Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) Holger Buss, Ingo Busker

// + only for non-profit use

// + www.MikroKopter.com

// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed

// + see the File "License.txt" for further Informations

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "main.h"

unsigned int  TestInt = 0;

#define ARRAYGROESSE 10

unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10};

char DisplayBuff[80] = "Hallo Welt";

unsigned char DispPtr = 0;

unsigned char MaxMenue = 15;

unsigned char MenuePunkt = 0;

unsigned char RemoteKeys = 0;

#define KEY1    0x01

#define KEY2    0x02

#define KEY3    0x04

#define KEY4    0x08

#define KEY5    0x10

void LcdClear(void)

{

 unsigned char i;

 for(i=0;i<80;i++) DisplayBuff[i] = ' ';

}

void Menu(void)

 {

  if(MenuePunkt > MaxMenue) MenuePunkt = MaxMenue;

  if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;}

  if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;}

  if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0;

  LcdClear();

  if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);}

  else {LCD_printfxy(16,0,"[%i]",MenuePunkt);};

  switch(MenuePunkt)

   {

    case 0:

           LCD_printfxy(0,0,"+ MikroKopter +");

           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a');

           LCD_printfxy(0,2,"Setting:%d %s",GetActiveParamSetNumber(),Mixer.Name);

           if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!")

                   else

           if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor)

           else LCD_printfxy(0,3,"(c) Holger Buss");

//           if(RemoteTasten & KEY3) TestInt--;

//           if(RemoteTasten & KEY4) TestInt++;

           break;

    case 1:

          if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)

           {

           LCD_printfxy(0,0,"Height:  %5i",(int)(HoehenWert/5));

           LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5));

           LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);

           LCD_printfxy(0,3,"Offset:  %5i",OCR0A);

           }

           else

           {

           LCD_printfxy(0,0,"Height control");

           LCD_printfxy(0,1,"DISABLED");

           LCD_printfxy(0,2,"Height control");

           LCD_printfxy(0,3,"DISABLED");

           }

           break;

    case 2:

           LCD_printfxy(0,0,"act. bearing");

           LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);

           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);

           LCD_printfxy(0,3,"Compass:   %5i",KompassValue);

           break;

    case 3:

           LCD_printfxy(0,0,"K1:%4i  K2:%4i ",PPM_in[1],PPM_in[2]);

           LCD_printfxy(0,1,"K3:%4i  K4:%4i ",PPM_in[3],PPM_in[4]);

           LCD_printfxy(0,2,"K5:%4i  K6:%4i ",PPM_in[5],PPM_in[6]);

           LCD_printfxy(0,3,"K7:%4i  K8:%4i ",PPM_in[7],PPM_in[8]);

           break;

    case 4:

           LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);

           LCD_printfxy(0,1,"Gs:%4i  Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);

           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+110);

           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+110);

           break;

    case 5:

           LCD_printfxy(0,0,"Gyro - Sensor");

          if(PlatinenVersion == 10)

          {

           LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8);

           LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8);

           LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier);

          }

          else

          if((PlatinenVersion == 11) || (PlatinenVersion == 20))

          {

           LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2);

           LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2);

           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2);

          }

          else

          if(PlatinenVersion == 13)

          {

           LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick);

           LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll);

           LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier);

          }

           break;

    case 6:

           LCD_printfxy(0,0,"ACC - Sensor");

           LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX);

           LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY);

           LCD_printfxy(0,3,"Z    %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ);

           break;

    case 7:

           LCD_printfxy(0,0,"Volt. & receiver");

           LCD_printfxy(0,1,"UBat:   %5i.%1iV",UBat/10, UBat%10);

           LCD_printfxy(0,2,"RC-Level:  %5i",SenderOkay);

           LCD_printfxy(0,3,"RC-Channels:%4i",Channels-1);

           break;

    case 8:

           LCD_printfxy(0,0,"Compass");

           LCD_printfxy(0,1,"Heading:  %5i",KompassRichtung);

           LCD_printfxy(0,2,"Value:    %5i",KompassValue);

           LCD_printfxy(0,3,"Start:    %5i",KompassStartwert);

           break;

    case 9:

           LCD_printfxy(0,0,"Poti1:  %3i",Poti[0]);

           LCD_printfxy(0,1,"Poti2:  %3i",Poti[1]);

           LCD_printfxy(0,2,"Poti3:  %3i",Poti[2]);

           LCD_printfxy(0,3,"Poti4:  %3i",Poti[3]);

           break;

    case 10:

           LCD_printfxy(0,0,"Poti5:  %3i",Poti[4]);

           LCD_printfxy(0,1,"Poti6:  %3i",Poti[5]);

           LCD_printfxy(0,2,"Poti7:  %3i",Poti[6]);

           LCD_printfxy(0,3,"Poti8:  %3i",Poti[7]);

           break;

    case 11:

           LCD_printfxy(0,0,"Servo  " );

           LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoNickControl);

           LCD_printfxy(0,2,"Position: %3i",ServoNickValue);

           LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);

           break;

    case 12:

           LCD_printfxy(0,0,"ExternControl  " );

           LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick,ExternControl.Roll);

           LCD_printfxy(0,2,"Gs:%4i  Gi:%4i ",ExternControl.Gas,ExternControl.Gier);

           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);

           break;

    case 13:

           LCD_printfxy(0,0,"BL-Ctrl Errors " );

           LCD_printfxy(0,1,"%3d %3d %3d %3d ",MotorError[0],MotorError[1],MotorError[2],MotorError[3]);

           LCD_printfxy(0,2,"%3d %3d %3d %3d ",MotorError[4],MotorError[5],MotorError[6],MotorError[7]);

           LCD_printfxy(0,3,"%3d %3d %3d %3d ",MotorError[8],MotorError[9],MotorError[10],MotorError[11]);

           break;

    case 14:

           LCD_printfxy(0,0,"BL-Ctrl found " );

           LCD_printfxy(0,1," %c   %c   %c   %c ",MotorPresent[0] + '-',MotorPresent[1] + '-',MotorPresent[2] + '-',MotorPresent[3] + '-');

           LCD_printfxy(0,2," %c   %c   %c   %c ",MotorPresent[4] + '-',MotorPresent[5] + '-',MotorPresent[6] + '-',MotorPresent[7] + '-');

           LCD_printfxy(0,3," %c   -   -   -",MotorPresent[8] + '-');

                   if(MotorPresent[9]) LCD_printfxy(4,3,"10");

                   if(MotorPresent[10]) LCD_printfxy(8,3,"11");

                   if(MotorPresent[11]) LCD_printfxy(12,3,"12");

           break;

    case 15:

           LCD_printfxy(0,0,"Flight-Time  " );

           LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt);

           LCD_printfxy(0,2,"Act:  %5umin",FlugMinuten);

           LCD_printfxy(13,3,"(reset)");

                   if(RemoteKeys & KEY4)

             {

               FlugMinuten = 0;

               eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);

               eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);

                         }

           break;

    default: MaxMenue = MenuePunkt - 1;

             MenuePunkt = 0;

           break;

    }

    RemoteKeys = 0;

}