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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) Holger Buss, Ingo Busker
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// + only for non-profit use
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// + www.MikroKopter.com
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// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "main.h"
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#include "eeprom.h"
10
 
11
char DisplayBuff[80] = "Hello World";
12
unsigned char DispPtr = 0;
13
 
14
unsigned char MaxMenue = 17;
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unsigned char MenuePunkt = 0;
16
unsigned char RemoteKeys = 0;
17
 
18
#define KEY1    0x01
19
#define KEY2    0x02
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#define KEY3    0x04
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#define KEY4    0x08
22
#define KEY5    0x10
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24
void LcdClear(void)
25
{
26
 unsigned char i;
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 for(i=0;i<80;i++) DisplayBuff[i] = ' ';
28
}
29
 
30
void Menu_Putchar(char c)
31
{
32
        DisplayBuff[DispPtr++] = c;
33
}
34
 
35
void Menu(void)
36
 {
37
  if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;}
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  if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;}
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  if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0;
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  LcdClear();
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  if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);}
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  else {LCD_printfxy(16,0,"[%i]",MenuePunkt);};
43
 
44
  switch(MenuePunkt)
45
   {
46
    case 0:
47
           LCD_printfxy(0,0,"+ MikroKopter +");
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           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c-Arthur-P",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a');
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           LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name);
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                   if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0])
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                   else
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           if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor)
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                   else
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           if(VersionInfo.HardwareError[1] & DEFEKT_MIXER_ERR) LCD_printfxy(0,3,"Mixer Error!")
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                   else
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//                 if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1])
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//                 else
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           if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!")
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           break;
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    case 1:
61
          if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
62
           {
63
           LCD_printfxy(0,0,"Height:  %5i",(int)(HoehenWert/5));
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           LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5));
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           LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);
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           LCD_printfxy(0,3,"Offset:  %5i",OCR0A);
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           }
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           else
69
           {
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           LCD_printfxy(0,0,"Height control");
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           LCD_printfxy(0,1,"DISABLED");
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           LCD_printfxy(0,2,"Height control");
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           LCD_printfxy(0,3,"DISABLED");
74
           }
75
 
76
           break;
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    case 2:
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           LCD_printfxy(0,0,"act. bearing");
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           LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);
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           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
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           LCD_printfxy(0,3,"Compass:   %5i",KompassValue);
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           break;
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    case 3:
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           LCD_printfxy(0,0,"K1:%4i  K2:%4i ",PPM_in[1],PPM_in[2]);
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           LCD_printfxy(0,1,"K3:%4i  K4:%4i ",PPM_in[3],PPM_in[4]);
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           LCD_printfxy(0,2,"K5:%4i  K6:%4i ",PPM_in[5],PPM_in[6]);
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           LCD_printfxy(0,3,"K7:%4i  K8:%4i ",PPM_in[7],PPM_in[8]);
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           break;
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    case 4:
90
           LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);
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           LCD_printfxy(0,1,"Gs:%4i  Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
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           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+110);
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           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+110);
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           break;
95
    case 5:
96
           LCD_printfxy(0,0,"Gyro - Sensor");
97
          if(PlatinenVersion == 10)
98
          {
99
           LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8);
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           LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8);
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           LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier);
102
          }
103
          else
104
          if((PlatinenVersion == 11) || (PlatinenVersion >= 20))
105
          {
106
           LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2);
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           LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2);
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           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2);
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          }
110
          else
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          if(PlatinenVersion == 13)
112
          {
113
           LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick);
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           LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll);
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           LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier);
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          }
117
           break;
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    case 6:
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           LCD_printfxy(0,0,"ACC - Sensor");
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           LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX);
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           LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY);
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           LCD_printfxy(0,3,"Z    %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ);
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           break;
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    case 7:
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                        LCD_printfxy(0,0,"Voltage:   %3i.%1iV",UBat/10, UBat%10);
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                        LCD_printfxy(0,1,"Current:   %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
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                        LCD_printfxy(0,2,"Power:     %4iW",Capacity.ActualPower);
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                        LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity);
129
           break;
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    case 8:
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           LCD_printfxy(0,0,"Receiver");
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           LCD_printfxy(0,1,"RC-RSSI:    %4i", PPM_in[0]);
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           LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay);
134
           LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1);
135
           break;
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    case 9:
137
           LCD_printfxy(0,0,"Compass");
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           LCD_printfxy(0,1,"Heading:  %5i",KompassRichtung);
139
           LCD_printfxy(0,2,"Value:    %5i",KompassValue);
140
           LCD_printfxy(0,3,"Start:    %5i",KompassStartwert);
141
           break;
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    case 10:
143
           LCD_printfxy(0,0,"Poti1:  %3i",Poti[0]);
144
           LCD_printfxy(0,1,"Poti2:  %3i",Poti[1]);
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           LCD_printfxy(0,2,"Poti3:  %3i",Poti[2]);
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           LCD_printfxy(0,3,"Poti4:  %3i",Poti[3]);
147
           break;
148
    case 11:
149
           LCD_printfxy(0,0,"Poti5:  %3i",Poti[4]);
150
           LCD_printfxy(0,1,"Poti6:  %3i",Poti[5]);
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           LCD_printfxy(0,2,"Poti7:  %3i",Poti[6]);
152
           LCD_printfxy(0,3,"Poti8:  %3i",Poti[7]);
153
           break;
154
    case 12:
155
           LCD_printfxy(0,0,"Servo  " );
156
           LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoNickControl);
157
           LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
158
           LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);
159
           break;
160
    case 13:
161
           LCD_printfxy(0,0,"ExternControl  " );
162
           LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick,ExternControl.Roll);
163
           LCD_printfxy(0,2,"Gs:%4i  Gi:%4i ",ExternControl.Gas,ExternControl.Gier);
164
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);
165
           break;
166
    case 14:
167
           LCD_printfxy(0,0,"BL-Ctrl Errors " );
168
                   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);
169
                   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);
170
                   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);
171
           break;
172
    case 15:
173
           LCD_printfxy(0,0,"BL Temperature" );
174
                   LCD_printfxy(0,1,"%3i %3i %3i %3i ",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature);
175
                   LCD_printfxy(0,2,"%3i %3i %3i %3i ",Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature);
176
                   LCD_printfxy(0,3,"%3i %3i %3i %3i ",Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature);
177
           break;
178
    case 16:
179
           LCD_printfxy(0,0,"BL-Ctrl found " );
180
                   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));
181
                   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));
182
                   LCD_printfxy(0,3," %c   -   -   - ",'-' + 12 * (Motor[8].State>>7));
183
                   if(Motor[9].State>>7)  LCD_printfxy(4,3,"10");
184
                   if(Motor[10].State>>7) LCD_printfxy(8,3,"11");
185
                   if(Motor[11].State>>7) LCD_printfxy(12,3,"12");
186
           break;
187
    case 17:
188
           LCD_printfxy(0,0,"Flight-Time  " );
189
           LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt);
190
           LCD_printfxy(0,2,"Act:  %5umin",FlugMinuten);
191
           LCD_printfxy(13,3,"(reset)");
192
                   if(RemoteKeys & KEY4)
193
             {
194
               FlugMinuten = 0;
195
               SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
196
                         }
197
           break;
198
    default:
199
           if(MenuePunkt == MaxMenue) MaxMenue--;
200
           MenuePunkt = 0;
201
           break;
202
    }
203
    RemoteKeys = 0;
204
}