WebSVN - Projects - Blame - Rev 1165 - /Transportables

Rev	Author	Line No.	Line
730	woggle	1	/*****************************************************************************
		2	* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
		3	* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
		4	* *
		5	* This program is free software; you can redistribute it and/or modify *
		6	* it under the terms of the GNU General Public License as published by *
		7	* the Free Software Foundation; either version 2 of the License. *
		8	* *
		9	* This program is distributed in the hope that it will be useful, *
		10	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
		11	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
		12	* GNU General Public License for more details. *
		13	* *
		14	* You should have received a copy of the GNU General Public License *
		15	* along with this program; if not, write to the *
		16	* Free Software Foundation, Inc., *
		17	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
		18	* *
		19	*****************************************************************************/
		20
		21	#include <avr/io.h>
		22	#include <avr/pgmspace.h>
		23	#include <util/delay.h>
		24	#include <string.h>
		25	#include <stdlib.h>
		26
		27	#include "main.h"
		28	#include "lcd.h"
		29	#include "timer.h"
		30	#include "usart.h"
		31	#include "parameter.h"
		32	#include "menu.h"
		33
		34	#include "mk-data-structs.h"
		35
		36	#define TIMEOUT 500 // 5 sec
		37
		38	mk_param_struct_t *mk_param_struct;
		39
		40	uint8_t array[8];
		41
		42	prog_uchar p_menus[12][11]=
		43	{
		44	"Config ",
		45	"Channels ",
		46	"Stick ",
		47	"Hight ",
		48	"Gyro ",
		49	"Looping ",
		50	"Camera ",
		51	"Misc. ",
		52	"User ",
		53	"Coupling ",
		54	"Config(2) ",
		55	"Loopingset"
		56	};
		57
		58
		59	// Diese Tabelle ordnet die eingelesenen Parameter den Menü-Seiten zu
		60
		61	prog_uchar p_menu_number[67]=
		62	{
		63	2, 2, 2, 2, 2, 2, 2, 2, // Die ersten 8 Parameter werden auf Menüseite 2 angezeigt (=Kanalzuordnungen)
		64	0, 4, 4, 4, 4, 4, 4, 3,
		65	3, 3, 8, 8, 8, 8, 5, 5,
		66	8,8,8,0,5,9,9,9,
		67	9,7,7,7,7,7,7,6,
		68	6,6,10,10,6,6,5,5,
		69	5,9,9,9,9,0,7,11,
		70	11,11,11,12,12, 12,
		71	12,12,12,12,12
		72
		73	};
		74
		75	prog_uchar p_limits[199]= // Limits f¸r die Parameter
		76	{
		77	1,8,2, // 2:Nick (3)
		78	1,8,2, // 2:Roll (4)
		79	1,8,2, // 2:Gas (2)
		80	1,8,2, // 2:Gier (1)
		81	1,8,2, // 2:Poti1 (6)
		82	1,8,2, // 2:Poti2 (6)
		83	1,8,2, // 2:Poti3 (7)
		84	1,8,2, // 2:Poti4 (5)
		85	0,0,0, // 1:Config
		86	0,255,4, // 4:Höhe MinGas (30)
		87	0,255,4, // 4:Luftdruck_D (30)
		88	0,255,4, // 4:MaxHöhe (Setpoint?) (Poti4)
		89	0,255,4, // 4:Höhe_P (10)
		90	0,50,4, // 4:Höhe Verst‰rkung (3)
		91	0,255,4, // 4:Höhe Z-acc (30)
		92	0,6,3, // 3:Nick/Roll P (3)
		93	0,64,3, // 3:Nick/Roll D (4)
		94	0,20,3, // 3:Gier_P (6)
		95	0,32,8, // 8:Min.Gas (15)
		96	33,250,8, // 8:Max.Gas (250)
		97	0,50,8, // 5:Gyro-Acc Faktor (30)
		98	0,255,8, // 8:Kompass-Wirkung (128)
		99	0,0,5, // 5:Gyro-P (80)
		100	0,0,5, // 5:Gyro-I (120)
		101	0,250,8, // 8:Unterspannung (94)
		102	0,250,8, // 8:Not-Gas Zeit (20)
		103	0,250,8, // 8:Not-Gas (35)
		104	0,1,0, // Ufo-Ausrichtung (X +)
		105	0,255,5, // I-Faktor (32)
		106	0,255,9, // 9:User1 (80)
		107	0,255,9, // 9:User2 (0)
		108	0,255,9, // 9:User3
		109	0,255,9, // 9:User4
		110	0,255,7, // 7:Servo Nick Control (100)
		111	0,250,7, // 7:Servo Nick Compensation (40)
		112	0,250,7, // 7:Servo Nick min (50)
		113	0,250,7, // 7:Servo Nick max (150)
		114	0,25,7, // 7:Servo Nick refrsh (5)
		115	0,255,6, // 6:Loop Gas Limit (50)
		116	0,250,6, // 6:Loop Ansprechschwelle (90)
		117	0,250,6, // 6:Loop Hysterese (50)
		118	0,255,10, // 10:Achskopplung (90)
		119	0,255,10, // 10:Achsgegenkopplung (5)
		120	0,250,6, // 6:Turnover Nick (100)
		121	0,250,6, // 6:Turnover Roll (100)
		122	0,250,5, // 5: Gyro-Abgleich (Comp.) (32)
		123	0,250,5, // 5: Drift (4)
		124	0,255,5, // 5: Dynamic stability (75)
		125	0,255,9, // 9:User5
		126	0,255,9, // 9:User6
		127	0,255,9, // 9:User7
		128	0,255,9, // 9:User8 (0)
		129
		130	0,0,1, // 6:Loop Config (0)
		131	0,1,7 // 7:Servo Nick Compensation Invert (0)
		132
		133	};
		134
		135	prog_char bin_parameter[12][16] = // Die bin‰r kodierten Parametern werden getrennt behandelt.
		136	{
		137	"Loop up ",
		138	"Loop down ",
		139	"Loop left ",
		140	"Loop right ",
		141	"Höhenregler ", // 8
		142	"Höhenschalter ",
		143	"Headhold ",
		144	"Kompass ",
		145	"KompassFix ",
		146	"GPS ",
		147	"Achsenkopplung ",
		148	"Drehrate "
		149	};
		150
		151	prog_char parameter[54][16]=
		152	{
		153	"Nick ", // 0 (3)
		154	"Roll ", // 1 (4)
		155	"Gas ", // (2)
		156	"Gier ", // (1)
		157	"Poti1 ", // (6)
		158	"Poti2 ", // (6)
		159	"Poti3 ", // (7)
		160	"Poti4 ", // 7 (5)
		161	"Config ", // 8
		162	"Höhe_MinGas ", // 9 (30)
		163	"Luftdruck_D ", // 10 Wert : 0-250 (30)
		164	"MaxHöhe ", // 11 Wert : 0-250 251 -> Poti1 (Poti4)
		165	"Höhe_P ", // 12 Wert : 0-32 (10)
		166	"Höhe_Verstaerk", // 13 Wert : 0-50
		167	"Höhe_ACC_Wirk.", // 14 Wert : 0-250 (30)
		168	"Stick_P ", // 15 Wert : 1-6
		169	"Stick_D ", // 16 Wert : 0-64
		170	"Gier_P ", // 17 Wert : 1-20 POTI(?)
		171	"Gas_Min ", // 17 Wert : 0-32
		172	"Gas_Max ", // 18 Wert : 33-250
		173	"GyroAccFaktor ", // 19 Wert : 1-64
		174	"KompassWirkung ", // 20 Wert : 0-250
		175	"Gyro_P ", // 21 Wert : 0-250
		176	"Gyro_I ", // 22 Wert : 0-250
		177	"Unterspannung ", // 23 Wert : 0-250
		178	"NotGas ", // 24 Wert : 0-250 // Gaswert bei Empangsverlust
		179	"NotGasZeit ", // 25 Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
		180	"UfoAusrichtung ", // 26 X oder + Formation
		181	"I_Faktor ", // 27 = 32;
		182	"UserParam1 ", // 28 = 32 * 4; //zur freien Verwendung
		183	"UserParam2 ", // 29 zur freien Verwendung
		184	"UserParam3 ", // 30 zur freien Verwendung
		185	"UserParam4 ", // 31 zur freien Verwendung
		186	"ServoNickCtrl ", // 32 Wert : 0-250 // Stellung des Servos
		187	"ServoNickComp ", // 33 Wert : 0-250 // Einfluss Gyro/Servo
		188	"ServoNickMin ", // 34 Wert : 0-250 // Anschlag
		189	"ServoNickMax ", // 35 Wert : 0-250 // Anschlag
		190	"ServoNickRefrsh", // 36
		191	"LoopGasLimit ", // 37
		192	"LoopThreshold ", // 38 Wert: 0-250 Schwelle f¸r Stickausschlag
		193	"LoopHysterese ", // 39
		194	"AchsKopplung ", // 40
		195	"AchsGegenKoppl.", // 41
		196	"WinklUmschlNick", // 42
		197	"WinklUmschlRoll", // 43
		198	"GyroAccAbgleich", // 44 1/k
		199	"Driftkomp ", // 45
		200	"DynamicStabilit", // 47
		201	"UserParam5 ", // 48 zur freien Verwendung
		202	"UserParam6 ", // 49 zur freien Verwendung
		203	"UserParam7 ", // 50 zur freien Verwendung
		204	"UserParam8 ", // 51 zur freien Verwendung
		205	"LoopConfig ", // 52 Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
		206	"ServoNickCompIn" // 53 Wert : 0-250 // Richtung Einfluss Gyro/Servo
		207	// "Name " // 54
		208	};
		209
		210
		211
		212
		213	void binary (uint8_t data, uint8_t *feld) // Wandelt eine 8-Bit Zahl in eine Bin‰rzahl um (Array mit 8 Elementen)
		214	{ // Wird f¸r die Flags (Loop + Grundkonfiguration) benˆtigt
		215	uint8_t i;
		216
		217	i=0;
		218	for (i = 0; i < 8; i++)
		219	{
		220	if ((1 << i) & data)
		221	feld[i] = 1;
		222	else
		223	feld[i] = 0;
		224	}
		225	}
		226
		227	uint8_t bindec (uint8_t *feld) // wandelt eine Bin‰rzahl (im Array) in eine 8-Bit Zahl
		228	{ // Wird f¸r die Flags (Loop + Grundkonfiguration) benˆtigt
		229	uint8_t i;
		230	uint8_t result;
		231
		232	result = 0;
		233	for (i = 0; i < 8; i++)
		234	{
		235	if (feld[i] == 1)
		236	result += 1 << i;
		237	}
		238	return result;
		239	}
		240
		241
		242
		243
		244	void decimal (uint8_t data, uint8_t *text) // wandelt Wert in rechtsbündigen Text um
		245	{ // (schneller/kleiner als printf())
		246	text[0] = data/100;
		247	data -= (text[0] * 100);
		248	text[1] = data/10;
		249	data -= (text[1] *10);
		250	text[2] = data + 0x30;
		251	text[0] += 0x30;
		252	text[1] += 0x30;
		253
		254	if (text[0] == 0x30)
		255	{
		256	text[0] = 0x20;
		257	if (text[1] == 0x30)
		258	text[1] = 0x20;
		259	}
		260	text[3] = 0x00;
		261	}
		262
		263	uint8_t show_parameter (uint8_t number) // Zeigt eine Parameter-Seite an und gibt die ausgew‰hlte Zeile zur¸ck
		264	{
		265	#if 0
		266	uint8_t i;
		267	uint8_t line;
		268	uint8_t text[25];
		269	uint8_t bin[8];
		270
		271	line = 0;
		272
		273	if (number > 1)
		274	{
		275	for (i = 0; i<66; i++)
		276	{
		277	if (pgm_read_byte(p_limits+i*3+2) == number)
		278	{
		279	array[line] = i;
		280	decimal(buffer[i],text);
		281	lcd_print_at(0,line,text,0);
		282	lcd_printp_at (5,line,parameter[i],0);
		283	if (line <= 7)
		284	line++;
		285	}
		286	}
		287	}
		288	else
		289	{ // Sonderf‰lle: Bin‰re Eingabe
		290	if (number == 1)
		291	{
		292	binary(buffer[52],bin); // Loop-Config
		293	text[1] = 0x00;
		294	for (i = 0; i < 4; i++)
		295	{
		296	text[0] = bin[i] + 0x30;
		297	lcd_print_at (0, i, text, 0);
		298	lcd_printp_at (5, i, bin_parameter[i], 0);
		299	}
		300
		301	}
		302	if (number == 0)
		303	{
		304	binary (buffer[8], bin); // Config
		305	text[1] = 0x00;
		306	for (i = 0; i < 8; i++)
		307	{
		308	text[0] = bin[i] + 0x30;
		309	lcd_print_at (0, i, text, 0);
		310	lcd_printp_at (5, i, bin_parameter[i + 4], 0);
		311	}
		312	}
		313
		314
		315	}
		316	return line;
		317	#endif
		318	}
		319
		320	void edit_parameter2 (uint8_t page, uint8_t lines) // ƒndern der Parameter einer Seite
		321	{
		322	#if 0
		323	uint8_t line;
		324	uint8_t par;
		325	uint8_t min;
		326	uint8_t max;
		327	uint8_t text[10];
		328	uint8_t bin[8];
		329
		330	if (page > 1) // "normale" Parameter-Seiten
		331	{
		332	line = menu_choose(0,lines-1,4);
		333	if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt
		334	{
		335	par = buffer[array[line]];
		336	min = pgm_read_byte(p_limits + par * 3);
		337	max = pgm_read_byte(p_limits + par * 3 + 1);
		338
		339	lcd_printp_at(4,line,PSTR("-"),0);
		340
		341	while (key != key_nokey);
		342
		343	do
		344	{
		345	if (key == key_minus)
		346	{
		347	//if (par > min) // ‹berpr¸fung der Parameter auf Bereichs¸berschreitung derzeit deaktiviert
		348	par --;
		349	}
		350	if (key == key_plus)
		351	{
		352	//if (par < max)
		353	par ++;
		354	}
		355
		356	decimal(par,text);
		357	lcd_print_at(0,line,text,0);
		358
		359	timer = 20;
		360	while (timer > 0);
		361	}
		362	while ((key != 0x04) && (key != 0x08));
		363
		364	if (key == 0x08)
		365	buffer[array[line]] = par;
		366	}
		367	}
		368
		369	if (page == 1) // Spezialfall: Loop-Config (einzelne Bits setzen / lˆschen)
		370	{
		371	binary(buffer[52],bin);
		372	text[1] = 0x00;
		373
		374	line = menu_choose(0,3,4);
		375	if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt
		376	{
		377	par = bin[line];
		378
		379	lcd_printp_at(4,line,PSTR("-"),0);
		380
		381	do
		382	{
		383
		384	if (key == key_minus)
		385	{
		386	par = 0x00;
		387	}
		388	if (key == key_plus)
		389	{
		390	par = 0x01;
		391	}
		392
		393	text[0] = par+0x30;
		394	lcd_print_at(0,line,text,0);
		395	timer = 20;
		396	while (timer > 0);
		397
		398
		399	}
		400	while ((key != key_enter) && (key != key_esc));
		401
		402	if (key == key_enter)
		403	{
		404	bin[line] = par;
		405	buffer[52] = bindec(bin);
		406	}
		407
		408	lcd_cls();
		409	decimal(buffer[52],text);
		410	lcd_print(text,0);
		411	timer = 200;
		412	while(timer > 0);
		413	}
		414	}
		415	if (page == 0) // Spezialfall: Allgemeine Konfiguration (einzelne Bits setzen/lˆschen)
		416	{
		417	binary(buffer[8],bin);
		418	text[1] = 0x00;
		419
		420	line = menu_choose(0,7,4);
		421	if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt
		422	{
		423	par = bin[line];
		424
		425	lcd_printp_at(4,line,PSTR("-"),0);
		426
		427	do
		428	{
		429
		430	if (key == key_minus)
		431	{
		432	par = 0x00;
		433	}
		434	if (key == key_plus)
		435	{
		436	par = 0x01;
		437	}
		438
		439	text[0] = par+0x30;
		440	lcd_print_at(0,line,text,0);
		441	timer = 20;
		442	while (timer > 0);
		443
		444
		445	}
		446	while ((key != key_enter) && (key != key_esc));
		447
		448	if (key == key_enter)
		449	{
		450	bin[line] = par;
		451	buffer[8] = bindec(bin);
		452	}
		453
		454	lcd_cls();
		455	decimal(buffer[8],text);
		456	lcd_print(text,0);
		457	timer = 200;
		458	while(timer > 0);
		459	}
		460	}
		461	#endif
		462	}
		463
		464
		465	void edit_parameter1 (void)
		466	{
		467	uint8_t cmd;
		468	uint8_t setting = 0xff;
		469
		470	mode = 'P'; // Settings
		471
		472	lcd_cls ();
		473
		474	//mode = 'Q'; // Settings
		475	_delay_ms (50);
		476	rxd_buffer_locked = FALSE;
		477	timer = TIMEOUT;
		478
		479	LED2_ON;
		480	//SendOutData ('q', ADDRESS_FC, 1, &setting, 1);
		481	SendOutData ('p', ADDRESS_FC, 1);
		482	while (!rxd_buffer_locked && timer);
		483	if (timer)
		484	{
		485	LED3_ON;
		486	Decode64 ();
		487	#if 0
		488	mk_param_struct = (mk_param_struct_t *) pRxData + 2;
		489
		490	lcd_printp (PSTR("Current Setting: "), 0);
		491	lcd_write_number_u (*pRxData);
		492
		493	lcd_printp (PSTR("Setting Version: "), 0);
		494	lcd_write_number_u (*pRxData+1);
		495	#endif
		496	LED3_OFF;
		497	}
		498	else
		499	{ // timeout occured
		500	lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
		501
		502	timer = 100;
		503	while (timer > 0);
		504	return;
		505	}
		506	LED2_OFF;
		507
		508	// after all work is done...
		509	rxd_buffer_locked = FALSE;
		510
		511	#if 0
		512	uint8_t page; // 12 Pages
		513	uint8_t text[15];
		514	uint8_t lines;
		515	uint8_t parameter;
		516
		517	lcd_cls ();
		518
		519	lcd_printp (PSTR("Load Setting\r\n"), 0);
		520	lcd_printp (PSTR(" 1:\r\n"), 0);
		521	lcd_printp (PSTR(" 2:\r\n"), 0);
		522	lcd_printp (PSTR(" 3:\r\n"), 0);
		523	lcd_printp (PSTR(" 4:\r\n"), 0);
		524	lcd_printp (PSTR(" 5:\r\n"), 0);
		525
		526	parameter = menu_choose (1, 5, 0);
		527
		528	page = 2;
		529	if (read_parameter (parameter) == 1)
		530	{
		531	lcd_printp_at (0, 6, PSTR("Timeout"), 0);
		532	}
		533	else
		534	{
		535	do
		536	{
		537	lcd_cls ();
		538	utoa (page, text, 10);
		539	lcd_print (text, 0);
		540	timer = 50;
		541
		542	while (timer > 0);
		543
		544	lcd_cls ();
		545
		546	lines = show_parameter (page);
		547
		548	while (key == key_nokey);
		549	if (key == key_plus)
		550	page++;
		551	if (key == key_minus)
		552	page--;
		553
		554	if (page == 255)
		555	page = 12;
		556
		557	if (page > 12)
		558	page = 0;
		559
		560	if (key == key_enter)
		561	edit_parameter2 (page, lines);
		562
		563	}
		564	while (key != key_esc);
		565
		566	lcd_cls ();
		567	lcd_printp (PSTR("Parameter speichern?\r\n ja\r\n nein"), 0);
		568
		569	lines = menu_choose (1, 2, 0);
		570
		571	if (lines == 1 )
		572	{
		573	lcd_printp (PSTR("\r\n--->"), 0);
		574	write_parameter (5); // Sicherheitshalber wird derzeit ausschlieﬂlich auf Parametersatz 5 gesichert.
		575	lcd_printp (PSTR("\r\nParameter gespeichert"), 0);
		576	}
		577	else
		578	{
		579	lcd_printp (PSTR("\r\nNicht gespeichert"), 0);
		580	}
		581	}
		582	timer = 100;
		583	while (timer > 0);
		584	#endif
		585	}
		586
		587	void display_page (uint8_t page)
		588	{
		589	lcd_cls ();
		590
		591	switch (page)
		592	{
		593	case 0:
		594	lcd_printp (PSTR("Current Setting: "), 0);
		595	lcd_write_number_u (*pRxData);
		596
		597	lcd_printp (PSTR("\r\nSetting Version: "), 0);
		598	lcd_write_number_u (*(pRxData + 1));
		599	#if 0
		600	lcd_printp (PSTR("\r\nRxDataLen: "), 0);
		601	lcd_write_number_u (RxDataLen);
		602
		603	lcd_printp (PSTR("\r\nRxBytes: "), 0);
		604	lcd_write_number_u (ReceivedBytes);
		605	#endif
		606	break;
		607
		608	case 1:
		609	lcd_printp (PSTR("Pitch: "), 0);
		610	lcd_write_number_u (mk_param_struct->Kanalbelegung[0]);
		611
		612	lcd_printp (PSTR("Yaw : "), 0);
		613	lcd_write_number_u (mk_param_struct->Kanalbelegung[1]);
		614
		615	lcd_printp (PSTR("Nick : "), 0);
		616	lcd_write_number_u (mk_param_struct->Kanalbelegung[2]);
		617
		618	lcd_printp (PSTR("Roll : "), 0);
		619	lcd_write_number_u (mk_param_struct->Kanalbelegung[3]);
		620
		621	lcd_printp (PSTR("Poti1: "), 0);
		622	lcd_write_number_u (mk_param_struct->Kanalbelegung[4]);
		623
		624	lcd_printp (PSTR("Poti2: "), 0);
		625	lcd_write_number_u (mk_param_struct->Kanalbelegung[5]);
		626
		627	lcd_printp (PSTR("Poti3: "), 0);
		628	lcd_write_number_u (mk_param_struct->Kanalbelegung[6]);
		629
		630	lcd_printp (PSTR("Poti4: "), 0);
		631	lcd_write_number_u (mk_param_struct->Kanalbelegung[7]);
		632	break;
		633	}
		634	}
		635
		636
		637	void edit_parameter (void)
		638	{
		639	uint8_t cmd;
		640	uint8_t sett = 0xff; // current active parameter set
		641	uint8_t page = 0;
		642
		643	SwitchToFC();
		644
		645	mode = 'Q'; // Settings
		646
		647	lcd_cls ();
		648
		649	_delay_ms (50);
		650	rxd_buffer_locked = FALSE;
		651	timer = TIMEOUT;
		652
		653	SendOutData ('q', ADDRESS_FC, 1, &sett, 1);
		654	while (!rxd_buffer_locked && timer);
		655	if (timer)
		656	{
		657	Decode64 ();
		658	mk_param_struct = (mk_param_struct_t *) pRxData + 2;
		659
		660	display_page (page);
		661
		662	if (get_key_press (1 << KEY_MINUS))
		663	{
		664	page--;
		665	}
		666	else if (get_key_press (1 << KEY_PLUS))
		667	{
		668	page++;
		669	}
		670
		671	}
		672	else
		673	{ // timeout occured
		674	lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
		675
		676	timer = 100;
		677	while (timer > 0);
		678	return;
		679	}
		680
		681	// after all work is done...
		682	//rxd_buffer_locked = FALSE;
		683	while (!get_key_press (1 << KEY_ESC)); // ESC
		684
		685	mode = 0;
		686	rxd_buffer_locked = FALSE;
		687	}

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(root)/Transportables_Koptertool/trunk/parameter.c - Rev 1165