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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig 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, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: 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 the sources to other systems or using the software on other systems (except 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 "91x_lib.h" |
| #include "main.h" |
| #include "led.h" |
| #include "ubx.h" |
| #include "GPS.h" |
| #include "timer1.h" |
| #include "compass.h" |
| #include "spi_slave.h" |
| #include "MobileMenu.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "ncmag.h" |
| #include "logging.h" |
| #include "settings.h" |
| #include "sdc.h" |
| #include "analog.h" |
| #include "canbus.h" |
| #include "triggerlog.h" |
| #include "CamCtrl.h" |
| #include "eeprom.h" |
| |
| u8 MobileDispPtr = 0; |
| |
| MobileDataRequest_t MobileDataRequest; |
| MobileDataInfo_t MobileDataInfo; |
| Mobile_t Mobile; |
| |
| #define ML_SEND 0x0001 // show sendbutton |
| #define ML_SLIDER 0x0002 |
| #define ML_WHEEL 0x0004 |
| #define ML_EDIT 0x0008 |
| #define ML_WHEEL_RELATIV 0x0010 |
| |
| |
| MobileLabel_t MobileLabel[MOBILE_MAX_MENU] = |
| { |
| //{ 123456789012345678901 Min Max Default Decimals 1234567890123456 Keys Layout, LayoutOptions |
| { "Status " , 0, 1000, 200, 0, " ", {"SAT ","Time ","Magnet","Camera","Logs "},0, 0}, // 0 |
| { "Load Waypoint List " , 1, 99, 1, 0, "Select List ", {"Fixed "," ","Relati"," "," "},1, ML_EDIT }, // 1 |
| { "Load single Position " , 1, 99, 1, 0, "Load from Index:", {" "," "," "," ","Load "},1, ML_EDIT}, // 2 |
| { "Store single Position" , 1, 99, 1, 0, "Store on Index: ", {" "," "," "," ","Store "},1, ML_EDIT}, // 3 |
| { "BL-Gimbal Control " , -150, 150, 0, 0, "Move ", {"Yaw ","Nick "," "," ","Reset "},1, ML_WHEEL_RELATIV} // 4 |
| }; |
| |
| |
| |
| void Mobile_Putchar(char c) |
| { |
| if(MobileDispPtr < M_DISPLAYBUFFSIZE) Mobile.DisplayBuff[MobileDispPtr++] = c; |
| } |
| |
| |
| void Mobile_Putchar_INV(char c) |
| { |
| if(MobileDispPtr < M_DISPLAYBUFFSIZE) Mobile.DisplayBuff[MobileDispPtr++] = c | 0x80; |
| } |
| |
| void Mobile_Putchar_BLINK(char c) |
| { |
| if(MenuBlinkBit) Mobile_Putchar_INV(c); else Mobile_Putchar(c); |
| } |
| |
| void Mobile_Clear(void) |
| { |
| u8 i; |
| for( i = 0; i < M_DISPLAYBUFFSIZE; i++) Mobile.DisplayBuff[i] = ' '; |
| } |
| |
| // Display with 20 characters in 4 lines |
| void MobileMenuUpdate(u8 item, u8 Keys, s16 Value) |
| { |
| //static u32 tmp,tmp2,tmp3; |
| // s32 i1,i2; |
| u8 sign; |
| Mobile_Clear(); |
| FromMenuGimbalYaw = 0; // will be set in the menu below |
| FromMenuServoNickControl = 0; |
| switch(item) |
| { |
| // Version Info |
| case 0: |
| { |
| static u8 show = 0; |
| // Mobile_printfxy(0,0,"++ Mobile Menu ++"); |
| |
| // Mobile_printfxy_BLINK(10,3,"BLINK"); |
| |
| // Mobile_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| // if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) Mobile_printfxy(19,1,"R"); |
| /* |
| NaviData.Current |
| s16 Altimeter_5cm; // hight according to air pressure |
| s16 Variometer; // climb(+) and sink(-) rate |
| u16 FlyingTime; // in seconds |
| u16 GroundSpeed; // speed over ground in cm/s (2D) |
| s16 Heading; // current flight direction in ° as angle to north |
| s8 AngleNick; // current Nick angle in 1° |
| s8 AngleRoll; // current Rick angle in 1° |
| u8 FCStatusFlags; // Flags from FC see main.c FC_STATUS_xxx |
| u8 NCFlags; // Flags from NC see main.h NC_FLAG_xxx |
| u8 Errorcode; // 0 --> okay |
| u8 WP_OperatingRadius; // current WP operation radius around the Home Position in m |
| s16 TopSpeed; // velocity in vertical direction in cm/s |
| u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| u8 FCStatusFlags2; // StatusFlags2 (since version 5 added) |
| s16 SetpointAltitude; // setpoint for altitude |
| u8 Gas; // current gas (thrust) |
| |
| NaviData.GroundSpeed |
| NaviData. |
| NaviData. |
| NaviData. |
| |
| NaviData. |
| NaviData.SatsInUse |
| |
| |
| */ |
| if(FC.StatusFlags & FC_STATUS_LOWBAT) |
| { |
| Mobile_printfxy_BLINK(0,0," %2i.%1iV ",FC.BAT_Voltage/10, FC.BAT_Voltage%10) |
| Mobile_printfxy_BLINK(0,1," %2i:%02i ",NaviData.FlyingTime/60,NaviData.FlyingTime%60) |
| Mobile_printfxy_BLINK(0,2," %5i ",NaviData.UsedCapacity) |
| } |
| else |
| { |
| Mobile_printfxy(0,0," %2i.%1iV ",FC.BAT_Voltage/10, FC.BAT_Voltage%10) |
| Mobile_printfxy(0,1," %2i:%02i ",NaviData.FlyingTime/60,NaviData.FlyingTime%60); |
| Mobile_printfxy(0,2," %5i ",NaviData.UsedCapacity); |
| } |
| if(Parameter.GlobalConfig & FC_CFG_HOEHENREGELUNG) |
| { |
| if(FC.StatusFlags2 & FC_STATUS2_ALTITUDE_CONTROL) Mobile_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(NaviData.Altimeter_5cm/20),FromFC_VarioCharacter) |
| else Mobile_printfxy(10,0,"ALT:%4im ", (int16_t)(NaviData.Altimeter_5cm/20)) |
| } |
| else Mobile_printfxy(10,0,"ALT:---- "); |
| |
| Mobile_printfxy(10,1,"DIR: %3d%c",NaviData.CompassHeading,'`'); |
| if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) Mobile_printfxy_INV(20,1,"C") else Mobile_printfxy(20,1," "); |
| |
| Mobile_printfxy(12,2,"I:%2i.%1iA ",NaviData.Current/10, NaviData.Current%10); |
| |
| Mobile_printfxy(8,0,":"); |
| Mobile_printfxy(8,1,":"); |
| Mobile_printfxy(8,2,":"); |
| |
| if(Keys & KEY1) show = 0; |
| if(Keys & KEY2) show = 1; |
| if(Keys & KEY3) show = 2; |
| if(Keys & KEY4) show = 3; |
| if(Keys & KEY5) show = 4; |
| switch(show) |
| { |
| case 0: |
| Mobile_printfxy(0,3,"S:%2d %2im/s HM:%3dm %c",NaviData.SatsInUse,NaviData.GroundSpeed/100,NaviData.HomePositionDeviation.Distance_dm/10,NC_GPS_ModeCharacter); |
| break; |
| case 1: |
| Mobile_printfxy(0,3," %04i/%02i/%02i %02i:%02i:%02i", SystemTime.Year,SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
| break; |
| case 2: |
| Mobile_printfxy(0,3,"MAG:%3u%% incl:%2d`(%2i)",EarthMagneticField/5,EarthMagneticInclination,EarthMagneticInclinationTheoretic); |
| break; |
| case 3: |
| if(TrigLogging.CountExternal) Mobile_printfxy(0,3,"HotShoe:%4u ",TrigLogging.CountExternal-1) |
| else Mobile_printfxy(0,3,"No HotShoe"); |
| break; |
| case 4: |
| if(SDCardInfo.Valid == 1) |
| Mobile_printfxy(0,3,"Logs: GPX:%3u TRG:%3u",Logged_GPX_Counter,Logged_TRIG_Counter) |
| else |
| Mobile_printfxy(0,3,"no card in slot "); |
| break; |
| } |
| |
| if(ErrorCode) Mobile_printfxy_BLINK(0,4,"%s",NaviData_HoTT_Text.HoTT_DisplayText) |
| else Mobile_printfxy(0,4,"%s",NaviData_HoTT_Text.HoTT_DisplayText); |
| |
| } |
| break; |
| case 1: |
| { |
| static u8 index = 0, fixed = 0; |
| if(Keys & KEY1) |
| { |
| index = Value; |
| if(index > ToFC_MaxWpListIndex) index = ToFC_MaxWpListIndex; |
| FromFC_LoadWP_List = index; |
| fixed = 1; |
| } |
| if(Keys & KEY3) |
| { |
| if(GPSData.SatFix == SATFIX_3D) |
| { |
| index = Value; |
| if(index > ToFC_MaxWpListIndex) index = ToFC_MaxWpListIndex; |
| FromFC_LoadWP_List = index | 0x80; |
| fixed = 2; |
| } |
| else fixed = 3; |
| } |
| |
| if(!fixed) Mobile_printfxy(0,0,"Load relative or fix") |
| else Mobile_printfxy(0,0,"Name: %s ", WPL_Store.Name); |
| |
| // 12345678901234567890 |
| Mobile_printfxy(0,1,"Points Index "); |
| Mobile_printfxy(0,2," %3d %3d ", PointList_GetCount(), index); |
| if(fixed == 1) Mobile_printfxy(0,3," Fixed positions"); |
| if(fixed == 2) Mobile_printfxy(0,3," Relative positions"); |
| if(fixed == 3) { Mobile_printfxy(0,3," Error: No Satfix!"); if(GPSData.SatFix == SATFIX_3D) fixed = 0;}; |
| Mobile_printfxy(0,4," LOAD List: %3i",Value); |
| Mobile.ReturnValue = index; |
| } |
| break; |
| case 2: |
| { |
| static u8 index = 0; |
| if(Keys & KEY5) |
| { |
| index = Value; |
| if(index > ToFC_MaxWpListIndex) index = ToFC_MaxWpListIndex; |
| FromFC_Load_SinglePoint = index; |
| } |
| Mobile_printfxy(0,0,"Load Point" ); |
| Mobile_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| // 12345678901234567890 |
| Mobile_printfxy(0,3,"Number: %3d ", Value); |
| if(index != Value) Mobile_printfxy(15,3,"(LOAD)"); |
| Mobile.ReturnValue = index; |
| } |
| break; |
| case 3: |
| { |
| static u8 index = 1; |
| Mobile_printfxy(0,0,"Save Point" ); |
| Mobile_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter_5cm/20); |
| // 12345678901234567890 |
| Mobile_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
| if(GPSData.SatFix == SATFIX_3D) |
| { |
| Mobile_printfxy(0,4,"Number: %3d (Save)", Value); |
| if(Keys & KEY5) |
| { |
| index = Value; |
| if(index > ToFC_MaxWpListIndex) index = ToFC_MaxWpListIndex; |
| FromFC_Save_SinglePoint = index; |
| } |
| } |
| else Mobile_printfxy(5,4,"No Satfix !"); |
| Mobile.ReturnValue = index; |
| } |
| break; |
| case 4: |
| Mobile_printfxy(0,0,"GimbalCtrl"); |
| Mobile.ReturnValue = 0; |
| if(!(FromGimbalCtrl.GimbalStatus & GIMBAL_I2C_OK)) |
| { |
| Mobile_printfxy(0,2,"Not connected"); |
| if(GimbalCtrlTimeout < 10) Mobile_printfxy(14,4,"(conn)"); // connect manually |
| if(Keys & KEY5) GimbalCtrlTimeout = 65000; |
| } |
| else |
| { |
| static u8 control = 0; |
| Mobile_printfxy(10,0,"V%i.%02i",1 + FromGimbalCtrl.Version / 100, FromGimbalCtrl.Version % 100); |
| Mobile_printfxy(0,1,"Stat:"); |
| if(FromGimbalCtrl.GimbalStatus & GIMBAL_DATA_OK) Mobile_printfxy(8,1,"OK") else Mobile_printfxy(5,1,"No Gimbal"); |
| Mobile_printfxy(0,2,"Nick:%3i Roll:%3i",FromGimbalCtrl.Nick,FromGimbalCtrl.Roll); |
| Mobile_printfxy(0,3,"Yaw: %3i [0,1 Deg]",FromGimbalCtrl.Yaw); |
| if(control == 0) |
| { |
| Mobile_printfxy(0,4,"Control: Yaw"); |
| FromMenuServoNickControl = 0; |
| FromMenuGimbalYaw = Value * (-2); |
| } |
| else |
| { |
| Mobile_printfxy(0,4,"Control: Nick"); |
| if(FC.RC_Quality < 50) Mobile_printfxy(0,4,"RC Failsafe pos.!!"); |
| FromMenuServoNickControl = Value; |
| FromMenuGimbalYaw = 0; |
| } |
| |
| if(Keys & KEY5) |
| { |
| ToGimbalCtrl.BitCmd |= (GIMBAL_CMD_YW_ZERO); |
| FromMenuGimbalYaw = 0; |
| MenuNickGimbalOffset = 0; |
| } |
| if(Keys & KEY1) control = 0; |
| if(Keys & KEY2) control = 1; |
| } |
| break; |
| case 99: |
| { |
| // static u16 offset = 20, tmp; |
| // Mobile_printfxy(0,0,"Testpage %i %c",item,33); |
| for(sign = 0; sign < 21*5; sign++) Mobile.DisplayBuff[sign] = sign + ' '; |
| |
| // if(Keys & COPY) offset = Value; |
| } |
| break; |
| |
| default: |
| Mobile_printfxy(0,0,"Not used "); |
| //MaxMenuItem = MenuItem - 1; |
| break; |
| } |
| Mobile.Index = item; // this menu item was processed |
| |
| } |