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| Rev | Author | Line No. | Line |
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| 1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | #include <stdlib.h> |
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| 52 | #include <inttypes.h> |
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| 53 | #include "eeprom.h" |
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| 54 | #include "timer2.h" |
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| 55 | #include "rc.h" |
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| 56 | #include "externalControl.h" |
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| 57 | #include "uart0.h" |
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| 58 | #include "printf_P.h" |
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| 59 | #include "analog.h" |
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| 60 | #include "twimaster.h" |
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| 61 | #include "attitude.h" |
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| 62 | |||
| 1805 | - | 63 | #if (!defined (USE_NAVICTRL)) |
| 1612 | dongfang | 64 | uint8_t MaxMenuItem = 13; |
| 65 | #else |
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| 1805 | - | 66 | #ifdef USE_NAVICTRL |
| 67 | #include "gps.c" |
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| 1612 | dongfang | 68 | uint8_t MaxMenuItem = 14; |
| 69 | #endif |
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| 70 | #endif |
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| 71 | uint8_t MenuItem = 0; |
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| 72 | uint8_t RemoteKeys = 0; |
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| 73 | |||
| 74 | #define KEY1 0x01 |
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| 75 | #define KEY2 0x02 |
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| 76 | #define KEY3 0x04 |
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| 77 | #define KEY4 0x08 |
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| 78 | #define KEY5 0x10 |
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| 79 | |||
| 80 | #define DISPLAYBUFFSIZE 80 |
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| 81 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
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| 82 | uint8_t DispPtr = 0; |
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| 83 | |||
| 84 | /************************************/ |
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| 85 | /* Clear LCD Buffer */ |
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| 86 | /************************************/ |
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| 1805 | - | 87 | void LCD_Clear(void) { |
| 1821 | - | 88 | uint8_t i; |
| 89 | for (i = 0; i < DISPLAYBUFFSIZE; i++) |
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| 90 | DisplayBuff[i] = ' '; |
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| 1612 | dongfang | 91 | } |
| 92 | |||
| 93 | /************************************/ |
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| 94 | /* Update Menu on LCD */ |
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| 95 | /************************************/ |
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| 96 | // Display with 20 characters in 4 lines |
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| 97 | void LCD_PrintMenu(void) { |
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| 1821 | - | 98 | if (RemoteKeys & KEY1) { |
| 99 | if (MenuItem) |
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| 100 | MenuItem--; |
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| 101 | else |
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| 102 | MenuItem = MaxMenuItem; |
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| 103 | } |
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| 1612 | dongfang | 104 | |
| 1821 | - | 105 | if (RemoteKeys & KEY2) { |
| 106 | if (MenuItem == MaxMenuItem) |
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| 107 | MenuItem = 0; |
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| 108 | else |
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| 109 | MenuItem++; |
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| 110 | } |
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| 111 | if ((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) |
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| 112 | MenuItem = 0; |
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| 113 | |||
| 114 | LCD_Clear(); |
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| 115 | |||
| 116 | if (MenuItem > MaxMenuItem) |
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| 117 | MenuItem = MaxMenuItem; |
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| 118 | // print menu item number in the upper right corner |
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| 119 | if (MenuItem < 10) { |
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| 120 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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| 121 | } else { |
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| 122 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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| 123 | } |
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| 124 | |||
| 125 | switch (MenuItem) { |
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| 126 | case 0:// Version Info Menu Item |
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| 127 | LCD_printfxy(0,0,"+ MikroKopter +") |
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| 128 | ; |
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| 129 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a') |
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| 130 | ; |
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| 131 | LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), Mixer.Name) |
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| 132 | ; |
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| 133 | if (I2CTimeout < 6) { |
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| 134 | LCD_printfxy(0,3,"I2C Error!!!"); |
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| 135 | } else if (missingMotor) { |
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| 136 | LCD_printfxy(0,3,"Missing BL-Ctrl:%d", missingMotor); |
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| 137 | } else LCD_printfxy(0,3,"(c) Holger Buss"); |
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| 138 | break; |
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| 139 | /* |
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| 140 | case 1:// Height Control Menu Item |
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| 141 | if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
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| 142 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
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| 143 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
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| 144 | LCD_printfxy(0,2,"Air Press.:%5i",0); |
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| 145 | LCD_printfxy(0,3,"Offset :%5i",0); |
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| 146 | } |
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| 147 | else |
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| 148 | { |
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| 149 | LCD_printfxy(0,1,"No "); |
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| 150 | LCD_printfxy(0,2,"Height Control"); |
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| 151 | } |
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| 152 | break; |
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| 153 | */ |
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| 154 | case 2:// Attitude Menu Item |
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| 155 | LCD_printfxy(0,0,"Attitude"); |
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| 156 | LCD_printfxy(0,1,"Nick: %5i", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL); |
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| 157 | LCD_printfxy(0,2,"Roll: %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL); |
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| 158 | LCD_printfxy(0,3,"Heading: %5i", compassHeading); |
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| 159 | break; |
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| 160 | case 3:// Remote Control Channel Menu Item |
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| 161 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
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| 162 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
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| 163 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
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| 164 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
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| 165 | break; |
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| 166 | case 4:// Remote Control Mapping Menu Item |
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| 167 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[staticParams.ChannelAssignment[CH_PITCH]],PPM_in[staticParams.ChannelAssignment[CH_ROLL]]); |
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| 168 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]],PPM_in[staticParams.ChannelAssignment[CH_YAW]]); |
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| 169 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[staticParams.ChannelAssignment[CH_POTS]],PPM_in[staticParams.ChannelAssignment[CH_POTS+1]]); |
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| 170 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[staticParams.ChannelAssignment[CH_POTS+2]],PPM_in[staticParams.ChannelAssignment[CH_POTS+3]]); |
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| 171 | break; |
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| 172 | /* |
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| 173 | case 5:// Gyro Sensor Menu Item |
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| 174 | LCD_printfxy(0,0,"Gyro - Sensor"); |
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| 175 | switch(BoardRelease) { |
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| 176 | case 10: |
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| 177 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY); |
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| 178 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY); |
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| 179 | LCD_printfxy(0,3,"Yaw %4i (%3i)", AdValueGyroYaw , YawOffset); |
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| 180 | break; |
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| 181 | case 11: |
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| 182 | case 12: |
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| 183 | case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
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| 184 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
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| 185 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
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| 186 | LCD_printfxy(0,3,"Yaw %4i (%3i)",YawOffset - AdValueGyroYaw , YawOffset/2); |
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| 187 | break; |
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| 188 | |||
| 189 | case 13: |
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| 190 | default: // divice Offests by 2 becuse 2 samples are added in adc isr |
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| 191 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7) |
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| 192 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7) |
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| 193 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",YawOffset - AdValueGyroYaw , YawOffset/2, 0); |
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| 194 | break; |
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| 195 | } |
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| 196 | break; |
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| 197 | case 6:// Acceleration Sensor Menu Item |
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| 198 | LCD_printfxy(0,0,"ACC - Sensor"); |
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| 199 | LCD_printfxy(0,1,"Nick %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
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| 200 | LCD_printfxy(0,2,"Roll %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
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| 201 | LCD_printfxy(0,3,"Height %4i (%3i)",0,0); |
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| 202 | break; |
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| 203 | */ |
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| 204 | case 7:// Battery Voltage / Remote Control Level |
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| 205 | LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
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| 206 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
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| 207 | break; |
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| 208 | case 8:// Compass Menu Item |
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| 209 | LCD_printfxy(0,0,"Compass "); |
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| 210 | LCD_printfxy(0,1,"Course: %5i", compassCourse); |
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| 211 | LCD_printfxy(0,2,"Heading: %5i", compassHeading); |
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| 212 | LCD_printfxy(0,3,"OffCourse: %5i", ((540 + compassHeading - compassCourse) % 360) - 180); |
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| 213 | break; |
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| 214 | case 9:// Poti Menu Item |
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| 215 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion |
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| 216 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion |
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| 217 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion |
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| 218 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion |
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| 219 | break; |
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| 220 | /* |
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| 221 | case 10:// Servo Menu Item |
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| 222 | LCD_printfxy(0,0,"Servo " ); |
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| 223 | LCD_printfxy(0,1,"Setpoint %3i",dynamicParams.ServoNickControl); |
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| 224 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
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| 225 | LCD_printfxy(0,3,"Range:%3i-%3i",staticParams.ServoNickMin, staticParams.ServoNickMax); |
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| 226 | break; |
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| 227 | */ |
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| 228 | case 11://Extern Control |
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| 229 | LCD_printfxy(0,0,"ExternControl " ); |
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| 230 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ", externalControl.pitch, externalControl.roll); |
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| 231 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ", externalControl.throttle, externalControl.yaw); |
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| 232 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ", externalControl.height, externalControl.config); |
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| 233 | break; |
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| 234 | |||
| 235 | case 12://BL Communication errors |
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| 236 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
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| 237 | LCD_printfxy(0,1," %3d %3d %3d %3d ",motor[0].Error,motor[1].Error,motor[2].Error,motor[3].Error); |
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| 238 | LCD_printfxy(0,2," %3d %3d %3d %3d ",motor[4].Error,motor[5].Error,motor[6].Error,motor[7].Error); |
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| 239 | LCD_printfxy(0,3," %3d %3d %3d %3d ",motor[8].Error,motor[9].Error,motor[10].Error,motor[11].Error); |
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| 240 | break; |
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| 241 | |||
| 242 | case 13://BL Overview |
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| 243 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
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| 244 | LCD_printfxy(0,1," %c %c %c %c ",motor[0].Present + '-',motor[1].Present + '-',motor[2].Present + '-',motor[3].Present + '-'); |
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| 245 | LCD_printfxy(0,2," %c %c %c %c ",motor[4].Present + '-',motor[5].Present + '-',motor[6].Present + '-',motor[7].Present + '-'); |
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| 246 | LCD_printfxy(0,3," %c - - - ",motor[8].Present + '-'); |
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| 247 | if (motor[9].Present) |
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| 248 | LCD_printfxy(4,3,"10"); |
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| 249 | if (motor[10].Present) |
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| 250 | LCD_printfxy(8,3,"11"); |
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| 251 | if (motor[11].Present) |
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| 252 | LCD_printfxy(12,3,"12"); |
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| 253 | break; |
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| 254 | |||
| 1805 | - | 255 | #if (defined (USE_NAVICTRL)) |
| 1821 | - | 256 | case 14://GPS Lat/Lon coords |
| 257 | if (GPSInfo.status == INVALID) { |
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| 258 | LCD_printfxy(0,0,"No GPS data!"); |
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| 259 | } else { |
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| 260 | switch (GPSInfo.satfix) |
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| 261 | { |
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| 262 | case SATFIX_NONE: |
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| 263 | LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
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| 264 | break; |
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| 265 | case SATFIX_2D: |
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| 266 | LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
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| 267 | break; |
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| 268 | case SATFIX_3D: |
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| 269 | LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
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| 270 | break; |
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| 271 | default: |
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| 272 | LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
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| 273 | break; |
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| 274 | } |
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| 275 | int16_t i1,i2,i3; |
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| 276 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
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| 277 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
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| 278 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
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| 279 | LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3); |
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| 280 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
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| 281 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
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| 282 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
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| 283 | LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3); |
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| 284 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
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| 285 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
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| 286 | LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
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| 287 | } |
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| 288 | break; |
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| 289 | #endif |
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| 290 | |||
| 1612 | dongfang | 291 | default: |
| 1821 | - | 292 | MaxMenuItem = MenuItem - 1; |
| 293 | MenuItem = 0; |
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| 294 | break; |
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| 1612 | dongfang | 295 | } |
| 1821 | - | 296 | RemoteKeys = 0; |
| 1612 | dongfang | 297 | } |