Prof Greg Egan
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
+