| 0,0 → 1,687 |
|---|
| /***************************************************************************** |
| * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
| * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| * * |
| *****************************************************************************/ |
| |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <util/delay.h> |
| #include <string.h> |
| #include <stdlib.h> |
| |
| #include "main.h" |
| #include "lcd.h" |
| #include "timer.h" |
| #include "usart.h" |
| #include "parameter.h" |
| #include "menu.h" |
| |
| #include "mk-data-structs.h" |
| |
| #define TIMEOUT 500 // 5 sec |
| |
| mk_param_struct_t *mk_param_struct; |
| |
| uint8_t array[8]; |
| |
| prog_uchar p_menus[12][11]= |
| { |
| "Config ", |
| "Channels ", |
| "Stick ", |
| "Hight ", |
| "Gyro ", |
| "Looping ", |
| "Camera ", |
| "Misc. ", |
| "User ", |
| "Coupling ", |
| "Config(2) ", |
| "Loopingset" |
| }; |
| |
| |
| // Diese Tabelle ordnet die eingelesenen Parameter den Menü-Seiten zu |
| |
| prog_uchar p_menu_number[67]= |
| { |
| 2, 2, 2, 2, 2, 2, 2, 2, // Die ersten 8 Parameter werden auf Menüseite 2 angezeigt (=Kanalzuordnungen) |
| 0, 4, 4, 4, 4, 4, 4, 3, |
| 3, 3, 8, 8, 8, 8, 5, 5, |
| 8,8,8,0,5,9,9,9, |
| 9,7,7,7,7,7,7,6, |
| 6,6,10,10,6,6,5,5, |
| 5,9,9,9,9,0,7,11, |
| 11,11,11,12,12, 12, |
| 12,12,12,12,12 |
| |
| }; |
| |
| prog_uchar p_limits[199]= // Limits f¸r die Parameter |
| { |
| 1,8,2, // 2:Nick (3) |
| 1,8,2, // 2:Roll (4) |
| 1,8,2, // 2:Gas (2) |
| 1,8,2, // 2:Gier (1) |
| 1,8,2, // 2:Poti1 (6) |
| 1,8,2, // 2:Poti2 (6) |
| 1,8,2, // 2:Poti3 (7) |
| 1,8,2, // 2:Poti4 (5) |
| 0,0,0, // 1:Config |
| 0,255,4, // 4:Höhe MinGas (30) |
| 0,255,4, // 4:Luftdruck_D (30) |
| 0,255,4, // 4:MaxHöhe (Setpoint?) (Poti4) |
| 0,255,4, // 4:Höhe_P (10) |
| 0,50,4, // 4:Höhe Verst‰rkung (3) |
| 0,255,4, // 4:Höhe Z-acc (30) |
| 0,6,3, // 3:Nick/Roll P (3) |
| 0,64,3, // 3:Nick/Roll D (4) |
| 0,20,3, // 3:Gier_P (6) |
| 0,32,8, // 8:Min.Gas (15) |
| 33,250,8, // 8:Max.Gas (250) |
| 0,50,8, // 5:Gyro-Acc Faktor (30) |
| 0,255,8, // 8:Kompass-Wirkung (128) |
| 0,0,5, // 5:Gyro-P (80) |
| 0,0,5, // 5:Gyro-I (120) |
| 0,250,8, // 8:Unterspannung (94) |
| 0,250,8, // 8:Not-Gas Zeit (20) |
| 0,250,8, // 8:Not-Gas (35) |
| 0,1,0, // Ufo-Ausrichtung (X +) |
| 0,255,5, // I-Faktor (32) |
| 0,255,9, // 9:User1 (80) |
| 0,255,9, // 9:User2 (0) |
| 0,255,9, // 9:User3 |
| 0,255,9, // 9:User4 |
| 0,255,7, // 7:Servo Nick Control (100) |
| 0,250,7, // 7:Servo Nick Compensation (40) |
| 0,250,7, // 7:Servo Nick min (50) |
| 0,250,7, // 7:Servo Nick max (150) |
| 0,25,7, // 7:Servo Nick refrsh (5) |
| 0,255,6, // 6:Loop Gas Limit (50) |
| 0,250,6, // 6:Loop Ansprechschwelle (90) |
| 0,250,6, // 6:Loop Hysterese (50) |
| 0,255,10, // 10:Achskopplung (90) |
| 0,255,10, // 10:Achsgegenkopplung (5) |
| 0,250,6, // 6:Turnover Nick (100) |
| 0,250,6, // 6:Turnover Roll (100) |
| 0,250,5, // 5: Gyro-Abgleich (Comp.) (32) |
| 0,250,5, // 5: Drift (4) |
| 0,255,5, // 5: Dynamic stability (75) |
| 0,255,9, // 9:User5 |
| 0,255,9, // 9:User6 |
| 0,255,9, // 9:User7 |
| 0,255,9, // 9:User8 (0) |
| |
| 0,0,1, // 6:Loop Config (0) |
| 0,1,7 // 7:Servo Nick Compensation Invert (0) |
| |
| }; |
| |
| prog_char bin_parameter[12][16] = // Die bin‰r kodierten Parametern werden getrennt behandelt. |
| { |
| "Loop up ", |
| "Loop down ", |
| "Loop left ", |
| "Loop right ", |
| "Höhenregler ", // 8 |
| "Höhenschalter ", |
| "Headhold ", |
| "Kompass ", |
| "KompassFix ", |
| "GPS ", |
| "Achsenkopplung ", |
| "Drehrate " |
| }; |
| |
| prog_char parameter[54][16]= |
| { |
| "Nick ", // 0 (3) |
| "Roll ", // 1 (4) |
| "Gas ", // (2) |
| "Gier ", // (1) |
| "Poti1 ", // (6) |
| "Poti2 ", // (6) |
| "Poti3 ", // (7) |
| "Poti4 ", // 7 (5) |
| "Config ", // 8 |
| "Höhe_MinGas ", // 9 (30) |
| "Luftdruck_D ", // 10 Wert : 0-250 (30) |
| "MaxHöhe ", // 11 Wert : 0-250 251 -> Poti1 (Poti4) |
| "Höhe_P ", // 12 Wert : 0-32 (10) |
| "Höhe_Verstaerk", // 13 Wert : 0-50 |
| "Höhe_ACC_Wirk.", // 14 Wert : 0-250 (30) |
| "Stick_P ", // 15 Wert : 1-6 |
| "Stick_D ", // 16 Wert : 0-64 |
| "Gier_P ", // 17 Wert : 1-20 POTI(?) |
| "Gas_Min ", // 17 Wert : 0-32 |
| "Gas_Max ", // 18 Wert : 33-250 |
| "GyroAccFaktor ", // 19 Wert : 1-64 |
| "KompassWirkung ", // 20 Wert : 0-250 |
| "Gyro_P ", // 21 Wert : 0-250 |
| "Gyro_I ", // 22 Wert : 0-250 |
| "Unterspannung ", // 23 Wert : 0-250 |
| "NotGas ", // 24 Wert : 0-250 // Gaswert bei Empangsverlust |
| "NotGasZeit ", // 25 Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| "UfoAusrichtung ", // 26 X oder + Formation |
| "I_Faktor ", // 27 = 32; |
| "UserParam1 ", // 28 = 32 * 4; //zur freien Verwendung |
| "UserParam2 ", // 29 zur freien Verwendung |
| "UserParam3 ", // 30 zur freien Verwendung |
| "UserParam4 ", // 31 zur freien Verwendung |
| "ServoNickCtrl ", // 32 Wert : 0-250 // Stellung des Servos |
| "ServoNickComp ", // 33 Wert : 0-250 // Einfluss Gyro/Servo |
| "ServoNickMin ", // 34 Wert : 0-250 // Anschlag |
| "ServoNickMax ", // 35 Wert : 0-250 // Anschlag |
| "ServoNickRefrsh", // 36 |
| "LoopGasLimit ", // 37 |
| "LoopThreshold ", // 38 Wert: 0-250 Schwelle f¸r Stickausschlag |
| "LoopHysterese ", // 39 |
| "AchsKopplung ", // 40 |
| "AchsGegenKoppl.", // 41 |
| "WinklUmschlNick", // 42 |
| "WinklUmschlRoll", // 43 |
| "GyroAccAbgleich", // 44 1/k |
| "Driftkomp ", // 45 |
| "DynamicStabilit", // 47 |
| "UserParam5 ", // 48 zur freien Verwendung |
| "UserParam6 ", // 49 zur freien Verwendung |
| "UserParam7 ", // 50 zur freien Verwendung |
| "UserParam8 ", // 51 zur freien Verwendung |
| "LoopConfig ", // 52 Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| "ServoNickCompIn" // 53 Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| // "Name " // 54 |
| }; |
| |
| |
| |
| |
| void binary (uint8_t data, uint8_t *feld) // Wandelt eine 8-Bit Zahl in eine Bin‰rzahl um (Array mit 8 Elementen) |
| { // Wird f¸r die Flags (Loop + Grundkonfiguration) benˆtigt |
| uint8_t i; |
| |
| i=0; |
| for (i = 0; i < 8; i++) |
| { |
| if ((1 << i) & data) |
| feld[i] = 1; |
| else |
| feld[i] = 0; |
| } |
| } |
| |
| uint8_t bindec (uint8_t *feld) // wandelt eine Bin‰rzahl (im Array) in eine 8-Bit Zahl |
| { // Wird f¸r die Flags (Loop + Grundkonfiguration) benˆtigt |
| uint8_t i; |
| uint8_t result; |
| |
| result = 0; |
| for (i = 0; i < 8; i++) |
| { |
| if (feld[i] == 1) |
| result += 1 << i; |
| } |
| return result; |
| } |
| |
| |
| |
| |
| void decimal (uint8_t data, uint8_t *text) // wandelt Wert in rechtsbündigen Text um |
| { // (schneller/kleiner als printf()) |
| text[0] = data/100; |
| data -= (text[0] * 100); |
| text[1] = data/10; |
| data -= (text[1] *10); |
| text[2] = data + 0x30; |
| text[0] += 0x30; |
| text[1] += 0x30; |
| |
| if (text[0] == 0x30) |
| { |
| text[0] = 0x20; |
| if (text[1] == 0x30) |
| text[1] = 0x20; |
| } |
| text[3] = 0x00; |
| } |
| |
| uint8_t show_parameter (uint8_t number) // Zeigt eine Parameter-Seite an und gibt die ausgew‰hlte Zeile zur¸ck |
| { |
| #if 0 |
| uint8_t i; |
| uint8_t line; |
| uint8_t text[25]; |
| uint8_t bin[8]; |
| |
| line = 0; |
| |
| if (number > 1) |
| { |
| for (i = 0; i<66; i++) |
| { |
| if (pgm_read_byte(p_limits+i*3+2) == number) |
| { |
| array[line] = i; |
| decimal(buffer[i],text); |
| lcd_print_at(0,line,text,0); |
| lcd_printp_at (5,line,parameter[i],0); |
| if (line <= 7) |
| line++; |
| } |
| } |
| } |
| else |
| { // Sonderf‰lle: Bin‰re Eingabe |
| if (number == 1) |
| { |
| binary(buffer[52],bin); // Loop-Config |
| text[1] = 0x00; |
| for (i = 0; i < 4; i++) |
| { |
| text[0] = bin[i] + 0x30; |
| lcd_print_at (0, i, text, 0); |
| lcd_printp_at (5, i, bin_parameter[i], 0); |
| } |
| |
| } |
| if (number == 0) |
| { |
| binary (buffer[8], bin); // Config |
| text[1] = 0x00; |
| for (i = 0; i < 8; i++) |
| { |
| text[0] = bin[i] + 0x30; |
| lcd_print_at (0, i, text, 0); |
| lcd_printp_at (5, i, bin_parameter[i + 4], 0); |
| } |
| } |
| |
| |
| } |
| return line; |
| #endif |
| } |
| |
| void edit_parameter2 (uint8_t page, uint8_t lines) // ƒndern der Parameter einer Seite |
| { |
| #if 0 |
| uint8_t line; |
| uint8_t par; |
| uint8_t min; |
| uint8_t max; |
| uint8_t text[10]; |
| uint8_t bin[8]; |
| |
| if (page > 1) // "normale" Parameter-Seiten |
| { |
| line = menu_choose(0,lines-1,4); |
| if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt |
| { |
| par = buffer[array[line]]; |
| min = pgm_read_byte(p_limits + par * 3); |
| max = pgm_read_byte(p_limits + par * 3 + 1); |
| |
| lcd_printp_at(4,line,PSTR("-"),0); |
| |
| while (key != key_nokey); |
| |
| do |
| { |
| if (key == key_minus) |
| { |
| //if (par > min) // ‹berpr¸fung der Parameter auf Bereichs¸berschreitung derzeit deaktiviert |
| par --; |
| } |
| if (key == key_plus) |
| { |
| //if (par < max) |
| par ++; |
| } |
| |
| decimal(par,text); |
| lcd_print_at(0,line,text,0); |
| |
| timer = 20; |
| while (timer > 0); |
| } |
| while ((key != 0x04) && (key != 0x08)); |
| |
| if (key == 0x08) |
| buffer[array[line]] = par; |
| } |
| } |
| |
| if (page == 1) // Spezialfall: Loop-Config (einzelne Bits setzen / lˆschen) |
| { |
| binary(buffer[52],bin); |
| text[1] = 0x00; |
| |
| line = menu_choose(0,3,4); |
| if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt |
| { |
| par = bin[line]; |
| |
| lcd_printp_at(4,line,PSTR("-"),0); |
| |
| do |
| { |
| |
| if (key == key_minus) |
| { |
| par = 0x00; |
| } |
| if (key == key_plus) |
| { |
| par = 0x01; |
| } |
| |
| text[0] = par+0x30; |
| lcd_print_at(0,line,text,0); |
| timer = 20; |
| while (timer > 0); |
| |
| |
| } |
| while ((key != key_enter) && (key != key_esc)); |
| |
| if (key == key_enter) |
| { |
| bin[line] = par; |
| buffer[52] = bindec(bin); |
| } |
| |
| lcd_cls(); |
| decimal(buffer[52],text); |
| lcd_print(text,0); |
| timer = 200; |
| while(timer > 0); |
| } |
| } |
| if (page == 0) // Spezialfall: Allgemeine Konfiguration (einzelne Bits setzen/lˆschen) |
| { |
| binary(buffer[8],bin); |
| text[1] = 0x00; |
| |
| line = menu_choose(0,7,4); |
| if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt |
| { |
| par = bin[line]; |
| |
| lcd_printp_at(4,line,PSTR("-"),0); |
| |
| do |
| { |
| |
| if (key == key_minus) |
| { |
| par = 0x00; |
| } |
| if (key == key_plus) |
| { |
| par = 0x01; |
| } |
| |
| text[0] = par+0x30; |
| lcd_print_at(0,line,text,0); |
| timer = 20; |
| while (timer > 0); |
| |
| |
| } |
| while ((key != key_enter) && (key != key_esc)); |
| |
| if (key == key_enter) |
| { |
| bin[line] = par; |
| buffer[8] = bindec(bin); |
| } |
| |
| lcd_cls(); |
| decimal(buffer[8],text); |
| lcd_print(text,0); |
| timer = 200; |
| while(timer > 0); |
| } |
| } |
| #endif |
| } |
| |
| |
| void edit_parameter1 (void) |
| { |
| uint8_t cmd; |
| uint8_t setting = 0xff; |
| |
| mode = 'P'; // Settings |
| |
| lcd_cls (); |
| |
| //mode = 'Q'; // Settings |
| _delay_ms (50); |
| rxd_buffer_locked = FALSE; |
| timer = TIMEOUT; |
| |
| LED2_ON; |
| //SendOutData ('q', ADDRESS_FC, 1, &setting, 1); |
| SendOutData ('p', ADDRESS_FC, 1); |
| while (!rxd_buffer_locked && timer); |
| if (timer) |
| { |
| LED3_ON; |
| Decode64 (); |
| #if 0 |
| mk_param_struct = (mk_param_struct_t *) pRxData + 2; |
| |
| lcd_printp (PSTR("Current Setting: "), 0); |
| lcd_write_number_u (*pRxData); |
| |
| lcd_printp (PSTR("Setting Version: "), 0); |
| lcd_write_number_u (*pRxData+1); |
| #endif |
| LED3_OFF; |
| } |
| else |
| { // timeout occured |
| lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0); |
| |
| timer = 100; |
| while (timer > 0); |
| return; |
| } |
| LED2_OFF; |
| |
| // after all work is done... |
| rxd_buffer_locked = FALSE; |
| |
| #if 0 |
| uint8_t page; // 12 Pages |
| uint8_t text[15]; |
| uint8_t lines; |
| uint8_t parameter; |
| |
| lcd_cls (); |
| |
| lcd_printp (PSTR("Load Setting\r\n"), 0); |
| lcd_printp (PSTR(" 1:\r\n"), 0); |
| lcd_printp (PSTR(" 2:\r\n"), 0); |
| lcd_printp (PSTR(" 3:\r\n"), 0); |
| lcd_printp (PSTR(" 4:\r\n"), 0); |
| lcd_printp (PSTR(" 5:\r\n"), 0); |
| |
| parameter = menu_choose (1, 5, 0); |
| |
| page = 2; |
| if (read_parameter (parameter) == 1) |
| { |
| lcd_printp_at (0, 6, PSTR("Timeout"), 0); |
| } |
| else |
| { |
| do |
| { |
| lcd_cls (); |
| utoa (page, text, 10); |
| lcd_print (text, 0); |
| timer = 50; |
| |
| while (timer > 0); |
| |
| lcd_cls (); |
| |
| lines = show_parameter (page); |
| |
| while (key == key_nokey); |
| if (key == key_plus) |
| page++; |
| if (key == key_minus) |
| page--; |
| |
| if (page == 255) |
| page = 12; |
| |
| if (page > 12) |
| page = 0; |
| |
| if (key == key_enter) |
| edit_parameter2 (page, lines); |
| |
| } |
| while (key != key_esc); |
| |
| lcd_cls (); |
| lcd_printp (PSTR("Parameter speichern?\r\n ja\r\n nein"), 0); |
| |
| lines = menu_choose (1, 2, 0); |
| |
| if (lines == 1 ) |
| { |
| lcd_printp (PSTR("\r\n--->"), 0); |
| write_parameter (5); // Sicherheitshalber wird derzeit ausschliefllich auf Parametersatz 5 gesichert. |
| lcd_printp (PSTR("\r\nParameter gespeichert"), 0); |
| } |
| else |
| { |
| lcd_printp (PSTR("\r\nNicht gespeichert"), 0); |
| } |
| } |
| timer = 100; |
| while (timer > 0); |
| #endif |
| } |
| |
| void display_page (uint8_t page) |
| { |
| lcd_cls (); |
| |
| switch (page) |
| { |
| case 0: |
| lcd_printp (PSTR("Current Setting: "), 0); |
| lcd_write_number_u (*pRxData); |
| |
| lcd_printp (PSTR("\r\nSetting Version: "), 0); |
| lcd_write_number_u (*(pRxData + 1)); |
| #if 0 |
| lcd_printp (PSTR("\r\nRxDataLen: "), 0); |
| lcd_write_number_u (RxDataLen); |
| |
| lcd_printp (PSTR("\r\nRxBytes: "), 0); |
| lcd_write_number_u (ReceivedBytes); |
| #endif |
| break; |
| |
| case 1: |
| lcd_printp (PSTR("Pitch: "), 0); |
| lcd_write_number_u (mk_param_struct->Kanalbelegung[0]); |
| |
| lcd_printp (PSTR("Yaw : "), 0); |
| lcd_write_number_u (mk_param_struct->Kanalbelegung[1]); |
| |
| lcd_printp (PSTR("Nick : "), 0); |
| lcd_write_number_u (mk_param_struct->Kanalbelegung[2]); |
| |
| lcd_printp (PSTR("Roll : "), 0); |
| lcd_write_number_u (mk_param_struct->Kanalbelegung[3]); |
| |
| lcd_printp (PSTR("Poti1: "), 0); |
| lcd_write_number_u (mk_param_struct->Kanalbelegung[4]); |
| |
| lcd_printp (PSTR("Poti2: "), 0); |
| lcd_write_number_u (mk_param_struct->Kanalbelegung[5]); |
| |
| lcd_printp (PSTR("Poti3: "), 0); |
| lcd_write_number_u (mk_param_struct->Kanalbelegung[6]); |
| |
| lcd_printp (PSTR("Poti4: "), 0); |
| lcd_write_number_u (mk_param_struct->Kanalbelegung[7]); |
| break; |
| } |
| } |
| |
| |
| void edit_parameter (void) |
| { |
| uint8_t cmd; |
| uint8_t sett = 0xff; // current active parameter set |
| uint8_t page = 0; |
| |
| SwitchToFC(); |
| |
| mode = 'Q'; // Settings |
| |
| lcd_cls (); |
| |
| _delay_ms (50); |
| rxd_buffer_locked = FALSE; |
| timer = TIMEOUT; |
| |
| SendOutData ('q', ADDRESS_FC, 1, &sett, 1); |
| while (!rxd_buffer_locked && timer); |
| if (timer) |
| { |
| Decode64 (); |
| mk_param_struct = (mk_param_struct_t *) pRxData + 2; |
| |
| display_page (page); |
| |
| if (get_key_press (1 << KEY_MINUS)) |
| { |
| page--; |
| } |
| else if (get_key_press (1 << KEY_PLUS)) |
| { |
| page++; |
| } |
| |
| } |
| else |
| { // timeout occured |
| lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0); |
| |
| timer = 100; |
| while (timer > 0); |
| return; |
| } |
| |
| // after all work is done... |
| //rxd_buffer_locked = FALSE; |
| while (!get_key_press (1 << KEY_ESC)); // ESC |
| |
| mode = 0; |
| rxd_buffer_locked = FALSE; |
| } |