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Rev 2041 Rev 2048
Line 122... Line 122...
122 
                LCD_printfxy(16,0,"[%i]", menuItem);
 122 
    LCD_printfxy(16, 0, "[%i]", menuItem);
123 
        }
 123 
  }
Line 124... Line 124...
124 
 
 124 
 
125 
        switch (menuItem) {
 125 
  switch (menuItem) {
126 
        case 0:// Version Info Menu Item
 126 
  case 0: // Version Info Menu Item
- 
 
 127 
    LCD_printfxy(0, 0, "+ MikroKopter +");
- 
 
 128 
    LCD_printfxy(
127 
                LCD_printfxy(0,0,"+ MikroKopter +")
 129 
        0,
- 
 
 130 
        1,
128 
                ;
 131 
        "HW:V%d.%d SW:%d.%d%c",
129 
                LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",boardRelease/10,boardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a')
 - 
 
130 
                ;
 132 
        boardRelease/10, boardRelease%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');
131 
                LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), mixerMatrix.name)
 - 
 
132 
                ;
 133 
    LCD_printfxy(0, 2, "Setting: %d %s", getActiveParamSet(), mixerMatrix.name);
133 
                if (I2CTimeout < 6) {
 134 
    if (I2CTimeout < 6) {
134 
                        LCD_printfxy(0,3,"I2C Error!!!");
 135 
      LCD_printfxy(0, 3, "I2C Error!!!");
135 
                } else if (missingMotor) {
 136 
    } else if (missingMotor) {
- 
 
 137 
      LCD_printfxy(0, 3, "Missing BL-Ctrl:%d", missingMotor);
136 
                        LCD_printfxy(0,3,"Missing BL-Ctrl:%d", missingMotor);
 138 
    } else
137 
                } else LCD_printfxy(0,3,"(c) Holger Buss");
 139 
      LCD_printfxy(0, 3, "(c) Holger Buss");
138 
                break;
 140 
    break;
139 
                /*
 141 
    /*
140 
                 case 1:// Height Control Menu Item
 142 
     case 1:// Height Control Menu Item
141 
                 if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) {
 143 
     if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) {
Line 151... Line 153...
151 
                 }
 153 
     }
152 
                 break;
 154 
     break;
153 
                 */
 155 
     */
154 
        case 2:// Attitude Menu Item
 156 
  case 2: // Attitude Menu Item
155 
                LCD_printfxy(0,0,"Attitude");
 157 
    LCD_printfxy(0, 0, "Attitude");
- 
 
 158 
    LCD_printfxy(0, 1, "Nick:      %5i",
156 
                LCD_printfxy(0,1,"Nick:      %5i", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL);
 159 
        attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL);
- 
 
 160 
    LCD_printfxy(0, 2, "Roll:      %5i",
157 
                LCD_printfxy(0,2,"Roll:      %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL);
 161 
        attitude[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL);
158 
                LCD_printfxy(0,3,"Heading(M):%5i", magneticHeading);
 162 
    LCD_printfxy(0, 3, "Heading(M):%5i", magneticHeading);
159 
                break;
 163 
    break;
160 
        case 3:// Remote Control Channel Menu Item
 164 
  case 3: // Remote Control Channel Menu Item
161 
                LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
 165 
    LCD_printfxy(0, 0, "C1:%4i  C2:%4i ", PPM_in[1], PPM_in[2]);
162 
                LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
 166 
    LCD_printfxy(0, 1, "C3:%4i  C4:%4i ", PPM_in[3], PPM_in[4]);
163 
                LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
 167 
    LCD_printfxy(0, 2, "C5:%4i  C6:%4i ", PPM_in[5], PPM_in[6]);
164 
                LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
 168 
    LCD_printfxy(0, 3, "C7:%4i  C8:%4i ", PPM_in[7], PPM_in[8]);
165 
                break;
 169 
    break;
166 
        case 4:// Remote Control Mapping Menu Item
 170 
  case 4: // Remote Control Mapping Menu Item
- 
 
 171 
    LCD_printfxy(
- 
 
 172 
        0,
- 
 
 173 
        0,
- 
 
 174 
        "Ni:%4i  Ro:%4i ",
167 
                LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[channelMap.channels[CH_PITCH]],   PPM_in[channelMap.channels[CH_ROLL]]);
 175 
        PPM_in[channelMap.channels[CH_PITCH]], PPM_in[channelMap.channels[CH_ROLL]]);
- 
 
 176 
    LCD_printfxy(
- 
 
 177 
        0,
- 
 
 178 
        1,
- 
 
 179 
        "Gs:%4i  Ya:%4i ",
168 
                LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[channelMap.channels[CH_THROTTLE]],PPM_in[channelMap.channels[CH_YAW]]);
 180 
        PPM_in[channelMap.channels[CH_THROTTLE]], PPM_in[channelMap.channels[CH_YAW]]);
- 
 
 181 
    LCD_printfxy(
- 
 
 182 
        0,
- 
 
 183 
        2,
- 
 
 184 
        "P1:%4i  P2:%4i ",
169 
                LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[channelMap.channels[CH_POTS]],    PPM_in[channelMap.channels[CH_POTS+1]]);
 185 
        PPM_in[channelMap.channels[CH_POTS]], PPM_in[channelMap.channels[CH_POTS+1]]);
- 
 
 186 
    LCD_printfxy(
- 
 
 187 
        0,
- 
 
 188 
        3,
- 
 
 189 
        "P3:%4i  P4:%4i ",
170 
                LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[channelMap.channels[CH_POTS+2]],  PPM_in[channelMap.channels[CH_POTS+3]]);
 190 
        PPM_in[channelMap.channels[CH_POTS+2]], PPM_in[channelMap.channels[CH_POTS+3]]);
171 
                break;
 191 
    break;
172 
                /*
 192 
    /*
173 
                 case 5:// Gyro Sensor Menu Item
 193 
     case 5:// Gyro Sensor Menu Item
174 
                 LCD_printfxy(0,0,"Gyro - Sensor");
 194 
     LCD_printfxy(0,0,"Gyro - Sensor");
175 
                 switch(BoardRelease) {
 195 
     switch(BoardRelease) {
Line 205... Line 225...
205 
                LCD_printfxy(0,1,"Voltage:  %3i.%1iV",UBat/10, UBat%10);
 225 
    LCD_printfxy(0, 1, "Voltage:  %3i.%1iV", UBat/10, UBat%10);
206 
                LCD_printfxy(0,2,"RC-Level: %5i",RCQuality);
 226 
    LCD_printfxy(0, 2, "RC-Level: %5i", RCQuality);
207 
                break;
 227 
    break;
208 
        case 8:// Compass Menu Item
 228 
  case 8: // Compass Menu Item
209 
                LCD_printfxy(0,0,"Compass       ");
 229 
    LCD_printfxy(0, 0, "Compass       ");
210 
                LCD_printfxy(0,1,"Course:    %5i", compassCourse);
 230 
    LCD_printfxy(0, 0, "TODO: Impl.   ");
211 
                LCD_printfxy(0,2,"Heading:   %5i", magneticHeading);
 - 
 
212 
                LCD_printfxy(0,3,"OffCourse: %5i", ((540 + magneticHeading - compassCourse) % 360) - 180);
 - 
 
213 
                break;
 231 
    break;
214 
        case 9:// Poti Menu Item
 232 
  case 9: // Poti Menu Item
215 
                LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion
 233 
    LCD_printfxy(0, 0, "Variables     ");
216 
                LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion
 234 
    LCD_printfxy(0, 0, "TODO: Impl.   ");
217 
                LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion
 - 
 
218 
                LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion
 - 
 
219 
                break;
 235 
    break;
220 
                /*
 - 
 
221 
                 case 10:// Servo Menu Item
 236 
  case 10: // Servo Menu Item
222 
                 LCD_printfxy(0,0,"Servo  " );
 237 
    LCD_printfxy(0, 0, "Servos        ");
223 
                 LCD_printfxy(0,1,"Setpoint  %3i",dynamicParams.ServoNickControl);
 - 
 
224 
                 LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
 238 
    LCD_printfxy(0, 0, "TODO: Impl.   ");
225 
                 LCD_printfxy(0,3,"Range:%3i-%3i",staticParams.ServoNickMin, staticParams.ServoNickMax);
 - 
 
226 
                 break;
 239 
    break;
227 
                 */
 - 
 
228 
        case 11://Extern Control
 240 
  case 11: //Extern Control
229 
                LCD_printfxy(0,0,"ExternControl  " );
 241 
    LCD_printfxy(0, 0, "ExternControl  ");
- 
 
 242 
    LCD_printfxy(0, 1, "Ni:%4i  Ro:%4i ",
230 
                LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ", externalControl.pitch, externalControl.roll);
 243 
        externalControl.pitch, externalControl.roll);
- 
 
 244 
    LCD_printfxy(0, 2, "Gs:%4i  Ya:%4i ",
231 
                LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ", externalControl.throttle, externalControl.yaw);
 245 
        externalControl.throttle, externalControl.yaw);
- 
 
 246 
    LCD_printfxy(0, 3, "Hi:%4i  Cf:%4i ",
232 
                LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ", externalControl.height, externalControl.config);
 247 
        externalControl.height, externalControl.config);
233 
                break;
 248 
    break;
Line 234... Line 249...
234 
 
 249 
 
235 
        case 12://BL Communication errors
 250 
  case 12: //BL Communication errors
- 
 
 251 
    LCD_printfxy(0, 0, "BL-Ctrl Errors ");
236 
                LCD_printfxy(0,0,"BL-Ctrl Errors " );
 252 
    LCD_printfxy(0, 1, " %3d  %3d  %3d  %3d ",
- 
 
 253 
        motor[0].error, motor[1].error, motor[2].error, motor[3].error);
237 
                LCD_printfxy(0,1," %3d  %3d  %3d  %3d ",motor[0].error,motor[1].error,motor[2].error,motor[3].error);
 254 
    LCD_printfxy(0, 2, " %3d  %3d  %3d  %3d ",
- 
 
 255 
        motor[4].error, motor[5].error, motor[6].error, motor[7].error);
238 
                LCD_printfxy(0,2," %3d  %3d  %3d  %3d ",motor[4].error,motor[5].error,motor[6].error,motor[7].error);
 256 
    LCD_printfxy(0, 3, " %3d  %3d  %3d  %3d ",
239 
                LCD_printfxy(0,3," %3d  %3d  %3d  %3d ",motor[8].error,motor[9].error,motor[10].error,motor[11].error);
 257 
        motor[8].error, motor[9].error, motor[10].error, motor[11].error);
Line 240... Line 258...
240 
                break;
 258 
    break;
241 
 
 259 
 
- 
 
 260 
  case 13: //BL Overview
- 
 
 261 
    LCD_printfxy(0, 0, "BL-Ctrl found ");
- 
 
 262 
    LCD_printfxy(
- 
 
 263 
        0,
242 
        case 13://BL Overview
 264 
        1,
- 
 
 265 
        " %c   %c   %c   %c ",
- 
 
 266 
        motor[0].present + '-', motor[1].present + '-', motor[2].present + '-', motor[3].present + '-');
- 
 
 267 
    LCD_printfxy(
- 
 
 268 
        0,
243 
                LCD_printfxy(0,0,"BL-Ctrl found " );
 269 
        2,
244 
                LCD_printfxy(0,1," %c   %c   %c   %c ",motor[0].present + '-',motor[1].present + '-',motor[2].present + '-',motor[3].present + '-');
 270 
        " %c   %c   %c   %c ",
245 
                LCD_printfxy(0,2," %c   %c   %c   %c ",motor[4].present + '-',motor[5].present + '-',motor[6].present + '-',motor[7].present + '-');
 271 
        motor[4].present + '-', motor[5].present + '-', motor[6].present + '-', motor[7].present + '-');
246 
                LCD_printfxy(0,3," %c   -   -   - ",motor[8].present + '-');
 272 
    LCD_printfxy(0, 3, " %c   -   -   - ", motor[8].present + '-');
247 
                if (motor[9].present)
 273 
    if (motor[9].present)
248 
                        LCD_printfxy(4,3,"10");
 274 
      LCD_printfxy(4, 3, "10");