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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2003 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 6 | // + see the File "License.txt" for further Informations |
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| 7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 8 | #include "main.h" |
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| 9 | #include "eeprom.h" |
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| 10 | |||
| 11 | #ifdef WITH_MKTOOL_Display // only include functions if DEBUG is defined in main.h |
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| 12 | |||
| 13 | #warning : "### with MKTool Display ###" |
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| 14 | |||
| 15 | char DisplayBuff[80]; |
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| 16 | unsigned char DispPtr = 0; |
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| 17 | |||
| 18 | unsigned char MaxMenue = 16; |
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| 19 | unsigned char MenuePunkt = 0; |
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| 20 | unsigned char RemoteKeys = 0; |
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| 21 | |||
| 22 | #define KEY1 0x01 |
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| 23 | #define KEY2 0x02 |
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| 24 | #define KEY3 0x04 |
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| 25 | #define KEY4 0x08 |
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| 26 | #define KEY5 0x10 |
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| 27 | |||
| 28 | void LcdClear(void) |
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| 29 | { |
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| 30 | unsigned char i; |
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| 31 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
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| 32 | } |
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| 33 | |||
| 34 | void Menu_Putchar(char c) |
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| 35 | { |
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| 36 | if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
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| 37 | } |
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| 38 | |||
| 39 | void Menu(void) |
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| 40 | { |
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| 41 | unsigned char i; |
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| 42 | |||
| 43 | if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
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| 44 | if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
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| 45 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
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| 46 | LcdClear(); |
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| 47 | if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
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| 48 | else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
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| 49 | |||
| 50 | switch(MenuePunkt) |
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| 51 | { |
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| 52 | case 0: |
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| 53 | LCD_printfxy(0,0,"--Jeti+ 0.20---"); |
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| 54 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
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| 55 | LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
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| 56 | |||
| 57 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
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| 58 | else |
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| 59 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 60 | if(NC_ErrorCode) |
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| 61 | { |
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| 62 | LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
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| 63 | _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
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| 64 | } |
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| 65 | else |
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| 66 | #endif |
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| 67 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
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| 68 | else |
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| 69 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
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| 70 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 71 | #else |
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| 72 | else |
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| 73 | if(NC_ErrorCode) |
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| 74 | { |
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| 75 | LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
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| 76 | } |
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| 77 | #endif |
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| 78 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
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| 79 | else |
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| 80 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
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| 81 | break; |
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| 82 | case 1: |
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| 83 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
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| 84 | { |
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| 85 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
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| 86 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
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| 87 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
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| 88 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
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| 89 | } |
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| 90 | else |
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| 91 | { |
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| 92 | LCD_printfxy(0,0,"Height control"); |
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| 93 | LCD_printfxy(0,1,"DISABLED"); |
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| 94 | //LCD_printfxy(0,2,"Height control"); |
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| 95 | //LCD_printfxy(0,3,"DISABLED"); |
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| 96 | } |
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| 97 | |||
| 98 | break; |
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| 99 | case 2: |
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| 100 | LCD_printfxy(0,0,"act. bearing"); |
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| 101 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
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| 102 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
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| 103 | LCD_printfxy(0,3,"Compass: %5i",ErsatzKompassInGrad); |
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| 104 | break; |
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| 105 | case 3: |
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| 106 | for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]); |
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| 107 | break; |
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| 108 | case 4: |
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| 109 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
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| 110 | LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
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| 111 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
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| 112 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
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| 113 | break; |
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| 114 | case 5: |
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| 115 | LCD_printfxy(0,0,"Gyro - Sensor"); |
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| 116 | if(PlatinenVersion == 10) |
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| 117 | { |
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| 118 | LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
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| 119 | LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
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| 120 | LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
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| 121 | } |
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| 122 | else |
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| 123 | if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
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| 124 | { |
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| 125 | LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
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| 126 | LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
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| 127 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
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| 128 | } |
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| 129 | else |
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| 130 | if(PlatinenVersion == 13) |
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| 131 | { |
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| 132 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
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| 133 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
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| 134 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
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| 135 | } |
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| 136 | break; |
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| 137 | case 6: |
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| 138 | LCD_printfxy(0,0,"ACC - Sensor"); |
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| 139 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
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| 140 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
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| 141 | LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
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| 142 | break; |
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| 143 | case 7: |
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| 144 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
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| 145 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
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| 146 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
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| 147 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
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| 148 | break; |
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| 149 | case 8: |
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| 150 | LCD_printfxy(0,0,"Receiver"); |
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| 151 | LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
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| 152 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
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| 153 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
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| 154 | break; |
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| 155 | case 9: |
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| 156 | LCD_printfxy(0,0,"Compass"); |
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| 157 | LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
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| 158 | LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
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| 159 | LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert); |
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| 160 | break; |
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| 161 | case 10: |
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| 162 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
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| 163 | break; |
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| 164 | case 11: |
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| 165 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
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| 166 | break; |
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| 167 | case 12: |
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| 168 | LCD_printfxy(0,0,"Servo " ); |
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| 169 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
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| 170 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
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| 171 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
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| 172 | break; |
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| 173 | /* case 13: |
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| 174 | LCD_printfxy(0,0,"ExternControl " ); |
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| 175 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
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| 176 | LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
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| 177 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
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| 178 | break; |
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| 179 | */ |
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| 180 | case 13: |
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| 181 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
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| 182 | for(i=0;i<3;i++) |
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| 183 | { |
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| 184 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
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| 185 | // if(i*4 >= RequiredMotors) break; |
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| 186 | } |
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| 187 | break; |
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| 188 | case 14: |
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| 189 | LCD_printfxy(0,0,"BL Temperature" ); |
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| 190 | for(i=0;i<3;i++) |
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| 191 | { |
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| 192 | LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
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| 193 | // if(4 + i * 4 >= RequiredMotors) break; |
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| 194 | } |
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| 195 | break; |
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| 196 | case 15: |
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| 197 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
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| 198 | 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)); |
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| 199 | 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)); |
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| 200 | LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
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| 201 | if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
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| 202 | if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
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| 203 | if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
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| 204 | break; |
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| 205 | case 16: |
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| 206 | LCD_printfxy(0,0,"Flight-Time " ); |
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| 207 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
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| 208 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
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| 209 | LCD_printfxy(13,3,"(reset)"); |
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| 210 | if(RemoteKeys & KEY4) |
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| 211 | { |
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| 212 | FlugMinuten = 0; |
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| 213 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
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| 214 | } |
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| 215 | break; |
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| 216 | default: |
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| 217 | if(MenuePunkt == MaxMenue) MaxMenue--; |
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| 218 | MenuePunkt = 0; |
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| 219 | break; |
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| 220 | } |
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| 221 | RemoteKeys = 0; |
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| 222 | } |
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| 223 | #endif |