WebSVN - FlightCtrl - Blame - Rev 903 - /branches/V0.69k 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	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886	killagreg	7
		8	#include <stdlib.h>
		9	#include <inttypes.h>
1	ingob	10	#include "main.h"
886	killagreg	11	#include "eeprom.h"
		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"
		18	#ifdef USE_KILLAGREG
		19	#include "mm3.h"
		20	#include "ubx.h"
		21	#endif
		22	#include "_Settings.h"
1	ingob	23
		24
886	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;
		31
1	ingob	32	#define KEY1 0x01
		33	#define KEY2 0x02
		34	#define KEY3 0x04
		35	#define KEY4 0x08
		36	#define KEY5 0x10
		37
886	killagreg	38	/************************************/
		39	/* Clear LCD Buffer */
		40	/************************************/
		41	void LCD_Clear(void)
1	ingob	42	{
886	killagreg	43	uint8_t i;
		44	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
1	ingob	45	}
		46
886	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	{
886	killagreg	54	#ifdef USE_KILLAGREG
		55	static uint8_t MaxMenuItem = 14;
		56	#else
		57	static uint8_t MaxMenuItem = 11;
		58	#endif
		59	static uint8_t MenuItem=0;
		60
		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 +");
886	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');
		96	LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
1	ingob	97	LCD_printfxy(0,3,"(c) Holger Buss");
		98	break;
886	killagreg	99	case 1:// Height Control Menu Item
		100	if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
		101	{
		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	}
886	killagreg	107	else
		108	{
		109	LCD_printfxy(0,1,"No ");
		110	LCD_printfxy(0,2,"Height Control");
1	ingob	111	}
886	killagreg	112
1	ingob	113	break;
886	killagreg	114	case 2:// Attitude Menu Item
		115	LCD_printfxy(0,0,"Attitude");
		116	LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024);
1	ingob	117	LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024);
886	killagreg	118	LCD_printfxy(0,3,"Heading: %5i",CompassHeading);
1	ingob	119	break;
886	killagreg	120	case 3:// Remote Control Channel Menu Item
		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;
886	killagreg	126	case 4:// Remote Control Mapping Menu Item
		127	LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
		128	LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
		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;
886	killagreg	132	case 5:// Gyro Sensor Menu Item
1	ingob	133	LCD_printfxy(0,0,"Gyro - Sensor");
886	killagreg	134	if(BoardRelease == 10)
401	hbuss	135	{
886	killagreg	136	LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch);
		137	LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
		138	LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);
401	hbuss	139	}
886	killagreg	140	else
401	hbuss	141	{
886	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);
		144	LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2);
401	hbuss	145	}
1	ingob	146	break;
886	killagreg	147	case 6:// Acceleration Sensor Menu Item
1	ingob	148	LCD_printfxy(0,0,"ACC - Sensor");
886	killagreg	149	LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX);
		150	LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY);
		151	LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);
1	ingob	152	break;
886	killagreg	153	case 7:// Accumulator Voltage / Remote Control Level
		154	LCD_printfxy(0,1,"Voltage: %5i",UBat);
		155	LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
1	ingob	156	break;
886	killagreg	157	case 8:// Compass Menu Item
		158	LCD_printfxy(0,0,"Compass ");
		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;
886	killagreg	163	case 9:// Poti Menu Item
		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;
886	killagreg	169	case 10:// Servo Menu Item
1	ingob	170	LCD_printfxy(0,0,"Servo " );
886	killagreg	171	LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl);
		172	LCD_printfxy(0,2,"Position: %3i",ServoValue);
		173	LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax);
1	ingob	174	break;
886	killagreg	175	case 11://Extern Control
595	hbuss	176	LCD_printfxy(0,0,"ExternControl " );
886	killagreg	177	LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll);
		178	LCD_printfxy(0,2,"Th:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw);
		179	LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config);
595	hbuss	180	break;
886	killagreg	181
		182	#ifdef USE_KILLAGREG
		183	case 12://GPS Lat/Lon coords
		184	if (GPSInfo.status == INVALID)
		185	{
		186	LCD_printfxy(0,0,"No GPS data!");
		187	}
		188	else
		189	{
		190	switch (GPSInfo.satfix)
		191	{
		192	case SATFIX_NONE:
		193	LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
		194	break;
		195	case SATFIX_2D:
		196	LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
		197	break;
		198	case SATFIX_3D:
		199	LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
		200	break;
		201	default:
		202	LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
		203	break;
		204	}
		205	int16_t i1,i2,i3;
		206	i1 = (int16_t)(GPSInfo.longitude/10000000L);
		207	i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
		208	i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
		209	LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3);
		210	i1 = (int16_t)(GPSInfo.latitude/10000000L);
		211	i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
		212	i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
		213	LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3);
		214	i1 = (int16_t)(GPSInfo.altitude/1000L);
		215	i2 = abs((int16_t)(GPSInfo.altitude%1000L));
		216	LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2);
		217	}
		218	break;
		219	case 13:// MM3 Kompass
		220	LCD_printfxy(0,0,"MM3 Offset");
		221	LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off);
		222	LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off);
		223	LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off);
		224	break;
		225	case 14://MM3 Range
		226	LCD_printfxy(0,0,"MM3 Range");
		227	LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range);
		228	LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range);
		229	LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range);
		230	break;
		231	#endif
		232
		233	default: MaxMenuItem = MenuItem - 1;
		234	MenuItem = 0;
1	ingob	235	break;
		236	}
886	killagreg	237	RemoteButtons = 0;
304	ingob	238	}

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(root)/branches/V0.69k CRK HexaLotte/menu.c - Rev 903