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| 2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
| 3 | // + only for non-profit use |
3 | // + only for non-profit use |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 7 | ||
| - | 8 | #include <stdlib.h> |
|
| - | 9 | #include <inttypes.h> |
|
| 7 | #include "main.h" |
10 | #include "main.h" |
| - | 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" |
|
| - | 20 | #include "ubx.h" |
|
| - | 21 | #endif |
|
| - | 22 | #include "_Settings.h" |
|
| - | 23 | ||
| Line 8... | Line -... | ||
| 8 | - | ||
| 9 | unsigned int TestInt = 0; |
24 | |
| 10 | #define ARRAYGROESSE 10 |
25 | #define ARRAYSIZE 10 |
| - | 26 | uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
|
| 11 | unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
27 | #define DISPLAYBUFFSIZE 80 |
| 12 | char DisplayBuff[80] = "Hallo Welt"; |
28 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| 13 | unsigned char DispPtr = 0; |
29 | uint8_t DispPtr = 0; |
| Line 14... | Line 30... | ||
| 14 | unsigned char RemoteTasten = 0; |
30 | uint8_t RemoteButtons = 0; |
| 15 | 31 | ||
| 16 | #define KEY1 0x01 |
32 | #define KEY1 0x01 |
| 17 | #define KEY2 0x02 |
33 | #define KEY2 0x02 |
| 18 | #define KEY3 0x04 |
34 | #define KEY3 0x04 |
| Line -... | Line 35... | ||
| - | 35 | #define KEY4 0x08 |
|
| - | 36 | #define KEY5 0x10 |
|
| - | 37 | ||
| 19 | #define KEY4 0x08 |
38 | /************************************/ |
| 20 | #define KEY5 0x10 |
39 | /* Clear LCD Buffer */ |
| 21 | 40 | /************************************/ |
|
| 22 | void LcdClear(void) |
41 | void LCD_Clear(void) |
| 23 | { |
42 | { |
| Line -... | Line 43... | ||
| - | 43 | uint8_t i; |
|
| - | 44 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
|
| - | 45 | } |
|
| - | 46 | ||
| - | 47 | ||
| 24 | unsigned char i; |
48 | /************************************/ |
| 25 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
49 | /* Update Menu on LCD */ |
| - | 50 | /************************************/ |
|
| - | 51 | // Display with 20 characters in 4 lines |
|
| - | 52 | void LCD_PrintMenu(void) |
|
| 26 | } |
53 | { |
| - | 54 | #ifdef USE_KILLAGREG |
|
| - | 55 | static uint8_t MaxMenuItem = 14; |
|
| 27 | 56 | #else |
|
| - | 57 | static uint8_t MaxMenuItem = 11; |
|
| - | 58 | #endif |
|
| - | 59 | static uint8_t MenuItem=0; |
|
| - | 60 | ||
| - | 61 | // if KEY1 is activated goto previous menu item |
|
| - | 62 | if(RemoteButtons & KEY1) |
|
| - | 63 | { |
|
| - | 64 | if(MenuItem) MenuItem--; |
|
| - | 65 | else MenuItem = MaxMenuItem; |
|
| - | 66 | LCD_Clear(); |
|
| - | 67 | RemotePollDisplayLine = -1; |
|
| 28 | void Menu(void) |
68 | } |
| - | 69 | // if KEY2 is activated goto next menu item |
|
| - | 70 | if(RemoteButtons & KEY2) |
|
| - | 71 | { |
|
| - | 72 | if (MenuItem == MaxMenuItem) MenuItem = 0; |
|
| - | 73 | else MenuItem++; |
|
| 29 | { |
74 | LCD_Clear(); |
| 30 | static unsigned char MaxMenue = 11,MenuePunkt=0; |
75 | RemotePollDisplayLine = -1; |
| - | 76 | } |
|
| - | 77 | ||
| - | 78 | // if KEY1 and KEY2 is activated goto initial menu item |
|
| - | 79 | if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
|
| 31 | 80 | ||
| - | 81 | // print menu item number in the upper right corner |
|
| - | 82 | if(MenuItem < 10) |
|
| - | 83 | { |
|
| - | 84 | LCD_printfxy(17,0,"[%i]",MenuItem); |
|
| - | 85 | } |
|
| - | 86 | else |
|
| 32 | if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); RemotePollDisplayLine = -1; } |
87 | { |
| 33 | if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); RemotePollDisplayLine = -1;} |
88 | LCD_printfxy(16,0,"[%i]",MenuItem); |
| 34 | if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
89 | } |
| 35 | if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
90 | |
| 36 | switch(MenuePunkt) |
91 | switch(MenuItem) |
| 37 | { |
92 | { |
| 38 | case 0: |
93 | case 0:// Version Info Menu Item |
| 39 | LCD_printfxy(0,0,"+ MikroKopter +"); |
- | |
| 40 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
- | |
| 41 | LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
94 | LCD_printfxy(0,0,"+ MikroKopter +"); |
| 42 | LCD_printfxy(0,3,"(c) Holger Buss"); |
95 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a'); |
| 43 | // if(RemoteTasten & KEY3) TestInt--; |
96 | LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
| 44 | // if(RemoteTasten & KEY4) TestInt++; |
97 | LCD_printfxy(0,3,"(c) Holger Buss"); |
| 45 | break; |
98 | break; |
| 46 | case 1: |
99 | case 1:// Height Control Menu Item |
| 47 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
100 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| 48 | { |
101 | { |
| 49 | LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
102 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
| 50 | LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
103 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
| 51 | LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
104 | LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
| 52 | LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
105 | LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
| 53 | } |
106 | } |
| 54 | else |
107 | else |
| 55 | { |
108 | { |
| 56 | LCD_printfxy(0,1,"Keine "); |
109 | LCD_printfxy(0,1,"No "); |
| 57 | LCD_printfxy(0,2,"Höhenregelung"); |
110 | LCD_printfxy(0,2,"Height Control"); |
| 58 | } |
111 | } |
| 59 | 112 | ||
| 60 | break; |
113 | break; |
| 61 | case 2: |
114 | case 2:// Attitude Menu Item |
| 62 | LCD_printfxy(0,0,"akt. Lage"); |
115 | LCD_printfxy(0,0,"Attitude"); |
| 63 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
116 | LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024); |
| 64 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
117 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| 65 | LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
118 | LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
| 66 | break; |
119 | break; |
| 67 | case 3: |
120 | case 3:// Remote Control Channel Menu Item |
| 68 | LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
121 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| 69 | LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
122 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
| 70 | LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
123 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
| 71 | LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]); |
124 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
| 72 | break; |
125 | break; |
| 73 | case 4: |
126 | case 4:// Remote Control Mapping Menu Item |
| 74 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
127 | LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| 75 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
128 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| 76 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
129 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
| 77 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
130 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
| 78 | break; |
131 | break; |
| 79 | case 5: |
132 | case 5:// Gyro Sensor Menu Item |
| 80 | LCD_printfxy(0,0,"Gyro - Sensor"); |
133 | LCD_printfxy(0,0,"Gyro - Sensor"); |
| 81 | if(PlatinenVersion == 10) |
134 | if(BoardRelease == 10) |
| 82 | { |
135 | { |
| 83 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick); |
136 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch); |
| 84 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll); |
137 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
| 85 | LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier); |
138 | LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw); |
| 86 | } |
139 | } |
| 87 | else |
140 | else |
| 88 | { |
141 | { |
| 89 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick/2); |
142 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2); |
| 90 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll/2); |
143 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
| 91 | LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier/2); |
144 | LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2); |
| 92 | } |
145 | } |
| 93 | break; |
146 | break; |
| 94 | case 6: |
147 | case 6:// Acceleration Sensor Menu Item |
| 95 | LCD_printfxy(0,0,"ACC - Sensor"); |
148 | LCD_printfxy(0,0,"ACC - Sensor"); |
| 96 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
149 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX); |
| 97 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
150 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
| 98 | LCD_printfxy(0,3,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
151 | LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
| 99 | break; |
152 | break; |
| 100 | case 7: |
153 | case 7:// Accumulator Voltage / Remote Control Level |
| 101 | LCD_printfxy(0,1,"Spannung: %5i",UBat); |
154 | LCD_printfxy(0,1,"Voltage: %5i",UBat); |
| 102 | LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
155 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
| 103 | break; |
156 | break; |
| 104 | case 8: |
157 | case 8:// Compass Menu Item |
| 105 | LCD_printfxy(0,0,"Kompass "); |
158 | LCD_printfxy(0,0,"Compass "); |
| 106 | LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
159 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
| 107 | LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
160 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
| 108 | LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
161 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
| 109 | break; |
162 | break; |
| 110 | case 9: |
163 | case 9:// Poti Menu Item |
| 111 | LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
164 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
| 112 | LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
165 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
| 113 | LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
166 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
| 114 | LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
167 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
| 115 | break; |
168 | break; |
| 116 | case 10: |
169 | case 10:// Servo Menu Item |
| 117 | LCD_printfxy(0,0,"Servo " ); |
170 | LCD_printfxy(0,0,"Servo " ); |
| 118 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
171 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl); |
| 119 | LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
172 | LCD_printfxy(0,2,"Position: %3i",ServoValue); |
| 120 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
173 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax); |
| 121 | break; |
174 | break; |
| 122 | case 11: |
175 | case 11://Extern Control |
| 123 | LCD_printfxy(0,0,"ExternControl " ); |
176 | LCD_printfxy(0,0,"ExternControl " ); |
| - | 177 | LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll); |
|
| - | 178 | LCD_printfxy(0,2,"Th:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw); |
|
| - | 179 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
|
| - | 180 | break; |
|
| - | 181 | ||
| - | 182 | #ifdef USE_KILLAGREG |
|
| - | 183 | case 12://GPS Lat/Lon coords |
|
| - | 184 | if (GPSInfo.status == INVALID) |
|
| - | 185 | { |
|
| - | 186 | LCD_printfxy(0,0,"No GPS data!"); |
|
| - | 187 | } |
|
| - | 188 | else |
|
| - | 189 | { |
|
| - | 190 | switch (GPSInfo.satfix) |
|
| - | 191 | { |
|
| - | 192 | case SATFIX_NONE: |
|
| - | 193 | LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
|
| - | 194 | break; |
|
| - | 195 | case SATFIX_2D: |
|
| - | 196 | LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
|
| - | 197 | break; |
|
| - | 198 | case SATFIX_3D: |
|
| - | 199 | LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
|
| - | 200 | break; |
|
| - | 201 | default: |
|
| - | 202 | LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
|
| - | 203 | break; |
|
| - | 204 | } |
|
| - | 205 | int16_t i1,i2,i3; |
|
| - | 206 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
|
| - | 207 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
|
| - | 208 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
|
| - | 209 | LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
|
| - | 210 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
|
| - | 211 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
|
| - | 212 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
|
| - | 213 | LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
|
| - | 214 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
|
| - | 215 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
|
| - | 216 | LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
|
| - | 217 | } |
|
| - | 218 | break; |
|
| - | 219 | case 13:// MM3 Kompass |
|
| - | 220 | LCD_printfxy(0,0,"MM3 Offset"); |
|
| - | 221 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
|
| - | 222 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
|
| - | 223 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
|
| - | 224 | break; |
|
| - | 225 | case 14://MM3 Range |
|
| - | 226 | LCD_printfxy(0,0,"MM3 Range"); |
|
| - | 227 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
|
| - | 228 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
|
| 124 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
229 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
| 125 | LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
230 | break; |
| 126 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
231 | #endif |
| 127 | break; |
232 | |
| 128 | default: MaxMenue = MenuePunkt - 1; |
233 | default: MaxMenuItem = MenuItem - 1; |
| 129 | MenuePunkt = 0; |
234 | MenuItem = 0; |