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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 7
 
8
#include <stdlib.h>
9
#include <inttypes.h>
1 ingob 10
#include "main.h"
886 killagreg 11
#include "eeprom.h"
12
#include "timer2.h"
13
#include "fc.h"
14
#include "rc.h"
15
#include "uart.h"
16
#include "printf_P.h"
17
#include "analog.h"
18
#ifdef USE_KILLAGREG
19
#include "mm3.h"
909 pangu 20
#endif
21
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
886 killagreg 22
#include "ubx.h"
23
#endif
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#include "_Settings.h"
1 ingob 25
 
26
 
886 killagreg 27
#define ARRAYSIZE 10
28
uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10};
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#define DISPLAYBUFFSIZE 80
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int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
31
uint8_t DispPtr = 0;
32
uint8_t RemoteButtons = 0;
33
 
1 ingob 34
#define KEY1    0x01
35
#define KEY2    0x02
36
#define KEY3    0x04
37
#define KEY4    0x08
38
#define KEY5    0x10
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886 killagreg 40
/************************************/
41
/*        Clear LCD Buffer          */
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/************************************/
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void LCD_Clear(void)
1 ingob 44
{
886 killagreg 45
 uint8_t i;
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 for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
1 ingob 47
}
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/************************************/
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/*        Update Menu on LCD        */
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/************************************/
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// Display with 20 characters in 4 lines
54
void LCD_PrintMenu(void)
909 pangu 55
{
56
 
57
  #if !defined (USE_MK3MAG) & !defined (USE_MK3MAG)
58
  static uint8_t MaxMenuItem = 11;
59
  #else
60
  #ifdef USE_MK3MAG
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  static uint8_t MaxMenuItem = 12;
62
  #endif
886 killagreg 63
  #ifdef USE_KILLAGREG
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  static uint8_t MaxMenuItem = 14;
65
  #endif
909 pangu 66
  #endif
886 killagreg 67
  static uint8_t MenuItem=0;
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69
  //  if KEY1 is activated goto previous menu item
70
  if(RemoteButtons & KEY1)
71
  {
72
          if(MenuItem) MenuItem--;
73
          else MenuItem = MaxMenuItem;
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          LCD_Clear();
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          RemotePollDisplayLine = -1;
76
  }
77
  // if KEY2 is activated goto next menu item
78
  if(RemoteButtons & KEY2)
79
  {
80
          if (MenuItem == MaxMenuItem) MenuItem = 0;
81
          else MenuItem++;
82
          LCD_Clear();
83
          RemotePollDisplayLine = -1;
84
   }
85
 
86
  // if KEY1 and KEY2 is activated goto initial menu item
87
  if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0;
88
 
89
  // print menu item number in the upper right corner
90
  if(MenuItem < 10)
91
  {
92
          LCD_printfxy(17,0,"[%i]",MenuItem);
93
  }
94
  else
95
  {
96
          LCD_printfxy(16,0,"[%i]",MenuItem);
97
  }
98
 
99
  switch(MenuItem)
100
  {
101
    case 0:// Version Info Menu Item
595 hbuss 102
           LCD_printfxy(0,0,"+ MikroKopter +");
886 killagreg 103
           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a');
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           LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
1 ingob 105
           LCD_printfxy(0,3,"(c) Holger Buss");
106
           break;
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    case 1:// Height Control Menu Item
108
          if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
109
           {
110
           LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
111
           LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
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           LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure);
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           LCD_printfxy(0,3,"Offset    :%5i",PressureSensorOffset);
1 ingob 114
           }
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           else
116
           {
117
           LCD_printfxy(0,1,"No ");
118
           LCD_printfxy(0,2,"Height Control");
1 ingob 119
           }
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1 ingob 121
           break;
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    case 2:// Attitude Menu Item
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           LCD_printfxy(0,0,"Attitude");
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           LCD_printfxy(0,1,"Pitch:     %5i",IntegralPitch/1024);
1 ingob 125
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
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           LCD_printfxy(0,3,"Heading:   %5i",CompassHeading);
1 ingob 127
           break;
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    case 3:// Remote Control Channel Menu Item
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           LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
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           LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
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           LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
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           LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
1 ingob 133
           break;
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    case 4:// Remote Control Mapping Menu Item
135
           LCD_printfxy(0,0,"Pi:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
136
           LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
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           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
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           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
1 ingob 139
           break;
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    case 5:// Gyro Sensor Menu Item
1 ingob 141
           LCD_printfxy(0,0,"Gyro - Sensor");
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          if(BoardRelease == 10)
401 hbuss 143
          {
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           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch);
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           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
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           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);
401 hbuss 147
          }
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          else
401 hbuss 149
          {
886 killagreg 150
           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2);
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           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
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           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2);
401 hbuss 153
          }
1 ingob 154
           break;
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    case 6:// Acceleration Sensor Menu Item
1 ingob 156
           LCD_printfxy(0,0,"ACC - Sensor");
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           LCD_printfxy(0,1,"Pitch  %4i (%3i)",AdValueAccPitch, NeutralAccX);
158
           LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll, NeutralAccY);
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           LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);
1 ingob 160
           break;
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    case 7:// Accumulator Voltage / Remote Control Level
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           LCD_printfxy(0,1,"Voltage:  %5i",UBat);
163
           LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
1 ingob 164
           break;
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    case 8:// Compass Menu Item
166
           LCD_printfxy(0,0,"Compass       ");
167
           LCD_printfxy(0,1,"Course:    %5i",CompassCourse);
168
           LCD_printfxy(0,2,"Heading:   %5i",CompassHeading);
169
           LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
1 ingob 170
           break;
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    case 9:// Poti Menu Item
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                   LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion
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                   LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion
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                   LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion
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                   LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion
1 ingob 176
           break;
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    case 10:// Servo Menu Item
1 ingob 178
           LCD_printfxy(0,0,"Servo  " );
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           LCD_printfxy(0,1,"Setpoint  %3i",FCParam.ServoPitchControl);
180
           LCD_printfxy(0,2,"Position: %3i",ServoValue);
181
           LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax);
1 ingob 182
           break;
886 killagreg 183
    case 11://Extern Control
595 hbuss 184
           LCD_printfxy(0,0,"ExternControl  " );
886 killagreg 185
           LCD_printfxy(0,1,"Pi:%4i  Ro:%4i ",ExternControl.Pitch, ExternControl.Roll);
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           LCD_printfxy(0,2,"Th:%4i  Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw);
187
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Height, ExternControl.Config);
595 hbuss 188
           break;
886 killagreg 189
 
909 pangu 190
    #if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
886 killagreg 191
        case 12://GPS Lat/Lon coords
192
                        if (GPSInfo.status == INVALID)
193
                        {
194
                                LCD_printfxy(0,0,"No GPS data!");
195
                        }
196
                        else
197
                        {
198
                                switch (GPSInfo.satfix)
199
                                {
200
                                case SATFIX_NONE:
201
                                        LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
202
                                        break;
203
                                case SATFIX_2D:
204
                                        LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
205
                                        break;
206
                                case SATFIX_3D:
207
                                        LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
208
                                        break;
209
                                default:
210
                                        LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
211
                                        break;
212
                                }
213
                                int16_t i1,i2,i3;
214
                                i1 = (int16_t)(GPSInfo.longitude/10000000L);
215
                                i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
216
                                i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
217
                                LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3);
218
                                i1 = (int16_t)(GPSInfo.latitude/10000000L);
219
                                i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
220
                                i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
221
                                LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3);
222
                                i1 = (int16_t)(GPSInfo.altitude/1000L);
223
                                i2 = abs((int16_t)(GPSInfo.altitude%1000L));
224
                                LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2);
225
                        }
226
                        break;
909 pangu 227
        #endif
228
        #ifdef USE_KILLAGREG
886 killagreg 229
        case 13:// MM3 Kompass
230
                        LCD_printfxy(0,0,"MM3 Offset");
231
                        LCD_printfxy(0,1,"X_Offset:  %3i",MM3_calib.X_off);
232
                        LCD_printfxy(0,2,"Y_Offset:  %3i",MM3_calib.Y_off);
233
                        LCD_printfxy(0,3,"Z_Offset:  %3i",MM3_calib.Z_off);
234
                        break;
235
        case 14://MM3 Range
236
                        LCD_printfxy(0,0,"MM3 Range");
237
                        LCD_printfxy(0,1,"X_Range:  %4i",MM3_calib.X_range);
238
                        LCD_printfxy(0,2,"Y_Range:  %4i",MM3_calib.Y_range);
239
                        LCD_printfxy(0,3,"Z_Range:  %4i",MM3_calib.Z_range);
240
                        break;
241
        #endif
242
 
243
    default: MaxMenuItem = MenuItem - 1;
244
             MenuItem = 0;
1 ingob 245
           break;
246
    }
886 killagreg 247
        RemoteButtons = 0;
304 ingob 248
}