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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
2035 - 3
// + Nur f�r den privaten Gebrauch
1612 dongfang 4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035 - 6
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
1612 dongfang 8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
2035 - 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
1612 dongfang 11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035 - 13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
1612 dongfang 15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
2035 - 17
// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
1612 dongfang 18
// + eindeutig als Ursprung verlinkt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2035 - 20
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
1612 dongfang 21
// + Benutzung auf eigene Gefahr
2035 - 22
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
1612 dongfang 23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
2035 - 25
// + mit unserer Zustimmung zul�ssig
1612 dongfang 26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34
// +     for non-commercial use (directly or indirectly)
1868 - 35
// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1612 dongfang 36
// +     with our written permission
37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49
// +  POSSIBILITY OF SUCH DAMAGE.
50
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51
#include <stdlib.h>
52
#include <inttypes.h>
53
#include "eeprom.h"
54
#include "timer2.h"
55
#include "rc.h"
56
#include "externalControl.h"
57
#include "uart0.h"
58
#include "printf_P.h"
59
#include "analog.h"
60
#include "twimaster.h"
61
#include "attitude.h"
62
 
1805 - 63
#if (!defined (USE_NAVICTRL))
2018 - 64
uint8_t maxMenuItem = 13;
1612 dongfang 65
#else
1805 - 66
#ifdef USE_NAVICTRL
67
#include "gps.c"
2018 - 68
uint8_t maxMenuItem = 14;
1612 dongfang 69
#endif
70
#endif
2018 - 71
uint8_t menuItem = 0;
72
uint8_t remoteKeys = 0;
1612 dongfang 73
 
74
#define KEY1    0x01
75
#define KEY2    0x02
76
#define KEY3    0x04
77
#define KEY4    0x08
78
#define KEY5    0x10
79
 
80
#define DISPLAYBUFFSIZE 80
2018 - 81
int8_t displayBuff[DISPLAYBUFFSIZE] = "Hello World";
82
uint8_t dispPtr = 0;
1612 dongfang 83
 
84
/************************************/
85
/*        Clear LCD Buffer          */
86
/************************************/
2018 - 87
void LCD_clear(void) {
1821 - 88
        uint8_t i;
89
        for (i = 0; i < DISPLAYBUFFSIZE; i++)
2018 - 90
                displayBuff[i] = ' ';
1612 dongfang 91
}
92
 
93
/************************************/
94
/*        Update Menu on LCD        */
95
/************************************/
96
// Display with 20 characters in 4 lines
2018 - 97
void LCD_printMenu(void) {
98
        if (remoteKeys & KEY1) {
99
                if (menuItem)
100
                        menuItem--;
1821 - 101
                else
2018 - 102
                        menuItem = maxMenuItem;
1821 - 103
        }
1612 dongfang 104
 
2018 - 105
        if (remoteKeys & KEY2) {
106
                if (menuItem == maxMenuItem)
107
                        menuItem = 0;
1821 - 108
                else
2018 - 109
                        menuItem++;
1821 - 110
        }
2018 - 111
        if ((remoteKeys & KEY1) && (remoteKeys & KEY2))
112
                menuItem = 0;
1821 - 113
 
2018 - 114
        LCD_clear();
1821 - 115
 
2018 - 116
        if (menuItem > maxMenuItem)
117
                menuItem = maxMenuItem;
1821 - 118
        // print menu item number in the upper right corner
2018 - 119
        if (menuItem < 10) {
120
                LCD_printfxy(17,0,"[%i]", menuItem);
1821 - 121
        } else {
2018 - 122
                LCD_printfxy(16,0,"[%i]", menuItem);
1821 - 123
        }
124
 
2018 - 125
        switch (menuItem) {
1821 - 126
        case 0:// Version Info Menu Item
127
                LCD_printfxy(0,0,"+ MikroKopter +")
128
                ;
1960 - 129
                LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",boardRelease/10,boardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a')
1821 - 130
                ;
1960 - 131
                LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), mixerMatrix.name)
1821 - 132
                ;
133
                if (I2CTimeout < 6) {
134
                        LCD_printfxy(0,3,"I2C Error!!!");
135
                } else if (missingMotor) {
136
                        LCD_printfxy(0,3,"Missing BL-Ctrl:%d", missingMotor);
137
                } else LCD_printfxy(0,3,"(c) Holger Buss");
138
                break;
139
                /*
140
                 case 1:// Height Control Menu Item
141
                 if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) {
142
                 LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
143
                 LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
144
                 LCD_printfxy(0,2,"Air Press.:%5i",0);
145
                 LCD_printfxy(0,3,"Offset    :%5i",0);
146
                 }
147
                 else
148
                 {
149
                 LCD_printfxy(0,1,"No ");
150
                 LCD_printfxy(0,2,"Height Control");
151
                 }
152
                 break;
153
                 */
154
        case 2:// Attitude Menu Item
155
                LCD_printfxy(0,0,"Attitude");
156
                LCD_printfxy(0,1,"Nick:      %5i", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL);
157
                LCD_printfxy(0,2,"Roll:      %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL);
2041 - 158
                LCD_printfxy(0,3,"Heading(M):%5i", magneticHeading);
1821 - 159
                break;
160
        case 3:// Remote Control Channel Menu Item
161
                LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
162
                LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
163
                LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
164
                LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
165
                break;
166
        case 4:// Remote Control Mapping Menu Item
1960 - 167
                LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[channelMap.channels[CH_PITCH]],   PPM_in[channelMap.channels[CH_ROLL]]);
168
                LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[channelMap.channels[CH_THROTTLE]],PPM_in[channelMap.channels[CH_YAW]]);
169
                LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[channelMap.channels[CH_POTS]],    PPM_in[channelMap.channels[CH_POTS+1]]);
170
                LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[channelMap.channels[CH_POTS+2]],  PPM_in[channelMap.channels[CH_POTS+3]]);
1821 - 171
                break;
172
                /*
173
                 case 5:// Gyro Sensor Menu Item
174
                 LCD_printfxy(0,0,"Gyro - Sensor");
175
                 switch(BoardRelease) {
176
                 case 10:
177
                 LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY);
178
                 LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY);
179
                 LCD_printfxy(0,3,"Yaw  %4i (%3i)", AdValueGyroYaw , YawOffset);
180
                 break;
181
                 case 11:
182
                 case 12:
183
                 case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
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)
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)
186
                 LCD_printfxy(0,3,"Yaw  %4i (%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2);
187
                 break;
188
 
189
                 case 13:
190
                 default: // divice Offests by 2 becuse 2 samples are added in adc isr
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)
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)
193
                 LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2, 0);
194
                 break;
195
                 }
196
                 break;
197
                 case 6:// Acceleration Sensor Menu Item
198
                 LCD_printfxy(0,0,"ACC - Sensor");
199
                 LCD_printfxy(0,1,"Nick   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
200
                 LCD_printfxy(0,2,"Roll   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
201
                 LCD_printfxy(0,3,"Height %4i (%3i)",0,0);
202
                 break;
203
                 */
204
        case 7:// Battery Voltage / Remote Control Level
205
                LCD_printfxy(0,1,"Voltage:  %3i.%1iV",UBat/10, UBat%10);
2019 - 206
                LCD_printfxy(0,2,"RC-Level: %5i",RCQuality);
1821 - 207
                break;
208
        case 8:// Compass Menu Item
209
                LCD_printfxy(0,0,"Compass       ");
210
                LCD_printfxy(0,1,"Course:    %5i", compassCourse);
2041 - 211
                LCD_printfxy(0,2,"Heading:   %5i", magneticHeading);
212
                LCD_printfxy(0,3,"OffCourse: %5i", ((540 + magneticHeading - compassCourse) % 360) - 180);
1821 - 213
                break;
214
        case 9:// Poti Menu Item
215
                LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion
216
                LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion
217
                LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion
218
                LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion
219
                break;
220
                /*
221
                 case 10:// Servo Menu Item
222
                 LCD_printfxy(0,0,"Servo  " );
223
                 LCD_printfxy(0,1,"Setpoint  %3i",dynamicParams.ServoNickControl);
224
                 LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
225
                 LCD_printfxy(0,3,"Range:%3i-%3i",staticParams.ServoNickMin, staticParams.ServoNickMax);
226
                 break;
227
                 */
228
        case 11://Extern Control
229
                LCD_printfxy(0,0,"ExternControl  " );
230
                LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ", externalControl.pitch, externalControl.roll);
231
                LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ", externalControl.throttle, externalControl.yaw);
232
                LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ", externalControl.height, externalControl.config);
233
                break;
234
 
235
        case 12://BL Communication errors
236
                LCD_printfxy(0,0,"BL-Ctrl Errors " );
2035 - 237
                LCD_printfxy(0,1," %3d  %3d  %3d  %3d ",motor[0].error,motor[1].error,motor[2].error,motor[3].error);
238
                LCD_printfxy(0,2," %3d  %3d  %3d  %3d ",motor[4].error,motor[5].error,motor[6].error,motor[7].error);
239
                LCD_printfxy(0,3," %3d  %3d  %3d  %3d ",motor[8].error,motor[9].error,motor[10].error,motor[11].error);
1821 - 240
                break;
241
 
242
        case 13://BL Overview
243
                LCD_printfxy(0,0,"BL-Ctrl found " );
2035 - 244
                LCD_printfxy(0,1," %c   %c   %c   %c ",motor[0].present + '-',motor[1].present + '-',motor[2].present + '-',motor[3].present + '-');
245
                LCD_printfxy(0,2," %c   %c   %c   %c ",motor[4].present + '-',motor[5].present + '-',motor[6].present + '-',motor[7].present + '-');
246
                LCD_printfxy(0,3," %c   -   -   - ",motor[8].present + '-');
247
                if (motor[9].present)
1821 - 248
                        LCD_printfxy(4,3,"10");
2035 - 249
                if (motor[10].present)
1821 - 250
                        LCD_printfxy(8,3,"11");
2035 - 251
                if (motor[11].present)
1821 - 252
                        LCD_printfxy(12,3,"12");
253
                break;
254
 
1805 - 255
#if (defined (USE_NAVICTRL))
1821 - 256
                case 14://GPS Lat/Lon coords
257
                if (GPSInfo.status == INVALID) {
258
                        LCD_printfxy(0,0,"No GPS data!");
259
                } else {
260
                        switch (GPSInfo.satfix)
261
                        {
262
                                case SATFIX_NONE:
263
                                LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
264
                                break;
265
                                case SATFIX_2D:
266
                                LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
267
                                break;
268
                                case SATFIX_3D:
269
                                LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
270
                                break;
271
                                default:
272
                                LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
273
                                break;
274
                        }
275
                        int16_t i1,i2,i3;
276
                        i1 = (int16_t)(GPSInfo.longitude/10000000L);
277
                        i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
278
                        i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
279
                        LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3);
280
                        i1 = (int16_t)(GPSInfo.latitude/10000000L);
281
                        i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
282
                        i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
283
                        LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3);
284
                        i1 = (int16_t)(GPSInfo.altitude/1000L);
285
                        i2 = abs((int16_t)(GPSInfo.altitude%1000L));
286
                        LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2);
287
                }
288
                break;
289
#endif
290
 
1612 dongfang 291
        default:
2018 - 292
                maxMenuItem = menuItem - 1;
293
                menuItem = 0;
1821 - 294
                break;
1612 dongfang 295
        }
2018 - 296
        remoteKeys = 0;
1612 dongfang 297
}