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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
2035 - 3
// + Nur f�r den privaten Gebrauch
1612 dongfang 4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035 - 6
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
1612 dongfang 8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
2035 - 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
1612 dongfang 11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035 - 13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
1612 dongfang 15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
2035 - 17
// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
1612 dongfang 18
// + eindeutig als Ursprung verlinkt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035 - 20
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
1612 dongfang 21
// + Benutzung auf eigene Gefahr
2035 - 22
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
1612 dongfang 23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
2035 - 25
// + mit unserer Zustimmung zul�ssig
1612 dongfang 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)
1868 - 35
// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1612 dongfang 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51
#include <stdlib.h>
52
#include <inttypes.h>
53
#include "eeprom.h"
54
#include "timer2.h"
55
#include "rc.h"
56
#include "externalControl.h"
57
#include "uart0.h"
58
#include "printf_P.h"
59
#include "analog.h"
60
#include "twimaster.h"
61
#include "attitude.h"
62
 
1805 - 63
#if (!defined (USE_NAVICTRL))
2018 - 64
uint8_t maxMenuItem = 13;
1612 dongfang 65
#else
1805 - 66
#ifdef USE_NAVICTRL
67
#include "gps.c"
2018 - 68
uint8_t maxMenuItem = 14;
1612 dongfang 69
#endif
70
#endif
2018 - 71
uint8_t menuItem = 0;
72
uint8_t remoteKeys = 0;
1612 dongfang 73
 
74
#define KEY1    0x01
75
#define KEY2    0x02
76
#define KEY3    0x04
77
#define KEY4    0x08
78
#define KEY5    0x10
79
 
80
#define DISPLAYBUFFSIZE 80
2018 - 81
int8_t displayBuff[DISPLAYBUFFSIZE] = "Hello World";
82
uint8_t dispPtr = 0;
1612 dongfang 83
 
84
/************************************/
85
/*        Clear LCD Buffer          */
86
/************************************/
2018 - 87
void LCD_clear(void) {
2048 - 88
  uint8_t i;
89
  for (i = 0; i < DISPLAYBUFFSIZE; i++)
90
    displayBuff[i] = ' ';
1612 dongfang 91
}
92
 
93
/************************************/
94
/*        Update Menu on LCD        */
95
/************************************/
96
// Display with 20 characters in 4 lines
2018 - 97
void LCD_printMenu(void) {
2048 - 98
  if (remoteKeys & KEY1) {
99
    if (menuItem)
100
      menuItem--;
101
    else
102
      menuItem = maxMenuItem;
103
  }
1612 dongfang 104
 
2048 - 105
  if (remoteKeys & KEY2) {
106
    if (menuItem == maxMenuItem)
107
      menuItem = 0;
108
    else
109
      menuItem++;
110
  }
111
  if ((remoteKeys & KEY1) && (remoteKeys & KEY2))
112
    menuItem = 0;
1821 - 113
 
2048 - 114
  LCD_clear();
1821 - 115
 
2048 - 116
  if (menuItem > maxMenuItem)
117
    menuItem = maxMenuItem;
118
  // print menu item number in the upper right corner
119
  if (menuItem < 10) {
120
    LCD_printfxy(17, 0, "[%i]", menuItem);
121
  } else {
122
    LCD_printfxy(16, 0, "[%i]", menuItem);
123
  }
1821 - 124
 
2048 - 125
  switch (menuItem) {
126
  case 0: // Version Info Menu Item
127
    LCD_printfxy(0, 0, "+ MikroKopter +");
128
    LCD_printfxy(
129
        0,
130
        1,
131
        "HW:V%d.%d SW:%d.%d%c",
132
        boardRelease/10, boardRelease%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');
133
    LCD_printfxy(0, 2, "Setting: %d %s", getActiveParamSet(), mixerMatrix.name);
134
    if (I2CTimeout < 6) {
135
      LCD_printfxy(0, 3, "I2C Error!!!");
136
    } else if (missingMotor) {
137
      LCD_printfxy(0, 3, "Missing BL-Ctrl:%d", missingMotor);
138
    } else
139
      LCD_printfxy(0, 3, "(c) Holger Buss");
140
    break;
141
    /*
142
     case 1:// Height Control Menu Item
143
     if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) {
144
     LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
145
     LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
146
     LCD_printfxy(0,2,"Air Press.:%5i",0);
147
     LCD_printfxy(0,3,"Offset    :%5i",0);
148
     }
149
     else
150
     {
151
     LCD_printfxy(0,1,"No ");
152
     LCD_printfxy(0,2,"Height Control");
153
     }
154
     break;
155
     */
156
  case 2: // Attitude Menu Item
157
    LCD_printfxy(0, 0, "Attitude");
158
    LCD_printfxy(0, 1, "Nick:      %5i",
159
        attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL);
160
    LCD_printfxy(0, 2, "Roll:      %5i",
161
        attitude[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL);
162
    LCD_printfxy(0, 3, "Heading(M):%5i", magneticHeading);
163
    break;
164
  case 3: // Remote Control Channel Menu Item
165
    LCD_printfxy(0, 0, "C1:%4i  C2:%4i ", PPM_in[1], PPM_in[2]);
166
    LCD_printfxy(0, 1, "C3:%4i  C4:%4i ", PPM_in[3], PPM_in[4]);
167
    LCD_printfxy(0, 2, "C5:%4i  C6:%4i ", PPM_in[5], PPM_in[6]);
168
    LCD_printfxy(0, 3, "C7:%4i  C8:%4i ", PPM_in[7], PPM_in[8]);
169
    break;
170
  case 4: // Remote Control Mapping Menu Item
171
    LCD_printfxy(
172
        0,
173
        0,
174
        "Ni:%4i  Ro:%4i ",
175
        PPM_in[channelMap.channels[CH_PITCH]], PPM_in[channelMap.channels[CH_ROLL]]);
176
    LCD_printfxy(
177
        0,
178
        1,
179
        "Gs:%4i  Ya:%4i ",
180
        PPM_in[channelMap.channels[CH_THROTTLE]], PPM_in[channelMap.channels[CH_YAW]]);
181
    LCD_printfxy(
182
        0,
183
        2,
184
        "P1:%4i  P2:%4i ",
185
        PPM_in[channelMap.channels[CH_POTS]], PPM_in[channelMap.channels[CH_POTS+1]]);
186
    LCD_printfxy(
187
        0,
188
        3,
189
        "P3:%4i  P4:%4i ",
190
        PPM_in[channelMap.channels[CH_POTS+2]], PPM_in[channelMap.channels[CH_POTS+3]]);
191
    break;
192
    /*
193
     case 5:// Gyro Sensor Menu Item
194
     LCD_printfxy(0,0,"Gyro - Sensor");
195
     switch(BoardRelease) {
196
     case 10:
197
     LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY);
198
     LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY);
199
     LCD_printfxy(0,3,"Yaw  %4i (%3i)", AdValueGyroYaw , YawOffset);
200
     break;
201
     case 11:
202
     case 12:
203
     case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
204
     LCD_printfxy(0,1,"Nick %4i (%3i.%i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
205
     LCD_printfxy(0,2,"Roll %4i (%3i.%i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
206
     LCD_printfxy(0,3,"Yaw  %4i (%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2);
207
     break;
1821 - 208
 
2048 - 209
     case 13:
210
     default: // divice Offests by 2 becuse 2 samples are added in adc isr
211
     LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7)
212
     LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7)
213
     LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2, 0);
214
     break;
215
     }
216
     break;
217
     case 6:// Acceleration Sensor Menu Item
218
     LCD_printfxy(0,0,"ACC - Sensor");
219
     LCD_printfxy(0,1,"Nick   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
220
     LCD_printfxy(0,2,"Roll   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
221
     LCD_printfxy(0,3,"Height %4i (%3i)",0,0);
222
     break;
223
     */
224
  case 7: // Battery Voltage / Remote Control Level
225
    LCD_printfxy(0, 1, "Voltage:  %3i.%1iV", UBat/10, UBat%10);
226
    LCD_printfxy(0, 2, "RC-Level: %5i", RCQuality);
227
    break;
228
  case 8: // Compass Menu Item
229
    LCD_printfxy(0, 0, "Compass       ");
230
    LCD_printfxy(0, 0, "TODO: Impl.   ");
231
    break;
232
  case 9: // Poti Menu Item
233
    LCD_printfxy(0, 0, "Variables     ");
234
    LCD_printfxy(0, 0, "TODO: Impl.   ");
235
    break;
236
  case 10: // Servo Menu Item
237
    LCD_printfxy(0, 0, "Servos        ");
238
    LCD_printfxy(0, 0, "TODO: Impl.   ");
239
    break;
240
  case 11: //Extern Control
241
    LCD_printfxy(0, 0, "ExternControl  ");
242
    LCD_printfxy(0, 1, "Ni:%4i  Ro:%4i ",
243
        externalControl.pitch, externalControl.roll);
244
    LCD_printfxy(0, 2, "Gs:%4i  Ya:%4i ",
245
        externalControl.throttle, externalControl.yaw);
246
    LCD_printfxy(0, 3, "Hi:%4i  Cf:%4i ",
247
        externalControl.height, externalControl.config);
248
    break;
1821 - 249
 
2048 - 250
  case 12: //BL Communication errors
251
    LCD_printfxy(0, 0, "BL-Ctrl Errors ");
252
    LCD_printfxy(0, 1, " %3d  %3d  %3d  %3d ",
253
        motor[0].error, motor[1].error, motor[2].error, motor[3].error);
254
    LCD_printfxy(0, 2, " %3d  %3d  %3d  %3d ",
255
        motor[4].error, motor[5].error, motor[6].error, motor[7].error);
256
    LCD_printfxy(0, 3, " %3d  %3d  %3d  %3d ",
257
        motor[8].error, motor[9].error, motor[10].error, motor[11].error);
258
    break;
1821 - 259
 
2048 - 260
  case 13: //BL Overview
261
    LCD_printfxy(0, 0, "BL-Ctrl found ");
262
    LCD_printfxy(
263
        0,
264
        1,
265
        " %c   %c   %c   %c ",
266
        motor[0].present + '-', motor[1].present + '-', motor[2].present + '-', motor[3].present + '-');
267
    LCD_printfxy(
268
        0,
269
        2,
270
        " %c   %c   %c   %c ",
271
        motor[4].present + '-', motor[5].present + '-', motor[6].present + '-', motor[7].present + '-');
272
    LCD_printfxy(0, 3, " %c   -   -   - ", motor[8].present + '-');
273
    if (motor[9].present)
274
      LCD_printfxy(4, 3, "10");
275
    if (motor[10].present)
276
      LCD_printfxy(8, 3, "11");
277
    if (motor[11].present)
278
      LCD_printfxy(12, 3, "12");
279
    break;
1821 - 280
 
1805 - 281
#if (defined (USE_NAVICTRL))
2048 - 282
    case 14: //GPS Lat/Lon coords
283
    if (GPSInfo.status == INVALID) {
284
      LCD_printfxy(0,0,"No GPS data!");
285
    } else {
286
      switch (GPSInfo.satfix)
287
      {
288
        case SATFIX_NONE:
289
        LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
290
        break;
291
        case SATFIX_2D:
292
        LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
293
        break;
294
        case SATFIX_3D:
295
        LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
296
        break;
297
        default:
298
        LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
299
        break;
300
      }
301
      int16_t i1,i2,i3;
302
      i1 = (int16_t)(GPSInfo.longitude/10000000L);
303
      i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
304
      i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
305
      LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3);
306
      i1 = (int16_t)(GPSInfo.latitude/10000000L);
307
      i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
308
      i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
309
      LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3);
310
      i1 = (int16_t)(GPSInfo.altitude/1000L);
311
      i2 = abs((int16_t)(GPSInfo.altitude%1000L));
312
      LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2);
313
    }
314
    break;
1821 - 315
#endif
316
 
2048 - 317
  default:
318
    maxMenuItem = menuItem - 1;
319
    menuItem = 0;
320
    break;
321
  }
322
  remoteKeys = 0;
1612 dongfang 323
}