| 0,0 → 1,273 |
|---|
| #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" |
| #include "menu.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 |
| |
| int8_t displayBuff[DISPLAYBUFFSIZE]; |
| 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", |
| attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0, 2, "Roll: %5i", |
| attitude[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0, 3, "Heading(M):%5i", magneticHeading); |
| 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, 0, "TODO: Impl. "); |
| break; |
| case 9: // Poti Menu Item |
| LCD_printfxy(0, 0, "Variables "); |
| LCD_printfxy(0, 0, "TODO: Impl. "); |
| break; |
| case 10: // Servo Menu Item |
| LCD_printfxy(0, 0, "Servos "); |
| LCD_printfxy(0, 0, "TODO: Impl. "); |
| 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; |
| } |