-#include <LiquidCrystal.h>
+// No longer using HD44780-comaptible display,
+// Moving to a brand new world of dot-matrix display tech!
+// Using LCD library from http://code.google.com/p/pcd8544/
+#include <PCD8544.h>
+
#include <TimerOne.h>
#include <EEPROM.h>
+// Undefine this whenever a "release" or "flight-test" build is made.
+// Defining DEBUG sets some crazy values for things like battery warning,
+// and includes a whole bunch of debugging-related code ...
+#define DEBUG 1
+
#define MAX_INPUTS 8
// Update this _every_ time a change in datastructures that
unsigned char current_model; // Using uchar to spend a single byte of mem..
// ----------------- Display related stuffs --------------------
-LiquidCrystal lcd( 12, 11, 10, 6, 7, 8, 9);
-// Parameters are: rs, rw, enable, d4, d5, d6, d7 pin numbers.
+PCD8544 lcd( 8, 9, 10, 11, 12);
+// Param: sclk, sdin, dc, reset, sce
// ----------------- PPM related stuffs ------------------------
// The PPM generation is handled by Timer0 interrupts, and needs
// The timing here (and/or in the ISR) needs to be tweaked to provide valid
// RC PPM signals accepted by standard RC RX'es and the Microcopter...
-#define framelength 21500 // Max length of frame
-#define seplength 250 // Lenght of a channel separator
+#define framelength 21000 // Max length of frame
+#define seplength 300 // Lenght of a channel separator
#define chmax 1600 // Max lenght of channel pulse
-#define chmin 480 // Min length of channel
+#define chmin 495 // Min length of channel
#define chwidht (chmax - chmin)// Useable time of channel pulse
// ----------------- Menu/IU related stuffs --------------------
// Voltage sense pin is connected to a 1/3'd voltage divider.
#define BATTERY_CONV (10 * 3 * (5.0f/1024.0f))
+
+#ifdef DEBUG
+// The following values are for DEBUGGING ONLY!!
+#define BATTERY_LOW 92
+#define BATTERY_CRITICAL 0
+#else
#define BATTERY_LOW 92
+#define BATTERY_CRITICAL 92
+#endif
enum {
VALUES,
INVERTS,
DUALRATES,
EXPOS, // Some radios have "drawn curves", i.e. loopup tables stored in external EEPROM ...
- DEBUG,
+ DEBUG_DUMP,
SAVE
}
menu_mainstate;
boolean running;
} clock_timer;
+#ifdef DEBUG
// ----------------- DEBUG-STUFF --------------------
unsigned long prev_loop_time;
unsigned long avg_loop_time;
unsigned long t;
-
+#endif
// ---------- CODE! -----------------------------------
pinMode(4, OUTPUT); // s2
pinMode(5, OUTPUT); // e
- lcd.begin(16,2);
+ lcd.begin(84, 48);
lcd.print("Starting....");
+#ifdef DEBUG
Serial.begin(9600);
Serial.println("Starting....");
+#endif
+
delay(500);
model_defaults();
if ( !keys[KEY_UP])
calibrate();
+#ifdef DEBUG
// Debugging: how long does the main loop take on avg...
t = micros();
avg_loop_time = t;
prev_loop_time = t;
-
+#endif
// Initializing the stopwatch timer/clock values...
clock_timer = (clock_timer_t){0, 0, 0, false};
set_timer( seplength );
Timer1.initialize(framelength);
Timer1.attachInterrupt(ISR_timer);
+
+ lcd.clear();
}
}
// ---------- Arduino main loop -----------------------
-void loop () {
-
- // Determine if the UI needs to run...
- boolean disp;
- if ( millis() - last > UI_INTERVAL ) {
- last = millis();
- disp = true;
- }
- else disp = false;
+void loop ()
+{
process_inputs();
battery_val = analogRead(1) * BATTERY_CONV;
if ( battery_val < BATTERY_LOW ) {
digitalWrite(13, 1); // Simulate alarm :P
+ }
+ if ( battery_val < BATTERY_CRITICAL ) {
displaystate = BATTERY;
}
- if ( disp )
- {
+ if ( millis() - last > UI_INTERVAL )
+ {
+ last = millis();
ui_handler();
}
+
+#ifdef DEBUG
if ( displaystate != MENU )
{
// Debugging: how long does the main loop take on avg,
avg_loop_time = ( t - prev_loop_time + avg_loop_time ) / 2;
prev_loop_time = t;
}
+#endif
// Whoa! Slow down partner! Let everything settle down before proceeding.
delay(5);
for (i = 0; i < sizeof(model_t); i++)
*p++ = EEPROM.read( model_address++ );
+#ifdef DEBUG
serial_dump_model();
+#endif
lcd.setCursor(0 , 1);
lcd.print("... Loaded.");
delay(200);
}
+#ifdef DEBUG
void serial_dump_model ( void )
{
int i;
Serial.println();
}
}
+#endif
void scan_keys ( void )
{
// Test to see if dualrate-switch #1 applies to channel...
if ( ( current_input == ( model.dr[2]-1) ) || ( current_input == ( model.dr[3]-1) ) )
{
- if ( !keys[KEY_DR1] )
+ if ( !keys[KEY_DR2] )
dr_val = ((float)model.dr[6])/100.0;
else
dr_val = ((float)model.dr[7])/100.0;
}
}
+
+#ifdef DEBUG
void serial_debug()
{
int current_input;
Serial.print("Average loop time:");
Serial.println(avg_loop_time);
+ Serial.print("Free RAM:");
+ Serial.print( FreeRam() );
Serial.println();
}
+#endif
void dr_inputselect( int no, int in )
{
lcd.setCursor(0 , 0);
lcd.print("D/R switch ");
lcd.print( no + 1 );
- lcd.print(" ");
+ //lcd.print(" ");
+
+ lcd.setCursor(0 , 1);
+ lcd.print(" ");
lcd.setCursor(0 , 1);
lcd.print("Input ");
lcd.print(in+1);
lcd.setCursor(0 , 0);
lcd.print("D/R switch ");
lcd.print( menu_substate - 3 );
- lcd.print(" ");
+
+
+ lcd.setCursor(0 , 1);
+ lcd.print(" ");
lcd.setCursor(0 , 1);
lcd.print( state ? "HI" : "LO" );
lcd.print(" Value :");
int col;
scan_keys();
+ if ( check_key( KEY_UP) || check_key(KEY_DOWN))
+ lcd.clear();
+
if ( displaystate != MENU )
{
menu_substate = 0;
return;
}
}
-
+
digitalWrite(13, digitalRead(13) ^ 1 );
switch ( displaystate )
{
case VALUES:
- int current_input;
+ int current_input;
+
+
+ row = 0;
+ col = 0;
+
+ lcd.setCursor(col, row);
+ lcd.print(" ");
+
+ lcd.setCursor(col, row);
+ lcd.print("S1:");
+ lcd.print( keys[KEY_DR1] ? "On " : "Off" );
+ lcd.print(" S2:");
+ lcd.print( keys[KEY_DR2] ? "On " : "Off" );
+
+ row = 2;
+ col = 0;
+
for (current_input=0; current_input<MAX_INPUTS; current_input++) {
- // In channel value display, do a simple calc
- // of the LCD row & column location. With 8 channels
- // we can fit eight channels as percentage values on
- // a simple 16x2 display...
- if ( current_input < 4 )
- {
- col = current_input * 4;
- row = 0;
- }
- else
- {
- col = (current_input-4) * 4;
- row = 1;
- }
+ if (row == 6)
+ {
+ row = 2;
+ col = 40;
+ }
+
// Overwriting the needed positions with
// blanks cause less display-flicker than
// actually clearing the display...
lcd.setCursor(col, row);
- lcd.print(" ");
+ lcd.print(" ");
+
lcd.setCursor(col, row);
+
+ char mod_indicator = NULL;
+
+ if (( keys[KEY_DR1] ) && (( model.dr[0] == current_input+1) || ( model.dr[1] == current_input+1)))
+ mod_indicator = '/';
+
+ if (( keys[KEY_DR2] ) && (( model.dr[2] == current_input+1) || ( model.dr[3] == current_input+1)))
+ if (mod_indicator) mod_indicator = '|';
+ else mod_indicator = '\\';
+
+ if ( mod_indicator) lcd.print(mod_indicator);
+ else lcd.print(" ");
+
+ lcd.print( current_input+1);
+ lcd.print(":");
// Display uses percents, while PPM uses ratio....
// New format on stick values
lcd.print( (int)model.stick[current_input] );
+
+ row++;
}
break;
case BATTERY:
- lcd.clear();
+ lcd.setCursor(0 , 0);
lcd.print("Battery level: ");
lcd.setCursor(0 , 1);
+ lcd.print( " ");
+ lcd.setCursor(0 , 1);
lcd.print( (float)battery_val/10);
lcd.print("V");
if ( battery_val < BATTERY_LOW ) lcd.print(" - WARNING");
int minutes;
int seconds;
- lcd.clear();
+ lcd.setCursor(0 , 0);
lcd.print("Timer: ");
lcd.print( clock_timer.running ? "Running" : "Stopped" );
lcd.setCursor(5 , 1);
+ lcd.print(" ");
+ lcd.setCursor(5 , 1);
if ( clock_timer.running )
{
clock_timer.value = millis() - (clock_timer.start + clock_timer.init);
case CURMODEL:
- lcd.clear();
+ lcd.setCursor(0 , 0);
lcd.print("Model #: ");
lcd.print( (int)current_model );
lcd.setCursor(0 , 1);
case MENU:
- lcd.clear();
+ lcd.setCursor(0 , 0);
switch ( menu_mainstate )
{
case TOP:
+ lcd.setCursor(0 , 0);
lcd.print("In MENU mode!");
lcd.setCursor(0 , 1);
- lcd.print("Esc UP. Scrl DN.");
+ lcd.print("UP to quit.");
+ lcd.setCursor(0 , 2);
+ lcd.print("DOWN to scroll");
+
menu_substate = 0;
if ( check_key(KEY_UP) ) {
displaystate = VALUES;
+ lcd.clear();
return;
}
else if ( check_key(KEY_DOWN) ) {
+ lcd.clear();
menu_mainstate = INVERTS;
return;
}
if ( check_key(KEY_UP) ) {
menu_mainstate = TOP;
+ lcd.clear();
return;
}
else if ( check_key(KEY_DOWN) ) {
menu_mainstate = DUALRATES;
+ lcd.clear();
return;
}
if ( check_key(KEY_UP) ) {
menu_mainstate = INVERTS;
+ lcd.clear();
return;
}
if ( check_key(KEY_DOWN) ) {
menu_mainstate = EXPOS;
+ lcd.clear();
return;
}
if ( check_key(KEY_RIGHT) ) {
// on the time-horizon :P
if ( check_key(KEY_UP ) ) {
menu_mainstate = DUALRATES;
+ lcd.clear();
return;
}
+#ifdef DEBUG
+ if ( check_key(KEY_DOWN ) ) {
+ menu_mainstate = DEBUG_DUMP;
+ lcd.clear();
+ return;
+ }
+#else
if ( check_key(KEY_DOWN ) ) {
- menu_mainstate = DEBUG;
+ menu_mainstate = TOP;
+ lcd.clear();
return;
}
+
+#endif
break;
-
- case DEBUG:
+
+#ifdef DEBUG
+ case DEBUG_DUMP:
lcd.setCursor(0 , 0);
lcd.print("Dumping debug to");
lcd.setCursor(0 , 1);
if ( check_key(KEY_UP ) ) {
// FIXME: Remember to update the "Scroll up" state!
menu_mainstate = EXPOS;
+ lcd.clear();
return;
} else if ( check_key(KEY_DOWN ) ) {
menu_mainstate = SAVE;
+ lcd.clear();
return;
}
break;
-
+#endif
default:
lcd.print("Not implemented");
lcd.setCursor(0 , 1);
return;
}
+#ifdef DEBUG
+/* The following code is taken from the
+ Arduino FAT16 Library by William Greiman
+ The code may or may-not survive in the long run,
+ depending on what licensing-terms we decide on.
+ The license will be open source, but the FAT16lib
+ is GPL v3, and I (fishy) am personally not so sure about that...
+
+ On the other hand... This code is a very "intuitive approach",
+ so contacting the author may give us the option of relicencing just this bit...
+*/
+static int FreeRam(void) {
+ extern int __bss_end;
+ extern int* __brkval;
+ int free_memory;
+ if (reinterpret_cast<int>(__brkval) == 0) {
+ // if no heap use from end of bss section
+ free_memory = reinterpret_cast<int>(&free_memory)
+ - reinterpret_cast<int>(&__bss_end);
+ } else {
+ // use from top of stack to heap
+ free_memory = reinterpret_cast<int>(&free_memory)
+ - reinterpret_cast<int>(__brkval);
+ }
+ return free_memory;
+}
+#endif
git.defcon.no / rctxduino / blobdiff