Rev 694 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| 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 | |
| 8 | |||
| 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" |
||
| 694 | killagreg | 18 | #include "mm3.h" |
| 685 | killagreg | 19 | #include "_Settings.h" |
| 1 | ingob | 20 | |
| 685 | killagreg | 21 | #define ARRAYSIZE 10 |
| 22 | uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
||
| 23 | #define DISPLAYBUFFSIZE 80 |
||
| 24 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
||
| 25 | uint8_t DispPtr = 0; |
||
| 26 | uint8_t RemoteButtons = 0; |
||
| 1 | ingob | 27 | |
| 28 | #define KEY1 0x01 |
||
| 29 | #define KEY2 0x02 |
||
| 30 | #define KEY3 0x04 |
||
| 31 | #define KEY4 0x08 |
||
| 32 | #define KEY5 0x10 |
||
| 33 | |||
| 685 | killagreg | 34 | /************************************/ |
| 35 | /* Clear LCD Buffer */ |
||
| 36 | /************************************/ |
||
| 37 | void LCD_Clear(void) |
||
| 1 | ingob | 38 | { |
| 685 | killagreg | 39 | uint8_t i; |
| 40 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
||
| 1 | ingob | 41 | } |
| 42 | |||
| 685 | killagreg | 43 | |
| 44 | /************************************/ |
||
| 45 | /* Update Menu on LCD */ |
||
| 46 | /************************************/ |
||
| 47 | // Display with 20 characters in 4 lines |
||
| 48 | void LCD_PrintMenu(void) |
||
| 1 | ingob | 49 | { |
| 694 | killagreg | 50 | static uint8_t MaxMenuItem = 13, MenuItem=0; |
| 683 | killagreg | 51 | |
| 685 | killagreg | 52 | // if KEY1 is activated goto previous menu item |
| 53 | if(RemoteButtons & KEY1) |
||
| 54 | { |
||
| 55 | if(MenuItem) MenuItem--; |
||
| 56 | else MenuItem = MaxMenuItem; |
||
| 57 | LCD_Clear(); |
||
| 58 | RemotePollDisplayLine = -1; |
||
| 59 | } |
||
| 60 | // if KEY2 is activated goto next menu item |
||
| 61 | if(RemoteButtons & KEY2) |
||
| 62 | { |
||
| 63 | if (MenuItem == MaxMenuItem) MenuItem = 0; |
||
| 64 | else MenuItem++; |
||
| 65 | LCD_Clear(); |
||
| 66 | RemotePollDisplayLine = -1; |
||
| 67 | } |
||
| 68 | |||
| 69 | // if KEY1 and KEY2 is activated goto initial menu item |
||
| 70 | if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
||
| 71 | |||
| 72 | // print menu item number in the upper right corner |
||
| 73 | if(MenuItem < 10) |
||
| 74 | { |
||
| 75 | LCD_printfxy(17,0,"[%i]",MenuItem); |
||
| 76 | } |
||
| 77 | else |
||
| 78 | { |
||
| 79 | LCD_printfxy(16,0,"[%i]",MenuItem); |
||
| 80 | } |
||
| 81 | |||
| 82 | switch(MenuItem) |
||
| 83 | { |
||
| 84 | case 0:// Version Info Menu Item |
||
| 595 | hbuss | 85 | LCD_printfxy(0,0,"+ MikroKopter +"); |
| 685 | killagreg | 86 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
| 687 | killagreg | 87 | LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
| 1 | ingob | 88 | LCD_printfxy(0,3,"(c) Holger Buss"); |
| 89 | break; |
||
| 685 | killagreg | 90 | case 1:// Hight Control Menu Item |
| 690 | killagreg | 91 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| 683 | killagreg | 92 | { |
| 701 | killagreg | 93 | LCD_printfxy(0,0,"Hight: %5i",ReadingHight); |
| 94 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHight); |
||
| 95 | LCD_printfxy(0,2,"Air Press.: %5i",ReadingAirPressure); |
||
| 694 | killagreg | 96 | LCD_printfxy(0,3,"Offset : %5i",DruckOffsetSetting); |
| 1 | ingob | 97 | } |
| 683 | killagreg | 98 | else |
| 99 | { |
||
| 694 | killagreg | 100 | LCD_printfxy(0,1,"No "); |
| 101 | LCD_printfxy(0,2,"Hight Control"); |
||
| 1 | ingob | 102 | } |
| 683 | killagreg | 103 | |
| 1 | ingob | 104 | break; |
| 685 | killagreg | 105 | case 2:// Attitude Menu Item |
| 694 | killagreg | 106 | LCD_printfxy(0,0,"Attitude"); |
| 701 | killagreg | 107 | LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024); |
| 1 | ingob | 108 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| 701 | killagreg | 109 | LCD_printfxy(0,3,"Compass: %5i",CompassHeading); |
| 1 | ingob | 110 | break; |
| 685 | killagreg | 111 | case 3:// Remote Control Channel Menu Item |
| 694 | killagreg | 112 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| 113 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
||
| 114 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
||
| 115 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
||
| 1 | ingob | 116 | break; |
| 685 | killagreg | 117 | case 4:// Remote Control Mapping Menu Item |
| 701 | killagreg | 118 | LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| 119 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
||
| 690 | killagreg | 120 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
| 121 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
||
| 1 | ingob | 122 | break; |
| 685 | killagreg | 123 | case 5:// Gyro Sensor Menu Item |
| 1 | ingob | 124 | LCD_printfxy(0,0,"Gyro - Sensor"); |
| 685 | killagreg | 125 | if(BoardRelease == 10) |
| 401 | hbuss | 126 | { |
| 701 | killagreg | 127 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch); |
| 128 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
||
| 129 | LCD_printfxy(0,3,"Yaw %4i (%3i)",ReadingYaw, AdNeutralYaw); |
||
| 401 | hbuss | 130 | } |
| 683 | killagreg | 131 | else |
| 401 | hbuss | 132 | { |
| 701 | killagreg | 133 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2); |
| 134 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
||
| 135 | LCD_printfxy(0,3,"Yaw %4i (%3i)",ReadingYaw, AdNeutralYaw/2); |
||
| 401 | hbuss | 136 | } |
| 1 | ingob | 137 | break; |
| 685 | killagreg | 138 | case 6:// Acceleration Sensor Menu Item |
| 1 | ingob | 139 | LCD_printfxy(0,0,"ACC - Sensor"); |
| 701 | killagreg | 140 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch,NeutralAccX); |
| 694 | killagreg | 141 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll,NeutralAccY); |
| 701 | killagreg | 142 | LCD_printfxy(0,3,"Hight %4i (%3i)",Mean_AccTop/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| 1 | ingob | 143 | break; |
| 685 | killagreg | 144 | case 7:// Accumulator Voltage / Remote Control Level |
| 694 | killagreg | 145 | LCD_printfxy(0,1,"Voltage: %5i",UBat); |
| 146 | LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay); |
||
| 1 | ingob | 147 | break; |
| 685 | killagreg | 148 | case 8:// Compass Menu Item |
| 694 | killagreg | 149 | LCD_printfxy(0,0,"Compass "); |
| 701 | killagreg | 150 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
| 151 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
||
| 152 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
||
| 1 | ingob | 153 | break; |
| 685 | killagreg | 154 | case 9:// Poti Menu Item |
| 1 | ingob | 155 | LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| 156 | LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
||
| 157 | LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
||
| 158 | LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
||
| 159 | break; |
||
| 685 | killagreg | 160 | case 10:// Servo Menu Item |
| 1 | ingob | 161 | LCD_printfxy(0,0,"Servo " ); |
| 701 | killagreg | 162 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoPitchControl); |
| 694 | killagreg | 163 | LCD_printfxy(0,2,"Position: %3i",ServoValue); |
| 701 | killagreg | 164 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin,ParamSet.ServoPitchMax); |
| 1 | ingob | 165 | break; |
| 685 | killagreg | 166 | case 11://Extern Control |
| 595 | hbuss | 167 | LCD_printfxy(0,0,"ExternControl " ); |
| 701 | killagreg | 168 | LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch,ExternControl.Roll); |
| 169 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas,ExternControl.Yaw); |
||
| 595 | hbuss | 170 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
| 171 | break; |
||
| 694 | killagreg | 172 | case 12:// MM3 Kompass |
| 173 | LCD_printfxy(0,0,"MM3 Offset"); |
||
| 174 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
||
| 175 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
||
| 176 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
||
| 177 | break; |
||
| 178 | case 13://MM3 Range |
||
| 179 | LCD_printfxy(0,0,"MM3 Range"); |
||
| 180 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
||
| 181 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
||
| 182 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
||
| 183 | break; |
||
| 685 | killagreg | 184 | default: MaxMenuItem = MenuItem - 1; |
| 185 | MenuItem = 0; |
||
| 1 | ingob | 186 | break; |
| 187 | } |
||
| 685 | killagreg | 188 | RemoteButtons = 0; |
| 304 | ingob | 189 | } |