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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
#include "eeprom.h"
char DisplayBuff[80] = "Hello World";
unsigned char DispPtr = 0;
unsigned char MaxMenue = 17;
unsigned char MenuePunkt = 0;
unsigned char RemoteKeys = 0;
#define KEY1 0x01
#define KEY2 0x02
#define KEY3 0x04
#define KEY4 0x08
#define KEY5 0x10
void LcdClear(void)
{
unsigned char i;
for(i=0;i<80;i++) DisplayBuff[i] = ' ';
}
void Menu_Putchar(char c)
{
DisplayBuff[DispPtr++] = c;
}
void Menu(void)
{
if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;}
if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;}
if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0;
LcdClear();
if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);}
else {LCD_printfxy(16,0,"[%i]",MenuePunkt);};
switch(MenuePunkt)
{
case 0:
LCD_printfxy(0,0,"+ MikroKopter +");
LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a');
LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name);
if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0])
else
if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor)
else
if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!")
else
// if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1])
// else
if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!")
break;
case 1:
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5));
LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5));
LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck);
LCD_printfxy(0,3,"Offset: %5i",OCR0A);
}
else
{
LCD_printfxy(0,0,"Height control");
LCD_printfxy(0,1,"DISABLED");
LCD_printfxy(0,2,"Height control");
LCD_printfxy(0,3,"DISABLED");
}
break;
case 2:
LCD_printfxy(0,0,"act. bearing");
LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024);
LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024);
LCD_printfxy(0,3,"Compass: %5i",KompassValue);
break;
case 3:
LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]);
LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]);
LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]);
LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]);
break;
case 4:
LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);
LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127);
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127);
break;
case 5:
LCD_printfxy(0,0,"Gyro - Sensor");
if(PlatinenVersion == 10)
{
LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8);
LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8);
LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier);
}
else
if((PlatinenVersion == 11) || (PlatinenVersion >= 20))
{
LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2);
LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2);
LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2);
}
else
if(PlatinenVersion == 13)
{
LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick);
LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll);
LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier);
}
break;
case 6:
LCD_printfxy(0,0,"ACC - Sensor");
LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX);
LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY);
LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ);
break;
case 7:
LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10);
LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower);
LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity);
break;
case 8:
LCD_printfxy(0,0,"Receiver");
LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]);
LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay);
LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1);
break;
case 9:
LCD_printfxy(0,0,"Compass");
LCD_printfxy(0,1,"Heading: %5i",KompassRichtung);
LCD_printfxy(0,2,"Value: %5i",KompassValue);
LCD_printfxy(0,3,"Soll: %5i",KompassSollWert);
break;
case 10:
LCD_printfxy(0,0,"Poti1: %3i",Poti[0]);
LCD_printfxy(0,1,"Poti2: %3i",Poti[1]);
LCD_printfxy(0,2,"Poti3: %3i",Poti[2]);
LCD_printfxy(0,3,"Poti4: %3i",Poti[3]);
break;
case 11:
LCD_printfxy(0,0,"Poti5: %3i",Poti[4]);
LCD_printfxy(0,1,"Poti6: %3i",Poti[5]);
LCD_printfxy(0,2,"Poti7: %3i",Poti[6]);
LCD_printfxy(0,3,"Poti8: %3i",Poti[7]);
break;
case 12:
LCD_printfxy(0,0,"Servo " );
LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl);
LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4);
LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);
break;
case 13:
LCD_printfxy(0,0,"ExternControl " );
LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll);
LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier);
LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config);
break;
case 14:
LCD_printfxy(0,0,"BL-Ctrl Errors " );
LCD_printfxy(0,1,"%3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK);
LCD_printfxy(0,2,"%3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK);
LCD_printfxy(0,3,"%3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK);
break;
case 15:
LCD_printfxy(0,0,"BL Temperature" );
LCD_printfxy(0,1,"%3i %3i %3i %3i ",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature);
LCD_printfxy(0,2,"%3i %3i %3i %3i ",Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature);
LCD_printfxy(0,3,"%3i %3i %3i %3i ",Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature);
break;
case 16:
LCD_printfxy(0,0,"BL-Ctrl found " );
LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7));
LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7));
LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7));
if(Motor[9].State>>7) LCD_printfxy(4,3,"10");
if(Motor[10].State>>7) LCD_printfxy(8,3,"11");
if(Motor[11].State>>7) LCD_printfxy(12,3,"12");
break;
case 17:
LCD_printfxy(0,0,"Flight-Time " );
LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt);
LCD_printfxy(0,2,"Act: %5umin",FlugMinuten);
LCD_printfxy(13,3,"(reset)");
if(RemoteKeys & KEY4)
{
FlugMinuten = 0;
SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
}
break;
default:
if(MenuePunkt == MaxMenue) MaxMenue--;
MenuePunkt = 0;
break;
}
RemoteKeys = 0;
}