Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur f�r den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zul�ssig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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",RCQuality);
                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;
}