Subversion Repositories FlightCtrl

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

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

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

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

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

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

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

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

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

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

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

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

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

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

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

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

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

#include <stdlib.h>

#include <inttypes.h>

#include "eeprom.h"

#include "timer2.h"

#include "rc.h"

#include "externalControl.h"

#include "uart0.h"

#include "printf_P.h"

#include "analog.h"

#include "twimaster.h"

#include "attitude.h"

#if (!defined (USE_NAVICTRL))

uint8_t maxMenuItem = 13;

#else

#ifdef USE_NAVICTRL

#include "gps.c"

uint8_t maxMenuItem = 14;

#endif

#endif

uint8_t menuItem = 0;

uint8_t remoteKeys = 0;

#define KEY1    0x01

#define KEY2    0x02

#define KEY3    0x04

#define KEY4    0x08

#define KEY5    0x10

#define DISPLAYBUFFSIZE 80

int8_t displayBuff[DISPLAYBUFFSIZE] = "Hello World";

uint8_t dispPtr = 0;

/************************************/

/*        Clear LCD Buffer          */

/************************************/

void LCD_clear(void) {

        uint8_t i;

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

                displayBuff[i] = ' ';

}

/************************************/

/*        Update Menu on LCD        */

/************************************/

// Display with 20 characters in 4 lines

void LCD_printMenu(void) {

        if (remoteKeys & KEY1) {

                if (menuItem)

                        menuItem--;

                else

                        menuItem = maxMenuItem;

        }

        if (remoteKeys & KEY2) {

                if (menuItem == maxMenuItem)

                        menuItem = 0;

                else

                        menuItem++;

        }

        if ((remoteKeys & KEY1) && (remoteKeys & KEY2))

                menuItem = 0;

        LCD_clear();

        if (menuItem > maxMenuItem)

                menuItem = maxMenuItem;

        // print menu item number in the upper right corner

        if (menuItem < 10) {

                LCD_printfxy(17,0,"[%i]", menuItem);

        } else {

                LCD_printfxy(16,0,"[%i]", menuItem);

        }

        switch (menuItem) {

        case 0:// Version Info Menu Item

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

                ;

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

                ;

                LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), mixerMatrix.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");

                break;

                /*

                 case 1:// Height Control Menu Item

                 if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) {

                 LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);

                 LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);

                 LCD_printfxy(0,2,"Air Press.:%5i",0);

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

                 }

                 else

                 {

                 LCD_printfxy(0,1,"No ");

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

                 }

                 break;

                 */

        case 2:// Attitude Menu Item

                LCD_printfxy(0,0,"Attitude");

                LCD_printfxy(0,1,"Nick:      %5i", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL);

                LCD_printfxy(0,2,"Roll:      %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL);

                LCD_printfxy(0,3,"Heading:   %5i", compassHeading);

                break;

        case 3:// Remote Control Channel Menu Item

                LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);

                LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);

                LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);

                LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);

                break;

        case 4:// Remote Control Mapping Menu Item

                LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[channelMap.channels[CH_PITCH]],   PPM_in[channelMap.channels[CH_ROLL]]);

                LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[channelMap.channels[CH_THROTTLE]],PPM_in[channelMap.channels[CH_YAW]]);

                LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[channelMap.channels[CH_POTS]],    PPM_in[channelMap.channels[CH_POTS+1]]);

                LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[channelMap.channels[CH_POTS+2]],  PPM_in[channelMap.channels[CH_POTS+3]]);

                break;

                /*

                 case 5:// Gyro Sensor Menu Item

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

                 switch(BoardRelease) {

                 case 10:

                 LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY);

                 LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY);

                 LCD_printfxy(0,3,"Yaw  %4i (%3i)", AdValueGyroYaw , YawOffset);

                 break;

                 case 11:

                 case 12:

                 case 20: // divice Offests by 2 becuse 2 samples are added in adc isr

                 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)

                 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)

                 LCD_printfxy(0,3,"Yaw  %4i (%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2);

                 break;

                 case 13:

                 default: // divice Offests by 2 becuse 2 samples are added in adc isr

                 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)

                 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)

                 LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2, 0);

                 break;

                 }

                 break;

                 case 6:// Acceleration Sensor Menu Item

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

                 LCD_printfxy(0,1,"Nick   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR

                 LCD_printfxy(0,2,"Roll   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR

                 LCD_printfxy(0,3,"Height %4i (%3i)",0,0);

                 break;

                 */

        case 7:// Battery Voltage / Remote Control Level

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

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

                break;

        case 8:// Compass Menu Item

                LCD_printfxy(0,0,"Compass       ");

                LCD_printfxy(0,1,"Course:    %5i", compassCourse);

                LCD_printfxy(0,2,"Heading:   %5i", compassHeading);

                LCD_printfxy(0,3,"OffCourse: %5i", ((540 + compassHeading - compassCourse) % 360) - 180);

                break;

        case 9:// Poti Menu Item

                LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion

                LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion

                LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion

                LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion

                break;

                /*

                 case 10:// Servo Menu Item

                 LCD_printfxy(0,0,"Servo  " );

                 LCD_printfxy(0,1,"Setpoint  %3i",dynamicParams.ServoNickControl);

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

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

                 break;

                 */

        case 11://Extern Control

                LCD_printfxy(0,0,"ExternControl  " );

                LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ", externalControl.pitch, externalControl.roll);

                LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ", externalControl.throttle, externalControl.yaw);

                LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ", externalControl.height, externalControl.config);

                break;

        case 12://BL Communication errors

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

                LCD_printfxy(0,1," %3d  %3d  %3d  %3d ",motor[0].Error,motor[1].Error,motor[2].Error,motor[3].Error);

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

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

                break;

        case 13://BL Overview

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

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

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

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

                if (motor[9].Present)

                        LCD_printfxy(4,3,"10");

                if (motor[10].Present)

                        LCD_printfxy(8,3,"11");

                if (motor[11].Present)

                        LCD_printfxy(12,3,"12");

                break;

#if (defined (USE_NAVICTRL))

                case 14://GPS Lat/Lon coords

                if (GPSInfo.status == INVALID) {

                        LCD_printfxy(0,0,"No GPS data!");

                } else {

                        switch (GPSInfo.satfix)

                        {

                                case SATFIX_NONE:

                                LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);

                                break;

                                case SATFIX_2D:

                                LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);

                                break;

                                case SATFIX_3D:

                                LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);

                                break;

                                default:

                                LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);

                                break;

                        }

                        int16_t i1,i2,i3;

                        i1 = (int16_t)(GPSInfo.longitude/10000000L);

                        i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));

                        i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));

                        LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3);

                        i1 = (int16_t)(GPSInfo.latitude/10000000L);

                        i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));

                        i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));

                        LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3);

                        i1 = (int16_t)(GPSInfo.altitude/1000L);

                        i2 = abs((int16_t)(GPSInfo.altitude%1000L));

                        LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2);

                }

                break;

#endif

        default:

                maxMenuItem = menuItem - 1;

                menuItem = 0;

                break;

        }

        remoteKeys = 0;

}