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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <inttypes.h>
#include "main.h"
#include "eeprom.h"
#include "timer2.h"
#include "fc.h"
#include "rc.h"
#include "uart.h"
#include "printf_P.h"
#include "analog.h"
#include "mm3.h"
#include "ubx.h"
#include "_Settings.h"
#define ARRAYSIZE 10
uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10};
#define DISPLAYBUFFSIZE 80
int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
uint8_t DispPtr = 0;
uint8_t RemoteButtons = 0;
#define KEY1 0x01
#define KEY2 0x02
#define KEY3 0x04
#define KEY4 0x08
#define KEY5 0x10
/************************************/
/* 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)
{
static uint8_t MaxMenuItem = 16, MenuItem=0;
// if KEY1 is activated goto previous menu item
if(RemoteButtons & KEY1)
{
if(MenuItem) MenuItem--;
else MenuItem = MaxMenuItem;
LCD_Clear();
RemotePollDisplayLine = -1;
}
// if KEY2 is activated goto next menu item
if(RemoteButtons & KEY2)
{
if (MenuItem == MaxMenuItem) MenuItem = 0;
else MenuItem++;
LCD_Clear();
RemotePollDisplayLine = -1;
}
// if KEY1 and KEY2 is activated goto initial menu item
if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0;
// 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_INDEX+'a');
LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet());
LCD_printfxy(0,3,"(c) Holger Buss");
break;
case 1:// Hight Control Menu Item
if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
{
LCD_printfxy(0,0,"Hight: %5i",ReadingHight);
LCD_printfxy(0,1,"Set Point: %5i",SetPointHight);
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,"Hight Control");
}
break;
case 2:// Attitude Menu Item
LCD_printfxy(0,0,"Attitude");
LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024);
LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024);
LCD_printfxy(0,3,"Compass: %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,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],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");
if(BoardRelease == 10)
{
LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch);
LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll);
LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw);
}
else
{
LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2);
LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2);
LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2);
}
break;
case 6:// Acceleration Sensor Menu Item
LCD_printfxy(0,0,"ACC - Sensor");
LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX);
LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY);
LCD_printfxy(0,3,"Hight %4i (%3i)",Mean_AccTop, (int)NeutralAccZ);
break;
case 7:// Accumulator Voltage / Remote Control Level
LCD_printfxy(0,1,"Voltage: %5i",UBat);
LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay);
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,"Poti1: %3i",Poti1);
LCD_printfxy(0,1,"Poti2: %3i",Poti2);
LCD_printfxy(0,2,"Poti3: %3i",Poti3);
LCD_printfxy(0,3,"Poti4: %3i",Poti4);
break;
case 10:// Servo Menu Item
LCD_printfxy(0,0,"Servo " );
LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl);
LCD_printfxy(0,2,"Position: %3i",ServoValue);
LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax);
break;
case 11://Extern Control
LCD_printfxy(0,0,"ExternControl " );
LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll);
LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw);
LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight, ExternControl.Config);
break;
case 12:// 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 13://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;
case 14://GPS Lat/Lon coords
if (GPSInfo.status == INVALID)
{
LCD_printfxy(0,0,"No data available!");
}
else
{
switch (GPSInfo.satfix)
{
case SATFIX_NONE:
LCD_printfxy(0,0,"Satfix: None ");
break;
case SATFIX_2D:
LCD_printfxy(0,0,"Satfix: 2D ");
break;
case SATFIX_3D:
LCD_printfxy(0,0,"Satfix: 3D ");
break;
default:
LCD_printfxy(0,0,"Satfix: Unknown");
break;
}
LCD_printfxy(0,1,"Lon: %d.%d deg",GPSInfo.longitude/10000000L, (GPSInfo.longitude%10000000L)/10000L);
LCD_printfxy(0,2,"Lat: %d.%d deg",GPSInfo.latitude/10000000L, (GPSInfo.latitude%10000000L)/10000L);
LCD_printfxy(0,3,"Alt: %d.%d m",GPSInfo.altitude/1000L,GPSInfo.altitude%1000L);
}
break;
case 15://GPS UTM coords
if (GPSInfo.status == INVALID)
{
LCD_printfxy(0,0,"No data available!");
}
else
{
switch (GPSInfo.satfix)
{
case SATFIX_NONE:
LCD_printfxy(0,0,"No Satfix ");
break;
case SATFIX_2D:
LCD_printfxy(0,0,"Satfix: 2D ");
break;
case SATFIX_3D:
LCD_printfxy(0,0,"Satfix: 3D ");
break;
default:
LCD_printfxy(0,0,"Unknown Satfix ");
break;
}
LCD_printfxy(0,1,"N: %d",(int16_t)(GPSInfo.utmnorth/100L));
LCD_printfxy(0,2,"E: %d",(int16_t)(GPSInfo.utmeast/100L));
LCD_printfxy(0,3,"A: %d",(int16_t)(GPSInfo.utmalt/100L));
}
break;
case 16://GPS UTM velocity
if (GPSInfo.status == INVALID)
{
LCD_printfxy(0,0,"No data available!");
}
else
{
switch (GPSInfo.satfix)
{
case SATFIX_NONE:
LCD_printfxy(0,0,"No Satfix ");
break;
case SATFIX_2D:
LCD_printfxy(0,0,"Satfix: 2D ");
break;
case SATFIX_3D:
LCD_printfxy(0,0,"Satfix: 3D ");
break;
default:
LCD_printfxy(0,0,"Unknown Satfix ");
break;
}
LCD_printfxy(0,1,"VN: %d",GPSInfo.velnorth);
LCD_printfxy(0,2,"VE: %d",GPSInfo.veleast);
LCD_printfxy(0,3,"VA: %d",GPSInfo.veltop);
}
break;
default: MaxMenuItem = MenuItem - 1;
MenuItem = 0;
break;
}
RemoteButtons = 0;
}