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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <inttypes.h>
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#include "main.h"
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#include "eeprom.h"
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#include "timer2.h"
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#include "fc.h"
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#include "rc.h"
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#include "uart.h"
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#include "printf_P.h"
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#include "analog.h"
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#ifdef USE_MM3
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#include "mm3.h"
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#endif
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#include "ubx.h"
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#include "_Settings.h"
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#define ARRAYSIZE 10
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uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10};
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#define DISPLAYBUFFSIZE 80
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int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
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uint8_t DispPtr = 0;
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uint8_t RemoteButtons = 0;
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#define KEY1    0x01
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#define KEY2    0x02
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#define KEY3    0x04
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#define KEY4    0x08
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#define KEY5    0x10
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/************************************/
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/*        Clear LCD Buffer          */
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/************************************/
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void LCD_Clear(void)
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{
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 uint8_t i;
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 for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
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}
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/************************************/
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/*        Update Menu on LCD        */
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/************************************/
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// Display with 20 characters in 4 lines
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void LCD_PrintMenu(void)
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 {
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  #ifdef USE_MM3
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  static uint8_t MaxMenuItem = 14;
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  #else
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  static uint8_t MaxMenuItem = 12;
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  #endif
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  static uint8_t MenuItem=0;
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  //  if KEY1 is activated goto previous menu item
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  if(RemoteButtons & KEY1)
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  {
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          if(MenuItem) MenuItem--;
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          else MenuItem = MaxMenuItem;
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          LCD_Clear();
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          RemotePollDisplayLine = -1;
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  }
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  // if KEY2 is activated goto next menu item
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  if(RemoteButtons & KEY2)
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  {
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          if (MenuItem == MaxMenuItem) MenuItem = 0;
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          else MenuItem++;
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          LCD_Clear();
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          RemotePollDisplayLine = -1;
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   }
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  // if KEY1 and KEY2 is activated goto initial menu item
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  if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0;
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81
  // print menu item number in the upper right corner
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  if(MenuItem < 10)
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  {
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          LCD_printfxy(17,0,"[%i]",MenuItem);
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  }
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  else
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  {
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          LCD_printfxy(16,0,"[%i]",MenuItem);
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  }
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91
  switch(MenuItem)
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  {
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    case 0:// Version Info Menu Item
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           LCD_printfxy(0,0,"+ MikroKopter +");
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           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a');
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           LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
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           LCD_printfxy(0,3,"(c) Holger Buss");
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           break;
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    case 1:// Height Control Menu Item
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          if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
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           {
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           LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
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           LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
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           LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure);
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           LCD_printfxy(0,3,"Offset    :%5i",PressureSensorOffset);
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           }
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           else
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           {
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           LCD_printfxy(0,1,"No ");
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           LCD_printfxy(0,2,"Height Control");
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           }
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           break;
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    case 2:// Attitude Menu Item
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           LCD_printfxy(0,0,"Attitude");
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           LCD_printfxy(0,1,"Pitch:     %5i",IntegralPitch/1024);
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           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
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           LCD_printfxy(0,3,"Compass:   %5i",CompassHeading);
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           break;
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    case 3:// Remote Control Channel Menu Item
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           LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
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           LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
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           LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
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           LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
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           break;
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    case 4:// Remote Control Mapping Menu Item
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           LCD_printfxy(0,0,"Pi:%4i  Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
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           LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
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           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
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           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
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           break;
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    case 5:// Gyro Sensor Menu Item
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           LCD_printfxy(0,0,"Gyro - Sensor");
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          if(BoardRelease == 10)
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          {
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           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch);
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           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
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           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);
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          }
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          else
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          {
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           LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2);
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           LCD_printfxy(0,2,"Roll  %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
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           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2);
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          }
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           break;
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    case 6:// Acceleration Sensor Menu Item
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           LCD_printfxy(0,0,"ACC - Sensor");
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           LCD_printfxy(0,1,"Pitch  %4i (%3i)",AdValueAccPitch, NeutralAccX);
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           LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll, NeutralAccY);
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           LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);
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           break;
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    case 7:// Accumulator Voltage / Remote Control Level
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           LCD_printfxy(0,1,"Voltage:  %5i",UBat);
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           LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay);
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           break;
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    case 8:// Compass Menu Item
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           LCD_printfxy(0,0,"Compass       ");
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           LCD_printfxy(0,1,"Course:    %5i",CompassCourse);
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           LCD_printfxy(0,2,"Heading:   %5i",CompassHeading);
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           LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
1 ingob 162
           break;
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    case 9:// Poti Menu Item
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                   LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion
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                   LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion
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                   LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion
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                   LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion
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           break;
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    case 10:// Servo Menu Item
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           LCD_printfxy(0,0,"Servo  " );
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           LCD_printfxy(0,1,"Setpoint  %3i",FCParam.ServoPitchControl);
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           LCD_printfxy(0,2,"Position: %3i",ServoValue);
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           LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax);
1 ingob 174
           break;
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    case 11://Extern Control
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           LCD_printfxy(0,0,"ExternControl  " );
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           LCD_printfxy(0,1,"Pi:%4i  Ro:%4i ",ExternControl.Pitch, ExternControl.Roll);
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           LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw);
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           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Height, ExternControl.Config);
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           break;
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        case 12://GPS Lat/Lon coords
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                        if (GPSInfo.status == INVALID)
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                        {
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                                LCD_printfxy(0,0,"No data available!");
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                        }
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                        else
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                        {
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                                switch (GPSInfo.satfix)
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                                {
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                                case SATFIX_NONE:
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                                        LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
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                                        break;
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                                case SATFIX_2D:
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                                        LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
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                                        break;
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                                case SATFIX_3D:
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                                        LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
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                                        break;
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                                default:
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                                        LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
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                                        break;
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                                }
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                                LCD_printfxy(0,1,"Lon: %d.%d deg",GPSInfo.longitude/10000000L, (GPSInfo.longitude%10000000L)/10000L);
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                                LCD_printfxy(0,2,"Lat: %d.%d deg",GPSInfo.latitude/10000000L, (GPSInfo.latitude%10000000L)/10000L);
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                                LCD_printfxy(0,3,"Alt: %d.%d m",GPSInfo.altitude/1000L,GPSInfo.altitude%1000L);
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                        }
207
                        break;
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#ifdef USE_MM3
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        case 13:// MM3 Kompass
210
                        LCD_printfxy(0,0,"MM3 Offset");
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                        LCD_printfxy(0,1,"X_Offset:  %3i",MM3_calib.X_off);
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                        LCD_printfxy(0,2,"Y_Offset:  %3i",MM3_calib.Y_off);
213
                        LCD_printfxy(0,3,"Z_Offset:  %3i",MM3_calib.Z_off);
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                        break;
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        case 14://MM3 Range
216
                        LCD_printfxy(0,0,"MM3 Range");
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                        LCD_printfxy(0,1,"X_Range:  %4i",MM3_calib.X_range);
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                        LCD_printfxy(0,2,"Y_Range:  %4i",MM3_calib.Y_range);
219
                        LCD_printfxy(0,3,"Z_Range:  %4i",MM3_calib.Z_range);
220
                        break;
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#endif
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    default: MaxMenuItem = MenuItem - 1;
223
             MenuItem = 0;
1 ingob 224
           break;
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    }
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 RemoteButtons = 0;
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}