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Rev | Author | Line No. | Line |
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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 |
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36 | // + from this software without specific prior written permission. |
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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 |
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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" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | #include <stdlib.h> |
58 | #include "91x_lib.h" |
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59 | #include "printf_P.h" |
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1 | ingob | 60 | #include "main.h" |
41 | ingob | 61 | #include "ubx.h" |
62 | #include "GPS.h" |
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63 | #include "timer.h" |
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64 | #include "i2c.h" |
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65 | #include "spi_slave.h" |
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66 | #include "menu.h" |
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67 | #include "uart1.h" |
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1 | ingob | 68 | |
41 | ingob | 69 | s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
1 | ingob | 70 | u8 DispPtr = 0; |
71 | |||
41 | ingob | 72 | u8 MenuItem = 0; |
59 | killagreg | 73 | u8 MaxMenuItem = 14; |
41 | ingob | 74 | u8 RemoteKeys = 0; |
75 | |||
1 | ingob | 76 | #define KEY1 0x01 |
77 | #define KEY2 0x02 |
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78 | #define KEY3 0x04 |
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79 | #define KEY4 0x08 |
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80 | #define KEY5 0x10 |
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81 | |||
41 | ingob | 82 | /************************************/ |
83 | /* Clear LCD Buffer */ |
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84 | /************************************/ |
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85 | void LCD_Clear(void) |
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1 | ingob | 86 | { |
41 | ingob | 87 | u8 i; |
88 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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1 | ingob | 89 | } |
90 | |||
24 | StephanB | 91 | |
41 | ingob | 92 | /************************************/ |
93 | /* Update Menu on LCD */ |
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94 | /************************************/ |
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95 | // Display with 20 characters in 4 lines |
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96 | void LCD_PrintMenu(void) |
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97 | { |
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98 | s32 i1,i2; |
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51 | killagreg | 99 | u8 sign; |
41 | ingob | 100 | if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;} |
101 | if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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102 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
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103 | |||
104 | LCD_Clear(); |
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105 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
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106 | // print menu item number in the upper right corner |
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107 | if(MenuItem < 10) |
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108 | { |
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109 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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110 | } |
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111 | else |
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112 | { |
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113 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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114 | } |
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115 | |||
116 | switch(MenuItem) |
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117 | { |
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118 | // Version Info |
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119 | case 0: |
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120 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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121 | LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
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122 | if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," "); |
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123 | LCD_printfxy(0,2,"%s",ErrorMSG); |
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124 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
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125 | break; |
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126 | case 1: |
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127 | if (GPSData.Status == INVALID) |
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128 | { |
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129 | LCD_printfxy(0,0,"No GPS data"); |
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130 | LCD_printfxy(0,1,"Lon: "); |
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131 | LCD_printfxy(0,2,"Lat: "); |
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132 | LCD_printfxy(0,3,"Alt: "); |
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133 | } |
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134 | else // newdata or processed |
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135 | { |
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136 | switch (GPSData.SatFix) |
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137 | { |
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138 | case SATFIX_NONE: |
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139 | LCD_printfxy(0,0,"Sats:%02d Fix:None", GPSData.NumOfSats); |
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140 | break; |
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141 | case SATFIX_2D: |
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142 | LCD_printfxy(0,0,"Sats:%02d Fix:2D ", GPSData.NumOfSats); |
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143 | break; |
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144 | case SATFIX_3D: |
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145 | LCD_printfxy(0,0,"Sats:%02d Fix:3D ", GPSData.NumOfSats); |
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146 | break; |
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147 | default: |
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148 | LCD_printfxy(0,0,"Sats:%02d Fix:?? ", GPSData.NumOfSats); |
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149 | break; |
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150 | } |
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51 | killagreg | 151 | if(GPSData.Position.Longitude < 0) sign = '-'; |
152 | else sign = '+'; |
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53 | killagreg | 153 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
154 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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54 | killagreg | 155 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 156 | if(GPSData.Position.Latitude < 0) sign = '-'; |
157 | else sign = '+'; |
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53 | killagreg | 158 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
159 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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54 | killagreg | 160 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 161 | if(GPSData.Position.Altitude < 0) sign = '-'; |
162 | else sign = '+'; |
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53 | killagreg | 163 | i1 = abs(GPSData.Position.Altitude)/1000L; |
164 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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54 | killagreg | 165 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
41 | ingob | 166 | } |
167 | break; |
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168 | case 2: |
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169 | if (GPSData.Status == INVALID) |
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170 | { |
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171 | LCD_printfxy(0,0,"No GPS data"); |
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172 | LCD_printfxy(0,1,"Speed N: "); |
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173 | LCD_printfxy(0,2,"Speed E: "); |
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174 | LCD_printfxy(0,3,"Speed T: "); |
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175 | } |
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176 | else // newdata or processed |
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177 | { |
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178 | switch (GPSData.SatFix) |
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179 | { |
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180 | case SATFIX_NONE: |
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181 | LCD_printfxy(0,0,"Sats:%02d Fix:None", GPSData.NumOfSats); |
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182 | break; |
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183 | case SATFIX_2D: |
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184 | LCD_printfxy(0,0,"Sats:%02d Fix:2D ", GPSData.NumOfSats); |
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185 | break; |
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186 | case SATFIX_3D: |
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187 | LCD_printfxy(0,0,"Sats:%02d Fix:3D ", GPSData.NumOfSats); |
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188 | break; |
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189 | default: |
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190 | LCD_printfxy(0,0,"Sats:%02d Fix:?? ", GPSData.NumOfSats); |
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191 | break; |
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192 | } |
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193 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
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194 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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195 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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196 | } |
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197 | break; |
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198 | case 3: |
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199 | LCD_printfxy(0,0,"GPS UTC Time"); |
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200 | if (!SystemTime.Valid) |
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201 | { |
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202 | LCD_printfxy(0,0,"GPS UTC Time"); |
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203 | LCD_printfxy(0,1," "); |
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204 | LCD_printfxy(0,2," No time data! "); |
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205 | LCD_printfxy(0,3," "); |
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206 | } |
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207 | else // newdata or processed |
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208 | { |
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209 | LCD_printfxy(0,1," "); |
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210 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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211 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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212 | |||
213 | } |
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214 | break; |
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59 | killagreg | 215 | case 4: // Navi Params 1 from FC |
41 | ingob | 216 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
217 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
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218 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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219 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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220 | break; |
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59 | killagreg | 221 | case 5: // Navi Params 2 from FC |
222 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
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223 | LCD_printfxy(0,1,"MaxRadius: %3i m", Parameter.NaviOperatingRadius); |
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224 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
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225 | LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation); |
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226 | break; |
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227 | case 6: // Navi Params 3 from FC |
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228 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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229 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
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230 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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231 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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232 | break; |
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233 | case 7: |
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41 | ingob | 234 | LCD_printfxy(0,0,"Home Position"); |
235 | if(GPS_HomePosition.Status == INVALID) |
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236 | { |
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237 | LCD_printfxy(0,1," "); |
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238 | LCD_printfxy(0,2," Is not set. "); |
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239 | LCD_printfxy(0,3," "); |
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240 | } |
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241 | else |
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242 | { |
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51 | killagreg | 243 | if(GPS_HomePosition.Longitude < 0) sign = '-'; |
244 | else sign = '+'; |
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53 | killagreg | 245 | i1 = abs(GPS_HomePosition.Longitude)/10000000L; |
246 | i2 = abs(GPS_HomePosition.Longitude)%10000000L; |
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55 | killagreg | 247 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 248 | if(GPS_HomePosition.Latitude < 0) sign = '-'; |
249 | else sign = '+'; |
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53 | killagreg | 250 | i1 = abs(GPS_HomePosition.Latitude)/10000000L; |
251 | i2 = abs(GPS_HomePosition.Latitude)%10000000L; |
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55 | killagreg | 252 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 253 | if(GPS_HomePosition.Altitude < 0) sign = '-'; |
254 | else sign = '+'; |
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53 | killagreg | 255 | i1 = abs(GPS_HomePosition.Altitude)/1000L; |
256 | i2 = abs(GPS_HomePosition.Altitude)%1000L; |
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54 | killagreg | 257 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
41 | ingob | 258 | } |
259 | break; |
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59 | killagreg | 260 | case 8: // RC stick controls from FC |
41 | ingob | 261 | LCD_printfxy(0,0,"RC-Sticks" ); |
262 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
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263 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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264 | break; |
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59 | killagreg | 265 | case 9: // RC poti controls from FC |
41 | ingob | 266 | LCD_printfxy(0,0,"RC-Potis" ); |
267 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti1, FC.Poti2); |
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268 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti3, FC.Poti4); |
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269 | break; |
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59 | killagreg | 270 | case 10: // attitude from FC |
66 | killagreg | 271 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
272 | else sign = '+'; |
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273 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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274 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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67 | killagreg | 275 | LCD_printfxy(0,0,"GyroNick:%c%03i.%01i", sign, i1, i2); |
66 | killagreg | 276 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
277 | else sign = '+'; |
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278 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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279 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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67 | killagreg | 280 | LCD_printfxy(0,1,"GyroRoll:%c%03i.%01i", sign, i1, i2); |
281 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
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282 | else sign = '+'; |
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283 | i1 = abs(FromFlightCtrl.AccNick)/10; |
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284 | i2 = abs(FromFlightCtrl.AccNick)%10; |
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285 | LCD_printfxy(0,2," AccNick:%c%03i.%01i", sign, i1, i2); |
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286 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
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287 | else sign = '+'; |
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288 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
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289 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
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290 | LCD_printfxy(0,3," AccRoll:%c%03i.%01i", sign, i1, i2); |
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41 | ingob | 291 | break; |
59 | killagreg | 292 | case 11: // gyros from FC |
41 | ingob | 293 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
294 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
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295 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
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296 | break; |
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59 | killagreg | 297 | case 12: // Remote Control Level from FC |
41 | ingob | 298 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
62 | killagreg | 299 | LCD_printfxy(0,1,"Ubat: %3i.%1i V", FC.UBat/10, FC.UBat%10); |
41 | ingob | 300 | LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading); |
61 | holgerb | 301 | LCD_printfxy(0,3,"GyroHeading: %3i", FromFlightCtrl.GyroHeading/10); |
41 | ingob | 302 | break; |
59 | killagreg | 303 | case 13: // User Parameter |
41 | ingob | 304 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i ",Parameter.User1,Parameter.User2); |
305 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i ",Parameter.User3,Parameter.User4); |
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306 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i ",Parameter.User5,Parameter.User6); |
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307 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i ",Parameter.User7,Parameter.User8); |
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308 | break; |
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59 | killagreg | 309 | case 14: // MK3MAG |
41 | ingob | 310 | I2C1_SendCommand(I2C_CMD_READ_MAG); |
311 | LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch); |
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312 | LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX); |
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313 | LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY); |
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314 | LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ); |
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315 | break; |
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316 | default: |
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317 | MaxMenuItem = MenuItem - 1; |
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318 | MenuItem = 0; |
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319 | break; |
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1 | ingob | 320 | } |
41 | ingob | 321 | RemoteKeys = 0; |
1 | ingob | 322 | } |