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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur f�r den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zul�ssig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "eeprom.h" |
| #include "timer2.h" |
| #include "rc.h" |
| #include "externalControl.h" |
| #include "uart0.h" |
| #include "printf_P.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "attitude.h" |
| |
| #if (!defined (USE_NAVICTRL)) |
| uint8_t maxMenuItem = 13; |
| #else |
| #ifdef USE_NAVICTRL |
| #include "gps.c" |
| uint8_t maxMenuItem = 14; |
| #endif |
| #endif |
| uint8_t menuItem = 0; |
| uint8_t remoteKeys = 0; |
| |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| |
| #define DISPLAYBUFFSIZE 80 |
| int8_t displayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| uint8_t dispPtr = 0; |
| |
| /************************************/ |
| /* Clear LCD Buffer */ |
| /************************************/ |
| void LCD_clear(void) { |
| uint8_t i; |
| for (i = 0; i < DISPLAYBUFFSIZE; i++) |
| displayBuff[i] = ' '; |
| } |
| |
| /************************************/ |
| /* Update Menu on LCD */ |
| /************************************/ |
| // Display with 20 characters in 4 lines |
| void LCD_printMenu(void) { |
| if (remoteKeys & KEY1) { |
| if (menuItem) |
| menuItem--; |
| else |
| menuItem = maxMenuItem; |
| } |
| |
| if (remoteKeys & KEY2) { |
| if (menuItem == maxMenuItem) |
| menuItem = 0; |
| else |
| menuItem++; |
| } |
| if ((remoteKeys & KEY1) && (remoteKeys & KEY2)) |
| menuItem = 0; |
| |
| LCD_clear(); |
| |
| if (menuItem > maxMenuItem) |
| menuItem = maxMenuItem; |
| // 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_PATCH+'a') |
| ; |
| LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), mixerMatrix.name) |
| ; |
| if (I2CTimeout < 6) { |
| LCD_printfxy(0,3,"I2C Error!!!"); |
| } else if (missingMotor) { |
| LCD_printfxy(0,3,"Missing BL-Ctrl:%d", missingMotor); |
| } else LCD_printfxy(0,3,"(c) Holger Buss"); |
| break; |
| /* |
| case 1:// Height Control Menu Item |
| if(staticParams.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",0); |
| LCD_printfxy(0,3,"Offset :%5i",0); |
| } |
| 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", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0,2,"Roll: %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL); |
| 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[channelMap.channels[CH_PITCH]], PPM_in[channelMap.channels[CH_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[channelMap.channels[CH_THROTTLE]],PPM_in[channelMap.channels[CH_YAW]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[channelMap.channels[CH_POTS]], PPM_in[channelMap.channels[CH_POTS+1]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[channelMap.channels[CH_POTS+2]], PPM_in[channelMap.channels[CH_POTS+3]]); |
| break; |
| /* |
| case 5:// Gyro Sensor Menu Item |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| switch(BoardRelease) { |
| case 10: |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)", AdValueGyroYaw , YawOffset); |
| break; |
| case 11: |
| case 12: |
| case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",YawOffset - AdValueGyroYaw , YawOffset/2); |
| break; |
| |
| case 13: |
| default: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",YawOffset - AdValueGyroYaw , YawOffset/2, 0); |
| break; |
| } |
| break; |
| case 6:// Acceleration Sensor Menu Item |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,2,"Roll %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,3,"Height %4i (%3i)",0,0); |
| break; |
| */ |
| case 7:// Battery Voltage / Remote Control Level |
| LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,2,"RC-Level: %5i",RCQuality); |
| 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", ((540 + compassHeading - compassCourse) % 360) - 180); |
| break; |
| case 9:// Poti Menu Item |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion |
| break; |
| /* |
| case 10:// Servo Menu Item |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",dynamicParams.ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",staticParams.ServoNickMin, staticParams.ServoNickMax); |
| break; |
| */ |
| case 11://Extern Control |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ", externalControl.pitch, externalControl.roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ", externalControl.throttle, externalControl.yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ", externalControl.height, externalControl.config); |
| break; |
| |
| case 12://BL Communication errors |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1," %3d %3d %3d %3d ",motor[0].error,motor[1].error,motor[2].error,motor[3].error); |
| LCD_printfxy(0,2," %3d %3d %3d %3d ",motor[4].error,motor[5].error,motor[6].error,motor[7].error); |
| LCD_printfxy(0,3," %3d %3d %3d %3d ",motor[8].error,motor[9].error,motor[10].error,motor[11].error); |
| break; |
| |
| case 13://BL Overview |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",motor[0].present + '-',motor[1].present + '-',motor[2].present + '-',motor[3].present + '-'); |
| LCD_printfxy(0,2," %c %c %c %c ",motor[4].present + '-',motor[5].present + '-',motor[6].present + '-',motor[7].present + '-'); |
| LCD_printfxy(0,3," %c - - - ",motor[8].present + '-'); |
| if (motor[9].present) |
| LCD_printfxy(4,3,"10"); |
| if (motor[10].present) |
| LCD_printfxy(8,3,"11"); |
| if (motor[11].present) |
| LCD_printfxy(12,3,"12"); |
| break; |
| |
| #if (defined (USE_NAVICTRL)) |
| case 14://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.%03d%03d 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.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.altitude/1000L); |
| i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
| LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
| } |
| break; |
| #endif |
| |
| default: |
| maxMenuItem = menuItem - 1; |
| menuItem = 0; |
| break; |
| } |
| remoteKeys = 0; |
| } |