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 <stdlib.h>

#include <inttypes.h>

#include "main.h"

#include "eeprom.h"

#include "timer2.h"

#include "fc.h"

#include "rc.h"

#include "uart.h"

#include "printf_P.h"

#include "analog.h"

#ifdef USE_MM3

#include "mm3.h"

#endif

#include "ubx.h"

#include "_Settings.h"

#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)

 {

  #ifdef USE_MM3

  static uint8_t MaxMenuItem = 14;

  #else

  static uint8_t MaxMenuItem = 12;

  #endif

  static uint8_t 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_MAJOR, VERSION_MINOR,VERSION_INDEX+'a');

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

           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,"Pitch:     %5i",IntegralPitch/1024);

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

           LCD_printfxy(0,3,"Compass:   %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,"Pi:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);

           LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],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");

          if(BoardRelease == 10)

          {

           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch);

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

           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);

          }

          else

          {

           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2);

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

           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2);

          }

           break;

    case 6:// Acceleration Sensor Menu Item

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

           LCD_printfxy(0,1,"Pitch  %4i (%3i)",AdValueAccPitch, NeutralAccX);

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

           LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);

           break;

    case 7:// Accumulator Voltage / Remote Control Level

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

           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.ServoPitchControl);

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

           LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax);

           break;

    case 11://Extern Control

           LCD_printfxy(0,0,"ExternControl  " );

           LCD_printfxy(0,1,"Pi:%4i  Ro:%4i ",ExternControl.Pitch, ExternControl.Roll);

           LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw);

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

           break;

        case 12://GPS Lat/Lon coords

                        if (GPSInfo.status == INVALID)

                        {

                                LCD_printfxy(0,0,"No data available!");

                        }

                        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.%.3d%.3d 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.%.3d%.3d deg",i1, i2, i3);

                                i1 = (int16_t)(GPSInfo.altitude/1000L);

                                i2 = abs((int16_t)(GPSInfo.altitude%1000L));

                                LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2);

                        }

                        break;

#ifdef USE_MM3

        case 13:// 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 14://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;

    }

 RemoteButtons = 0;

}