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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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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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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
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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;
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 for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
1 ingob 45
}
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886 killagreg 47
 
48
/************************************/
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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)
1 ingob 53
 {
886 killagreg 54
  #ifdef USE_KILLAGREG
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  static uint8_t MaxMenuItem = 14;
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  #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;
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          LCD_Clear();
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          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++;
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          LCD_Clear();
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          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');
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           LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
1 ingob 97
           LCD_printfxy(0,3,"(c) Holger Buss");
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           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);
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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);
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;
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    case 2:// Attitude Menu Item
115
           LCD_printfxy(0,0,"Attitude");
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           LCD_printfxy(0,1,"Pitch:     %5i",IntegralPitch/1024);
1 ingob 117
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
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           LCD_printfxy(0,3,"Heading:   %5i",CompassHeading);
1 ingob 119
           break;
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    case 3:// Remote Control Channel Menu Item
121
           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]);
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);
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           LCD_printfxy(0,3,"Yaw   %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);
401 hbuss 139
          }
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          else
401 hbuss 141
          {
886 killagreg 142
           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);
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");
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           LCD_printfxy(0,1,"Pitch  %4i (%3i)",AdValueAccPitch, NeutralAccX);
150
           LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll, NeutralAccY);
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           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
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           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
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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
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
}