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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + only for non-profit use |
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4 | // + www.MikroKopter.com |
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5 | // + see the File "License.txt" for further Informations |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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886 | killagreg | 7 | |
8 | #include <stdlib.h> |
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9 | #include <inttypes.h> |
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1 | ingob | 10 | #include "main.h" |
886 | killagreg | 11 | #include "eeprom.h" |
12 | #include "timer2.h" |
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13 | #include "fc.h" |
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14 | #include "rc.h" |
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15 | #include "uart.h" |
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16 | #include "printf_P.h" |
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17 | #include "analog.h" |
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18 | #ifdef USE_KILLAGREG |
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19 | #include "mm3.h" |
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908 | killagreg | 20 | #endif |
21 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
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886 | killagreg | 22 | #include "ubx.h" |
23 | #endif |
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24 | #include "_Settings.h" |
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1 | ingob | 25 | |
26 | |||
886 | killagreg | 27 | #define ARRAYSIZE 10 |
28 | uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
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29 | #define DISPLAYBUFFSIZE 80 |
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30 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
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31 | uint8_t DispPtr = 0; |
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32 | uint8_t RemoteButtons = 0; |
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33 | |||
1 | ingob | 34 | #define KEY1 0x01 |
35 | #define KEY2 0x02 |
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36 | #define KEY3 0x04 |
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37 | #define KEY4 0x08 |
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38 | #define KEY5 0x10 |
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39 | |||
886 | killagreg | 40 | /************************************/ |
41 | /* Clear LCD Buffer */ |
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42 | /************************************/ |
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43 | void LCD_Clear(void) |
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1 | ingob | 44 | { |
886 | killagreg | 45 | uint8_t i; |
46 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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1 | ingob | 47 | } |
48 | |||
886 | killagreg | 49 | |
50 | /************************************/ |
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51 | /* Update Menu on LCD */ |
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52 | /************************************/ |
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53 | // Display with 20 characters in 4 lines |
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54 | void LCD_PrintMenu(void) |
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908 | killagreg | 55 | { |
56 | |||
57 | #if !defined (USE_MK3MAG) & !defined (USE_MK3MAG) |
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58 | static uint8_t MaxMenuItem = 11; |
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59 | #else |
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60 | #ifdef USE_MK3MAG |
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61 | static uint8_t MaxMenuItem = 12; |
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62 | #endif |
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886 | killagreg | 63 | #ifdef USE_KILLAGREG |
64 | static uint8_t MaxMenuItem = 14; |
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65 | #endif |
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908 | killagreg | 66 | #endif |
886 | killagreg | 67 | static uint8_t MenuItem=0; |
68 | |||
69 | // if KEY1 is activated goto previous menu item |
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70 | if(RemoteButtons & KEY1) |
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71 | { |
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72 | if(MenuItem) MenuItem--; |
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73 | else MenuItem = MaxMenuItem; |
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74 | LCD_Clear(); |
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75 | RemotePollDisplayLine = -1; |
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76 | } |
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77 | // if KEY2 is activated goto next menu item |
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78 | if(RemoteButtons & KEY2) |
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79 | { |
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80 | if (MenuItem == MaxMenuItem) MenuItem = 0; |
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81 | else MenuItem++; |
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82 | LCD_Clear(); |
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83 | RemotePollDisplayLine = -1; |
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84 | } |
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85 | |||
86 | // if KEY1 and KEY2 is activated goto initial menu item |
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87 | if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
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88 | |||
89 | // print menu item number in the upper right corner |
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90 | if(MenuItem < 10) |
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91 | { |
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92 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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93 | } |
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94 | else |
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95 | { |
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96 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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97 | } |
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98 | |||
99 | switch(MenuItem) |
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100 | { |
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101 | case 0:// Version Info Menu Item |
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595 | hbuss | 102 | LCD_printfxy(0,0,"+ MikroKopter +"); |
886 | killagreg | 103 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a'); |
104 | LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
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1 | ingob | 105 | LCD_printfxy(0,3,"(c) Holger Buss"); |
106 | break; |
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886 | killagreg | 107 | case 1:// Height Control Menu Item |
108 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
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109 | { |
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110 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
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111 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
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112 | LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
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113 | LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
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1 | ingob | 114 | } |
886 | killagreg | 115 | else |
116 | { |
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117 | LCD_printfxy(0,1,"No "); |
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118 | LCD_printfxy(0,2,"Height Control"); |
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1 | ingob | 119 | } |
886 | killagreg | 120 | |
1 | ingob | 121 | break; |
886 | killagreg | 122 | case 2:// Attitude Menu Item |
123 | LCD_printfxy(0,0,"Attitude"); |
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911 | killagreg | 124 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
1 | ingob | 125 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
886 | killagreg | 126 | LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
1 | ingob | 127 | break; |
886 | killagreg | 128 | case 3:// Remote Control Channel Menu Item |
129 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
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130 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
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131 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
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132 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
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1 | ingob | 133 | break; |
886 | killagreg | 134 | case 4:// Remote Control Mapping Menu Item |
912 | killagreg | 135 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
911 | killagreg | 136 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
886 | killagreg | 137 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
138 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
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1 | ingob | 139 | break; |
886 | killagreg | 140 | case 5:// Gyro Sensor Menu Item |
1 | ingob | 141 | LCD_printfxy(0,0,"Gyro - Sensor"); |
886 | killagreg | 142 | if(BoardRelease == 10) |
401 | hbuss | 143 | { |
911 | killagreg | 144 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick); |
886 | killagreg | 145 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
146 | LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw); |
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401 | hbuss | 147 | } |
886 | killagreg | 148 | else |
401 | hbuss | 149 | { |
911 | killagreg | 150 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2); |
886 | killagreg | 151 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
152 | LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2); |
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401 | hbuss | 153 | } |
1 | ingob | 154 | break; |
886 | killagreg | 155 | case 6:// Acceleration Sensor Menu Item |
1 | ingob | 156 | LCD_printfxy(0,0,"ACC - Sensor"); |
911 | killagreg | 157 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick, NeutralAccX); |
886 | killagreg | 158 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
159 | LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
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1 | ingob | 160 | break; |
886 | killagreg | 161 | case 7:// Accumulator Voltage / Remote Control Level |
162 | LCD_printfxy(0,1,"Voltage: %5i",UBat); |
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163 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
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1 | ingob | 164 | break; |
886 | killagreg | 165 | case 8:// Compass Menu Item |
166 | LCD_printfxy(0,0,"Compass "); |
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167 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
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168 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
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169 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
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1 | ingob | 170 | break; |
886 | killagreg | 171 | case 9:// Poti Menu Item |
172 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
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173 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
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174 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
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175 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
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1 | ingob | 176 | break; |
886 | killagreg | 177 | case 10:// Servo Menu Item |
1 | ingob | 178 | LCD_printfxy(0,0,"Servo " ); |
911 | killagreg | 179 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
886 | killagreg | 180 | LCD_printfxy(0,2,"Position: %3i",ServoValue); |
911 | killagreg | 181 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
1 | ingob | 182 | break; |
886 | killagreg | 183 | case 11://Extern Control |
595 | hbuss | 184 | LCD_printfxy(0,0,"ExternControl " ); |
912 | killagreg | 185 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
186 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
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886 | killagreg | 187 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
595 | hbuss | 188 | break; |
886 | killagreg | 189 | |
908 | killagreg | 190 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
886 | killagreg | 191 | case 12://GPS Lat/Lon coords |
192 | if (GPSInfo.status == INVALID) |
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193 | { |
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194 | LCD_printfxy(0,0,"No GPS data!"); |
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195 | } |
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196 | else |
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197 | { |
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198 | switch (GPSInfo.satfix) |
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199 | { |
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200 | case SATFIX_NONE: |
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201 | LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
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202 | break; |
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203 | case SATFIX_2D: |
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204 | LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
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205 | break; |
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206 | case SATFIX_3D: |
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207 | LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
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208 | break; |
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209 | default: |
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210 | LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
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211 | break; |
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212 | } |
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213 | int16_t i1,i2,i3; |
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214 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
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215 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
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216 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
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217 | LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
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218 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
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219 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
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220 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
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221 | LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
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222 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
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223 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
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224 | LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
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225 | } |
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226 | break; |
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908 | killagreg | 227 | #endif |
228 | #ifdef USE_KILLAGREG |
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886 | killagreg | 229 | case 13:// MM3 Kompass |
230 | LCD_printfxy(0,0,"MM3 Offset"); |
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231 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
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232 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
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233 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
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234 | break; |
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235 | case 14://MM3 Range |
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236 | LCD_printfxy(0,0,"MM3 Range"); |
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237 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
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238 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
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239 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
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240 | break; |
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241 | #endif |
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242 | |||
243 | default: MaxMenuItem = MenuItem - 1; |
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244 | MenuItem = 0; |
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1 | ingob | 245 | break; |
246 | } |
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886 | killagreg | 247 | RemoteButtons = 0; |
304 | ingob | 248 | } |