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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #include <stdlib.h> |
| 2 | #include <inttypes.h> |
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| 3 | #include "eeprom.h" |
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| 4 | #include "timer2.h" |
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| 5 | #include "rc.h" |
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| 6 | #include "externalControl.h" |
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| 7 | #include "uart0.h" |
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| 8 | #include "printf_P.h" |
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| 9 | #include "analog.h" |
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| 10 | #include "twimaster.h" |
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| 11 | #include "attitude.h" |
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| 2112 | - | 12 | #include "menu.h" |
| 1612 | dongfang | 13 | |
| 1805 | - | 14 | #if (!defined (USE_NAVICTRL)) |
| 2018 | - | 15 | uint8_t maxMenuItem = 13; |
| 1612 | dongfang | 16 | #else |
| 1805 | - | 17 | #ifdef USE_NAVICTRL |
| 18 | #include "gps.c" |
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| 2018 | - | 19 | uint8_t maxMenuItem = 14; |
| 1612 | dongfang | 20 | #endif |
| 21 | #endif |
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| 2018 | - | 22 | uint8_t menuItem = 0; |
| 23 | uint8_t remoteKeys = 0; |
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| 1612 | dongfang | 24 | |
| 25 | #define KEY1 0x01 |
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| 26 | #define KEY2 0x02 |
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| 27 | #define KEY3 0x04 |
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| 28 | #define KEY4 0x08 |
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| 29 | #define KEY5 0x10 |
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| 30 | |||
| 2112 | - | 31 | int8_t displayBuff[DISPLAYBUFFSIZE]; |
| 2018 | - | 32 | uint8_t dispPtr = 0; |
| 1612 | dongfang | 33 | |
| 34 | /************************************/ |
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| 35 | /* Clear LCD Buffer */ |
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| 36 | /************************************/ |
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| 2018 | - | 37 | void LCD_clear(void) { |
| 2048 | - | 38 | uint8_t i; |
| 39 | for (i = 0; i < DISPLAYBUFFSIZE; i++) |
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| 40 | displayBuff[i] = ' '; |
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| 1612 | dongfang | 41 | } |
| 42 | |||
| 43 | /************************************/ |
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| 44 | /* Update Menu on LCD */ |
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| 45 | /************************************/ |
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| 46 | // Display with 20 characters in 4 lines |
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| 2018 | - | 47 | void LCD_printMenu(void) { |
| 2048 | - | 48 | if (remoteKeys & KEY1) { |
| 49 | if (menuItem) |
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| 50 | menuItem--; |
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| 51 | else |
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| 52 | menuItem = maxMenuItem; |
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| 53 | } |
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| 1612 | dongfang | 54 | |
| 2048 | - | 55 | if (remoteKeys & KEY2) { |
| 56 | if (menuItem == maxMenuItem) |
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| 57 | menuItem = 0; |
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| 58 | else |
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| 59 | menuItem++; |
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| 60 | } |
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| 61 | if ((remoteKeys & KEY1) && (remoteKeys & KEY2)) |
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| 62 | menuItem = 0; |
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| 1821 | - | 63 | |
| 2048 | - | 64 | LCD_clear(); |
| 1821 | - | 65 | |
| 2048 | - | 66 | if (menuItem > maxMenuItem) |
| 67 | menuItem = maxMenuItem; |
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| 68 | // print menu item number in the upper right corner |
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| 69 | if (menuItem < 10) { |
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| 70 | LCD_printfxy(17, 0, "[%i]", menuItem); |
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| 71 | } else { |
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| 72 | LCD_printfxy(16, 0, "[%i]", menuItem); |
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| 73 | } |
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| 1821 | - | 74 | |
| 2048 | - | 75 | switch (menuItem) { |
| 76 | case 0: // Version Info Menu Item |
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| 77 | LCD_printfxy(0, 0, "+ MikroKopter +"); |
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| 78 | LCD_printfxy( |
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| 79 | 0, |
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| 80 | 1, |
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| 81 | "HW:V%d.%d SW:%d.%d%c", |
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| 82 | boardRelease/10, boardRelease%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
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| 2158 | - | 83 | LCD_printfxy(0, 2, "Setting: %d %s", getActiveParamSet(), motorMixer.name); |
| 2048 | - | 84 | if (I2CTimeout < 6) { |
| 85 | LCD_printfxy(0, 3, "I2C Error!!!"); |
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| 86 | } else if (missingMotor) { |
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| 87 | LCD_printfxy(0, 3, "Missing BL-Ctrl:%d", missingMotor); |
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| 88 | } else |
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| 89 | LCD_printfxy(0, 3, "(c) Holger Buss"); |
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| 90 | break; |
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| 91 | /* |
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| 92 | case 1:// Height Control Menu Item |
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| 93 | if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
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| 94 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
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| 95 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
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| 96 | LCD_printfxy(0,2,"Air Press.:%5i",0); |
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| 97 | LCD_printfxy(0,3,"Offset :%5i",0); |
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| 98 | } |
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| 99 | else |
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| 100 | { |
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| 101 | LCD_printfxy(0,1,"No "); |
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| 102 | LCD_printfxy(0,2,"Height Control"); |
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| 103 | } |
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| 104 | break; |
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| 105 | */ |
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| 106 | case 2: // Attitude Menu Item |
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| 107 | LCD_printfxy(0, 0, "Attitude"); |
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| 108 | LCD_printfxy(0, 1, "Nick: %5i", |
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| 109 | attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL); |
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| 110 | LCD_printfxy(0, 2, "Roll: %5i", |
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| 111 | attitude[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL); |
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| 112 | LCD_printfxy(0, 3, "Heading(M):%5i", magneticHeading); |
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| 113 | break; |
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| 114 | case 3: // Remote Control Channel Menu Item |
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| 115 | LCD_printfxy(0, 0, "C1:%4i C2:%4i ", PPM_in[1], PPM_in[2]); |
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| 116 | LCD_printfxy(0, 1, "C3:%4i C4:%4i ", PPM_in[3], PPM_in[4]); |
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| 117 | LCD_printfxy(0, 2, "C5:%4i C6:%4i ", PPM_in[5], PPM_in[6]); |
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| 118 | LCD_printfxy(0, 3, "C7:%4i C8:%4i ", PPM_in[7], PPM_in[8]); |
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| 119 | break; |
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| 120 | case 4: // Remote Control Mapping Menu Item |
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| 121 | LCD_printfxy( |
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| 122 | 0, |
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| 123 | 0, |
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| 124 | "Ni:%4i Ro:%4i ", |
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| 125 | PPM_in[channelMap.channels[CH_PITCH]], PPM_in[channelMap.channels[CH_ROLL]]); |
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| 126 | LCD_printfxy( |
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| 127 | 0, |
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| 128 | 1, |
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| 129 | "Gs:%4i Ya:%4i ", |
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| 130 | PPM_in[channelMap.channels[CH_THROTTLE]], PPM_in[channelMap.channels[CH_YAW]]); |
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| 131 | LCD_printfxy( |
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| 132 | 0, |
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| 133 | 2, |
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| 134 | "P1:%4i P2:%4i ", |
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| 135 | PPM_in[channelMap.channels[CH_POTS]], PPM_in[channelMap.channels[CH_POTS+1]]); |
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| 136 | LCD_printfxy( |
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| 137 | 0, |
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| 138 | 3, |
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| 139 | "P3:%4i P4:%4i ", |
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| 140 | PPM_in[channelMap.channels[CH_POTS+2]], PPM_in[channelMap.channels[CH_POTS+3]]); |
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| 141 | break; |
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| 142 | /* |
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| 143 | case 5:// Gyro Sensor Menu Item |
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| 144 | LCD_printfxy(0,0,"Gyro - Sensor"); |
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| 145 | switch(BoardRelease) { |
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| 146 | case 10: |
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| 147 | 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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| 148 | 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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| 149 | LCD_printfxy(0,3,"Yaw %4i (%3i)", AdValueGyroYaw , YawOffset); |
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| 150 | break; |
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| 151 | case 11: |
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| 152 | case 12: |
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| 153 | case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
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| 154 | 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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| 155 | 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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| 156 | LCD_printfxy(0,3,"Yaw %4i (%3i)",YawOffset - AdValueGyroYaw , YawOffset/2); |
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| 157 | break; |
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| 1821 | - | 158 | |
| 2048 | - | 159 | case 13: |
| 160 | default: // divice Offests by 2 becuse 2 samples are added in adc isr |
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| 161 | 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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| 162 | 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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| 163 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",YawOffset - AdValueGyroYaw , YawOffset/2, 0); |
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| 164 | break; |
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| 165 | } |
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| 166 | break; |
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| 167 | case 6:// Acceleration Sensor Menu Item |
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| 168 | LCD_printfxy(0,0,"ACC - Sensor"); |
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| 169 | LCD_printfxy(0,1,"Nick %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
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| 170 | LCD_printfxy(0,2,"Roll %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
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| 171 | LCD_printfxy(0,3,"Height %4i (%3i)",0,0); |
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| 172 | break; |
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| 173 | */ |
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| 174 | case 7: // Battery Voltage / Remote Control Level |
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| 175 | LCD_printfxy(0, 1, "Voltage: %3i.%1iV", UBat/10, UBat%10); |
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| 176 | LCD_printfxy(0, 2, "RC-Level: %5i", RCQuality); |
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| 177 | break; |
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| 178 | case 8: // Compass Menu Item |
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| 179 | LCD_printfxy(0, 0, "Compass "); |
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| 180 | LCD_printfxy(0, 0, "TODO: Impl. "); |
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| 181 | break; |
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| 182 | case 9: // Poti Menu Item |
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| 183 | LCD_printfxy(0, 0, "Variables "); |
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| 184 | LCD_printfxy(0, 0, "TODO: Impl. "); |
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| 185 | break; |
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| 186 | case 10: // Servo Menu Item |
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| 187 | LCD_printfxy(0, 0, "Servos "); |
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| 188 | LCD_printfxy(0, 0, "TODO: Impl. "); |
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| 189 | break; |
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| 190 | case 11: //Extern Control |
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| 191 | LCD_printfxy(0, 0, "ExternControl "); |
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| 192 | LCD_printfxy(0, 1, "Ni:%4i Ro:%4i ", |
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| 193 | externalControl.pitch, externalControl.roll); |
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| 194 | LCD_printfxy(0, 2, "Gs:%4i Ya:%4i ", |
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| 195 | externalControl.throttle, externalControl.yaw); |
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| 196 | LCD_printfxy(0, 3, "Hi:%4i Cf:%4i ", |
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| 197 | externalControl.height, externalControl.config); |
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| 198 | break; |
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| 1821 | - | 199 | |
| 2048 | - | 200 | case 12: //BL Communication errors |
| 201 | LCD_printfxy(0, 0, "BL-Ctrl Errors "); |
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| 202 | LCD_printfxy(0, 1, " %3d %3d %3d %3d ", |
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| 203 | motor[0].error, motor[1].error, motor[2].error, motor[3].error); |
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| 204 | LCD_printfxy(0, 2, " %3d %3d %3d %3d ", |
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| 205 | motor[4].error, motor[5].error, motor[6].error, motor[7].error); |
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| 206 | LCD_printfxy(0, 3, " %3d %3d %3d %3d ", |
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| 207 | motor[8].error, motor[9].error, motor[10].error, motor[11].error); |
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| 208 | break; |
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| 1821 | - | 209 | |
| 2048 | - | 210 | case 13: //BL Overview |
| 211 | LCD_printfxy(0, 0, "BL-Ctrl found "); |
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| 212 | LCD_printfxy( |
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| 213 | 0, |
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| 214 | 1, |
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| 215 | " %c %c %c %c ", |
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| 216 | motor[0].present + '-', motor[1].present + '-', motor[2].present + '-', motor[3].present + '-'); |
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| 217 | LCD_printfxy( |
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| 218 | 0, |
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| 219 | 2, |
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| 220 | " %c %c %c %c ", |
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| 221 | motor[4].present + '-', motor[5].present + '-', motor[6].present + '-', motor[7].present + '-'); |
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| 222 | LCD_printfxy(0, 3, " %c - - - ", motor[8].present + '-'); |
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| 223 | if (motor[9].present) |
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| 224 | LCD_printfxy(4, 3, "10"); |
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| 225 | if (motor[10].present) |
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| 226 | LCD_printfxy(8, 3, "11"); |
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| 227 | if (motor[11].present) |
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| 228 | LCD_printfxy(12, 3, "12"); |
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| 229 | break; |
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| 1821 | - | 230 | |
| 1805 | - | 231 | #if (defined (USE_NAVICTRL)) |
| 2048 | - | 232 | case 14: //GPS Lat/Lon coords |
| 233 | if (GPSInfo.status == INVALID) { |
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| 234 | LCD_printfxy(0,0,"No GPS data!"); |
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| 235 | } else { |
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| 236 | switch (GPSInfo.satfix) |
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| 237 | { |
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| 238 | case SATFIX_NONE: |
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| 239 | LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
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| 240 | break; |
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| 241 | case SATFIX_2D: |
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| 242 | LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
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| 243 | break; |
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| 244 | case SATFIX_3D: |
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| 245 | LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
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| 246 | break; |
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| 247 | default: |
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| 248 | LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
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| 249 | break; |
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| 250 | } |
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| 251 | int16_t i1,i2,i3; |
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| 252 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
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| 253 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
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| 254 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
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| 255 | LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3); |
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| 256 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
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| 257 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
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| 258 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
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| 259 | LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3); |
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| 260 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
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| 261 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
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| 262 | LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
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| 263 | } |
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| 264 | break; |
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| 1821 | - | 265 | #endif |
| 266 | |||
| 2048 | - | 267 | default: |
| 268 | maxMenuItem = menuItem - 1; |
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| 269 | menuItem = 0; |
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| 270 | break; |
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| 271 | } |
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| 272 | remoteKeys = 0; |
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| 1612 | dongfang | 273 | } |