Subversion Repositories FlightCtrl

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

// + Copyright (c) 04.2007 Holger Buss

// + only for non-profit use

// + www.MikroKopter.com

// + see the File "License.txt" for further Informations

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

#include <inttypes.h>

#include "main.h"

#include "timer2.h"

#include "fc.h"

#include "rc.h"

#include "uart.h"

#include "printf_P.h"

#include "analog.h"

#include "_Settings.h"

uint16_t  TestInt = 0;

#define ARRAYSIZE 10

uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10};

#define DISPLAYBUFFSIZE 80

int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";

uint8_t DispPtr = 0;

uint8_t RemoteButtons = 0;

#define KEY1    0x01

#define KEY2    0x02

#define KEY3    0x04

#define KEY4    0x08

#define KEY5    0x10

/************************************/

/*        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)

 {

  static uint8_t MaxMenuItem = 11, MenuItem=0;

  //  if KEY1 is activated goto previous menu item

  if(RemoteButtons & KEY1)

  {

          if(MenuItem) MenuItem--;

          else MenuItem = MaxMenuItem;

          LCD_Clear();

          RemotePollDisplayLine = -1;

  }

  // if KEY2 is activated goto next menu item

  if(RemoteButtons & KEY2)

  {

          if (MenuItem == MaxMenuItem) MenuItem = 0;

          else MenuItem++;

          LCD_Clear();

          RemotePollDisplayLine = -1;

   }

  // if KEY1 and KEY2 is activated goto initial menu item

  if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0;

  // 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_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a');

           LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSetNumber());

           LCD_printfxy(0,3,"(c) Holger Buss");

           break;

    case 1:// Hight Control Menu Item

          if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)

           {

           LCD_printfxy(0,0,"Hoehe:     %5i",HoehenWert);

           LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe);

           LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck);

           LCD_printfxy(0,3,"Off      : %5i",DruckOffsetSetting);

           }

           else

           {

           LCD_printfxy(0,1,"Keine ");

           LCD_printfxy(0,2,"Höhenregelung");

           }

           break;

    case 2:// Attitude Menu Item

           LCD_printfxy(0,0,"akt. Lage");

           LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);

           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);

           LCD_printfxy(0,3,"Kompass:   %5i",KompassValue);

           break;

    case 3:// Remote Control Channel Menu Item

           LCD_printfxy(0,0,"K1:%4i  K2:%4i ",PPM_in[1],PPM_in[2]);

           LCD_printfxy(0,1,"K3:%4i  K4:%4i ",PPM_in[3],PPM_in[4]);

           LCD_printfxy(0,2,"K5:%4i  K6:%4i ",PPM_in[5],PPM_in[6]);

           LCD_printfxy(0,3,"K7:%4i  K8:%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[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);

           LCD_printfxy(0,1,"Gs:%4i  Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);

           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]);

           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]);

           break;

    case 5:// Gyro Sensor Menu Item

           LCD_printfxy(0,0,"Gyro - Sensor");

          if(BoardRelease == 10)

          {

           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick);

           LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);

           LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier);

          }

          else

          {

           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2);

           LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);

           LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier/2);

          }

           break;

    case 6:// Acceleration Sensor Menu Item

           LCD_printfxy(0,0,"ACC - Sensor");

           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick,NeutralAccX);

           LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll,NeutralAccY);

           LCD_printfxy(0,3,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ);

           break;

    case 7:// Accumulator Voltage / Remote Control Level

           LCD_printfxy(0,1,"Spannung:  %5i",UBat);

           LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay);

           break;

    case 8:// Compass Menu Item

           LCD_printfxy(0,0,"Kompass       ");

           LCD_printfxy(0,1,"Richtung:  %5i",KompassRichtung);

           LCD_printfxy(0,2,"Messwert:  %5i",KompassValue);

           LCD_printfxy(0,3,"Start:     %5i",KompassStartwert);

           break;

    case 9:// Poti Menu Item

           LCD_printfxy(0,0,"Poti1:  %3i",Poti1);

           LCD_printfxy(0,1,"Poti2:  %3i",Poti2);

           LCD_printfxy(0,2,"Poti3:  %3i",Poti3);

           LCD_printfxy(0,3,"Poti4:  %3i",Poti4);

           break;

    case 10:// Servo Menu Item

           LCD_printfxy(0,0,"Servo  " );

           LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoNickControl);

           LCD_printfxy(0,2,"Stellung: %3i",ServoValue);

           LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.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  Gi:%4i ",ExternControl.Gas,ExternControl.Gier);

           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);

           break;

    default: MaxMenuItem = MenuItem - 1;

             MenuItem = 0;

           break;

    }

 RemoteButtons = 0;

}