Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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 = 13;

#else

#ifdef USE_MK3MAG

uint8_t MaxMenuItem = 14;

#endif

#ifdef USE_KILLAGREG

uint8_t MaxMenuItem = 16;

#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,"+ MikroKopter +");

                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.GlobalConfig & CFG_HEIGHT_CONTROL)

                {

                        LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);

                        LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);

                        LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure);

                        LCD_printfxy(0,3,"Offset    :%5i",PressureSensorOffset);

                }

                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]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);

                LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);

                LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);

                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(0,1,"Voltage:  %3i.%1iV",UBat/10, UBat%10);

                LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);

                break;

        case 8:// Compass Menu Item

                LCD_printfxy(0,0,"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;

        #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))

        case 14://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 15:// 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 16://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;

}