Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 2
// + Copyright (c) Holger Buss, Ingo Busker
1 ingob 3
// + only for non-profit use
4
// + www.MikroKopter.com
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
8
#include "main.h"
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
20
#define KEY3    0x04
21
#define KEY4    0x08
22
#define KEY5    0x10
1051 killagreg 23
 
1 ingob 24
void LcdClear(void)
25
{
1051 killagreg 26
 unsigned char i;
27
 for(i=0;i<80;i++) DisplayBuff[i] = ' ';
1 ingob 28
}
29
 
1444 ingob 30
void Menu_Putchar(char c)
31
{
1934 holgerb 32
 if(DispPtr < 80) DisplayBuff[DispPtr++] = c;
1444 ingob 33
}
34
 
1 ingob 35
void Menu(void)
36
 {
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();
42
  if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);}
43
  else {LCD_printfxy(16,0,"[%i]",MenuePunkt);};
44
 
1 ingob 45
  switch(MenuePunkt)
46
   {
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
                        {
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);
58
#endif
1934 holgerb 59
                        }
60
                   else
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)
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])
68
//                 else
69
           if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!")
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));
76
           LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);
77
           LCD_printfxy(0,3,"Offset:  %5i",OCR0A);
1 ingob 78
           }
1051 killagreg 79
           else
80
           {
1419 ingob 81
           LCD_printfxy(0,0,"Height control");
82
           LCD_printfxy(0,1,"DISABLED");
1941 holgerb 83
           //LCD_printfxy(0,2,"Height control");
84
           //LCD_printfxy(0,3,"DISABLED");
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);
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);
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
          {
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);
109
           LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier);
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);
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);
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);
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);
1529 killagreg 135
                        LCD_printfxy(0,2,"Power:     %4iW",Capacity.ActualPower);
1486 killagreg 136
                        LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity);
137
           break;
138
    case 8:
139
           LCD_printfxy(0,0,"Receiver");
140
           LCD_printfxy(0,1,"RC-RSSI:    %4i", PPM_in[0]);
141
           LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay);
142
           LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1);
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);
148
           LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert);
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);
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;
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);
165
           LCD_printfxy(0,2,"Gs:%4i  Gi:%4i ",ExternControl.Gas,ExternControl.Gier);
166
           LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Hight,ExternControl.Config);
167
           break;
1925 holgerb 168
*/
169
    case 13:
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;
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;
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));
189
                   LCD_printfxy(0,3," %c   -   -   - ",'-' + 12 * (Motor[8].State>>7));
190
                   if(Motor[9].State>>7)  LCD_printfxy(4,3,"10");
191
                   if(Motor[10].State>>7) LCD_printfxy(8,3,"11");
192
                   if(Motor[11].State>>7) LCD_printfxy(12,3,"12");
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);
1298 hbuss 198
           LCD_printfxy(13,3,"(reset)");
199
                   if(RemoteKeys & KEY4)
200
             {
201
               FlugMinuten = 0;
1622 killagreg 202
               SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
1407 killagreg 203
                         }
1298 hbuss 204
           break;
1510 killagreg 205
    default:
206
           if(MenuePunkt == MaxMenue) MaxMenue--;
207
           MenuePunkt = 0;
1 ingob 208
           break;
209
    }
1053 killagreg 210
    RemoteKeys = 0;
304 ingob 211
}