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"

#include "eeprom.h"

char DisplayBuff[80] = "Hello World";

unsigned char DispPtr = 0;

unsigned char MaxMenue = 17;

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_Putchar(char c)

{

        DisplayBuff[DispPtr++] = c;

}

void Menu(void)

 {

  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", GetActiveParamSet(),Mixer.Name);

                   if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0])

                   else

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

                   else

           if(VersionInfo.HardwareError[1] & DEFEKT_MIXER_ERR) LCD_printfxy(0,3,"Mixer Error!")

                   else

//                 if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1])

//                 else

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

           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)",AdWertAccHoch,(int)NeutralAccZ);

           break;

    case 7:

                        LCD_printfxy(0,0,"Voltage:   %3i.%1iV",UBat/10, UBat%10);

                        LCD_printfxy(0,1,"Current:   %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);

                        LCD_printfxy(0,2,"Power:     %4iW",Capacity.ActualPower);

                        LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity);

           break;

    case 8:

           LCD_printfxy(0,0,"Receiver");

           LCD_printfxy(0,1,"RC-RSSI:    %4i", PPM_in[0]);

           LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay);

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

           break;

    case 9:

           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 10:

           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 11:

           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 12:

           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 13:

           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 14:

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

                   LCD_printfxy(0,1,"%3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK);

                   LCD_printfxy(0,2,"%3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK);

                   LCD_printfxy(0,3,"%3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK);

           break;

    case 15:

           LCD_printfxy(0,0,"BL Temperature" );

                   LCD_printfxy(0,1,"%3i %3i %3i %3i ",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature);

                   LCD_printfxy(0,2,"%3i %3i %3i %3i ",Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature);

                   LCD_printfxy(0,3,"%3i %3i %3i %3i ",Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature);

           break;

    case 16:

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

                   LCD_printfxy(0,1," %c   %c   %c   %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7));

                   LCD_printfxy(0,2," %c   %c   %c   %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7));

                   LCD_printfxy(0,3," %c   -   -   - ",'-' + 12 * (Motor[8].State>>7));

                   if(Motor[9].State>>7)  LCD_printfxy(4,3,"10");

                   if(Motor[10].State>>7) LCD_printfxy(8,3,"11");

                   if(Motor[11].State>>7) LCD_printfxy(12,3,"12");

           break;

    case 17:

           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;

               SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);

                         }

           break;

    default:

           if(MenuePunkt == MaxMenue) MaxMenue--;

           MenuePunkt = 0;

           break;

    }

    RemoteKeys = 0;

}