WebSVN - FlightCtrl - /branches/dongfang_FC

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 example: 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 "eeprom.h"
#include "timer2.h"
#include "rc.h"
#include "externalControl.h"
#include "uart0.h"
#include "printf_P.h"
#include "analog.h"
#include "twimaster.h"
#include "attitude.h"

#if (!defined (USE_NAVICTRL))
uint8_t MaxMenuItem = 13;
#else
#ifdef USE_NAVICTRL
#include "gps.c"
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')
;
LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), mixerMatrix.name)
;
if (I2CTimeout < 6) {
LCD_printfxy(0,3,"I2C Error!!!");
} else if (missingMotor) {
LCD_printfxy(0,3,"Missing BL-Ctrl:%d", missingMotor);
} else LCD_printfxy(0,3,"(c) Holger Buss");
break;
/*
case 1:// Height Control Menu Item
if(staticParams.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",0);
LCD_printfxy(0,3,"Offset :%5i",0);
}
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", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL);
LCD_printfxy(0,2,"Roll: %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL);
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[channelMap.channels[CH_PITCH]], PPM_in[channelMap.channels[CH_ROLL]]);
LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[channelMap.channels[CH_THROTTLE]],PPM_in[channelMap.channels[CH_YAW]]);
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[channelMap.channels[CH_POTS]], PPM_in[channelMap.channels[CH_POTS+1]]);
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[channelMap.channels[CH_POTS+2]], PPM_in[channelMap.channels[CH_POTS+3]]);
break;
/*
case 5:// Gyro Sensor Menu Item
LCD_printfxy(0,0,"Gyro - Sensor");
switch(BoardRelease) {
case 10:
LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY);
LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY);
LCD_printfxy(0,3,"Yaw %4i (%3i)", AdValueGyroYaw , YawOffset);
break;
case 11:
case 12:
case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
LCD_printfxy(0,1,"Nick %4i (%3i.%i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
LCD_printfxy(0,2,"Roll %4i (%3i.%i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
LCD_printfxy(0,3,"Yaw %4i (%3i)",YawOffset - AdValueGyroYaw , YawOffset/2);
break;

case 13:
default: // divice Offests by 2 becuse 2 samples are added in adc isr
LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7)
LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7)
LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",YawOffset - AdValueGyroYaw , YawOffset/2, 0);
break;
}
break;
case 6:// Acceleration Sensor Menu Item
LCD_printfxy(0,0,"ACC - Sensor");
LCD_printfxy(0,1,"Nick %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
LCD_printfxy(0,2,"Roll %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
LCD_printfxy(0,3,"Height %4i (%3i)",0,0);
break;
*/
case 7:// Battery Voltage / Remote Control Level
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", ((540 + compassHeading - compassCourse) % 360) - 180);
break;
case 9:// Poti Menu Item
LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion
LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion
LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion
LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion
break;
/*
case 10:// Servo Menu Item
LCD_printfxy(0,0,"Servo " );
LCD_printfxy(0,1,"Setpoint %3i",dynamicParams.ServoNickControl);
LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
LCD_printfxy(0,3,"Range:%3i-%3i",staticParams.ServoNickMin, staticParams.ServoNickMax);
break;
*/
case 11://Extern Control
LCD_printfxy(0,0,"ExternControl " );
LCD_printfxy(0,1,"Ni:%4i Ro:%4i ", externalControl.pitch, externalControl.roll);
LCD_printfxy(0,2,"Gs:%4i Ya:%4i ", externalControl.throttle, externalControl.yaw);
LCD_printfxy(0,3,"Hi:%4i Cf:%4i ", externalControl.height, externalControl.config);
break;

case 12://BL Communication errors
LCD_printfxy(0,0,"BL-Ctrl Errors " );
LCD_printfxy(0,1," %3d %3d %3d %3d ",motor[0].Error,motor[1].Error,motor[2].Error,motor[3].Error);
LCD_printfxy(0,2," %3d %3d %3d %3d ",motor[4].Error,motor[5].Error,motor[6].Error,motor[7].Error);
LCD_printfxy(0,3," %3d %3d %3d %3d ",motor[8].Error,motor[9].Error,motor[10].Error,motor[11].Error);
break;

case 13://BL Overview
LCD_printfxy(0,0,"BL-Ctrl found " );
LCD_printfxy(0,1," %c %c %c %c ",motor[0].Present + '-',motor[1].Present + '-',motor[2].Present + '-',motor[3].Present + '-');
LCD_printfxy(0,2," %c %c %c %c ",motor[4].Present + '-',motor[5].Present + '-',motor[6].Present + '-',motor[7].Present + '-');
LCD_printfxy(0,3," %c - - - ",motor[8].Present + '-');
if (motor[9].Present)
LCD_printfxy(4,3,"10");
if (motor[10].Present)
LCD_printfxy(8,3,"11");
if (motor[11].Present)
LCD_printfxy(12,3,"12");
break;

#if (defined (USE_NAVICTRL))
case 14://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.%03d%03d 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.%03d%03d deg",i1, i2, i3);
i1 = (int16_t)(GPSInfo.altitude/1000L);
i2 = abs((int16_t)(GPSInfo.altitude%1000L));
LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2);
}
break;
#endif

default:
MaxMenuItem = MenuItem - 1;
MenuItem = 0;
break;
}
RemoteKeys = 0;
}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/menu.c @ 1967 - Rev