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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 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | 7 | ||
8 | 8 | ||
9 | #include <inttypes.h> |
9 | #include <inttypes.h> |
10 | #include "main.h" |
10 | #include "main.h" |
11 | #include "eeprom.h" |
11 | #include "eeprom.h" |
12 | #include "timer2.h" |
12 | #include "timer2.h" |
13 | #include "fc.h" |
13 | #include "fc.h" |
14 | #include "rc.h" |
14 | #include "rc.h" |
15 | #include "uart.h" |
15 | #include "uart.h" |
16 | #include "printf_P.h" |
16 | #include "printf_P.h" |
17 | #include "analog.h" |
17 | #include "analog.h" |
18 | #include "mm3.h" |
18 | #include "mm3.h" |
19 | #include "ubx.h" |
19 | #include "ubx.h" |
20 | #include "_Settings.h" |
20 | #include "_Settings.h" |
21 | 21 | ||
22 | #define ARRAYSIZE 10 |
22 | #define ARRAYSIZE 10 |
23 | uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
23 | uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
24 | #define DISPLAYBUFFSIZE 80 |
24 | #define DISPLAYBUFFSIZE 80 |
25 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
25 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
26 | uint8_t DispPtr = 0; |
26 | uint8_t DispPtr = 0; |
27 | uint8_t RemoteButtons = 0; |
27 | uint8_t RemoteButtons = 0; |
28 | 28 | ||
29 | #define KEY1 0x01 |
29 | #define KEY1 0x01 |
30 | #define KEY2 0x02 |
30 | #define KEY2 0x02 |
31 | #define KEY3 0x04 |
31 | #define KEY3 0x04 |
32 | #define KEY4 0x08 |
32 | #define KEY4 0x08 |
33 | #define KEY5 0x10 |
33 | #define KEY5 0x10 |
34 | 34 | ||
35 | /************************************/ |
35 | /************************************/ |
36 | /* Clear LCD Buffer */ |
36 | /* Clear LCD Buffer */ |
37 | /************************************/ |
37 | /************************************/ |
38 | void LCD_Clear(void) |
38 | void LCD_Clear(void) |
39 | { |
39 | { |
40 | uint8_t i; |
40 | uint8_t i; |
41 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
41 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
42 | } |
42 | } |
43 | 43 | ||
44 | 44 | ||
45 | /************************************/ |
45 | /************************************/ |
46 | /* Update Menu on LCD */ |
46 | /* Update Menu on LCD */ |
47 | /************************************/ |
47 | /************************************/ |
48 | // Display with 20 characters in 4 lines |
48 | // Display with 20 characters in 4 lines |
49 | void LCD_PrintMenu(void) |
49 | void LCD_PrintMenu(void) |
50 | { |
50 | { |
51 | static uint8_t MaxMenuItem = 14, MenuItem=0; |
51 | static uint8_t MaxMenuItem = 14, MenuItem=0; |
52 | 52 | ||
53 | // if KEY1 is activated goto previous menu item |
53 | // if KEY1 is activated goto previous menu item |
54 | if(RemoteButtons & KEY1) |
54 | if(RemoteButtons & KEY1) |
55 | { |
55 | { |
56 | if(MenuItem) MenuItem--; |
56 | if(MenuItem) MenuItem--; |
57 | else MenuItem = MaxMenuItem; |
57 | else MenuItem = MaxMenuItem; |
58 | LCD_Clear(); |
58 | LCD_Clear(); |
59 | RemotePollDisplayLine = -1; |
59 | RemotePollDisplayLine = -1; |
60 | } |
60 | } |
61 | // if KEY2 is activated goto next menu item |
61 | // if KEY2 is activated goto next menu item |
62 | if(RemoteButtons & KEY2) |
62 | if(RemoteButtons & KEY2) |
63 | { |
63 | { |
64 | if (MenuItem == MaxMenuItem) MenuItem = 0; |
64 | if (MenuItem == MaxMenuItem) MenuItem = 0; |
65 | else MenuItem++; |
65 | else MenuItem++; |
66 | LCD_Clear(); |
66 | LCD_Clear(); |
67 | RemotePollDisplayLine = -1; |
67 | RemotePollDisplayLine = -1; |
68 | } |
68 | } |
69 | 69 | ||
70 | // if KEY1 and KEY2 is activated goto initial menu item |
70 | // if KEY1 and KEY2 is activated goto initial menu item |
71 | if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
71 | if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
72 | 72 | ||
73 | // print menu item number in the upper right corner |
73 | // print menu item number in the upper right corner |
74 | if(MenuItem < 10) |
74 | if(MenuItem < 10) |
75 | { |
75 | { |
76 | LCD_printfxy(17,0,"[%i]",MenuItem); |
76 | LCD_printfxy(17,0,"[%i]",MenuItem); |
77 | } |
77 | } |
78 | else |
78 | else |
79 | { |
79 | { |
80 | LCD_printfxy(16,0,"[%i]",MenuItem); |
80 | LCD_printfxy(16,0,"[%i]",MenuItem); |
81 | } |
81 | } |
82 | 82 | ||
83 | switch(MenuItem) |
83 | switch(MenuItem) |
84 | { |
84 | { |
85 | case 0:// Version Info Menu Item |
85 | case 0:// Version Info Menu Item |
86 | LCD_printfxy(0,0,"+ MikroKopter +"); |
86 | LCD_printfxy(0,0,"+ MikroKopter +"); |
87 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
87 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
88 | LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
88 | LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
89 | LCD_printfxy(0,3,"(c) Holger Buss"); |
89 | LCD_printfxy(0,3,"(c) Holger Buss"); |
90 | break; |
90 | break; |
91 | case 1:// Hight Control Menu Item |
91 | case 1:// Hight Control Menu Item |
92 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
92 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
93 | { |
93 | { |
94 | LCD_printfxy(0,0,"Hight: %5i",ReadingHight); |
94 | LCD_printfxy(0,0,"Hight: %5i",ReadingHight); |
95 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHight); |
95 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHight); |
96 | LCD_printfxy(0,2,"Air Press.: %5i",ReadingAirPressure); |
96 | LCD_printfxy(0,2,"Air Press.: %5i",ReadingAirPressure); |
97 | LCD_printfxy(0,3,"Offset : %5i",DruckOffsetSetting); |
97 | LCD_printfxy(0,3,"Offset : %5i",PressureSensorOffset); |
98 | } |
98 | } |
99 | else |
99 | else |
100 | { |
100 | { |
101 | LCD_printfxy(0,1,"No "); |
101 | LCD_printfxy(0,1,"No "); |
102 | LCD_printfxy(0,2,"Hight Control"); |
102 | LCD_printfxy(0,2,"Hight Control"); |
103 | } |
103 | } |
104 | 104 | ||
105 | break; |
105 | break; |
106 | case 2:// Attitude Menu Item |
106 | case 2:// Attitude Menu Item |
107 | LCD_printfxy(0,0,"Attitude"); |
107 | LCD_printfxy(0,0,"Attitude"); |
108 | LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024); |
108 | LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024); |
109 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
109 | LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
110 | LCD_printfxy(0,3,"Compass: %5i",CompassHeading); |
110 | LCD_printfxy(0,3,"Compass: %5i",CompassHeading); |
111 | break; |
111 | break; |
112 | case 3:// Remote Control Channel Menu Item |
112 | case 3:// Remote Control Channel Menu Item |
113 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
113 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
114 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
114 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
115 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
115 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
116 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
116 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
117 | break; |
117 | break; |
118 | case 4:// Remote Control Mapping Menu Item |
118 | case 4:// Remote Control Mapping Menu Item |
119 | LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
119 | LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
120 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
120 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
121 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
121 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
122 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
122 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
123 | break; |
123 | break; |
124 | case 5:// Gyro Sensor Menu Item |
124 | case 5:// Gyro Sensor Menu Item |
125 | LCD_printfxy(0,0,"Gyro - Sensor"); |
125 | LCD_printfxy(0,0,"Gyro - Sensor"); |
126 | if(BoardRelease == 10) |
126 | if(BoardRelease == 10) |
127 | { |
127 | { |
128 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch); |
128 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch); |
129 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
129 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
130 | LCD_printfxy(0,3,"Yaw %4i (%3i)",ReadingYaw, AdNeutralYaw); |
130 | LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw); |
131 | } |
131 | } |
132 | else |
132 | else |
133 | { |
133 | { |
134 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2); |
134 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2); |
135 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
135 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
136 | LCD_printfxy(0,3,"Yaw %4i (%3i)",ReadingYaw, AdNeutralYaw/2); |
136 | LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2); |
137 | } |
137 | } |
138 | break; |
138 | break; |
139 | case 6:// Acceleration Sensor Menu Item |
139 | case 6:// Acceleration Sensor Menu Item |
140 | LCD_printfxy(0,0,"ACC - Sensor"); |
140 | LCD_printfxy(0,0,"ACC - Sensor"); |
141 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX); |
141 | LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX); |
142 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
142 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
143 | LCD_printfxy(0,3,"Hight %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
143 | LCD_printfxy(0,3,"Hight %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
144 | break; |
144 | break; |
145 | case 7:// Accumulator Voltage / Remote Control Level |
145 | case 7:// Accumulator Voltage / Remote Control Level |
146 | LCD_printfxy(0,1,"Voltage: %5i",UBat); |
146 | LCD_printfxy(0,1,"Voltage: %5i",UBat); |
147 | LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay); |
147 | LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay); |
148 | break; |
148 | break; |
149 | case 8:// Compass Menu Item |
149 | case 8:// Compass Menu Item |
150 | LCD_printfxy(0,0,"Compass "); |
150 | LCD_printfxy(0,0,"Compass "); |
151 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
151 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
152 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
152 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
153 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
153 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
154 | break; |
154 | break; |
155 | case 9:// Poti Menu Item |
155 | case 9:// Poti Menu Item |
156 | LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
156 | LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
157 | LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
157 | LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
158 | LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
158 | LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
159 | LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
159 | LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
160 | break; |
160 | break; |
161 | case 10:// Servo Menu Item |
161 | case 10:// Servo Menu Item |
162 | LCD_printfxy(0,0,"Servo " ); |
162 | LCD_printfxy(0,0,"Servo " ); |
163 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl); |
163 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl); |
164 | LCD_printfxy(0,2,"Position: %3i",ServoValue); |
164 | LCD_printfxy(0,2,"Position: %3i",ServoValue); |
165 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax); |
165 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax); |
166 | break; |
166 | break; |
167 | case 11://Extern Control |
167 | case 11://Extern Control |
168 | LCD_printfxy(0,0,"ExternControl " ); |
168 | LCD_printfxy(0,0,"ExternControl " ); |
169 | LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll); |
169 | LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll); |
170 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw); |
170 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw); |
171 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight, ExternControl.Config); |
171 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight, ExternControl.Config); |
172 | break; |
172 | break; |
173 | case 12:// MM3 Kompass |
173 | case 12:// MM3 Kompass |
174 | LCD_printfxy(0,0,"MM3 Offset"); |
174 | LCD_printfxy(0,0,"MM3 Offset"); |
175 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
175 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
176 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
176 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
177 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
177 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
178 | break; |
178 | break; |
179 | case 13://MM3 Range |
179 | case 13://MM3 Range |
180 | LCD_printfxy(0,0,"MM3 Range"); |
180 | LCD_printfxy(0,0,"MM3 Range"); |
181 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
181 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
182 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
182 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
183 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
183 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
184 | break; |
184 | break; |
185 | case 14://GPS Status |
185 | case 14://GPS Status |
186 | LCD_printfxy(0,0,"GPS Status"); |
186 | LCD_printfxy(0,0,"GPS Status"); |
187 | if (GPSInfo.status == INVALID) |
187 | if (GPSInfo.status == INVALID) |
188 | { |
188 | { |
189 | LCD_printfxy(0,1,"No data available!"); |
189 | LCD_printfxy(0,1,"No data available!"); |
190 | } |
190 | } |
191 | else |
191 | else |
192 | { |
192 | { |
193 | switch (GPSInfo.satfix) |
193 | switch (GPSInfo.satfix) |
194 | { |
194 | { |
195 | case SATFIX_NONE: |
195 | case SATFIX_NONE: |
196 | LCD_printfxy(0,1,"Satfix: None"); |
196 | LCD_printfxy(0,1,"Satfix: None"); |
197 | break; |
197 | break; |
198 | case SATFIX_2D: |
198 | case SATFIX_2D: |
199 | LCD_printfxy(0,1,"Satfix: 2D"); |
199 | LCD_printfxy(0,1,"Satfix: 2D"); |
200 | break; |
200 | break; |
201 | case SATFIX_3D: |
201 | case SATFIX_3D: |
202 | LCD_printfxy(0,1,"Satfix: 3D"); |
202 | LCD_printfxy(0,1,"Satfix: 3D"); |
203 | break; |
203 | break; |
204 | default: |
204 | default: |
205 | LCD_printfxy(0,1,"Satfix: Unknown"); |
205 | LCD_printfxy(0,1,"Satfix: Unknown"); |
206 | break; |
206 | break; |
207 | } |
207 | } |
208 | } |
208 | } |
209 | break; |
209 | break; |
210 | default: MaxMenuItem = MenuItem - 1; |
210 | default: MaxMenuItem = MenuItem - 1; |
211 | MenuItem = 0; |
211 | MenuItem = 0; |
212 | break; |
212 | break; |
213 | } |
213 | } |
214 | RemoteButtons = 0; |
214 | RemoteButtons = 0; |
215 | } |
215 | } |
216 | 216 |