Subversion Repositories FlightCtrl

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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Software LICENSING TERMS
30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
51
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 53
#include "main.h"
1622 killagreg 54
#include "eeprom.h"
1 ingob 55
 
1925 holgerb 56
char DisplayBuff[80];
1051 killagreg 57
unsigned char DispPtr = 0;
1 ingob 58
 
1925 holgerb 59
unsigned char MaxMenue = 16;
1174 hbuss 60
unsigned char MenuePunkt = 0;
1053 killagreg 61
unsigned char RemoteKeys = 0;
1 ingob 62
 
1053 killagreg 63
#define KEY1    0x01
64
#define KEY2    0x02
65
#define KEY3    0x04
66
#define KEY4    0x08
67
#define KEY5    0x10
1051 killagreg 68
 
1 ingob 69
void LcdClear(void)
70
{
1051 killagreg 71
 unsigned char i;
72
 for(i=0;i<80;i++) DisplayBuff[i] = ' ';
1 ingob 73
}
74
 
1444 ingob 75
void Menu_Putchar(char c)
76
{
1934 holgerb 77
 if(DispPtr < 80) DisplayBuff[DispPtr++] = c;
1444 ingob 78
}
79
 
1 ingob 80
void Menu(void)
81
 {
1936 holgerb 82
  unsigned char i;
1053 killagreg 83
  if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;}
1060 killagreg 84
  if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;}
1053 killagreg 85
  if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0;
86
  LcdClear();
87
  if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);}
88
  else {LCD_printfxy(16,0,"[%i]",MenuePunkt);};
89
 
1 ingob 90
  switch(MenuePunkt)
91
   {
1051 killagreg 92
    case 0:
595 hbuss 93
           LCD_printfxy(0,0,"+ MikroKopter +");
2090 holgerb 94
           LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c V4",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a');
1622 killagreg 95
           LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name);
1944 holgerb 96
 
97
            if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!")
98
                    else
99
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1934 holgerb 100
                        if(NC_ErrorCode)
101
                        {
1936 holgerb 102
                                LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode);
1934 holgerb 103
                                _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);
104
                        }
105
                   else
1944 holgerb 106
#endif
1702 holgerb 107
                   if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0])
1210 hbuss 108
                   else
109
           if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor)
1944 holgerb 110
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
111
#else
1702 holgerb 112
                   else
1944 holgerb 113
                        if(NC_ErrorCode)
114
                        {
115
                                LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode);
116
                        }
117
#endif
118
//                 if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1])
1702 holgerb 119
                   else
120
           if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!")
1 ingob 121
           break;
1051 killagreg 122
    case 1:
1916 holgerb 123
          if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 124
           {
1419 ingob 125
           LCD_printfxy(0,0,"Height:  %5i",(int)(HoehenWert/5));
126
           LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5));
127
           LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);
128
           LCD_printfxy(0,3,"Offset:  %5i",OCR0A);
1 ingob 129
           }
1051 killagreg 130
           else
131
           {
1419 ingob 132
           LCD_printfxy(0,0,"Height control");
133
           LCD_printfxy(0,1,"DISABLED");
1941 holgerb 134
           //LCD_printfxy(0,2,"Height control");
135
           //LCD_printfxy(0,3,"DISABLED");
1 ingob 136
           }
1051 killagreg 137
 
1 ingob 138
           break;
1051 killagreg 139
    case 2:
1419 ingob 140
           LCD_printfxy(0,0,"act. bearing");
1 ingob 141
           LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);
142
           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
1941 holgerb 143
           LCD_printfxy(0,3,"Compass:   %5i",ErsatzKompassInGrad);
1 ingob 144
           break;
1051 killagreg 145
    case 3:
1966 holgerb 146
           for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i  K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]);
1 ingob 147
           break;
1051 killagreg 148
    case 4:
1 ingob 149
           LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);
1933 holgerb 150
           LCD_printfxy(0,1,"Gs:%4i  Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
1876 holgerb 151
           LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127);
152
           LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127);
1 ingob 153
           break;
1051 killagreg 154
    case 5:
1 ingob 155
           LCD_printfxy(0,0,"Gyro - Sensor");
401 hbuss 156
          if(PlatinenVersion == 10)
157
          {
1419 ingob 158
           LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8);
159
           LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8);
160
           LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier);
401 hbuss 161
          }
1051 killagreg 162
          else
1660 holgerb 163
          if((PlatinenVersion == 11) || (PlatinenVersion >= 20))
401 hbuss 164
          {
1173 hbuss 165
           LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2);
166
           LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2);
1419 ingob 167
           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2);
401 hbuss 168
          }
918 hbuss 169
          else
1021 hbuss 170
          if(PlatinenVersion == 13)
918 hbuss 171
          {
1174 hbuss 172
           LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick);
173
           LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll);
1419 ingob 174
           LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier);
918 hbuss 175
          }
1 ingob 176
           break;
1051 killagreg 177
    case 6:
1 ingob 178
           LCD_printfxy(0,0,"ACC - Sensor");
395 hbuss 179
           LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX);
180
           LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY);
1703 holgerb 181
           LCD_printfxy(0,3,"Z    %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ);
1 ingob 182
           break;
1051 killagreg 183
    case 7:
1526 killagreg 184
                        LCD_printfxy(0,0,"Voltage:   %3i.%1iV",UBat/10, UBat%10);
185
                        LCD_printfxy(0,1,"Current:   %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
1529 killagreg 186
                        LCD_printfxy(0,2,"Power:     %4iW",Capacity.ActualPower);
1486 killagreg 187
                        LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity);
188
           break;
189
    case 8:
190
           LCD_printfxy(0,0,"Receiver");
191
           LCD_printfxy(0,1,"RC-RSSI:    %4i", PPM_in[0]);
192
           LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay);
193
           LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1);
1 ingob 194
           break;
1486 killagreg 195
    case 9:
1419 ingob 196
           LCD_printfxy(0,0,"Compass");
1941 holgerb 197
           LCD_printfxy(0,1,"Magnet:   %5i",KompassValue);
198
           LCD_printfxy(0,2,"Gyro:     %5i",ErsatzKompassInGrad);
199
           LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert);
1 ingob 200
           break;
1486 killagreg 201
    case 10:
1925 holgerb 202
           for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i:  %3i",i+1,Poti[i]);
1 ingob 203
           break;
1486 killagreg 204
    case 11:
1925 holgerb 205
           for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i:  %3i",i+5,Poti[i+4]);
1377 hbuss 206
           break;
1486 killagreg 207
    case 12:
1 ingob 208
           LCD_printfxy(0,0,"Servo  " );
209
           LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoNickControl);
1763 killagreg 210
           LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4);
1 ingob 211
           LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);
212
           break;
1925 holgerb 213
/*    case 13:
595 hbuss 214
           LCD_printfxy(0,0,"ExternControl  " );
215
           LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick,ExternControl.Roll);
216
           LCD_printfxy(0,2,"Gs:%4i  Gi:%4i ",ExternControl.Gas,ExternControl.Gier);
217
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);
218
           break;
1925 holgerb 219
*/
220
    case 13:
1211 hbuss 221
           LCD_printfxy(0,0,"BL-Ctrl Errors " );
1936 holgerb 222
                   for(i=0;i<3;i++)                                                              
1935 holgerb 223
                   {
1936 holgerb 224
                    LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK);
225
//                      if(i*4 >= RequiredMotors) break;
1935 holgerb 226
                   }   
1211 hbuss 227
           break;
1925 holgerb 228
    case 14:
1638 holgerb 229
           LCD_printfxy(0,0,"BL Temperature" );
1936 holgerb 230
                   for(i=0;i<3;i++)
1935 holgerb 231
                    {
1936 holgerb 232
                     LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature);
233
//                       if(4 + i * 4 >= RequiredMotors) break;
1935 holgerb 234
                        }                      
1638 holgerb 235
           break;
1925 holgerb 236
    case 15:
1210 hbuss 237
           LCD_printfxy(0,0,"BL-Ctrl found " );
1479 killagreg 238
                   LCD_printfxy(0,1," %c   %c   %c   %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7));
239
                   LCD_printfxy(0,2," %c   %c   %c   %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7));
240
                   LCD_printfxy(0,3," %c   -   -   - ",'-' + 12 * (Motor[8].State>>7));
241
                   if(Motor[9].State>>7)  LCD_printfxy(4,3,"10");
242
                   if(Motor[10].State>>7) LCD_printfxy(8,3,"11");
243
                   if(Motor[11].State>>7) LCD_printfxy(12,3,"12");
1210 hbuss 244
           break;
1925 holgerb 245
    case 16:
1298 hbuss 246
           LCD_printfxy(0,0,"Flight-Time  " );
1419 ingob 247
           LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt);
248
           LCD_printfxy(0,2,"Act:  %5umin",FlugMinuten);
1298 hbuss 249
           LCD_printfxy(13,3,"(reset)");
250
                   if(RemoteKeys & KEY4)
251
             {
252
               FlugMinuten = 0;
1622 killagreg 253
               SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
1407 killagreg 254
                         }
1298 hbuss 255
           break;
1510 killagreg 256
    default:
257
           if(MenuePunkt == MaxMenue) MaxMenue--;
258
           MenuePunkt = 0;
1 ingob 259
           break;
260
    }
1053 killagreg 261
    RemoteKeys = 0;
304 ingob 262
}