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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "main.h" |
| #include "eeprom.h" |
| #include "timer2.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "uart0.h" |
| #include "printf_P.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #endif |
| |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| #include "ubx.h" |
| #endif |
| |
| #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
| uint8_t MaxMenuItem = 14; |
| #else |
| #ifdef USE_MK3MAG |
| uint8_t MaxMenuItem = 15; |
| #endif |
| |
| #ifdef USE_KILLAGREG |
| uint8_t MaxMenuItem = 17; |
| #endif |
| #endif |
| uint8_t MenuItem = 0; |
| uint8_t RemoteKeys = 0; |
| |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| |
| |
| |
| #define DISPLAYBUFFSIZE 80 |
| int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| uint8_t DispPtr = 0; |
| |
| |
| /************************************/ |
| /* Clear LCD Buffer */ |
| /************************************/ |
| void LCD_Clear(void) |
| { |
| uint8_t i; |
| for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
| } |
| |
| |
| /************************************/ |
| /* Update Menu on LCD */ |
| /************************************/ |
| // Display with 20 characters in 4 lines |
| void LCD_PrintMenu(void) |
| { |
| if(RemoteKeys & KEY1) |
| { |
| if(MenuItem) MenuItem--; |
| else MenuItem = MaxMenuItem; |
| } |
| if(RemoteKeys & KEY2) |
| { |
| if(MenuItem == MaxMenuItem) MenuItem = 0; |
| else MenuItem++; |
| } |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
| |
| |
| |
| |
| LCD_Clear(); |
| |
| if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| // print menu item number in the upper right corner |
| if(MenuItem < 10) |
| { |
| LCD_printfxy(17,0,"[%i]",MenuItem); |
| } |
| else |
| { |
| LCD_printfxy(16,0,"[%i]",MenuItem); |
| } |
| |
| switch(MenuItem) |
| { |
| case 0:// Version Info Menu Item |
| LCD_printfxy(0,0,"++ Flight-Ctrl ++"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
| LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name); |
| if(I2CTimeout < 6) |
| { |
| LCD_printfxy(0,3,"I2C Error!!!"); |
| } |
| else if (MissingMotor) |
| { |
| LCD_printfxy(0,3,"Missing BL-Ctrl:%d", MissingMotor); |
| } |
| else LCD_printfxy(0,3,"(c) Holger Buss"); |
| break; |
| case 1:// Height Control Menu Item |
| if(ParamSet.Config0 & CFG0_AIRPRESS_SENSOR) |
| { |
| LCD_printfxy(0,0,"Height: %5i",(int16_t)(ReadingHeight/5)); |
| LCD_printfxy(0,1,"Set Point: %5i",(int16_t)(SetPointHeight/5)); |
| LCD_printfxy(0,2,"Air Press.:%5i",AdAirPressure); |
| LCD_printfxy(0,3,"Offset :%5i",OCR0A); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"No "); |
| LCD_printfxy(0,2,"Height Control"); |
| } |
| break; |
| case 2:// Attitude Menu Item |
| LCD_printfxy(0,0,"Attitude"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralGyroNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralGyroRoll/1024); |
| LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
| break; |
| case 3:// Remote Control Channel Menu Item |
| LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
| break; |
| case 4:// Remote Control Mapping Menu Item |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + RC_GAS_OFFSET,PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + RC_GAS_OFFSET, PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + RC_POTI_OFFSET); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + RC_POTI_OFFSET, PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + RC_POTI_OFFSET); |
| break; |
| case 5:// Gyro Sensor Menu Item |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| switch(BoardRelease) |
| { |
| case 10: |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw); |
| break; |
| |
| case 11: |
| case 12: |
| case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2); |
| break; |
| |
| case 13: |
| default: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw ); |
| break; |
| } |
| break; |
| case 6:// Acceleration Sensor Menu Item |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
| break; |
| case 7:// Accumulator Voltage / Remote Control Level |
| LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,1,"RC-Level: %4i", RC_Quality); |
| LCD_printfxy(0,2,"RC-Channels:%4i", RC_Channels); |
| LCD_printfxy(0,3,"RC-RSSI: %4i", RC_RSSI); |
| break; |
| case 8:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass "); |
| LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
| LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
| LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
| break; |
| case 9:// Poti Menu Item |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
| break; |
| case 10:// Servo Menu Item |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
| break; |
| case 11://Extern Control |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
| break; |
| |
| case 12://BL Communication errors |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1," %3d %3d %3d %3d ",Motor[0].Error,Motor[1].Error,Motor[2].Error,Motor[3].Error); |
| LCD_printfxy(0,2," %3d %3d %3d %3d ",Motor[4].Error,Motor[5].Error,Motor[6].Error,Motor[7].Error); |
| LCD_printfxy(0,3," %3d %3d %3d %3d ",Motor[8].Error,Motor[9].Error,Motor[10].Error,Motor[11].Error); |
| break; |
| |
| case 13://BL Overview |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",Motor[0].Present + '-',Motor[1].Present + '-',Motor[2].Present + '-',Motor[3].Present + '-'); |
| LCD_printfxy(0,2," %c %c %c %c ",Motor[4].Present + '-',Motor[5].Present + '-',Motor[6].Present + '-',Motor[7].Present + '-'); |
| LCD_printfxy(0,3," %c - - - ",Motor[8].Present + '-'); |
| if(Motor[9].Present) LCD_printfxy(4,3,"10"); |
| if(Motor[10].Present) LCD_printfxy(8,3,"11"); |
| if(Motor[11].Present) LCD_printfxy(12,3,"12"); |
| break; |
| case 14:// flight time counter |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,1,"Trip: %5u min",FlightMinutes); |
| LCD_printfxy(0,2,"Total:%5u min",FlightMinutesTotal); |
| LCD_printfxy(13,3,"(reset)"); |
| if(RemoteKeys & KEY4) |
| { |
| FlightMinutes = 0; |
| SetParamWord(PID_FLIGHT_MINUTES, FlightMinutes); |
| } |
| break; |
| |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| case 15://GPS Lat/Lon coords |
| if (GPSInfo.status == INVALID) |
| { |
| LCD_printfxy(0,0,"No GPS data!"); |
| } |
| else |
| { |
| switch (GPSInfo.satfix) |
| { |
| case SATFIX_NONE: |
| LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
| break; |
| case SATFIX_2D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
| break; |
| case SATFIX_3D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
| break; |
| default: |
| LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
| break; |
| } |
| int16_t i1,i2,i3; |
| i1 = (int16_t)(GPSInfo.longitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.latitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.altitude/1000L); |
| i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
| LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
| } |
| break; |
| #endif |
| #ifdef USE_KILLAGREG |
| case 16:// MM3 Kompass |
| LCD_printfxy(0,0,"MM3 Offset"); |
| LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
| LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
| LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
| break; |
| case 17://MM3 Range |
| LCD_printfxy(0,0,"MM3 Range"); |
| LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
| LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
| LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
| break; |
| #endif |
| |
| default: |
| MaxMenuItem = MenuItem - 1; |
| MenuItem = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |