0,0 → 1,257 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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#include <stdlib.h> |
#include <inttypes.h> |
#include "main.h" |
#include "eeprom.h" |
#include "timer2.h" |
#include "fc.h" |
#include "rc.h" |
#include "uart.h" |
#include "printf_P.h" |
#include "analog.h" |
#ifdef USE_KILLAGREG |
#include "mm3.h" |
#endif |
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
#include "ubx.h" |
#endif |
#include "_Settings.h" |
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#define ARRAYSIZE 10 |
uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
#define DISPLAYBUFFSIZE 80 |
int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
uint8_t DispPtr = 0; |
uint8_t RemoteButtons = 0; |
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#define KEY1 0x01 |
#define KEY2 0x02 |
#define KEY3 0x04 |
#define KEY4 0x08 |
#define KEY5 0x10 |
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/************************************/ |
/* Clear LCD Buffer */ |
/************************************/ |
void LCD_Clear(void) |
{ |
uint8_t i; |
for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
} |
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/************************************/ |
/* Update Menu on LCD */ |
/************************************/ |
// Display with 20 characters in 4 lines |
void LCD_PrintMenu(void) |
{ |
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#if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
static uint8_t MaxMenuItem = 11; |
#else |
#ifdef USE_MK3MAG |
static uint8_t MaxMenuItem = 12; |
#endif |
#ifdef USE_KILLAGREG |
static uint8_t MaxMenuItem = 14; |
#endif |
#endif |
static uint8_t MenuItem=0; |
|
// if KEY1 is activated goto previous menu item |
if(RemoteButtons & KEY1) |
{ |
if(MenuItem) MenuItem--; |
else MenuItem = MaxMenuItem; |
LCD_Clear(); |
RemotePollDisplayLine = -1; |
} |
// if KEY2 is activated goto next menu item |
if(RemoteButtons & KEY2) |
{ |
if (MenuItem == MaxMenuItem) MenuItem = 0; |
else MenuItem++; |
LCD_Clear(); |
RemotePollDisplayLine = -1; |
} |
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// if KEY1 and KEY2 is activated goto initial menu item |
if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
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// print menu item number in the upper right corner |
if(MenuItem < 10) |
{ |
LCD_printfxy(17,0,"[%i]",MenuItem); |
} |
else |
{ |
LCD_printfxy(16,0,"[%i]",MenuItem); |
} |
|
switch(MenuItem) |
{ |
case 0:// Version Info Menu Item |
LCD_printfxy(0,0,"+ MikroKopter +"); |
LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a'); |
LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
LCD_printfxy(0,3,"(c) Holger Buss"); |
break; |
case 1:// Height Control Menu Item |
if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
{ |
LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
} |
else |
{ |
LCD_printfxy(0,1,"No "); |
LCD_printfxy(0,2,"Height Control"); |
} |
|
break; |
case 2:// Attitude Menu Item |
LCD_printfxy(0,0,"Attitude"); |
LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
break; |
case 3:// Remote Control Channel Menu Item |
LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
break; |
case 4:// Remote Control Mapping Menu Item |
LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
break; |
case 5:// Gyro Sensor Menu Item |
LCD_printfxy(0,0,"Gyro - Sensor"); |
switch(BoardRelease) |
{ |
case 10: |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick); |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw); |
break; |
|
case 11: |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2); |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw/2); |
break; |
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case 12: |
default: |
LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2, AnalogOffsetNick); |
LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2, AnalogOffsetRoll); |
LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw/2 , AnalogOffsetYaw ); |
break; |
} |
break; |
case 6:// Acceleration Sensor Menu Item |
LCD_printfxy(0,0,"ACC - Sensor"); |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick, NeutralAccX); |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
break; |
case 7:// Accumulator Voltage / Remote Control Level |
LCD_printfxy(0,1,"Voltage: %5i",UBat); |
LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
break; |
case 8:// Compass Menu Item |
LCD_printfxy(0,0,"Compass "); |
LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
break; |
case 9:// Poti Menu Item |
LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
break; |
case 10:// Servo Menu Item |
LCD_printfxy(0,0,"Servo " ); |
LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
LCD_printfxy(0,2,"Position: %3i",ServoValue); |
LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
break; |
case 11://Extern Control |
LCD_printfxy(0,0,"ExternControl " ); |
LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
break; |
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#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
case 12://GPS Lat/Lon coords |
if (GPSInfo.status == INVALID) |
{ |
LCD_printfxy(0,0,"No GPS data!"); |
} |
else |
{ |
switch (GPSInfo.satfix) |
{ |
case SATFIX_NONE: |
LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
break; |
case SATFIX_2D: |
LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
break; |
case SATFIX_3D: |
LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
break; |
default: |
LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
break; |
} |
int16_t i1,i2,i3; |
i1 = (int16_t)(GPSInfo.longitude/10000000L); |
i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
i1 = (int16_t)(GPSInfo.latitude/10000000L); |
i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
i1 = (int16_t)(GPSInfo.altitude/1000L); |
i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
} |
break; |
#endif |
#ifdef USE_KILLAGREG |
case 13:// MM3 Kompass |
LCD_printfxy(0,0,"MM3 Offset"); |
LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
break; |
case 14://MM3 Range |
LCD_printfxy(0,0,"MM3 Range"); |
LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
break; |
#endif |
|
default: MaxMenuItem = MenuItem - 1; |
MenuItem = 0; |
break; |
} |
RemoteButtons = 0; |
} |