Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
Diff: menu.c
- Revision:
- 0:62a1c91a859a
- Child:
- 1:1e3318a30ddd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/menu.c Fri Feb 18 22:28:05 2011 +0000 @@ -0,0 +1,525 @@ +// =============================================================================================== +// = UAVXArm Quadrocopter Controller = +// = Copyright (c) 2008 by Prof. Greg Egan = +// = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer = +// = http://code.google.com/p/uavp-mods/ http://uavp.ch = +// =============================================================================================== + +// This is part of UAVXArm. + +// UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU +// General Public License as published by the Free Software Foundation, either version 3 of the +// License, or (at your option) any later version. + +// UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without +// even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. +// See the GNU General Public License for more details. + +// You should have received a copy of the GNU General Public License along with this program. +// If not, see http://www.gnu.org/licenses/ + +#include "UAVXArm.h" + +void ShowPrompt(void); +void ShowRxSetup(void); +void ShowSetup(boolean); +uint8 MakeUpper(uint8); +void ProcessCommand(void); + +const uint8 SerHello[] = "UAVXArm " + " Copyright 2008 G.K. Egan & 2007 W. Mahringer\r\n" + "This is FREE SOFTWARE and comes with ABSOLUTELY NO WARRANTY " + "see http://www.gnu.org/licenses/!\r\n"; +const uint8 SerHelp[] = "\r\nCommands:\r\n" + "A..Attitude test\r\n" + "C..Compass test\r\n" + "D..Load default parameter set\r\n" + "G..GPS test\r\n" + "H..Barometer/Rangefinder test\r\n" + "I..I2C bus scan\r\n" + "K..Calibrate compass scan\r\n" +// "M..Modify parameters\r\n" + "P..Rx test\r\n" + "S..Setup\r\n" + "T..All LEDs and buzzer test\r\n" + "V..Battery test\r\n" + "X..Flight stats\r\n" + "Y..Program YGE I2C ESC\r\n" + "1-8..Individual LED/buzzer test\r\n"; // last line must be in this form for UAVPSet + +const uint8 RxChMnem[] = "TAERG12"; + +uint8 MakeUpper(uint8 ch) { + if ( ( ch >='a') && ( ch <='z' ) ) + ch = (ch - 'a') + 'A'; + + return (ch); +} // MakeUpper + +void ShowPrompt(void) { + TxString("\r\n>"); +} // ShowPrompt + +void ShowRxSetup(void) { + if ( F.UsingSerialPPM ) + if ( PPMPosPolarity[P[TxRxType]] ) + TxString("Serial PPM frame (Positive Polarity)"); + else + TxString("Serial PPM frame (Negative Polarity)"); + else + TxString("Odd Rx Channels PPM"); +} // ShowRxSetup + +void ShowSetup(boolean h) { + int8 i; + + TxNextLine(); + if ( h ) + ParamSet = 1; + + TxString(SerHello); + + UpdateRTC(); + i = 0; + while ( RTCString[i] != NULL ) + TxChar(RTCString[i++]); + TxNextLine(); + + TxString("Clock: 92MHz LPC1768 (mbed)\r\n"); + + TxString("Aircraft: "); + switch ( UAVXAirframe ) { + case QuadAF: + TxString("QUADROCOPTER\r\n"); + break; + case TriAF: + TxString("TRICOPTER\r\n"); + break; + case VTAF: + TxString("VTCOPTER\r\n"); + break; + case HeliAF: + TxString("HELICOPTER\r\n"); + break; + case ElevAF: + TxString("FLYING WING\r\n"); + break; + case AilAF: + TxString("AILERON\r\n"); + break; + default: + TxString("UNKNOWN\r\n"); + } + + if ( F.CompassValid ) { + TxString("Compass: "); + ShowCompassType(); + TxString(" ( offset "); + TxVal32((int16)P[CompassOffsetQtr] * 90,0,0); + TxString("deg. )\r\n"); + } + + TxString("Baro: "); + ShowBaroType(); + + TxString("Accelerometers: "); + ShowAccType(); + TxNextLine(); + + TxString("Gyros: "); + ShowGyroType(); + TxNextLine(); + + TxString("Motor ESCs: "); + switch ( P[ESCType] ) { + case ESCPPM: + TxString("PPM "); + break; + case ESCHolger: + TxString("Holger I2C {"); + break; + case ESCX3D: + TxString("X-3D I2C {"); + break; + case ESCYGEI2C: + TxString("YGE I2C {"); + break; + } + + if ( P[ESCType] != ESCPPM ) { + for ( i = 0; i < NoOfI2CESCOutputs; i++ ) + if ( ESCI2CFail[i] ) + TxString(" Fail"); + else + TxString(" OK"); + TxString(" }"); + } + TxNextLine(); + + if ( F.HaveBatterySensor ) + TxString("External Volt/Amp Sensor Fitted\r\n"); +#ifdef RX6CH + TxString("6 CHANNEL VERSION - 5 ACTIVE CHANNELS ONLY\r\n"); +#endif // RX6CH + + TxString("Tx/Rx: "); + + switch ( P[TxRxType] ) { + case FutabaCh3: + TxString("Futaba Th 3 {"); + break; + case FutabaCh2: + TxString("Futaba Th 2 {"); + break; + case FutabaDM8: + TxString("Futaba DM8 & AR7000 {"); + break; + case JRPPM: + TxString("JR PPM {"); + break; + case JRDM9: + TxString("JR DM9 & AR7000{"); + break; + case JRDXS12: + TxString("JR DSX12 & AR7000 {"); + break; + case DX7AR7000: + TxString("Spektrum DX7 & AR7000 {"); + break; + case DX7AR6200: + TxString("Spektrum DX7 & AR6200 {"); + break; + case CustomTxRx: + TxString("Custom {"); + break; + case FutabaCh3_6_7: + TxString("Futaba Th 2 Swap 6&7 {"); + break; + case DX7AR6000: + TxString("Spektrum DX7 & AR6000 {"); + break; + case DX6iAR6200: + TxString("Spektrum DX6i & AR6200 {"); + break; + case FutabaCh3_R617FS: + TxString("Futaba Th 3 & R617FS {"); + break; + case GraupnerMX16s: + TxString("Graupner MX16s {"); + break; + case DX7aAR7000: + TxString("Spektrum DX7a & AR7000 {"); + break; + case FrSkyDJT_D8R: + TxString("FrSky DJT & D8R-SP Composite {"); + break; + case ExternalDecoder: + TxString("External Decoder {"); + break; + case UnknownTxRx: + TxString("UNKNOWN {"); + break; + default: + ; + } // switch + + if ( F.UsingSerialPPM ) + ShowRxSetup(); + else + if ( P[TxRxType] != UnknownTxRx ) { + for ( i = 0; i < RC_CONTROLS; i++) + TxChar(RxChMnem[RMap[i]]); + + TxString("} connect {"); + + for ( i = 0; i < RC_CONTROLS; i+=2) { + TxChar(RxChMnem[RMap[i]]); + TxChar(' '); + } + } + TxChar('}'); + if (( P[TxRxType] == DX7AR6200 ) || ( P[TxRxType] == DX6iAR6200)) + TxString(" Mix Rudder to Aux1/Flaps "); + if ( F.UsingTxMode2 ) + TxString(" Tx Mode 2"); + else + TxString(" Tx Mode 1"); + TxNextLine(); + + TxString("Selected parameter set: "); // must be exactly this string as UAVPSet expects it + TxChar('0' + ParamSet); + TxNextLine(); + +#ifdef MULTICOPTER + TxString("Forward Flight: "); + TxVal32((int16)Orientation * 75L, 1, 0); + TxString("deg CW from K1 motor(s)\r\n"); +#endif // MULTICOPTER + + if ( F.UsingAngleControl ) + TxString("\tSticks control roll/pitch angle directly\r\n"); + else + TxString("\tSticks control rate of change of roll/pitch angle\r\n"); + + if ( F.UsingRTHAutoDescend ) + TxString("\tAuto descend ENABLED\r\n"); + else + TxString("\tAuto descend disabled\r\n"); + + if ( F.AllowTurnToWP ) + TxString("\tTurn toward Way Point\r\n"); + else + TxString("\tHold heading\r\n"); + + if ( F.AllowNavAltitudeHold ) + TxString("\tAllow Nav altitude hold\r\n"); + else + TxString("\tWARNING - Manual Nav altitude hold\r\n"); + + if ( !F.SDCardValid ) + TxString("\tSD Card NOT loaded - DISCONNECT power and load card if required.\r\n"); + + TxString("\r\nALARM (if any):\r\n"); + if ( P[TxRxType] == UnknownTxRx ) + TxString("\tTx/Rx TYPE not set\r\n"); +#ifdef TESTING + TxString("\tTEST VERSION - No Motors\r\n"); +#endif // TESTING + + if ( !F.ParametersValid ) + TxString("\tINVALID flight parameters (PID)!\r\n"); + + if ( !F.BaroAltitudeValid ) + TxString("\tBarometer OFFLINE\r\n"); + if ( BaroRetries >= BARO_INIT_RETRIES ) + TxString("\tBaro Init: FAILED\r\n"); + + if ( !F.RangefinderAltitudeValid ) + TxString("\tRangefinder OFFLINE\r\n"); + + if ( F.GyroFailure ) + TxString("\tGyro FAILURE\r\n"); + + if ( !F.AccelerationsValid ) + TxString("\tAccelerometers OFFLINE\r\n"); + + if ( !F.CompassValid ) + TxString("\tCompass OFFLINE\r\n"); + + if ( !F.Signal ) + TxString("\tBad EPAs or Tx switched off?\r\n"); + if ( Armed && FirstPass ) + TxString("\tUAVX is armed - DISARM!\r\n"); + + if ( F.Navigate || F.ReturnHome ) + TxString("\tNavigate/RTH is selected - DESELECT!\r\n"); + + if ( InitialThrottle >= RC_THRES_START ) + TxString("\tThrottle may be open - CLOSE!\r\n"); + + ShowPrompt(); +} // ShowSetup + +void ProcessCommand(void) { + static int8 p; + static uint8 ch; + static int8 d; + + if ( 1 ) {//!Armed.read() ) { + ch = PollRxChar(); + if ( ch != NUL ) { + ch = MakeUpper(ch); + + switch ( ch ) { + case 'D': + UseDefaultParameters(); + ShowPrompt(); + break; + case 'L' : // List parameters + TxString("\r\nParameter list for set #"); // do not change (UAVPset!) + TxChar('0' + ParamSet); + ReadParameters(); + for ( p = 0 ; p < MAX_PARAMETERS; p++ ) { + TxString("\r\nRegister "); + TxValU((uint8)(p+1)); + TxString(" = "); + TxValS(P[p]); + } + ShowPrompt(); + break; + case 'M' : // modify parameters + // no reprogramming in flight!!!!!!!!!!!!!!! + LEDBlue_ON; + TxString("\r\nRegister "); + p = (uint16)(RxNumU()-1); + // Attempts to block use of old versions of UAVPSet not compatible with UAVX + // assumes parameters are written sequentially from 0..(MAX_PARAMETERS-1) + + TxString(" = "); + d = RxNumS(); + if ( p < MAX_PARAMETERS ) { + // Keep RAM based set up to date. + if ( ParamSet == (uint8)1 ) { + WritePX(p, d); + if ( DefaultParams[p][1] ) + WritePX(MAX_PARAMETERS + p, d); + } else { + if ( !DefaultParams[p][1] ) + WritePX(MAX_PARAMETERS + p, d); + } + ParametersChanged = true; + } + if ( p < (MAX_PARAMETERS-1) ) + F.ParametersValid = false; + else + if ( p == (MAX_PARAMETERS-1) ) { + WritePXImagefile(); + F.ParametersValid = true; // ALL parameters must be written + } + LEDBlue_OFF; + ShowPrompt(); + break; + case 'N' : // neutral values + TxString("\r\nNeutral R:"); + TxValS(NewAccNeutral[BF]); + + TxString(" P:"); + TxValS(NewAccNeutral[LR]); + + TxString(" V:"); + TxValS(NewAccNeutral[UD]); + ShowPrompt(); + break; + case 'Z' : // set Paramset + p = RxNumU(); + if ( p != (int8)ParamSet ) { + ParamSet = p; + ParametersChanged = true; + ReadParameters(); + } + break; + case 'W' : // comms with UAVXNav utility NOT UAVPSet + UAVXNavCommand(); + //ShowPrompt(); + break; + case 'R': // receiver values + TxString("\r\nT:"); + TxValU(ToPercent(RC[ThrottleRC], RC_MAXIMUM)); + TxString(",R:"); + TxValS(ToPercent(((RC[RollRC]- RC_NEUTRAL) * 2L), RC_MAXIMUM)); + TxString(",P:"); + TxValS(ToPercent(((RC[PitchRC]- RC_NEUTRAL) * 2L), RC_MAXIMUM)); + TxString(",Y:"); + TxValS(ToPercent(((RC[YawRC]- RC_NEUTRAL) * 2L), RC_MAXIMUM)); + TxString(",5:"); + TxValU(ToPercent(RC[RTHRC], RC_MAXIMUM)); + TxString(",6:"); + TxValS(ToPercent(((RC[CamPitchRC] - RC_NEUTRAL) * 2L), RC_MAXIMUM)); + TxString(",7:"); + TxValU(ToPercent(RC[NavGainRC], RC_MAXIMUM)); + ShowPrompt(); + break; + case 'S' : // show status + ShowSetup(false); + break; + case 'X' : // flight stats + ShowStats(); + ShowPrompt(); + break; + case 'A' : // linear sensor + AttitudeTest(); + ShowPrompt(); + break; + case 'G': // GPS + GPSTest(); + ShowPrompt(); + break; + case 'H': // barometer + BaroTest(); + ShowPrompt(); + break; + case 'I': + TxString("\r\nI2C devices ...\r\n"); + TxVal32(ScanI2CBus(),0,0); + TxString(" device(s) found\r\n"); + ShowPrompt(); + break; + case 'P' : // Receiver test + ReceiverTest(); + ShowPrompt(); + break; + case 'C' : // Compass test + DoCompassTest(); + ShowPrompt(); + break; + + case 'K' : //Calibrate compass + CalibrateCompass(); + ShowPrompt(); + break; + + case 'Y': // configure YGE30i EScs + ConfigureESCs(); + ShowPrompt(); + break; + case '1': + case '2': + case '3': + case '4': + case '5': + case '6': + case '7': + case '8': + TxString("\r\nOutput test\r\n"); + TxChar(ch); + TxChar(':'); + switch ( ch ) { + case '1': + TxString("Aux2"); + break; + case '2': + TxString("Blue"); + break; + case '3': + TxString("Red"); + break; + case '4': + TxString("Green"); + break; + case '5': + TxString("Aux1"); + break; + case '6': + TxString("Yellow"); + break; + case '7': + TxString("Aux3"); + break; + case '8': + TxString("Beeper"); + break; + } + TxNextLine(); + PowerOutput(ch-'1'); + ShowPrompt(); + break; + case 'T': + LEDsAndBuzzer(); + ShowPrompt(); + break; + + case 'V' : // Battery test + BatteryTest(); + ShowPrompt(); + break; + case '?' : // help + TxString(SerHelp); + ShowPrompt(); + break; + default: + break; + } + } + } +} // ProcessCommand +