Rev 44 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
||
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
22 | // + eindeutig als Ursprung verlinkt werden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
25 | // + Benutzung auf eigene Gefahr |
||
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
36 | // + from this software without specific prior written permission. |
||
41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 40 | // + with our written permission |
41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
||
171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | #include <stdlib.h> |
58 | #include "91x_lib.h" |
||
59 | #include "printf_P.h" |
||
1 | ingob | 60 | #include "main.h" |
41 | ingob | 61 | #include "ubx.h" |
62 | #include "GPS.h" |
||
63 | #include "timer.h" |
||
64 | #include "i2c.h" |
||
65 | #include "spi_slave.h" |
||
66 | #include "menu.h" |
||
67 | #include "uart1.h" |
||
1 | ingob | 68 | |
41 | ingob | 69 | s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
1 | ingob | 70 | u8 DispPtr = 0; |
71 | |||
41 | ingob | 72 | u8 MenuItem = 0; |
73 | u8 MaxMenuItem = 12; |
||
74 | u8 RemoteKeys = 0; |
||
75 | |||
1 | ingob | 76 | #define KEY1 0x01 |
77 | #define KEY2 0x02 |
||
78 | #define KEY3 0x04 |
||
79 | #define KEY4 0x08 |
||
80 | #define KEY5 0x10 |
||
81 | |||
41 | ingob | 82 | /************************************/ |
83 | /* Clear LCD Buffer */ |
||
84 | /************************************/ |
||
85 | void LCD_Clear(void) |
||
1 | ingob | 86 | { |
41 | ingob | 87 | u8 i; |
88 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
||
1 | ingob | 89 | } |
90 | |||
24 | StephanB | 91 | |
41 | ingob | 92 | /************************************/ |
93 | /* Update Menu on LCD */ |
||
94 | /************************************/ |
||
95 | // Display with 20 characters in 4 lines |
||
96 | void LCD_PrintMenu(void) |
||
97 | { |
||
98 | s32 i1,i2; |
||
99 | if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;} |
||
100 | if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
||
101 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
||
102 | |||
103 | LCD_Clear(); |
||
104 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
||
105 | // print menu item number in the upper right corner |
||
106 | if(MenuItem < 10) |
||
107 | { |
||
108 | LCD_printfxy(17,0,"[%i]",MenuItem); |
||
109 | } |
||
110 | else |
||
111 | { |
||
112 | LCD_printfxy(16,0,"[%i]",MenuItem); |
||
113 | } |
||
114 | |||
115 | switch(MenuItem) |
||
116 | { |
||
117 | // Version Info |
||
118 | case 0: |
||
119 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
||
120 | LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
||
121 | if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," "); |
||
122 | LCD_printfxy(0,2,"%s",ErrorMSG); |
||
123 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
||
124 | break; |
||
125 | case 1: |
||
126 | if (GPSData.Status == INVALID) |
||
127 | { |
||
128 | LCD_printfxy(0,0,"No GPS data"); |
||
129 | LCD_printfxy(0,1,"Lon: "); |
||
130 | LCD_printfxy(0,2,"Lat: "); |
||
131 | LCD_printfxy(0,3,"Alt: "); |
||
132 | } |
||
133 | else // newdata or processed |
||
134 | { |
||
135 | switch (GPSData.SatFix) |
||
136 | { |
||
137 | case SATFIX_NONE: |
||
138 | LCD_printfxy(0,0,"Sats:%02d Fix:None", GPSData.NumOfSats); |
||
139 | break; |
||
140 | case SATFIX_2D: |
||
141 | LCD_printfxy(0,0,"Sats:%02d Fix:2D ", GPSData.NumOfSats); |
||
142 | break; |
||
143 | case SATFIX_3D: |
||
144 | LCD_printfxy(0,0,"Sats:%02d Fix:3D ", GPSData.NumOfSats); |
||
145 | break; |
||
146 | default: |
||
147 | LCD_printfxy(0,0,"Sats:%02d Fix:?? ", GPSData.NumOfSats); |
||
148 | break; |
||
149 | } |
||
150 | i1 = GPSData.Position.Longitude/10000000L; |
||
151 | i2 = abs(GPSData.Position.Longitude%10000000L); |
||
152 | LCD_printfxy(0,1,"Lon:%+3ld.%07ld deg",i1, i2); |
||
153 | i1 = GPSData.Position.Latitude/10000000L; |
||
154 | i2 = abs(GPSData.Position.Latitude%10000000L); |
||
155 | LCD_printfxy(0,2,"Lat:%+3ld.%07ld deg",i1, i2); |
||
156 | i1 = GPSData.Position.Altitude/1000L; |
||
157 | i2 = abs(GPSData.Position.Altitude%1000L); |
||
158 | LCD_printfxy(0,3,"Alt:%4ld.%03ld m",i1, i2); |
||
159 | } |
||
160 | break; |
||
161 | case 2: |
||
162 | if (GPSData.Status == INVALID) |
||
163 | { |
||
164 | LCD_printfxy(0,0,"No GPS data"); |
||
165 | LCD_printfxy(0,1,"Speed N: "); |
||
166 | LCD_printfxy(0,2,"Speed E: "); |
||
167 | LCD_printfxy(0,3,"Speed T: "); |
||
168 | } |
||
169 | else // newdata or processed |
||
170 | { |
||
171 | switch (GPSData.SatFix) |
||
172 | { |
||
173 | case SATFIX_NONE: |
||
174 | LCD_printfxy(0,0,"Sats:%02d Fix:None", GPSData.NumOfSats); |
||
175 | break; |
||
176 | case SATFIX_2D: |
||
177 | LCD_printfxy(0,0,"Sats:%02d Fix:2D ", GPSData.NumOfSats); |
||
178 | break; |
||
179 | case SATFIX_3D: |
||
180 | LCD_printfxy(0,0,"Sats:%02d Fix:3D ", GPSData.NumOfSats); |
||
181 | break; |
||
182 | default: |
||
183 | LCD_printfxy(0,0,"Sats:%02d Fix:?? ", GPSData.NumOfSats); |
||
184 | break; |
||
185 | } |
||
186 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
||
187 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
||
188 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
||
189 | } |
||
190 | break; |
||
191 | case 3: |
||
192 | LCD_printfxy(0,0,"GPS UTC Time"); |
||
193 | if (!SystemTime.Valid) |
||
194 | { |
||
195 | LCD_printfxy(0,0,"GPS UTC Time"); |
||
196 | LCD_printfxy(0,1," "); |
||
197 | LCD_printfxy(0,2," No time data! "); |
||
198 | LCD_printfxy(0,3," "); |
||
199 | } |
||
200 | else // newdata or processed |
||
201 | { |
||
202 | LCD_printfxy(0,1," "); |
||
203 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
||
204 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
||
205 | |||
206 | } |
||
207 | break; |
||
208 | case 4: // Navi Params from FC |
||
209 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
||
210 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
||
211 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
||
212 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
||
213 | break; |
||
214 | case 5: |
||
215 | LCD_printfxy(0,0,"Home Position"); |
||
216 | if(GPS_HomePosition.Status == INVALID) |
||
217 | { |
||
218 | LCD_printfxy(0,1," "); |
||
219 | LCD_printfxy(0,2," Is not set. "); |
||
220 | LCD_printfxy(0,3," "); |
||
221 | } |
||
222 | else |
||
223 | { |
||
224 | i1 = GPS_HomePosition.Longitude/10000000L; |
||
225 | i2 = abs(GPS_HomePosition.Longitude%10000000L); |
||
226 | LCD_printfxy(0,1,"Lon: %3ld.%07ld deg",i1, i2); |
||
227 | i1 = GPS_HomePosition.Latitude/10000000L; |
||
228 | i2 = abs(GPS_HomePosition.Latitude%10000000L); |
||
229 | LCD_printfxy(0,2,"Lat: %3ld.%07ld deg",i1, i2); |
||
230 | i1 = GPS_HomePosition.Altitude/1000L; |
||
231 | i2 = abs(GPS_HomePosition.Altitude%1000L); |
||
232 | LCD_printfxy(0,3,"Alt:%4ld.%03ld m",i1, i2); |
||
233 | } |
||
234 | break; |
||
235 | case 6: // RC stick controls from FC |
||
236 | LCD_printfxy(0,0,"RC-Sticks" ); |
||
237 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
||
238 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
||
239 | break; |
||
240 | case 7: // RC poti controls from FC |
||
241 | LCD_printfxy(0,0,"RC-Potis" ); |
||
242 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti1, FC.Poti2); |
||
243 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti3, FC.Poti4); |
||
244 | break; |
||
245 | case 8: // attitude from FC |
||
246 | LCD_printfxy(0,0,"IntNick: %5i", FromFlightCtrl.IntegralNick); |
||
247 | LCD_printfxy(0,1,"IntRoll: %5i", FromFlightCtrl.IntegralRoll); |
||
248 | LCD_printfxy(0,2,"AccNick: %5i", FromFlightCtrl.AccNick); |
||
249 | LCD_printfxy(0,3,"AccRoll: %5i", FromFlightCtrl.AccRoll); |
||
250 | break; |
||
251 | case 9: // gyros from FC |
||
252 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
||
253 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
||
254 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
||
255 | break; |
||
256 | case 10: // Remote Control Level from FC |
||
257 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
||
258 | LCD_printfxy(0,1,"Ubat: %3i", FC.UBat); |
||
259 | LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading); |
||
260 | LCD_printfxy(0,3,"GyroHeading: %3i", FromFlightCtrl.GyroHeading); |
||
261 | break; |
||
262 | case 11: // User Parameter |
||
263 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i ",Parameter.User1,Parameter.User2); |
||
264 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i ",Parameter.User3,Parameter.User4); |
||
265 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i ",Parameter.User5,Parameter.User6); |
||
266 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i ",Parameter.User7,Parameter.User8); |
||
267 | break; |
||
268 | case 12: // MK3MAG |
||
269 | I2C1_SendCommand(I2C_CMD_READ_MAG); |
||
270 | LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch); |
||
271 | LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX); |
||
272 | LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY); |
||
273 | LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ); |
||
274 | break; |
||
275 | default: |
||
276 | MaxMenuItem = MenuItem - 1; |
||
277 | MenuItem = 0; |
||
278 | break; |
||
1 | ingob | 279 | } |
41 | ingob | 280 | RemoteKeys = 0; |
1 | ingob | 281 | } |