0,0 → 1,358 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
#include "eeprom.h" |
|
char DisplayBuff[80]; |
unsigned char DispPtr = 0; |
|
unsigned char MaxMenue = 19; |
unsigned char MenuePunkt = 0; |
unsigned char RemoteKeys = 0; |
|
#define KEY1 0x01 |
#define KEY2 0x02 |
#define KEY3 0x04 |
#define KEY4 0x08 |
#define KEY5 0x10 |
|
void LcdClear(void) |
{ |
unsigned char i; |
for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
} |
|
void Menu_Putchar(char c) |
{ |
if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
} |
|
void Menu(void) |
{ |
unsigned char i; |
static char DisableMenu = 0, AccMenu = 0, changed = 0; |
|
if(!DisableMenu) |
{ |
if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
} |
LcdClear(); |
if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
|
switch(MenuePunkt) |
{ |
case 0: |
LCD_printfxy(0,0,"+ MikroKopter +"); |
LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%02d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
LCD_printfxy(0,2,"Set:%d %s", ActiveParamSet,Mixer.Name); |
if(FC_StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
|
if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
else |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(NC_ErrorCode) |
{ |
LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
_printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
} |
else |
#endif |
if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
else |
if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d !!",MissingMotor) |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
#else |
else |
if(NC_ErrorCode) |
{ |
LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
} |
#endif |
// if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
else |
if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
else |
if(Capacity.MinOfMaxPWM < 30) LCD_printfxy(0,3,"BL-Selftest Err:%2d",Capacity.MinOfMaxPWM) |
|
break; |
case 1: |
LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(ACC_AltitudeControl) |
{ |
LCD_printfxy(17,2,"(A)"); |
LCD_printfxy(17,3,"%i",CalAthmospheare); |
} |
#endif |
break; |
case 2: |
LCD_printfxy(0,0,"act. bearing"); |
LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
LCD_printfxy(0,3,"Compass: %5i",CompassCorrected); |
break; |
case 3: |
for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]); |
break; |
case 4: |
LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",ChannelNick,ChannelRoll); |
LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",ChannelGas+127,ChannelYaw); |
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
break; |
case 5: |
LCD_printfxy(0,0,"Gyro - Sensor"); |
LCD_printfxy(0,1,"Nick %4i (%4i)",AdWertNick - AdNeutralNick/8, AdNeutralNick); |
LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll); |
LCD_printfxy(0,3,"Yaw %4i (%4i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
AccMenu = 0; |
break; |
case 6: |
switch(AccMenu) |
{ |
case 0: |
LCD_printfxy(0,0,"ACC - Sensor"); |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
LCD_printfxy(0,3,"Z %4i (%3i)(cal)",AdWertAccHoch,(int)NeutralAccZ); |
if(RemoteKeys & KEY4) AccMenu++; |
changed = 0; |
break; |
case 1: |
LCD_printfxy(0,0,"Calibration:"); |
LCD_printfxy(0,1,"ACC: N:%3i R:%3i ",NeutralAccY,NeutralAccX); |
if(ChannelNick || ChannelRoll) LCD_printfxy(0,2,"Stick: (%i/%i) !! ",ChannelNick,ChannelRoll); |
if((FC_StatusFlags & FC_STATUS_MOTOR_RUN) && ((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-'))) |
{ |
DisableMenu = 1; |
if(!EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 6; // enables the Gyro-Drift compensation to make sure that a litlte calibration error won't effect the attitude |
if(RemoteKeys & KEY1) { NeutralAccY--; changed = 1;} |
if(RemoteKeys & KEY2) { NeutralAccY++; changed = 1;} |
if(RemoteKeys & KEY3) { NeutralAccX--; changed = 1;} |
if(RemoteKeys & KEY4) { NeutralAccX++; changed = 1;} |
LCD_printfxy(13,0,"on "); |
if(changed) LCD_printfxy(0,3,"land to save ") |
else LCD_printfxy(0,3,"use keys to trim ACC") |
} |
else |
{ |
LCD_printfxy(13,0,"off"); |
DisableMenu = 0; |
if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && changed) |
{ |
LCD_printfxy(0,3,"Save? (yes)(no)"); |
if(RemoteKeys & KEY3) { StoreNeutralToEeprom(); AccMenu = 0;} |
if(RemoteKeys & KEY4) { changed = 0;} |
} |
else LCD_printfxy(0,3,"Fly with GPS off"); |
} |
break; |
default: AccMenu = 0; break; |
} |
break; |
case 7: |
LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
AccMenu = 0; |
break; |
case 8: |
LCD_printfxy(0,0,"Receiver"); |
LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
break; |
case 9: |
LCD_printfxy(0,0,"Undervoltages " ); |
LCD_printfxy(0,1,"Warn: %2d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
LCD_printfxy(0,2,"Home: %2d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
LCD_printfxy(0,3,"Land: %2d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
break; |
case 10: |
for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
break; |
case 11: |
for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
break; |
case 12: |
LCD_printfxy(0,0,"Flight-Time " ); |
LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
LCD_printfxy(13,3,"(reset)"); |
if(RemoteKeys & KEY4) |
{ |
FlugMinuten = 0; |
SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
} |
break; |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
case 13: |
LCD_printfxy(0,0,"Compass"); |
LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
LCD_printfxy(0,3,"True: %5i",CompassCorrected); |
break; |
case 14: |
LCD_printfxy(0,0,"Servo " ); |
LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
break; |
case 15: |
if(RequiredMotors < 13) |
{ |
LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
for(i=0;i<3;i++) |
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); |
} |
else |
{ |
for(i=0;i<4;i++) |
LCD_printfxy(0,i,"%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); |
LCD_printfxy(16,1,"BL-"); |
LCD_printfxy(16,2,"Err."); |
} |
break; |
case 16: |
if(RequiredMotors < 13) |
{ |
LCD_printfxy(0,0,"BL- Temperature" ); |
for(i=0;i<3;i++) |
{ |
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); |
} |
} |
else |
{ |
for(i=0;i<4;i++) |
{ |
LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
} |
LCD_printfxy(16,1,"BL-"); |
LCD_printfxy(16,2,"Temp"); |
} |
LCD_printfxy(18,3,"C"); |
break; |
case 17: |
if(RequiredMotors < 13) |
{ |
LCD_printfxy(0,0,"BL Current" ); |
LCD_printfxy(11,3,"(in 0.1A)" ); |
for(i=0;i<3;i++) |
{ |
LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
if(4 + i * 4 >= RequiredMotors) break; |
} |
} |
else |
{ |
for(i=0;i<4;i++) |
{ |
LCD_printfxy(0,i,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
} |
LCD_printfxy(16,2,"BL-"); |
LCD_printfxy(16,3,"I"); |
} |
break; |
case 18: |
LCD_printfxy(0,0,"BL-Ctrl found " ); |
DispPtr = 20; |
for(i=0; i<MAX_MOTORS; i++) |
{ |
if(i == 6 || i == 12) LCD_printf(" "); |
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
{ |
LCD_printf(" %2i",i+1); |
} |
else LCD_printf(" -"); |
} |
break; |
case 19: |
if(RequiredMotors < 13) |
{ |
LCD_printfxy(0,0,"BL Versions" ); |
for(i=0;i<3;i++) |
{ |
LCD_printfxy(0,i+1,"%1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
if(4 + i * 4 >= RequiredMotors) break; |
} |
} |
else |
{ |
for(i=0;i<4;i++) |
LCD_printfxy(0,i," %1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
} |
break; |
/* case 20: |
LCD_printfxy(0,0,"BL MaxPWM " ); |
for(i=0;i<3;i++) |
{ |
LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].MaxPWM,Motor[i*4+1].MaxPWM,Motor[i*4+2].MaxPWM,Motor[i*4+3].MaxPWM); |
if(4 + i * 4 >= RequiredMotors) break; |
} |
break; |
*/ |
#endif |
default: |
if(MenuePunkt == MaxMenue) MaxMenue--; |
MenuePunkt = 0; |
break; |
} |
RemoteKeys = 0; |
} |