Subversion Repositories FlightCtrl

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

// + www.MikroKopter.com

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

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

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

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

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

// + Software LICENSING TERMS

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

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

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

#include "main.h"

#include "eeprom.h"

char DisplayBuff[80];

unsigned char DispPtr = 0;

unsigned char MaxMenue = 19;

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)

{

 if(DispPtr < 80) DisplayBuff[DispPtr++] = c;

}

void Menu(void)

 {

  unsigned char i;

  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.%02d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a');

           LCD_printfxy(0,2,"Set:%d %s", ActiveParamSet,Mixer.Name);

           if(FC_StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT");

            if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!")

                    else

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

                        if(NC_ErrorCode)

                        {

                                LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode);

                                _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);

                        }

                   else

#endif

                   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)

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

#else

                   else

                        if(NC_ErrorCode)

                        {

                                LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode);

                        }

#endif

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

                   else

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

                   else

               if(Capacity.MinOfMaxPWM < 30) LCD_printfxy(0,3,"BL-Selftest Err:%2d",Capacity.MinOfMaxPWM)

           break;

    case 1:

           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);

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

                   if(ACC_AltitudeControl)     

                    {

                         LCD_printfxy(17,2,"(A)");

                         LCD_printfxy(17,3,"%i",CalAthmospheare);

                        }

#endif

           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",CompassCorrected);

           break;

    case 3:

           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]);

           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]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);

           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127);

           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127);

           break;

    case 5:

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

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

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

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

//           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(0,1,"Nick %4i (%4i)",AdWertNickFilter, AdNeutralNick);

//           LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRollFilter, AdNeutralRoll);

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

/*

// entfernt aus Platzmangel

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

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

           break;

    case 9:

           LCD_printfxy(0,0,"Undervoltages  " );

           LCD_printfxy(0,1,"Warn: %2d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);

           LCD_printfxy(0,2,"Home: %2d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);

           LCD_printfxy(0,3,"Land: %2d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);

           break;

    case 10:

           for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i:  %3i",i+1,Poti[i]);

           break;

    case 11:

           for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i:  %3i",i+5,Poti[i+4]);

           break;

    case 12:

           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;

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

    case 13:

           LCD_printfxy(0,0,"Compass");

           LCD_printfxy(0,1,"Magnet:   %5i",KompassValue);

           LCD_printfxy(0,2,"Gyro:     %5i",ErsatzKompassInGrad);

           LCD_printfxy(0,3,"True:     %5i",CompassCorrected);

           break;

    case 14:

           LCD_printfxy(0,0,"Servo  " );

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

           LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4);

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

           break;

    case 15:

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

                   for(i=0;i<3;i++)                                                              

                   {

                    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);

                   }   

           break;

    case 16:

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

                   for(i=0;i<3;i++)

                    {

                     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);

                        }                      

           break;

    case 17:

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

           LCD_printfxy(11,3,"(in 0.1A)" );

                   for(i=0;i<3;i++)

                    {

                     LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3));

                         if(4 + i * 4 >= RequiredMotors) break;

                        }                      

           break;

    case 18:

           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 19:

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

                   for(i=0;i<3;i++)

                    {

                     LCD_printfxy(0,i+1,"%1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor);

                         if(4 + i * 4 >= RequiredMotors) break;

                        }                      

           break;

/*

    case 19:

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

                   for(i=0;i<3;i++)

                    {

                     LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].MaxPWM,Motor[i*4+1].MaxPWM,Motor[i*4+2].MaxPWM,Motor[i*4+3].MaxPWM);

                         if(4 + i * 4 >= RequiredMotors) break;

                        }                      

           break;

*/

#endif

    default:

           if(MenuePunkt == MaxMenue) MaxMenue--;

           MenuePunkt = 0;

           break;

    }

    RemoteKeys = 0;

}