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Rev | Author | Line No. | Line |
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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
1 | ingob | 3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
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1356 | hbuss | 5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 6 | // + see the File "License.txt" for further Informations |
7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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8 | #include "main.h" |
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1622 | killagreg | 9 | #include "eeprom.h" |
1 | ingob | 10 | |
1925 | holgerb | 11 | char DisplayBuff[80]; |
1051 | killagreg | 12 | unsigned char DispPtr = 0; |
1 | ingob | 13 | |
1925 | holgerb | 14 | unsigned char MaxMenue = 16; |
1174 | hbuss | 15 | unsigned char MenuePunkt = 0; |
1053 | killagreg | 16 | unsigned char RemoteKeys = 0; |
1 | ingob | 17 | |
1053 | killagreg | 18 | #define KEY1 0x01 |
19 | #define KEY2 0x02 |
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20 | #define KEY3 0x04 |
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21 | #define KEY4 0x08 |
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22 | #define KEY5 0x10 |
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1051 | killagreg | 23 | |
1 | ingob | 24 | void LcdClear(void) |
25 | { |
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1051 | killagreg | 26 | unsigned char i; |
27 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
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1 | ingob | 28 | } |
29 | |||
1444 | ingob | 30 | void Menu_Putchar(char c) |
31 | { |
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1934 | holgerb | 32 | if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
1444 | ingob | 33 | } |
34 | |||
1 | ingob | 35 | void Menu(void) |
36 | { |
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1936 | holgerb | 37 | unsigned char i; |
1053 | killagreg | 38 | if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
1060 | killagreg | 39 | if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
1053 | killagreg | 40 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
41 | LcdClear(); |
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42 | if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
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43 | else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
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44 | |||
1 | ingob | 45 | switch(MenuePunkt) |
46 | { |
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1051 | killagreg | 47 | case 0: |
595 | hbuss | 48 | LCD_printfxy(0,0,"+ MikroKopter +"); |
1051 | killagreg | 49 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
1622 | killagreg | 50 | LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
1934 | holgerb | 51 | if(NC_ErrorCode) |
52 | { |
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1941 | holgerb | 53 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1936 | holgerb | 54 | LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
1934 | holgerb | 55 | _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
1941 | holgerb | 56 | #else |
57 | LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
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58 | #endif |
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1934 | holgerb | 59 | } |
60 | else |
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1702 | holgerb | 61 | if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
1210 | hbuss | 62 | else |
63 | if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
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1702 | holgerb | 64 | else |
1765 | killagreg | 65 | if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
1702 | holgerb | 66 | else |
67 | // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
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68 | // else |
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69 | if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
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1 | ingob | 70 | break; |
1051 | killagreg | 71 | case 1: |
1916 | holgerb | 72 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
1051 | killagreg | 73 | { |
1419 | ingob | 74 | LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
75 | LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
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76 | LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
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77 | LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
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1 | ingob | 78 | } |
1051 | killagreg | 79 | else |
80 | { |
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1419 | ingob | 81 | LCD_printfxy(0,0,"Height control"); |
82 | LCD_printfxy(0,1,"DISABLED"); |
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1941 | holgerb | 83 | //LCD_printfxy(0,2,"Height control"); |
84 | //LCD_printfxy(0,3,"DISABLED"); |
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1 | ingob | 85 | } |
1051 | killagreg | 86 | |
1 | ingob | 87 | break; |
1051 | killagreg | 88 | case 2: |
1419 | ingob | 89 | LCD_printfxy(0,0,"act. bearing"); |
1 | ingob | 90 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
91 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
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1941 | holgerb | 92 | LCD_printfxy(0,3,"Compass: %5i",ErsatzKompassInGrad); |
1 | ingob | 93 | break; |
1051 | killagreg | 94 | case 3: |
1931 | holgerb | 95 | for(i=0;i<8;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i+1],i+1,PPM_in[i+2]); |
1 | ingob | 96 | break; |
1051 | killagreg | 97 | case 4: |
1 | ingob | 98 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
1933 | holgerb | 99 | 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 | 100 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
101 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
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1 | ingob | 102 | break; |
1051 | killagreg | 103 | case 5: |
1 | ingob | 104 | LCD_printfxy(0,0,"Gyro - Sensor"); |
401 | hbuss | 105 | if(PlatinenVersion == 10) |
106 | { |
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1419 | ingob | 107 | LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
108 | LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
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109 | LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
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401 | hbuss | 110 | } |
1051 | killagreg | 111 | else |
1660 | holgerb | 112 | if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
401 | hbuss | 113 | { |
1173 | hbuss | 114 | LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
115 | LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
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1419 | ingob | 116 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
401 | hbuss | 117 | } |
918 | hbuss | 118 | else |
1021 | hbuss | 119 | if(PlatinenVersion == 13) |
918 | hbuss | 120 | { |
1174 | hbuss | 121 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
122 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
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1419 | ingob | 123 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
918 | hbuss | 124 | } |
1 | ingob | 125 | break; |
1051 | killagreg | 126 | case 6: |
1 | ingob | 127 | LCD_printfxy(0,0,"ACC - Sensor"); |
395 | hbuss | 128 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
129 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
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1703 | holgerb | 130 | LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
1 | ingob | 131 | break; |
1051 | killagreg | 132 | case 7: |
1526 | killagreg | 133 | LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
134 | LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
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1529 | killagreg | 135 | LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
1486 | killagreg | 136 | LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
137 | break; |
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138 | case 8: |
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139 | LCD_printfxy(0,0,"Receiver"); |
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140 | LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
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141 | LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
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142 | LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
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1 | ingob | 143 | break; |
1486 | killagreg | 144 | case 9: |
1419 | ingob | 145 | LCD_printfxy(0,0,"Compass"); |
1941 | holgerb | 146 | LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
147 | LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
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148 | LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert); |
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1 | ingob | 149 | break; |
1486 | killagreg | 150 | case 10: |
1925 | holgerb | 151 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
1 | ingob | 152 | break; |
1486 | killagreg | 153 | case 11: |
1925 | holgerb | 154 | for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
1377 | hbuss | 155 | break; |
1486 | killagreg | 156 | case 12: |
1 | ingob | 157 | LCD_printfxy(0,0,"Servo " ); |
158 | LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
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1763 | killagreg | 159 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
1 | ingob | 160 | LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
161 | break; |
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1925 | holgerb | 162 | /* case 13: |
595 | hbuss | 163 | LCD_printfxy(0,0,"ExternControl " ); |
164 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
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165 | LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
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166 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
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167 | break; |
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1925 | holgerb | 168 | */ |
169 | case 13: |
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1211 | hbuss | 170 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
1936 | holgerb | 171 | for(i=0;i<3;i++) |
1935 | holgerb | 172 | { |
1936 | holgerb | 173 | 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); |
174 | // if(i*4 >= RequiredMotors) break; |
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1935 | holgerb | 175 | } |
1211 | hbuss | 176 | break; |
1925 | holgerb | 177 | case 14: |
1638 | holgerb | 178 | LCD_printfxy(0,0,"BL Temperature" ); |
1936 | holgerb | 179 | for(i=0;i<3;i++) |
1935 | holgerb | 180 | { |
1936 | holgerb | 181 | 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); |
182 | // if(4 + i * 4 >= RequiredMotors) break; |
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1935 | holgerb | 183 | } |
1638 | holgerb | 184 | break; |
1925 | holgerb | 185 | case 15: |
1210 | hbuss | 186 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
1479 | killagreg | 187 | 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)); |
188 | 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)); |
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189 | LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
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190 | if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
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191 | if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
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192 | if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
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1210 | hbuss | 193 | break; |
1925 | holgerb | 194 | case 16: |
1298 | hbuss | 195 | LCD_printfxy(0,0,"Flight-Time " ); |
1419 | ingob | 196 | LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
197 | LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
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1298 | hbuss | 198 | LCD_printfxy(13,3,"(reset)"); |
199 | if(RemoteKeys & KEY4) |
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200 | { |
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201 | FlugMinuten = 0; |
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1622 | killagreg | 202 | SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
1407 | killagreg | 203 | } |
1298 | hbuss | 204 | break; |
1510 | killagreg | 205 | default: |
206 | if(MenuePunkt == MaxMenue) MaxMenue--; |
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207 | MenuePunkt = 0; |
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1 | ingob | 208 | break; |
209 | } |
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1053 | killagreg | 210 | RemoteKeys = 0; |
304 | ingob | 211 | } |