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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25
// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49
// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51
#include <stdlib.h>
52
#include <inttypes.h>
53
#include "main.h"
54
#include "eeprom.h"
55
#include "timer2.h"
56
#include "fc.h"
57
#include "rc.h"
58
#include "uart0.h"
59
#include "printf_P.h"
60
#include "analog.h"
61
#include "twimaster.h"
62
 
63
#ifdef USE_KILLAGREG
64
#include "mm3.h"
65
#endif
66
 
67
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
68
#include "ubx.h"
69
#endif
70
 
71
#if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG))
72
uint8_t MaxMenuItem = 13;
73
#else
74
#ifdef USE_MK3MAG
75
uint8_t MaxMenuItem = 14;
76
#endif
77
 
78
#ifdef USE_KILLAGREG
79
uint8_t MaxMenuItem = 16;
80
#endif
81
#endif
82
uint8_t MenuItem = 0;
83
uint8_t RemoteKeys = 0;
84
 
85
#define KEY1    0x01
86
#define KEY2    0x02
87
#define KEY3    0x04
88
#define KEY4    0x08
89
#define KEY5    0x10
90
 
91
 
92
 
93
#define DISPLAYBUFFSIZE 80
94
int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
95
uint8_t DispPtr = 0;
96
 
97
 
98
/************************************/
99
/*        Clear LCD Buffer          */
100
/************************************/
101
void LCD_Clear(void)
102
{
103
 uint8_t i;
104
 for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
105
}
106
 
107
 
108
/************************************/
109
/*        Update Menu on LCD        */
110
/************************************/
111
// Display with 20 characters in 4 lines
112
void LCD_PrintMenu(void)
113
{
114
        if(RemoteKeys & KEY1)
115
        {
116
                if(MenuItem) MenuItem--;
117
                else MenuItem = MaxMenuItem;
118
        }
119
        if(RemoteKeys  & KEY2)
120
        {
121
                if(MenuItem == MaxMenuItem) MenuItem = 0;
122
                else MenuItem++;
123
        }
124
        if((RemoteKeys  & KEY1) && (RemoteKeys  & KEY2)) MenuItem = 0;
125
 
126
        LCD_Clear();
127
 
128
        if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
129
        // print menu item number in the upper right corner
130
        if(MenuItem < 10)
131
        {
132
                LCD_printfxy(17,0,"[%i]",MenuItem);
133
        }
134
        else
135
        {
136
          LCD_printfxy(16,0,"[%i]",MenuItem);
137
        }
138
 
139
        switch(MenuItem)
140
        {
141
        case 0:// Version Info Menu Item
142
                LCD_printfxy(0,0,"+ MikroKopter +");
143
                LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');
144
                LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name);
145
                if(I2CTimeout < 6)
146
                {
147
                        LCD_printfxy(0,3,"I2C Error!!!");
148
                }
149
                else if (MissingMotor)
150
                {
151
                        LCD_printfxy(0,3,"Missing BL-Ctrl:%d", MissingMotor);
152
                }
153
                else LCD_printfxy(0,3,"(c) Holger Buss");
154
                break;
155
        case 1:// Height Control Menu Item
156
                if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
157
                {
158
                        LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
159
                        LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
160
                        LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure);
161
                        LCD_printfxy(0,3,"Offset    :%5i",PressureSensorOffset);
162
                }
163
                else
164
                {
165
                        LCD_printfxy(0,1,"No ");
166
                        LCD_printfxy(0,2,"Height Control");
167
                }
168
                break;
169
 
170
        case 2:// Attitude Menu Item
171
                LCD_printfxy(0,0,"Attitude");
172
                LCD_printfxy(0,1,"Nick:      %5i",IntegralGyroNick/1024);
173
                LCD_printfxy(0,2,"Roll:      %5i",IntegralGyroRoll/1024);
174
                LCD_printfxy(0,3,"Heading:   %5i",CompassHeading);
175
                break;
176
        case 3:// Remote Control Channel Menu Item
177
                LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
178
                LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
179
                LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
180
                LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
181
                break;
182
        case 4:// Remote Control Mapping Menu Item
183
                LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
184
                LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
185
                LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
186
                LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
187
                break;
188
        case 5:// Gyro Sensor Menu Item
189
                LCD_printfxy(0,0,"Gyro - Sensor");
190
                switch(BoardRelease)
191
                {
192
                case 10:
193
                LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY);
194
                LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY);
195
                LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw);
196
                break;
197
 
198
                case 11:
199
                case 12:
200
                case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
201
                        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)
202
                        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)
203
                        LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw/2);
204
                        break;
205
 
206
                case 13:
207
                default: // divice Offests by 2 becuse 2 samples are added in adc isr
208
                        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)
209
                        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)
210
                        LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw );
211
                        break;
212
                }
213
                break;
214
        case 6:// Acceleration Sensor Menu Item
215
                LCD_printfxy(0,0,"ACC - Sensor");
216
                LCD_printfxy(0,1,"Nick   %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR
217
                LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR
218
                LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop);
219
                break;
220
        case 7:// Accumulator Voltage / Remote Control Level
221
                LCD_printfxy(0,1,"Voltage:  %3i.%1iV",UBat/10, UBat%10);
222
                LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
223
                break;
224
        case 8:// Compass Menu Item
225
                LCD_printfxy(0,0,"Compass       ");
226
                LCD_printfxy(0,1,"Course:    %5i",CompassCourse);
227
                LCD_printfxy(0,2,"Heading:   %5i",CompassHeading);
228
                LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
229
                break;
230
        case 9:// Poti Menu Item
231
                LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion
232
                LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion
233
                LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion
234
                LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion
235
                break;
236
        case 10:// Servo Menu Item
237
                LCD_printfxy(0,0,"Servo  " );
238
                LCD_printfxy(0,1,"Setpoint  %3i",FCParam.ServoNickControl);
239
                LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
240
                LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax);
241
                break;
242
        case 11://Extern Control
243
                LCD_printfxy(0,0,"ExternControl  " );
244
                LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick, ExternControl.Roll);
245
                LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",ExternControl.Gas, ExternControl.Yaw);
246
                LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Height, ExternControl.Config);
247
                break;
248
 
249
        case 12://BL Communication errors
250
                LCD_printfxy(0,0,"BL-Ctrl Errors " );
251
                LCD_printfxy(0,1," %3d  %3d  %3d  %3d ",Motor[0].Error,Motor[1].Error,Motor[2].Error,Motor[3].Error);
252
                LCD_printfxy(0,2," %3d  %3d  %3d  %3d ",Motor[4].Error,Motor[5].Error,Motor[6].Error,Motor[7].Error);
253
                LCD_printfxy(0,3," %3d  %3d  %3d  %3d ",Motor[8].Error,Motor[9].Error,Motor[10].Error,Motor[11].Error);
254
                break;
255
 
256
        case 13://BL Overview
257
                LCD_printfxy(0,0,"BL-Ctrl found " );
258
                LCD_printfxy(0,1," %c   %c   %c   %c ",Motor[0].Present + '-',Motor[1].Present + '-',Motor[2].Present + '-',Motor[3].Present + '-');
259
                LCD_printfxy(0,2," %c   %c   %c   %c ",Motor[4].Present + '-',Motor[5].Present + '-',Motor[6].Present + '-',Motor[7].Present + '-');
260
                LCD_printfxy(0,3," %c   -   -   - ",Motor[8].Present + '-');
261
                if(Motor[9].Present)  LCD_printfxy(4,3,"10");
262
                if(Motor[10].Present) LCD_printfxy(8,3,"11");
263
                if(Motor[11].Present) LCD_printfxy(12,3,"12");
264
                break;
265
 
266
        #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
267
        case 14://GPS Lat/Lon coords
268
                        if (GPSInfo.status == INVALID)
269
                        {
270
                                LCD_printfxy(0,0,"No GPS data!");
271
                        }
272
                        else
273
                        {
274
                                switch (GPSInfo.satfix)
275
                                {
276
                                case SATFIX_NONE:
277
                                        LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
278
                                        break;
279
                                case SATFIX_2D:
280
                                        LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
281
                                        break;
282
                                case SATFIX_3D:
283
                                        LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
284
                                        break;
285
                                default:
286
                                        LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
287
                                        break;
288
                                }
289
                                int16_t i1,i2,i3;
290
                                i1 = (int16_t)(GPSInfo.longitude/10000000L);
291
                                i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
292
                                i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
293
                                LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3);
294
                                i1 = (int16_t)(GPSInfo.latitude/10000000L);
295
                                i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
296
                                i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
297
                                LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3);
298
                                i1 = (int16_t)(GPSInfo.altitude/1000L);
299
                                i2 = abs((int16_t)(GPSInfo.altitude%1000L));
300
                                LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2);
301
                        }
302
                        break;
303
        #endif
304
        #ifdef USE_KILLAGREG
305
        case 15:// MM3 Kompass
306
                        LCD_printfxy(0,0,"MM3 Offset");
307
                        LCD_printfxy(0,1,"X_Offset:  %3i",MM3_calib.X_off);
308
                        LCD_printfxy(0,2,"Y_Offset:  %3i",MM3_calib.Y_off);
309
                        LCD_printfxy(0,3,"Z_Offset:  %3i",MM3_calib.Z_off);
310
                        break;
311
        case 16://MM3 Range
312
                        LCD_printfxy(0,0,"MM3 Range");
313
                        LCD_printfxy(0,1,"X_Range:  %4i",MM3_calib.X_range);
314
                        LCD_printfxy(0,2,"Y_Range:  %4i",MM3_calib.Y_range);
315
                        LCD_printfxy(0,3,"Z_Range:  %4i",MM3_calib.Z_range);
316
                        break;
317
        #endif
318
 
319
        default:
320
                MaxMenuItem = MenuItem - 1;
321
                MenuItem = 0;
322
                break;
323
        }
324
        RemoteKeys = 0;
325
}