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/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + FOR NON COMMERCIAL USE ONLY
// + 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 permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: 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 this software (or part of it) 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 "91x_lib.h"
#include "printf_P.h"
#include "main.h"
#include "ubx.h"
#include "GPS.h"
#include "timer.h"
#include "i2c.h"
#include "spi_slave.h"
#include "menu.h"
#include "uart1.h"
s8 DisplayBuff
[DISPLAYBUFFSIZE
] = "Hello World";
u8 DispPtr
= 0;
u8 MenuItem
= 0;
u8 MaxMenuItem
= 14;
u8 RemoteKeys
= 0;
#define KEY1 0x01
#define KEY2 0x02
#define KEY3 0x04
#define KEY4 0x08
#define KEY5 0x10
/************************************/
/* Clear LCD Buffer */
/************************************/
void LCD_Clear
(void)
{
u8 i
;
for( i
= 0; i
< DISPLAYBUFFSIZE
; i
++) DisplayBuff
[i
] = ' ';
}
/************************************/
/* Update Menu on LCD */
/************************************/
// Display with 20 characters in 4 lines
void LCD_PrintMenu
(void)
{
s32 i1
,i2
;
u8 sign
;
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
)
{
// Version Info
case 0:
LCD_printfxy
(0,0,"++ Navi-Ctrl ++");
LCD_printfxy
(0,1," V%d.%d%c ", VERSION_MAJOR
, VERSION_MINOR
, 'a'+ VERSION_PATCH
);
if(ErrorCode
) LCD_printfxy
(11,1," Err:%d",ErrorCode
) else LCD_printfxy
(11,1," ");
LCD_printfxy
(0,2,"%s",ErrorMSG
);
LCD_printfxy
(0,3,"(c) Buss, Busker");
break;
case 1:
if (GPSData.
Status == INVALID
)
{
LCD_printfxy
(0,0,"No GPS data");
LCD_printfxy
(0,1,"Lon: ");
LCD_printfxy
(0,2,"Lat: ");
LCD_printfxy
(0,3,"Alt: ");
}
else // newdata or processed
{
switch (GPSData.
SatFix)
{
case SATFIX_NONE
:
LCD_printfxy
(0,0,"Sats:%02d Fix:None", GPSData.
NumOfSats);
break;
case SATFIX_2D
:
LCD_printfxy
(0,0,"Sats:%02d Fix:2D ", GPSData.
NumOfSats);
break;
case SATFIX_3D
:
LCD_printfxy
(0,0,"Sats:%02d Fix:3D ", GPSData.
NumOfSats);
break;
default:
LCD_printfxy
(0,0,"Sats:%02d Fix:?? ", GPSData.
NumOfSats);
break;
}
if(GPSData.
Position.
Longitude < 0) sign
= '-';
else sign
= '+';
i1
= abs(GPSData.
Position.
Longitude)/10000000L;
i2
= abs(GPSData.
Position.
Longitude)%10000000L
;
LCD_printfxy
(0,1,"Lon:%c%03ld.%07ld deg",sign
, i1
, i2
);
if(GPSData.
Position.
Latitude < 0) sign
= '-';
else sign
= '+';
i1
= abs(GPSData.
Position.
Latitude)/10000000L;
i2
= abs(GPSData.
Position.
Latitude)%10000000L
;
LCD_printfxy
(0,2,"Lat:%c%03ld.%07ld deg",sign
, i1
, i2
);
if(GPSData.
Position.
Altitude < 0) sign
= '-';
else sign
= '+';
i1
= abs(GPSData.
Position.
Altitude)/1000L;
i2
= abs(GPSData.
Position.
Altitude)%1000L
;
LCD_printfxy
(0,3,"Alt:%c%04ld.%03ld m", sign
, i1
, i2
);
}
break;
case 2:
if (GPSData.
Status == INVALID
)
{
LCD_printfxy
(0,0,"No GPS data");
LCD_printfxy
(0,1,"Speed N: ");
LCD_printfxy
(0,2,"Speed E: ");
LCD_printfxy
(0,3,"Speed T: ");
}
else // newdata or processed
{
switch (GPSData.
SatFix)
{
case SATFIX_NONE
:
LCD_printfxy
(0,0,"Sats:%02d Fix:None", GPSData.
NumOfSats);
break;
case SATFIX_2D
:
LCD_printfxy
(0,0,"Sats:%02d Fix:2D ", GPSData.
NumOfSats);
break;
case SATFIX_3D
:
LCD_printfxy
(0,0,"Sats:%02d Fix:3D ", GPSData.
NumOfSats);
break;
default:
LCD_printfxy
(0,0,"Sats:%02d Fix:?? ", GPSData.
NumOfSats);
break;
}
LCD_printfxy
(0,1,"Speed N: %+4ld cm/s",GPSData.
Speed_North);
LCD_printfxy
(0,2,"Speed E: %+4ld cm/s",GPSData.
Speed_East);
LCD_printfxy
(0,3,"Speed T: %+4ld cm/s",GPSData.
Speed_Top);
}
break;
case 3:
LCD_printfxy
(0,0,"GPS UTC Time");
if (!SystemTime.
Valid)
{
LCD_printfxy
(0,0,"GPS UTC Time");
LCD_printfxy
(0,1," ");
LCD_printfxy
(0,2," No time data! ");
LCD_printfxy
(0,3," ");
}
else // newdata or processed
{
LCD_printfxy
(0,1," ");
LCD_printfxy
(0,2,"Date: %02i/%02i/%04i",SystemTime.
Month, SystemTime.
Day, SystemTime.
Year);
LCD_printfxy
(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.
Hour, SystemTime.
Min, SystemTime.
Sec, SystemTime.
mSec);
}
break;
case 4: // Navi Params 1 from FC
LCD_printfxy
(0,0,"NaviMode: %3i" , Parameter.
NaviGpsModeControl);
LCD_printfxy
(0,1,"G :%3i P :%3i ",Parameter.
NaviGpsGain, Parameter.
NaviGpsP);
LCD_printfxy
(0,2,"I :%3i D :%3i ",Parameter.
NaviGpsI, Parameter.
NaviGpsD);
LCD_printfxy
(0,3,"ACC:%3i SAT:%3i ",Parameter.
NaviGpsACC, Parameter.
NaviGpsMinSat);
break;
case 5: // Navi Params 2 from FC
LCD_printfxy
(0,0,"Stick TS: %3i", Parameter.
NaviStickThreshold);
LCD_printfxy
(0,1,"MaxRadius: %3i m", Parameter.
NaviOperatingRadius);
LCD_printfxy
(0,2,"WindCorr: %3i", Parameter.
NaviWindCorrection);
LCD_printfxy
(0,3,"SpeedComp: %3i", Parameter.
NaviSpeedCompensation);
break;
case 6: // Navi Params 3 from FC
LCD_printfxy
(0,0,"Angle-Limit: %3i", Parameter.
NaviAngleLimitation);
LCD_printfxy
(0,1," P-Limit: %3i", Parameter.
NaviGpsPLimit);
LCD_printfxy
(0,2," I-Limit: %3i", Parameter.
NaviGpsILimit);
LCD_printfxy
(0,3," D-Limit: %3i", Parameter.
NaviGpsDLimit);
break;
case 7:
LCD_printfxy
(0,0,"Home Position");
if(GPS_HomePosition.
Status == INVALID
)
{
LCD_printfxy
(0,1," ");
LCD_printfxy
(0,2," Is not set. ");
LCD_printfxy
(0,3," ");
}
else
{
if(GPS_HomePosition.
Longitude < 0) sign
= '-';
else sign
= '+';
i1
= abs(GPS_HomePosition.
Longitude)/10000000L;
i2
= abs(GPS_HomePosition.
Longitude)%10000000L
;
LCD_printfxy
(0,1,"Lon:%c%03ld.%07ld deg",sign
, i1
, i2
);
if(GPS_HomePosition.
Latitude < 0) sign
= '-';
else sign
= '+';
i1
= abs(GPS_HomePosition.
Latitude)/10000000L;
i2
= abs(GPS_HomePosition.
Latitude)%10000000L
;
LCD_printfxy
(0,2,"Lat:%c%03ld.%07ld deg",sign
, i1
, i2
);
if(GPS_HomePosition.
Altitude < 0) sign
= '-';
else sign
= '+';
i1
= abs(GPS_HomePosition.
Altitude)/1000L;
i2
= abs(GPS_HomePosition.
Altitude)%1000L
;
LCD_printfxy
(0,3,"Alt:%c%04ld.%03ld m",sign
, i1
, i2
);
}
break;
case 8: // RC stick controls from FC
LCD_printfxy
(0,0,"RC-Sticks" );
LCD_printfxy
(0,1,"Ni:%4i Ro:%4i ",FC.
StickNick, FC.
StickRoll);
LCD_printfxy
(0,2,"Gs:%4i Ya:%4i ",FC.
StickGas, FC.
StickYaw);
break;
case 9: // RC poti controls from FC
LCD_printfxy
(0,0,"RC-Potis" );
LCD_printfxy
(0,1,"Po1:%3i Po2:%3i ",FC.
Poti1, FC.
Poti2);
LCD_printfxy
(0,2,"Po3:%3i Po4:%3i ",FC.
Poti3, FC.
Poti4);
break;
case 10: // attitude from FC
if(FromFlightCtrl.
AngleNick < 0) sign
= '-';
else sign
= '+';
i1
= abs(FromFlightCtrl.
AngleNick)/10;
i2
= abs(FromFlightCtrl.
AngleNick)%10;
LCD_printfxy
(0,0,"GyroNick:%c%03i.%01i", sign
, i1
, i2
);
if(FromFlightCtrl.
AngleRoll < 0) sign
= '-';
else sign
= '+';
i1
= abs(FromFlightCtrl.
AngleRoll)/10;
i2
= abs(FromFlightCtrl.
AngleRoll)%10;
LCD_printfxy
(0,1,"GyroRoll:%c%03i.%01i", sign
, i1
, i2
);
if(FromFlightCtrl.
AccNick < 0) sign
= '-';
else sign
= '+';
i1
= abs(FromFlightCtrl.
AccNick)/10;
i2
= abs(FromFlightCtrl.
AccNick)%10;
LCD_printfxy
(0,2," AccNick:%c%03i.%01i", sign
, i1
, i2
);
if(FromFlightCtrl.
AccRoll < 0) sign
= '-';
else sign
= '+';
i1
= abs(FromFlightCtrl.
AccRoll)/10;
i2
= abs(FromFlightCtrl.
AccRoll)%10;
LCD_printfxy
(0,3," AccRoll:%c%03i.%01i", sign
, i1
, i2
);
break;
case 11: // gyros from FC
LCD_printfxy
(0,0,"GyroNick: %4i", FromFlightCtrl.
GyroNick);
LCD_printfxy
(0,1,"GyroRoll: %4i", FromFlightCtrl.
GyroRoll);
LCD_printfxy
(0,2,"GyroYaw: %4i", FromFlightCtrl.
GyroYaw);
break;
case 12: // Remote Control Level from FC
LCD_printfxy
(0,0,"RC-Level: %3i", FC.
RC_Quality);
LCD_printfxy
(0,1,"Ubat: %3i.%1i V", FC.
UBat/10, FC.
UBat%10);
LCD_printfxy
(0,2,"CompHeading: %3i", I2C_Heading.
Heading);
LCD_printfxy
(0,3,"GyroHeading: %3i", FromFlightCtrl.
GyroHeading/10);
break;
case 13: // User Parameter
LCD_printfxy
(0,0,"UP1:%3i UP2:%3i ",Parameter.
User1,Parameter.
User2);
LCD_printfxy
(0,1,"UP3:%3i UP4:%3i ",Parameter.
User3,Parameter.
User4);
LCD_printfxy
(0,2,"UP5:%3i UP6:%3i ",Parameter.
User5,Parameter.
User6);
LCD_printfxy
(0,3,"UP7:%3i UP8:%3i ",Parameter.
User7,Parameter.
User8);
break;
case 14: // MK3MAG
I2C1_SendCommand
(I2C_CMD_READ_MAG
);
LCD_printfxy
(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.
Major, MK3MAG_Version.
Minor, 'a'+ MK3MAG_Version.
Patch);
LCD_printfxy
(0,1,"MagX: %4i ",I2C_Mag.
MagX);
LCD_printfxy
(0,2,"MagY: %4i ",I2C_Mag.
MagY);
LCD_printfxy
(0,3,"MagZ: %4i ",I2C_Mag.
MagZ);
break;
default:
MaxMenuItem
= MenuItem
- 1;
MenuItem
= 0;
break;
}
RemoteKeys
= 0;
}