WebSVN - FlightCtrl - Blame - Rev 898 - /branches/V0.68d CRK HexaLotte/menu.c

Rev	Author	Line No.	Line
1	ingob	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2	// + Copyright (c) 04.2007 Holger Buss
		3	// + only for non-profit use
		4	// + www.MikroKopter.com
		5	// + see the File "License.txt" for further Informations
		6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
685	killagreg	7
794	killagreg	8	#include <stdlib.h>
685	killagreg	9	#include <inttypes.h>
1	ingob	10	#include "main.h"
687	killagreg	11	#include "eeprom.h"
685	killagreg	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"
754	killagreg	18	#ifdef USE_MM3
694	killagreg	19	#include "mm3.h"
754	killagreg	20	#endif
702	killagreg	21	#include "ubx.h"
685	killagreg	22	#include "_Settings.h"
1	ingob	23
752	killagreg	24
685	killagreg	25	#define ARRAYSIZE 10
		26	uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10};
		27	#define DISPLAYBUFFSIZE 80
		28	int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
		29	uint8_t DispPtr = 0;
		30	uint8_t RemoteButtons = 0;
1	ingob	31
		32	#define KEY1 0x01
		33	#define KEY2 0x02
		34	#define KEY3 0x04
		35	#define KEY4 0x08
		36	#define KEY5 0x10
		37
685	killagreg	38	/************************************/
		39	/* Clear LCD Buffer */
		40	/************************************/
		41	void LCD_Clear(void)
1	ingob	42	{
685	killagreg	43	uint8_t i;
		44	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
1	ingob	45	}
		46
685	killagreg	47
		48	/************************************/
		49	/* Update Menu on LCD */
		50	/************************************/
		51	// Display with 20 characters in 4 lines
		52	void LCD_PrintMenu(void)
1	ingob	53	{
754	killagreg	54	#ifdef USE_MM3
		55	static uint8_t MaxMenuItem = 14;
		56	#else
		57	static uint8_t MaxMenuItem = 12;
		58	#endif
794	killagreg	59	static uint8_t MenuItem=0;
683	killagreg	60
685	killagreg	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;
		68	}
		69	// if KEY2 is activated goto next menu item
		70	if(RemoteButtons & KEY2)
		71	{
		72	if (MenuItem == MaxMenuItem) MenuItem = 0;
		73	else MenuItem++;
		74	LCD_Clear();
		75	RemotePollDisplayLine = -1;
		76	}
		77
		78	// if KEY1 and KEY2 is activated goto initial menu item
		79	if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0;
		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
		87	{
		88	LCD_printfxy(16,0,"[%i]",MenuItem);
		89	}
		90
		91	switch(MenuItem)
		92	{
		93	case 0:// Version Info Menu Item
595	hbuss	94	LCD_printfxy(0,0,"+ MikroKopter +");
735	killagreg	95	LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a');
687	killagreg	96	LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
1	ingob	97	LCD_printfxy(0,3,"(c) Holger Buss");
		98	break;
761	killagreg	99	case 1:// Height Control Menu Item
690	killagreg	100	if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
683	killagreg	101	{
768	killagreg	102	LCD_printfxy(0,0,"Height: %5i",ReadingHeight);
		103	LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
		104	LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure);
		105	LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset);
1	ingob	106	}
683	killagreg	107	else
		108	{
694	killagreg	109	LCD_printfxy(0,1,"No ");
761	killagreg	110	LCD_printfxy(0,2,"Height Control");
1	ingob	111	}
683	killagreg	112
1	ingob	113	break;
685	killagreg	114	case 2:// Attitude Menu Item
694	killagreg	115	LCD_printfxy(0,0,"Attitude");
701	killagreg	116	LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024);
1	ingob	117	LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024);
701	killagreg	118	LCD_printfxy(0,3,"Compass: %5i",CompassHeading);
1	ingob	119	break;
685	killagreg	120	case 3:// Remote Control Channel Menu Item
694	killagreg	121	LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]);
		122	LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]);
		123	LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]);
		124	LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]);
1	ingob	125	break;
685	killagreg	126	case 4:// Remote Control Mapping Menu Item
701	killagreg	127	LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
707	killagreg	128	LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
690	killagreg	129	LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
		130	LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
1	ingob	131	break;
685	killagreg	132	case 5:// Gyro Sensor Menu Item
1	ingob	133	LCD_printfxy(0,0,"Gyro - Sensor");
685	killagreg	134	if(BoardRelease == 10)
401	hbuss	135	{
701	killagreg	136	LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch);
		137	LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
711	killagreg	138	LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);
401	hbuss	139	}
683	killagreg	140	else
401	hbuss	141	{
701	killagreg	142	LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2);
		143	LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
711	killagreg	144	LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2);
401	hbuss	145	}
1	ingob	146	break;
685	killagreg	147	case 6:// Acceleration Sensor Menu Item
1	ingob	148	LCD_printfxy(0,0,"ACC - Sensor");
768	killagreg	149	LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX);
		150	LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY);
761	killagreg	151	LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);
1	ingob	152	break;
685	killagreg	153	case 7:// Accumulator Voltage / Remote Control Level
694	killagreg	154	LCD_printfxy(0,1,"Voltage: %5i",UBat);
800	killagreg	155	LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
1	ingob	156	break;
685	killagreg	157	case 8:// Compass Menu Item
694	killagreg	158	LCD_printfxy(0,0,"Compass ");
701	killagreg	159	LCD_printfxy(0,1,"Course: %5i",CompassCourse);
		160	LCD_printfxy(0,2,"Heading: %5i",CompassHeading);
		161	LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
1	ingob	162	break;
685	killagreg	163	case 9:// Poti Menu Item
762	killagreg	164	LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion
		165	LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion
		166	LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion
		167	LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion
1	ingob	168	break;
685	killagreg	169	case 10:// Servo Menu Item
1	ingob	170	LCD_printfxy(0,0,"Servo " );
703	killagreg	171	LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl);
694	killagreg	172	LCD_printfxy(0,2,"Position: %3i",ServoValue);
703	killagreg	173	LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax);
1	ingob	174	break;
685	killagreg	175	case 11://Extern Control
595	hbuss	176	LCD_printfxy(0,0,"ExternControl " );
703	killagreg	177	LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll);
707	killagreg	178	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw);
761	killagreg	179	LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config);
595	hbuss	180	break;
754	killagreg	181	case 12://GPS Lat/Lon coords
702	killagreg	182	if (GPSInfo.status == INVALID)
		183	{
722	killagreg	184	LCD_printfxy(0,0,"No data available!");
702	killagreg	185	}
		186	else
		187	{
		188	switch (GPSInfo.satfix)
		189	{
		190	case SATFIX_NONE:
752	killagreg	191	LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
702	killagreg	192	break;
		193	case SATFIX_2D:
752	killagreg	194	LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
702	killagreg	195	break;
		196	case SATFIX_3D:
752	killagreg	197	LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
702	killagreg	198	break;
		199	default:
752	killagreg	200	LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
702	killagreg	201	break;
		202	}
794	killagreg	203	int16_t i1,i2,i3;
		204	i1 = (int16_t)(GPSInfo.longitude/10000000L);
		205	i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
		206	i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
		207	LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3);
		208	i1 = (int16_t)(GPSInfo.latitude/10000000L);
		209	i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
		210	i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
		211	LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3);
		212	i1 = (int16_t)(GPSInfo.altitude/1000L);
		213	i2 = abs((int16_t)(GPSInfo.altitude%1000L));
		214	LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2);
702	killagreg	215	}
		216	break;
754	killagreg	217	#ifdef USE_MM3
		218	case 13:// MM3 Kompass
		219	LCD_printfxy(0,0,"MM3 Offset");
		220	LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off);
		221	LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off);
		222	LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off);
		223	break;
		224	case 14://MM3 Range
		225	LCD_printfxy(0,0,"MM3 Range");
		226	LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range);
		227	LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range);
		228	LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range);
		229	break;
		230	#endif
685	killagreg	231	default: MaxMenuItem = MenuItem - 1;
		232	MenuItem = 0;
1	ingob	233	break;
		234	}
685	killagreg	235	RemoteButtons = 0;
304	ingob	236	}

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