WebSVN - FlightCtrl - Diff - Rev 1179 and 1180 - /branches/V0.72p Code Redesign killagreg/menu.c

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
-// + only for non-profit use
+// + Nur für den privaten Gebrauch
 // + www.MikroKopter.com
-// + see the File "License.txt" for further Informations
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + 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 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 permittet
+// +     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 to systems other than 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 <inttypes.h>
 #include "main.h"
 #include "eeprom.h"
 #include "timer2.h"
 #include "fc.h"
 #include "rc.h"
-#include "uart.h"
+#include "uart0.h"
 #include "printf_P.h"
 #include "analog.h"
 #ifdef USE_KILLAGREG
 #include "mm3.h"
 #endif
 #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
 #include "ubx.h"
 #endif
-#include "_Settings.h"
 #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG))
 uint8_t MaxMenuItem = 11;
 #else
 #ifdef USE_MK3MAG
 uint8_t MaxMenuItem = 12;
 #endif
 #ifdef USE_KILLAGREG
 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
 #define DISPLAYBUFFSIZE 80
 int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
 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');
+           #ifndef USE_QUADRO
+                   LCD_printfxy(0,2,"OCTO    Setting: %d ", GetActiveParamSet());
+           #else
-           LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
+           LCD_printfxy(0,2,"QUADRO  Setting: %d ", GetActiveParamSet());
+           #endif
            LCD_printfxy(0,3,"(c) Holger Buss");
            break;
     case 1:// Height Control Menu Item
           if(ParamSet.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",ReadingAirPressure);
            LCD_printfxy(0,3,"Offset    :%5i",PressureSensorOffset);
+           }
            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",IntegralNick/1024);
+           LCD_printfxy(0,1,"Nick:      %5i",IntegralGyroNick/1024);
-           LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
+           LCD_printfxy(0,2,"Roll:      %5i",IntegralGyroRoll/1024);
            LCD_printfxy(0,3,"Heading:   %5i",CompassHeading);
            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[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
            LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
            LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]);
            LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]);
            break;
         case 5:// Gyro Sensor Menu Item
            LCD_printfxy(0,0,"Gyro - Sensor");
            switch(BoardRelease)
+           {
                         case 10:
-                           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick);
+                           LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY);
-                           LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
+                           LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY);
-                           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdNeutralYaw  - AdValueGyrYaw , AdNeutralYaw);
+                           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw);
                            break;
                         case 11:
                         case 12:
-                        case 20:
+                        case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
-                           LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2);
+                           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)
-                           LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
+                           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)
-                           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdNeutralYaw  - AdValueGyrYaw , AdNeutralYaw/2);
+                           LCD_printfxy(0,3,"Yaw  %4i (%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw/2);
                            break;
                         case 13:
-                        default:
+                        default: // divice Offests by 2 becuse 2 samples are added in adc isr
-                           LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2, AnalogOffsetNick);
+                           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)
-                           LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2, AnalogOffsetRoll);
+                           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)
-                           LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdNeutralYaw  - AdValueGyrYaw , AdNeutralYaw/2 , AnalogOffsetYaw );
+                           LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",AdBiasGyroYaw  - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw );
                            break;
+          }
           break;
     case 6:// Acceleration Sensor Menu Item
            LCD_printfxy(0,0,"ACC - Sensor");
-           LCD_printfxy(0,1,"Nick   %4i (%3i)",AdValueAccNick, NeutralAccX);
+           LCD_printfxy(0,1,"Nick   %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR
-           LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll, NeutralAccY);
+           LCD_printfxy(0,2,"Roll   %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR
-           LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);
+           LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop);
            break;
     case 7:// Accumulator Voltage / Remote Control Level
-           LCD_printfxy(0,1,"Voltage:  %5i",UBat);
+           LCD_printfxy(0,1,"Voltage:  %3i.%1iV",UBat/10, UBat%10);
            LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality);
            break;
     case 8:// Compass Menu Item
            LCD_printfxy(0,0,"Compass       ");
            LCD_printfxy(0,1,"Course:    %5i",CompassCourse);
            LCD_printfxy(0,2,"Heading:   %5i",CompassHeading);
            LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse);
            break;
     case 9:// Poti Menu Item
                    LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion
                    LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion
                    LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion
                    LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion
            break;
     case 10:// Servo Menu Item
            LCD_printfxy(0,0,"Servo  " );
            LCD_printfxy(0,1,"Setpoint  %3i",FCParam.ServoNickControl);
-           LCD_printfxy(0,2,"Position: %3i",ServoValue);
+           LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
            LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax);
            break;
     case 11://Extern Control
            LCD_printfxy(0,0,"ExternControl  " );
            LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",ExternControl.Nick, ExternControl.Roll);
            LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",ExternControl.Gas, ExternControl.Yaw);
            LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ",ExternControl.Height, ExternControl.Config);
            break;
     #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
         case 12://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.%.3d%.3d 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.%.3d%.3d deg",i1, i2, i3);
                                 i1 = (int16_t)(GPSInfo.altitude/1000L);
                                 i2 = abs((int16_t)(GPSInfo.altitude%1000L));
                                 LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2);
+                        }
                         break;
         #endif
         #ifdef USE_KILLAGREG
         case 13:// MM3 Kompass
                         LCD_printfxy(0,0,"MM3 Offset");
                         LCD_printfxy(0,1,"X_Offset:  %3i",MM3_calib.X_off);
                         LCD_printfxy(0,2,"Y_Offset:  %3i",MM3_calib.Y_off);
                         LCD_printfxy(0,3,"Z_Offset:  %3i",MM3_calib.Z_off);
                         break;
         case 14://MM3 Range
                         LCD_printfxy(0,0,"MM3 Range");
                         LCD_printfxy(0,1,"X_Range:  %4i",MM3_calib.X_range);
                         LCD_printfxy(0,2,"Y_Range:  %4i",MM3_calib.Y_range);
                         LCD_printfxy(0,3,"Z_Range:  %4i",MM3_calib.Z_range);
                         break;
         #endif
     default: MaxMenuItem = MenuItem - 1;
              MenuItem = 0;
            break;
+    }
     RemoteKeys = 0;
+}

Subversion Repositories FlightCtrl

(root)/branches/V0.72p Code Redesign killagreg/menu.c @ 1320 - Rev 1179 → 1180