WebSVN - FlightCtrl - Diff - Rev 1179 and 1180 - /branches/V0.72p Code Redesign killagreg/menu.c

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
-// + only for non-profit use
+// + Nur für den privaten Gebrauch
 // + www.MikroKopter.com
-// + see the File "License.txt" for further Informations
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + 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 "uart.h"
+#include "uart0.h"
 #include "printf_P.h"
 #include "analog.h"
 #ifdef USE_KILLAGREG
 #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
 #include "ubx.h"
-#endif
-#include "_Settings.h"
+#endif
 #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG))
 uint8_t MaxMenuItem = 11;
 #else
         switch(MenuItem)
+        {
     case 0:// Version Info Menu Item
            LCD_printfxy(0,0,"+ MikroKopter +");
            LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');
+           #ifndef USE_QUADRO
+                   LCD_printfxy(0,2,"OCTO    Setting: %d ", GetActiveParamSet());
+           #else
-           LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
+           LCD_printfxy(0,2,"QUADRO  Setting: %d ", GetActiveParamSet());
+           #endif
            LCD_printfxy(0,3,"(c) Holger Buss");
            break;
     case 1:// Height Control Menu Item
           if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
+           {
+           }
            break;
     case 2:// Attitude Menu Item
            LCD_printfxy(0,0,"Attitude");
-           LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);
+           LCD_printfxy(0,1,"Nick:      %5i",IntegralGyroNick/1024);
-           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/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]);
         case 5:// Gyro Sensor Menu Item
            LCD_printfxy(0,0,"Gyro - Sensor");
            switch(BoardRelease)
+           {
                         case 10:
-                           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick);
+                           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)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
+                           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)",AdNeutralYaw  - AdValueGyrYaw , AdNeutralYaw);
+                           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw);
                            break;
                         case 11:
                         case 12:
-                        case 20:
+                        case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
-                           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2);
+                           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)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
+                           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)",AdNeutralYaw  - AdValueGyrYaw , AdNeutralYaw/2);
+                           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw/2);
                            break;
                         case 13:
-                        default:
+                        default: // divice Offests by 2 becuse 2 samples are added in adc isr
-                           LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2, AnalogOffsetNick);
+                           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)(%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2, AnalogOffsetRoll);
+                           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)",AdNeutralYaw  - AdValueGyrYaw , AdNeutralYaw/2 , AnalogOffsetYaw );
+                           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, NeutralAccX);
+           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, NeutralAccY);
+           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)",Mean_AccTop, (int)NeutralAccZ);
+           LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop);
            break;
     case 7:// Accumulator Voltage / Remote Control Level
-           LCD_printfxy(0,1,"Voltage:  %5i",UBat);
+           LCD_printfxy(0,1,"Voltage:  %3i.%1iV",UBat/10, UBat%10);
            LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
            break;
     case 8:// Compass Menu Item
                    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",ServoValue);
+           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);

Subversion Repositories FlightCtrl

(root)/branches/V0.72p Code Redesign killagreg/menu.c - Rev 1179 → 1180