WebSVN - NaviCtrl - Blame - /tags/V2.20h/MobileMenu.c

Rev	Author	Line No.	Line
833	holgerb	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
		6	// + Nur f�r den privaten Gebrauch / NON-COMMERCIAL USE ONLY
		7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
		14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
		18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
		29	// + mit unserer Zustimmung zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
		34	// + this list of conditions and the following disclaimer.
		35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		36	// + from this software without specific prior written permission.
		37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
		38	// + for non-commercial use (directly or indirectly)
		39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
		40	// + with our written permission
		41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		42	// + clearly linked as origin
		43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
		44	//
		45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
		55	// + POSSIBILITY OF SUCH DAMAGE.
		56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		57	#include <stdlib.h>
		58	#include "91x_lib.h"
		59	#include "main.h"
		60	#include "led.h"
		61	#include "ubx.h"
		62	#include "GPS.h"
		63	#include "timer1.h"
		64	#include "compass.h"
		65	#include "spi_slave.h"
		66	#include "MobileMenu.h"
		67	#include "uart0.h"
		68	#include "uart1.h"
		69	#include "ncmag.h"
		70	#include "logging.h"
		71	#include "settings.h"
		72	#include "sdc.h"
		73	#include "analog.h"
		74	#include "canbus.h"
		75	#include "triggerlog.h"
		76	#include "CamCtrl.h"
		77	#include "eeprom.h"
		78
		79	u8 MobileDispPtr = 0;
		80
		81	MobileDataRequest_t MobileDataRequest;
		82	MobileDataInfo_t MobileDataInfo;
		83	Mobile_t Mobile;
		84
		85	#define ML_SEND 0x0001 // show sendbutton
		86	#define ML_SLIDER 0x0002
		87	#define ML_WHEEL 0x0004
		88	#define ML_EDIT 0x0008
856	holgerb	89	#define ML_WHEEL_RELATIV 0x0010
833	holgerb	90
		91
		92	MobileLabel_t MobileLabel[MOBILE_MAX_MENU] =
		93	{
856	holgerb	94	//{ 123456789012345678901 Min Max Default Decimals 1234567890123456 Keys Layout, LayoutOptions
		95	{ "Status " , 0, 1000, 200, 0, " ", {"SAT ","Time ","Magnet","Camera","Logs "},0, 0}, // 0
		96	{ "Load Waypoint List " , 1, 99, 1, 0, "Select List ", {"Fixed "," ","Relati"," "," "},1, ML_EDIT }, // 1
		97	{ "Load single Position " , 1, 99, 1, 0, "Load from Index:", {" "," "," "," ","Load "},1, ML_EDIT}, // 2
857	holgerb	98	{ "Store single Position" , 1, 99, 1, 0, "Store on Index: ", {" "," "," "," ","Store "},1, ML_EDIT}, // 3
		99	{ "BL-Gimbal Control " , -150, 150, 0, 0, "Move ", {"Yaw ","Nick "," "," ","Reset "},1, ML_WHEEL_RELATIV} // 4
833	holgerb	100	};
		101
		102
		103
		104	void Mobile_Putchar(char c)
		105	{
		106	if(MobileDispPtr < M_DISPLAYBUFFSIZE) Mobile.DisplayBuff[MobileDispPtr++] = c;
		107	}
		108
		109
		110	void Mobile_Putchar_INV(char c)
		111	{
		112	if(MobileDispPtr < M_DISPLAYBUFFSIZE) Mobile.DisplayBuff[MobileDispPtr++] = c \| 0x80;
		113	}
		114
		115	void Mobile_Putchar_BLINK(char c)
		116	{
		117	if(MenuBlinkBit) Mobile_Putchar_INV(c); else Mobile_Putchar(c);
		118	}
		119
		120	void Mobile_Clear(void)
		121	{
		122	u8 i;
		123	for( i = 0; i < M_DISPLAYBUFFSIZE; i++) Mobile.DisplayBuff[i] = ' ';
		124	}
		125
		126	// Display with 20 characters in 4 lines
		127	void MobileMenuUpdate(u8 item, u8 Keys, s16 Value)
		128	{
862	holgerb	129	//static u32 tmp,tmp2,tmp3;
		130	// s32 i1,i2;
833	holgerb	131	u8 sign;
		132	Mobile_Clear();
857	holgerb	133	FromMenuGimbalYaw = 0; // will be set in the menu below
		134	FromMenuServoNickControl = 0;
833	holgerb	135	switch(item)
		136	{
		137	// Version Info
		138	case 0:
		139	{
		140	static u8 show = 0;
		141	// Mobile_printfxy(0,0,"++ Mobile Menu ++");
		142
		143	// Mobile_printfxy_BLINK(10,3,"BLINK");
		144
		145	// Mobile_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
		146	// if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) Mobile_printfxy(19,1,"R");
		147	/*
		148	NaviData.Current
		149	s16 Altimeter_5cm; // hight according to air pressure
		150	s16 Variometer; // climb(+) and sink(-) rate
		151	u16 FlyingTime; // in seconds
		152	u16 GroundSpeed; // speed over ground in cm/s (2D)
		153	s16 Heading; // current flight direction in � as angle to north
		154	s8 AngleNick; // current Nick angle in 1�
		155	s8 AngleRoll; // current Rick angle in 1�
		156	u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx
		157	u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx
		158	u8 Errorcode; // 0 --> okay
		159	u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m
		160	s16 TopSpeed; // velocity in vertical direction in cm/s
		161	u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
		162	u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
		163	s16 SetpointAltitude; // setpoint for altitude
		164	u8 Gas; // current gas (thrust)
		165
		166	NaviData.GroundSpeed
		167	NaviData.
		168	NaviData.
		169	NaviData.
		170
		171	NaviData.
		172	NaviData.SatsInUse
		173
		174
		175	*/
		176	if(FC.StatusFlags & FC_STATUS_LOWBAT)
		177	{
		178	Mobile_printfxy_BLINK(0,0," %2i.%1iV ",FC.BAT_Voltage/10, FC.BAT_Voltage%10)
		179	Mobile_printfxy_BLINK(0,1," %2i:%02i ",NaviData.FlyingTime/60,NaviData.FlyingTime%60)
		180	Mobile_printfxy_BLINK(0,2," %5i ",NaviData.UsedCapacity)
		181	}
		182	else
		183	{
		184	Mobile_printfxy(0,0," %2i.%1iV ",FC.BAT_Voltage/10, FC.BAT_Voltage%10)
		185	Mobile_printfxy(0,1," %2i:%02i ",NaviData.FlyingTime/60,NaviData.FlyingTime%60);
		186	Mobile_printfxy(0,2," %5i ",NaviData.UsedCapacity);
		187	}
		188	if(Parameter.GlobalConfig & FC_CFG_HOEHENREGELUNG)
		189	{
		190	if(FC.StatusFlags2 & FC_STATUS2_ALTITUDE_CONTROL) Mobile_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(NaviData.Altimeter_5cm/20),FromFC_VarioCharacter)
		191	else Mobile_printfxy(10,0,"ALT:%4im ", (int16_t)(NaviData.Altimeter_5cm/20))
		192	}
		193	else Mobile_printfxy(10,0,"ALT:---- ");
		194
		195	Mobile_printfxy(10,1,"DIR: %3d%c",NaviData.CompassHeading,'`');
		196	if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) Mobile_printfxy_INV(20,1,"C") else Mobile_printfxy(20,1," ");
		197
		198	Mobile_printfxy(12,2,"I:%2i.%1iA ",NaviData.Current/10, NaviData.Current%10);
		199
		200	Mobile_printfxy(8,0,":");
		201	Mobile_printfxy(8,1,":");
		202	Mobile_printfxy(8,2,":");
		203
		204	if(Keys & KEY1) show = 0;
		205	if(Keys & KEY2) show = 1;
		206	if(Keys & KEY3) show = 2;
856	holgerb	207	if(Keys & KEY4) show = 3;
		208	if(Keys & KEY5) show = 4;
833	holgerb	209	switch(show)
		210	{
		211	case 0:
		212	Mobile_printfxy(0,3,"S:%2d %2im/s HM:%3dm %c",NaviData.SatsInUse,NaviData.GroundSpeed/100,NaviData.HomePositionDeviation.Distance_dm/10,NC_GPS_ModeCharacter);
		213	break;
		214	case 1:
856	holgerb	215	Mobile_printfxy(0,3," %04i/%02i/%02i %02i:%02i:%02i", SystemTime.Year,SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec);
		216	break;
		217	case 2:
		218	Mobile_printfxy(0,3,"MAG:%3u%% incl:%2d`(%2i)",EarthMagneticField/5,EarthMagneticInclination,EarthMagneticInclinationTheoretic);
		219	break;
		220	case 3:
833	holgerb	221	if(TrigLogging.CountExternal) Mobile_printfxy(0,3,"HotShoe:%4u ",TrigLogging.CountExternal-1)
		222	else Mobile_printfxy(0,3,"No HotShoe");
		223	break;
856	holgerb	224	case 4:
		225	if(SDCardInfo.Valid == 1)
		226	Mobile_printfxy(0,3,"Logs: GPX:%3u TRG:%3u",Logged_GPX_Counter,Logged_TRIG_Counter)
		227	else
		228	Mobile_printfxy(0,3,"no card in slot ");
833	holgerb	229	break;
		230	}
		231
856	holgerb	232	if(ErrorCode) Mobile_printfxy_BLINK(0,4,"%s",NaviData_HoTT_Text.HoTT_DisplayText)
		233	else Mobile_printfxy(0,4,"%s",NaviData_HoTT_Text.HoTT_DisplayText);
		234
833	holgerb	235	}
		236	break;
		237	case 1:
856	holgerb	238	{
		239	static u8 index = 0, fixed = 0;
		240	if(Keys & KEY1)
		241	{
		242	index = Value;
		243	if(index > ToFC_MaxWpListIndex) index = ToFC_MaxWpListIndex;
		244	FromFC_LoadWP_List = index;
		245	fixed = 1;
		246	}
		247	if(Keys & KEY3)
		248	{
		249	if(GPSData.SatFix == SATFIX_3D)
		250	{
		251	index = Value;
		252	if(index > ToFC_MaxWpListIndex) index = ToFC_MaxWpListIndex;
		253	FromFC_LoadWP_List = index \| 0x80;
		254	fixed = 2;
		255	}
		256	else fixed = 3;
		257	}
833	holgerb	258
856	holgerb	259	if(!fixed) Mobile_printfxy(0,0,"Load relative or fix")
		260	else Mobile_printfxy(0,0,"Name: %s ", WPL_Store.Name);
		261
		262	// 12345678901234567890
		263	Mobile_printfxy(0,1,"Points Index ");
		264	Mobile_printfxy(0,2," %3d %3d ", PointList_GetCount(), index);
		265	if(fixed == 1) Mobile_printfxy(0,3," Fixed positions");
		266	if(fixed == 2) Mobile_printfxy(0,3," Relative positions");
		267	if(fixed == 3) { Mobile_printfxy(0,3," Error: No Satfix!"); if(GPSData.SatFix == SATFIX_3D) fixed = 0;};
		268	Mobile_printfxy(0,4," LOAD List: %3i",Value);
		269	Mobile.ReturnValue = index;
		270	}
833	holgerb	271	break;
		272	case 2:
856	holgerb	273	{
		274	static u8 index = 0;
		275	if(Keys & KEY5)
		276	{
		277	index = Value;
		278	if(index > ToFC_MaxWpListIndex) index = ToFC_MaxWpListIndex;
		279	FromFC_Load_SinglePoint = index;
		280	}
		281	Mobile_printfxy(0,0,"Load Point" );
		282	Mobile_printfxy(0,1,"Name: %s", WPL_Store.Name);
		283	// 12345678901234567890
		284	Mobile_printfxy(0,3,"Number: %3d ", Value);
		285	if(index != Value) Mobile_printfxy(15,3,"(LOAD)");
		286	Mobile.ReturnValue = index;
		287	}
833	holgerb	288	break;
		289	case 3:
856	holgerb	290	{
		291	static u8 index = 1;
		292	Mobile_printfxy(0,0,"Save Point" );
		293	Mobile_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter_5cm/20);
		294	// 12345678901234567890
		295	Mobile_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10);
		296	if(GPSData.SatFix == SATFIX_3D)
		297	{
		298	Mobile_printfxy(0,4,"Number: %3d (Save)", Value);
		299	if(Keys & KEY5)
		300	{
		301	index = Value;
		302	if(index > ToFC_MaxWpListIndex) index = ToFC_MaxWpListIndex;
		303	FromFC_Save_SinglePoint = index;
		304	}
		305	}
		306	else Mobile_printfxy(5,4,"No Satfix !");
		307	Mobile.ReturnValue = index;
		308	}
		309	break;
		310	case 4:
857	holgerb	311	Mobile_printfxy(0,0,"GimbalCtrl");
		312	Mobile.ReturnValue = 0;
		313	if(!(FromGimbalCtrl.GimbalStatus & GIMBAL_I2C_OK))
		314	{
		315	Mobile_printfxy(0,2,"Not connected");
		316	if(GimbalCtrlTimeout < 10) Mobile_printfxy(14,4,"(conn)"); // connect manually
		317	if(Keys & KEY5) GimbalCtrlTimeout = 65000;
		318	}
		319	else
833	holgerb	320	{
857	holgerb	321	static u8 control = 0;
		322	Mobile_printfxy(10,0,"V%i.%02i",1 + FromGimbalCtrl.Version / 100, FromGimbalCtrl.Version % 100);
		323	Mobile_printfxy(0,1,"Stat:");
		324	if(FromGimbalCtrl.GimbalStatus & GIMBAL_DATA_OK) Mobile_printfxy(8,1,"OK") else Mobile_printfxy(5,1,"No Gimbal");
		325	Mobile_printfxy(0,2,"Nick:%3i Roll:%3i",FromGimbalCtrl.Nick,FromGimbalCtrl.Roll);
		326	Mobile_printfxy(0,3,"Yaw: %3i [0,1 Deg]",FromGimbalCtrl.Yaw);
		327	if(control == 0)
		328	{
		329	Mobile_printfxy(0,4,"Control: Yaw");
		330	FromMenuServoNickControl = 0;
		331	FromMenuGimbalYaw = Value * (-2);
		332	}
		333	else
		334	{
		335	Mobile_printfxy(0,4,"Control: Nick");
862	holgerb	336	if(FC.RC_Quality < 50) Mobile_printfxy(0,4,"RC Failsafe pos.!!");
857	holgerb	337	FromMenuServoNickControl = Value;
		338	FromMenuGimbalYaw = 0;
		339	}
		340
		341	if(Keys & KEY5)
		342	{
		343	ToGimbalCtrl.BitCmd \|= (GIMBAL_CMD_YW_ZERO);
		344	FromMenuGimbalYaw = 0;
		345	MenuNickGimbalOffset = 0;
		346	}
		347	if(Keys & KEY1) control = 0;
		348	if(Keys & KEY2) control = 1;
		349	}
		350	break;
		351	case 99:
		352	{
862	holgerb	353	// static u16 offset = 20, tmp;
833	holgerb	354	// Mobile_printfxy(0,0,"Testpage %i %c",item,33);
		355	for(sign = 0; sign < 21*5; sign++) Mobile.DisplayBuff[sign] = sign + ' ';
		356
		357	// if(Keys & COPY) offset = Value;
		358	}
		359	break;
		360
		361	default:
		362	Mobile_printfxy(0,0,"Not used ");
		363	//MaxMenuItem = MenuItem - 1;
		364	break;
		365	}
		366	Mobile.Index = item; // this menu item was processed
		367
		368	}

Subversion Repositories NaviCtrl

(root)/tags/V2.20h/MobileMenu.c @ 892 - Rev