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| 1876 | holgerb | 90 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
| 91 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
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| 1 | ingob | 92 | break; |
| 1051 | killagreg | 93 | case 5: |
| 1 | ingob | 94 | LCD_printfxy(0,0,"Gyro - Sensor"); |
| 401 | hbuss | 95 | if(PlatinenVersion == 10) |
| 96 | { |
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| 1419 | ingob | 97 | LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
| 98 | LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
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| 99 | LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
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| 401 | hbuss | 100 | } |
| 1051 | killagreg | 101 | else |
| 1660 | holgerb | 102 | if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
| 401 | hbuss | 103 | { |
| 1173 | hbuss | 104 | LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
| 105 | LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
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| 1419 | ingob | 106 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
| 401 | hbuss | 107 | } |
| 918 | hbuss | 108 | else |
| 1021 | hbuss | 109 | if(PlatinenVersion == 13) |
| 918 | hbuss | 110 | { |
| 1174 | hbuss | 111 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
| 112 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
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| 1419 | ingob | 113 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
| 918 | hbuss | 114 | } |
| 1 | ingob | 115 | break; |
| 1051 | killagreg | 116 | case 6: |
| 1 | ingob | 117 | LCD_printfxy(0,0,"ACC - Sensor"); |
| 395 | hbuss | 118 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
| 119 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
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| 1703 | holgerb | 120 | LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
| 1 | ingob | 121 | break; |
| 1051 | killagreg | 122 | case 7: |
| 1526 | killagreg | 123 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| 124 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
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| 1529 | killagreg | 125 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
| 1486 | killagreg | 126 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
| 127 | break; |
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| 128 | case 8: |
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| 129 | LCD_printfxy(0,0,"Receiver"); |
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| 130 | LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
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| 131 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
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| 132 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
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| 1 | ingob | 133 | break; |
| 1486 | killagreg | 134 | case 9: |
| 1419 | ingob | 135 | LCD_printfxy(0,0,"Compass"); |
| 136 | LCD_printfxy(0,1,"Heading: %5i",KompassRichtung); |
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| 137 | LCD_printfxy(0,2,"Value: %5i",KompassValue); |
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| 1837 | holgerb | 138 | LCD_printfxy(0,3,"Soll: %5i",KompassSollWert); |
| 1 | ingob | 139 | break; |
| 1486 | killagreg | 140 | case 10: |
| 1925 | holgerb | 141 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
| 1 | ingob | 142 | break; |
| 1486 | killagreg | 143 | case 11: |
| 1925 | holgerb | 144 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
| 1377 | hbuss | 145 | break; |
| 1486 | killagreg | 146 | case 12: |
| 1 | ingob | 147 | LCD_printfxy(0,0,"Servo " ); |
| 148 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
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| 1763 | killagreg | 149 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
| 1 | ingob | 150 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| 151 | break; |
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| 1925 | holgerb | 152 | /* case 13: |
| 595 | hbuss | 153 | LCD_printfxy(0,0,"ExternControl " ); |
| 154 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
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| 155 | LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
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| 156 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
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| 157 | break; |
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| 1925 | holgerb | 158 | */ |
| 159 | case 13: |
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| 1211 | hbuss | 160 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| 1925 | holgerb | 161 | for(i=1;i<4;i++) |
| 162 | LCD_printfxy(0,i,"%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); |
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| 1211 | hbuss | 163 | break; |
| 1925 | holgerb | 164 | case 14: |
| 1638 | holgerb | 165 | LCD_printfxy(0,0,"BL Temperature" ); |
| 1925 | holgerb | 166 | for(i=1;i<4;i++) |
| 167 | LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
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| 1638 | holgerb | 168 | break; |
| 1925 | holgerb | 169 | case 15: |
| 1210 | hbuss | 170 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
| 1479 | killagreg | 171 | 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)); |
| 172 | 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)); |
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| 173 | LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
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| 174 | if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
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| 175 | if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
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| 176 | if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
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| 1210 | hbuss | 177 | break; |
| 1925 | holgerb | 178 | case 16: |
| 1298 | hbuss | 179 | LCD_printfxy(0,0,"Flight-Time " ); |
| 1419 | ingob | 180 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
| 181 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
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| 1298 | hbuss | 182 | LCD_printfxy(13,3,"(reset)"); |
| 183 | if(RemoteKeys & KEY4) |
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| 184 | { |
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| 185 | FlugMinuten = 0; |
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| 1622 | killagreg | 186 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
| 1407 | killagreg | 187 | } |
| 1298 | hbuss | 188 | break; |
| 1510 | killagreg | 189 | default: |
| 190 | if(MenuePunkt == MaxMenue) MaxMenue--; |
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| 191 | MenuePunkt = 0; |
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| 1 | ingob | 192 | break; |
| 193 | } |
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| 1053 | killagreg | 194 | RemoteKeys = 0; |
| 304 | ingob | 195 | } |