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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + only for non-profit use |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + see the File "License.txt" for further Informations |
- | |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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- | 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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- | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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- | 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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- | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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- | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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7 | - | ||
- | 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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- | 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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- | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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- | 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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- | 18 | // + eindeutig als Ursprung verlinkt werden |
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- | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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- | 21 | // + Benutzung auf eigene Gefahr |
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- | 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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- | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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- | 25 | // + mit unserer Zustimmung zulässig |
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- | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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- | 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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- | 30 | // + this list of conditions and the following disclaimer. |
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- | 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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- | 32 | // + from this software without specific prior written permission. |
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- | 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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- | 34 | // + for non-commercial use (directly or indirectly) |
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- | 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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- | 36 | // + with our written permission |
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- | 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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- | 38 | // + clearly linked as origin |
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- | 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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- | 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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- | 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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- | 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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- | 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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- | 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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- | 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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- | 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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- | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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- | 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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- | 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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- | 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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8 | #include <stdlib.h> |
51 | #include <stdlib.h> |
9 | #include <inttypes.h> |
52 | #include <inttypes.h> |
10 | #include "main.h" |
53 | #include "main.h" |
11 | #include "eeprom.h" |
54 | #include "eeprom.h" |
12 | #include "timer2.h" |
55 | #include "timer2.h" |
13 | #include "fc.h" |
56 | #include "fc.h" |
14 | #include "rc.h" |
57 | #include "rc.h" |
15 | #include "uart.h" |
58 | #include "uart0.h" |
16 | #include "printf_P.h" |
59 | #include "printf_P.h" |
17 | #include "analog.h" |
60 | #include "analog.h" |
18 | 61 | ||
19 | #ifdef USE_KILLAGREG |
62 | #ifdef USE_KILLAGREG |
20 | #include "mm3.h" |
63 | #include "mm3.h" |
21 | #endif |
64 | #endif |
22 | 65 | ||
23 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
66 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
24 | #include "ubx.h" |
67 | #include "ubx.h" |
25 | #endif |
68 | #endif |
26 | - | ||
27 | #include "_Settings.h" |
- | |
28 | 69 | ||
29 | #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
70 | #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
30 | uint8_t MaxMenuItem = 11; |
71 | uint8_t MaxMenuItem = 11; |
31 | #else |
72 | #else |
32 | #ifdef USE_MK3MAG |
73 | #ifdef USE_MK3MAG |
33 | uint8_t MaxMenuItem = 12; |
74 | uint8_t MaxMenuItem = 12; |
34 | #endif |
75 | #endif |
35 | 76 | ||
36 | #ifdef USE_KILLAGREG |
77 | #ifdef USE_KILLAGREG |
37 | uint8_t MaxMenuItem = 14; |
78 | uint8_t MaxMenuItem = 14; |
38 | #endif |
79 | #endif |
39 | #endif |
80 | #endif |
40 | uint8_t MenuItem = 0; |
81 | uint8_t MenuItem = 0; |
41 | uint8_t RemoteKeys = 0; |
82 | uint8_t RemoteKeys = 0; |
42 | 83 | ||
43 | #define KEY1 0x01 |
84 | #define KEY1 0x01 |
44 | #define KEY2 0x02 |
85 | #define KEY2 0x02 |
45 | #define KEY3 0x04 |
86 | #define KEY3 0x04 |
46 | #define KEY4 0x08 |
87 | #define KEY4 0x08 |
47 | #define KEY5 0x10 |
88 | #define KEY5 0x10 |
48 | 89 | ||
49 | 90 | ||
50 | 91 | ||
51 | #define DISPLAYBUFFSIZE 80 |
92 | #define DISPLAYBUFFSIZE 80 |
52 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
93 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
53 | uint8_t DispPtr = 0; |
94 | uint8_t DispPtr = 0; |
54 | 95 | ||
55 | 96 | ||
56 | /************************************/ |
97 | /************************************/ |
57 | /* Clear LCD Buffer */ |
98 | /* Clear LCD Buffer */ |
58 | /************************************/ |
99 | /************************************/ |
59 | void LCD_Clear(void) |
100 | void LCD_Clear(void) |
60 | { |
101 | { |
61 | uint8_t i; |
102 | uint8_t i; |
62 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
103 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
63 | } |
104 | } |
64 | 105 | ||
65 | 106 | ||
66 | /************************************/ |
107 | /************************************/ |
67 | /* Update Menu on LCD */ |
108 | /* Update Menu on LCD */ |
68 | /************************************/ |
109 | /************************************/ |
69 | // Display with 20 characters in 4 lines |
110 | // Display with 20 characters in 4 lines |
70 | void LCD_PrintMenu(void) |
111 | void LCD_PrintMenu(void) |
71 | { |
112 | { |
72 | if(RemoteKeys & KEY1) |
113 | if(RemoteKeys & KEY1) |
73 | { |
114 | { |
74 | if(MenuItem) MenuItem--; |
115 | if(MenuItem) MenuItem--; |
75 | else MenuItem = MaxMenuItem; |
116 | else MenuItem = MaxMenuItem; |
76 | } |
117 | } |
77 | if(RemoteKeys & KEY2) |
118 | if(RemoteKeys & KEY2) |
78 | { |
119 | { |
79 | if(MenuItem == MaxMenuItem) MenuItem = 0; |
120 | if(MenuItem == MaxMenuItem) MenuItem = 0; |
80 | else MenuItem++; |
121 | else MenuItem++; |
81 | } |
122 | } |
82 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
123 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
83 | 124 | ||
84 | LCD_Clear(); |
125 | LCD_Clear(); |
85 | 126 | ||
86 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
127 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
87 | // print menu item number in the upper right corner |
128 | // print menu item number in the upper right corner |
88 | if(MenuItem < 10) |
129 | if(MenuItem < 10) |
89 | { |
130 | { |
90 | LCD_printfxy(17,0,"[%i]",MenuItem); |
131 | LCD_printfxy(17,0,"[%i]",MenuItem); |
91 | } |
132 | } |
92 | else |
133 | else |
93 | { |
134 | { |
94 | LCD_printfxy(16,0,"[%i]",MenuItem); |
135 | LCD_printfxy(16,0,"[%i]",MenuItem); |
95 | } |
136 | } |
96 | 137 | ||
97 | switch(MenuItem) |
138 | switch(MenuItem) |
98 | { |
139 | { |
99 | case 0:// Version Info Menu Item |
140 | case 0:// Version Info Menu Item |
100 | LCD_printfxy(0,0,"+ MikroKopter +"); |
141 | LCD_printfxy(0,0,"+ MikroKopter +"); |
101 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
142 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
- | 143 | #ifndef USE_QUADRO |
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- | 144 | LCD_printfxy(0,2,"OCTO Setting: %d ", GetActiveParamSet()); |
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- | 145 | #else |
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102 | LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
146 | LCD_printfxy(0,2,"QUADRO Setting: %d ", GetActiveParamSet()); |
- | 147 | #endif |
|
103 | LCD_printfxy(0,3,"(c) Holger Buss"); |
148 | LCD_printfxy(0,3,"(c) Holger Buss"); |
104 | break; |
149 | break; |
105 | case 1:// Height Control Menu Item |
150 | case 1:// Height Control Menu Item |
106 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
151 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
107 | { |
152 | { |
108 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
153 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
109 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
154 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
110 | LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
155 | LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
111 | LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
156 | LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
112 | } |
157 | } |
113 | else |
158 | else |
114 | { |
159 | { |
115 | LCD_printfxy(0,1,"No "); |
160 | LCD_printfxy(0,1,"No "); |
116 | LCD_printfxy(0,2,"Height Control"); |
161 | LCD_printfxy(0,2,"Height Control"); |
117 | } |
162 | } |
118 | 163 | ||
119 | break; |
164 | break; |
120 | case 2:// Attitude Menu Item |
165 | case 2:// Attitude Menu Item |
121 | LCD_printfxy(0,0,"Attitude"); |
166 | LCD_printfxy(0,0,"Attitude"); |
122 | LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
167 | LCD_printfxy(0,1,"Nick: %5i",IntegralGyroNick/1024); |
123 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
168 | LCD_printfxy(0,2,"Roll: %5i",IntegralGyroRoll/1024); |
124 | LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
169 | LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
125 | break; |
170 | break; |
126 | case 3:// Remote Control Channel Menu Item |
171 | case 3:// Remote Control Channel Menu Item |
127 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
172 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
128 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
173 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
129 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
174 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
130 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
175 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
131 | break; |
176 | break; |
132 | case 4:// Remote Control Mapping Menu Item |
177 | case 4:// Remote Control Mapping Menu Item |
133 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
178 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
134 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
179 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
135 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
180 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
136 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
181 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
137 | break; |
182 | break; |
138 | case 5:// Gyro Sensor Menu Item |
183 | case 5:// Gyro Sensor Menu Item |
139 | LCD_printfxy(0,0,"Gyro - Sensor"); |
184 | LCD_printfxy(0,0,"Gyro - Sensor"); |
140 | switch(BoardRelease) |
185 | switch(BoardRelease) |
141 | { |
186 | { |
142 | case 10: |
187 | case 10: |
143 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick); |
188 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY); |
144 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
189 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY); |
145 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw); |
190 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw); |
146 | break; |
191 | break; |
147 | 192 | ||
148 | case 11: |
193 | case 11: |
149 | case 12: |
194 | case 12: |
150 | case 20: |
195 | case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
151 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2); |
196 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
152 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
197 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
153 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw/2); |
198 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2); |
154 | break; |
199 | break; |
155 | 200 | ||
156 | case 13: |
201 | case 13: |
157 | default: |
202 | default: // divice Offests by 2 becuse 2 samples are added in adc isr |
158 | LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2, AnalogOffsetNick); |
203 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7) |
159 | LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2, AnalogOffsetRoll); |
204 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7) |
160 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralYaw - AdValueGyrYaw , AdNeutralYaw/2 , AnalogOffsetYaw ); |
205 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw ); |
161 | break; |
206 | break; |
162 | } |
207 | } |
163 | break; |
208 | break; |
164 | case 6:// Acceleration Sensor Menu Item |
209 | case 6:// Acceleration Sensor Menu Item |
165 | LCD_printfxy(0,0,"ACC - Sensor"); |
210 | LCD_printfxy(0,0,"ACC - Sensor"); |
166 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick, NeutralAccX); |
211 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR |
167 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
212 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
168 | LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
213 | LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
169 | break; |
214 | break; |
170 | case 7:// Accumulator Voltage / Remote Control Level |
215 | case 7:// Accumulator Voltage / Remote Control Level |
171 | LCD_printfxy(0,1,"Voltage: %5i",UBat); |
216 | LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
172 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
217 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
173 | break; |
218 | break; |
174 | case 8:// Compass Menu Item |
219 | case 8:// Compass Menu Item |
175 | LCD_printfxy(0,0,"Compass "); |
220 | LCD_printfxy(0,0,"Compass "); |
176 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
221 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
177 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
222 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
178 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
223 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
179 | break; |
224 | break; |
180 | case 9:// Poti Menu Item |
225 | case 9:// Poti Menu Item |
181 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
226 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
182 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
227 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
183 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
228 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
184 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
229 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
185 | break; |
230 | break; |
186 | case 10:// Servo Menu Item |
231 | case 10:// Servo Menu Item |
187 | LCD_printfxy(0,0,"Servo " ); |
232 | LCD_printfxy(0,0,"Servo " ); |
188 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
233 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
189 | LCD_printfxy(0,2,"Position: %3i",ServoValue); |
234 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
190 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
235 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
191 | break; |
236 | break; |
192 | case 11://Extern Control |
237 | case 11://Extern Control |
193 | LCD_printfxy(0,0,"ExternControl " ); |
238 | LCD_printfxy(0,0,"ExternControl " ); |
194 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
239 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
195 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
240 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
196 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
241 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
197 | break; |
242 | break; |
198 | 243 | ||
199 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
244 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
200 | case 12://GPS Lat/Lon coords |
245 | case 12://GPS Lat/Lon coords |
201 | if (GPSInfo.status == INVALID) |
246 | if (GPSInfo.status == INVALID) |
202 | { |
247 | { |
203 | LCD_printfxy(0,0,"No GPS data!"); |
248 | LCD_printfxy(0,0,"No GPS data!"); |
204 | } |
249 | } |
205 | else |
250 | else |
206 | { |
251 | { |
207 | switch (GPSInfo.satfix) |
252 | switch (GPSInfo.satfix) |
208 | { |
253 | { |
209 | case SATFIX_NONE: |
254 | case SATFIX_NONE: |
210 | LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
255 | LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
211 | break; |
256 | break; |
212 | case SATFIX_2D: |
257 | case SATFIX_2D: |
213 | LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
258 | LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
214 | break; |
259 | break; |
215 | case SATFIX_3D: |
260 | case SATFIX_3D: |
216 | LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
261 | LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
217 | break; |
262 | break; |
218 | default: |
263 | default: |
219 | LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
264 | LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
220 | break; |
265 | break; |
221 | } |
266 | } |
222 | int16_t i1,i2,i3; |
267 | int16_t i1,i2,i3; |
223 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
268 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
224 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
269 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
225 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
270 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
226 | LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
271 | LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
227 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
272 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
228 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
273 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
229 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
274 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
230 | LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
275 | LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
231 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
276 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
232 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
277 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
233 | LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
278 | LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
234 | } |
279 | } |
235 | break; |
280 | break; |
236 | #endif |
281 | #endif |
237 | #ifdef USE_KILLAGREG |
282 | #ifdef USE_KILLAGREG |
238 | case 13:// MM3 Kompass |
283 | case 13:// MM3 Kompass |
239 | LCD_printfxy(0,0,"MM3 Offset"); |
284 | LCD_printfxy(0,0,"MM3 Offset"); |
240 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
285 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
241 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
286 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
242 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
287 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
243 | break; |
288 | break; |
244 | case 14://MM3 Range |
289 | case 14://MM3 Range |
245 | LCD_printfxy(0,0,"MM3 Range"); |
290 | LCD_printfxy(0,0,"MM3 Range"); |
246 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
291 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
247 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
292 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
248 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
293 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
249 | break; |
294 | break; |
250 | #endif |
295 | #endif |
251 | 296 | ||
252 | default: MaxMenuItem = MenuItem - 1; |
297 | default: MaxMenuItem = MenuItem - 1; |
253 | MenuItem = 0; |
298 | MenuItem = 0; |
254 | break; |
299 | break; |
255 | } |
300 | } |
256 | RemoteKeys = 0; |
301 | RemoteKeys = 0; |
257 | } |
302 | } |
258 | 303 |