X-Git-Url: https://git.defcon.no/?a=blobdiff_plain;f=source%2FRCTXDuino%2FRCTXDuino.pde;h=f4661da586946b160b07bce027fcb1ee5c7e145f;hb=49c14ececbf03a67b8ff1fa76c55489a7ad10371;hp=134526e76780d63e880c1a93521df7e7606d8a98;hpb=32134b415f1e9a3fb927c85d2347169ec4eafb8d;p=rctxduino

diff --git a/source/RCTXDuino/RCTXDuino.pde b/source/RCTXDuino/RCTXDuino.pde
index 134526e..f4661da 100644
--- a/source/RCTXDuino/RCTXDuino.pde
+++ b/source/RCTXDuino/RCTXDuino.pde
@@ -1,8 +1,49 @@
-#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
+// can/will ber written to EEPROM is done. EEPROM data is
+// read/written torectly into/from the data structures using
+// pointers, so every time a data-set change occurs, the EEPROM
+// format changes as well..
+#define EEPROM_VERSION 7
+
+// Some data is stored in fixed locations, e.g.:
+//  * The EEPROM version number for the stored data (loc 0)
+//  * The selected model configuration number (loc 1)
+//  * (add any other fixed-loc's here for doc-purpose)
+// This means that any pointer-math-operations need a BASE
+// adress to start calc'ing from. This is defined as:
+#define EE_BASE_ADDR 10 
+
+// Having to repeat tedious base-address-calculations for the
+// start of model data should be unnessecary. Plus, updating
+// what data is stored before the models will mean that each
+// of those calculations must be updated. A better approach is
+// to define the calculation in a define!
+// NOTE: If new data is added in front of the model data,
+// this define must be updated!
+#define EE_MDL_BASE_ADDR (EE_BASE_ADDR+(sizeof(input_cal_t)+ 10))
+
+// Just as a safety-precaution, update/change this if a chip with
+// a different internal EEPROM size is used. Atmega328p has 1024 bytes.
+#define INT_EEPROM_SIZE 1024
+
+#define MAX_MODELS 4 // Nice and random number..
+
+
 // --------------- ADC related stuffs.... --------------------
 
 struct input_cal_t // Struct type for input calibration values
@@ -17,6 +58,7 @@ struct model_t
 {
 	int channels; // How many channels should PPM generate for this model ...
 	float stick[8]; // The (potentially recalc'ed) value of stick/input channel.
+	int raw[8];
 	boolean rev[8];
 	int dr[8];        // The Dual-rate array uses magic numbers :P
 	/*	dr[0] = Input channel #1 of 2 for D/R switch #1. 0 means off, 1-4 valid values.
@@ -30,18 +72,16 @@ struct model_t
 	*/
 };
 volatile model_t model;
+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
 // all modifiable variables to be global and volatile...
 
-//int max_channels = 6;  // How many channels should PPM generate ...
-// Moved to model_t struct...
-
 volatile long sum = 0;			// Frame-time spent so far
 volatile int cchannel = 0; 		// Current channnel
 volatile bool do_channel = true;        // Is next operation a channel or a separator
@@ -52,10 +92,10 @@ volatile bool do_channel = true;        // Is next operation a channel or a sepa
 // 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      400		// Lenght of a channel separator
-#define chmax         1700		// Max lenght of channel pulse
-#define chmin          600		// Min length of channel
+#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          495		// Min length of channel
 #define chwidht  (chmax - chmin)// Useable time of channel pulse
 
 // ----------------- Menu/IU related stuffs --------------------
@@ -74,12 +114,21 @@ volatile bool do_channel = true;        // Is next operation a channel or a sepa
 
 // 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,
   BATTERY,
   TIMER,
+  CURMODEL,
   MENU
 } 
 displaystate;
@@ -89,7 +138,7 @@ enum {
   INVERTS,
   DUALRATES,
   EXPOS, // Some radios have "drawn curves", i.e. loopup tables stored in external EEPROM ...
-  DEBUG,
+  DEBUG_DUMP,
   SAVE
 } 
 menu_mainstate;
@@ -113,11 +162,12 @@ struct clock_timer_t
 	boolean running;
 } clock_timer;
 
+#ifdef DEBUG
 // -----------------  DEBUG-STUFF --------------------
 unsigned long prev_loop_time;
 unsigned long avg_loop_time;
 unsigned long t;
-
+#endif
 
 // ---------- CODE! -----------------------------------
 
@@ -130,22 +180,18 @@ void setup(){
   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();
   read_settings();
-  scan_keys();
-  if ( keys[KEY_UP])
-    calibrate();
-
-  pinMode(A5, OUTPUT);  // PPM output pin  
-  do_channel = false;
-  set_timer( seplength );
-  Timer1.initialize(framelength);
-  Timer1.attachInterrupt(ISR_timer);  
 
   displaystate = VALUES;
   
@@ -153,37 +199,57 @@ void setup(){
   // In reality they are tri-purpose; ADC, Digital, Digital Interrupts
   // Unfortunately the interrupt mode is unusable in this scenario, but digital I/O works :P
   pinMode(A2, INPUT); 
+  digitalWrite(A2, HIGH);
+  scan_keys();
+  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};
+
+  pinMode(A5, OUTPUT);  // PPM output pin  
+  do_channel = false;
+  set_timer( seplength );
+  Timer1.initialize(framelength);
+  Timer1.attachInterrupt(ISR_timer);  
 
-  // Setting this here to be sure I do not forget to init' it....
-  // These initializations should be done by read_settings from eeprom,
-  // and this "default model values" should probably be moved
-  // out to a section of read_settings when handling "new model", or
-  // to a separate model_defaults function...
+  lcd.clear();
+  
+}
+
+void model_defaults( void )
+{
+  // This function provides default values for model data
+  // that is not a result of stick input, or in other words:
+  // provides defautls for all user-configurable model options.
+  
+  // Remember to update this when a new option/element is added
+  // to the model_t struct (preferably before implementing the
+  // menu code that sets those options ...)
+
+  // This is used when a user wants a new, blank model, a reset
+  // of a configured model, and (most important) when EEPROM
+  // data format changes.
+  // NOTE: This means that stored model conficuration is reset
+  // to defaults when the EEPROM version/format changes.
   model.channels = 8;
   model.rev[0] = model.rev[1] = model.rev[2] = model.rev[3] = 
   model.rev[4] = model.rev[5] = model.rev[6] = model.rev[7] = false;
   model.dr[0] = model.dr[1] = model.dr[2] = model.dr[3] = 0;
   model.dr[4] = model.dr[5] = model.dr[6] = model.dr[7] = 100;
 
-  // Initializing the stopwatch timer/clock values...
-  clock_timer = (clock_timer_t){0, 0, 0, false};
 }
 
 // ---------- 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();
 
@@ -191,13 +257,18 @@ void loop () {
   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,
@@ -206,6 +277,7 @@ void loop () {
     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);
@@ -226,7 +298,7 @@ void set_timer(long time)
 
 boolean check_key( int key)
 {
-  return ( keys[key] && !prev_keys[key] );
+  return ( !keys[key] && prev_keys[key] );
 }
 
 void mplx_select(int pin)
@@ -249,8 +321,7 @@ void mplx_select(int pin)
 
 void calibrate()
 {
-  int i, r0, r1, r2, adc_in;
-  int calcount = 0;
+  int i, adc_in;
   int num_calibrations = 200;
 
   lcd.clear();
@@ -259,13 +330,15 @@ void calibrate()
   lcd.print("their extremes..");
   Serial.print("Calibration. Move all controls to their extremes.");
 
-  for (i=0; i< MAX_INPUTS; i++) {
+  for (i=0; i<MAX_INPUTS; i++) {
     input_cal.min[i] = 1024;
+	input_cal.center[i] = 512;
     input_cal.max[i] = 0;
   }
-  while ( calcount <= num_calibrations )
+
+  while ( num_calibrations-- )
   {
-    for (i=0; i<=MAX_INPUTS; i++) {
+    for (i=0; i<MAX_INPUTS; i++) {
       mplx_select(i);
       adc_in = analogRead(0);
 
@@ -278,44 +351,228 @@ void calibrate()
       }
       delay(10);
     }
-
-    calcount++;
   }
 
   // TODO: WILL need to do center-point calibration after min-max...
 
   lcd.clear();
+  lcd.print("Saving to EEPROM");
+  write_calibration();
+  lcd.setCursor(0 , 1);
   lcd.print("Done calibrating");
-
+  
   Serial.print("Done calibrating");
   delay(2000);  
 }
 
+void write_calibration(void)
+{
+  int i;
+  unsigned char v;
+  const byte *p;
+  
+  // Set p to be a pointer to the start of the input calibration struct.
+  p = (const byte*)(const void*)&input_cal;
+  
+  // Iterate through the bytes of the struct...
+  for (i = 0; i < sizeof(input_cal_t); i++)
+  {
+    // Get a byte of data from the struct...
+	v = (unsigned char) *p;
+	// write it to EEPROM
+	EEPROM.write( EE_BASE_ADDR + i, v);
+	// and move the pointer to the next byte in the struct.
+	*p++;
+  }
+}
+
 void read_settings(void)
 {
-  // Dummy. Will be modified to read model settings from EEPROM
-  for (int i=0; i<=7; i++) {
-    input_cal.min[i] = 0;
-	input_cal.center[i] = 512;
-    input_cal.max[i] = 1024;
+  int i;
+  unsigned char v;
+  byte *p;
+
+  v = EEPROM.read(0);
+  if ( v != EEPROM_VERSION )
+  {
+	// All models have been reset. Set the current model to 0
+	current_model = 0;
+	EEPROM.write(1, current_model);
+
+	calibrate();
+	model_defaults();
+	// The following does not yet work...
+	for ( i = 0; i < MAX_MODELS; i++)
+		write_model_settings(i);
+
+	
+	// After saving calibration data and model defaults,
+	// update the saved version-identifier to the current ver.
+	EEPROM.write(0, EEPROM_VERSION);
+  }
+
+  // Read calibration values from EEPROM.
+  // This uses simple pointer-arithmetic and byte-by-byte
+  // to put bytes read from EEPROM to the data-struct.
+  p = (byte*)(void*)&input_cal;
+  for (i = 0; i < sizeof(input_cal_t); i++)
+		*p++ = EEPROM.read( EE_BASE_ADDR + i);
+
+  // Get the previously selected model from EEPROM.
+  current_model = EEPROM.read(1);
+  read_model_settings( current_model );
+}
+
+void read_model_settings(unsigned char mod_no)
+{
+  int model_address;
+  int i;
+  unsigned char v;
+  byte *p;
+
+  // Calculate the EEPROM start adress for the given model (mod_no)
+  model_address = EE_MDL_BASE_ADDR + (mod_no * sizeof(model_t));
+
+  // Do not try to write the model to EEPROM if it won't fit.
+  if ( INT_EEPROM_SIZE < (model_address + sizeof(model_t)) )
+  {
+	lcd.clear();
+	lcd.print("Aborting READ");
+    lcd.setCursor(0 , 1);
+    lcd.print("Invalid location");
+    delay(2000);  
+	return;
+  }
+  
+  lcd.clear();
+  lcd.print("Reading model ");
+  lcd.print( (int)mod_no );
+  
+  // Pointer to the start of the model_t data struct,
+  // used for byte-by-byte reading of data...
+  p = (byte*)(void*)&model;
+  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(1000);    
+}
+
+void write_model_settings(unsigned char mod_no)
+{
+  int model_address;
+  int i;
+  unsigned char v;
+  byte *p;
+
+  // Calculate the EEPROM start adress for the given model (mod_no)
+  model_address = EE_MDL_BASE_ADDR + (mod_no * sizeof(model_t));
+  
+  // Do not try to write the model to EEPROM if it won't fit.
+  if ( INT_EEPROM_SIZE < (model_address + sizeof(model_t)) )
+  {
+	lcd.clear();
+	lcd.print("Aborting SAVE");
+    lcd.setCursor(0 , 1);
+    lcd.print("No room for data");
+    delay(2000);  
+	return;
   }
+  
+  lcd.clear();
+  lcd.print("Saving model ");
+  lcd.print( (int)mod_no);
+  
+  // Pointer to the start of the model_t data struct,
+  // used for byte-by-byte reading of data...
+  p = (byte*)(void*)&model;
+  
+  // Write/serialize the model data struct to EEPROM...
+  for (i = 0; i < sizeof(model_t); i++)
+		EEPROM.write( model_address++, *p++);
+		
+  lcd.setCursor(0 , 1);
+  lcd.print(".. done saving.");
+  delay(200);    
 }
 
-void write_settings(void)
+#ifdef DEBUG
+void serial_dump_model ( void )
 {
-  // Dummy. Not used anywhere. Will be fleshed out to save settings to EEPROM.
+  int i;
+  int model_address;
+  // Calculate the EEPROM start adress for the given model (mod_no)
+  model_address = EE_MDL_BASE_ADDR + (current_model * sizeof(model_t));
+  Serial.print("Current model:    ");
+  Serial.println( (int)current_model );
+  Serial.print("Models base addr: ");
+  Serial.println( EE_MDL_BASE_ADDR );
+  Serial.print("Model no:         ");
+  Serial.println( current_model, 10 );
+  Serial.print("Size of struct:   ");
+  Serial.println( sizeof( model_t) );
+  Serial.print("Model address:    ");
+  Serial.println( model_address );
+  Serial.print("End of model:     ");
+  Serial.println( model_address + sizeof(model_t) );
+
+  Serial.println();
+  
+  Serial.print("Channel reversions: ");
+  for ( i = 0; i<8; i++)
+  {
+	Serial.print(i);
+	Serial.print("=");
+	Serial.print(model.rev[i], 10);
+	Serial.print(" ");
+  }
+  Serial.println();
+  
+  Serial.print("DR1 inp 0: ");
+  Serial.println(model.dr[0]);
+  Serial.print("DR1 inp 1: ");
+  Serial.println(model.dr[1]);
+  Serial.print("DR1 LO val: ");
+  Serial.println(model.dr[4]);
+  Serial.print("DR1 HI val: ");
+  Serial.println(model.dr[5]);
+  Serial.print("DR2 inp 0: ");
+  Serial.println(model.dr[2]);
+  Serial.print("DR2 inp 1: ");
+  Serial.println(model.dr[3]);
+  Serial.print("DR2 LO val: ");
+  Serial.println(model.dr[6]);
+  Serial.print("DR2 HI val: ");
+  Serial.println(model.dr[7]);
+  
+  for (i=0; i<MAX_INPUTS; i++) {
+    Serial.print("Input #");
+    Serial.print(i);
+    Serial.print(" pct: ");
+    Serial.print(model.stick[i]);
+    Serial.print(" min: ");
+    Serial.print(input_cal.min[i]);
+    Serial.print(" max: ");
+    Serial.print(input_cal.max[i]);
+    Serial.println();
+  }  
 }
+#endif
 
 void scan_keys ( void )
 {
-  int i, r0, r1, r2;
   boolean key_in;
 
   // To get more inputs, another 4051 analog multiplexer is used,
   // but this time it is used for digital inputs. 8 digital inputs
   // on one input line, as long as proper debouncing and filtering
   // is done in hardware :P
-  for (i=0; i<=7; i++) {
+  for (int i=0; i<=7; i++) {
     // To be able to detect that a key has changed state, preserve the previous..
     prev_keys[i] = keys[i];
 
@@ -329,14 +586,69 @@ void scan_keys ( void )
 
 void process_inputs(void )
 {
-  int current_input, r0, r1, r2, adc_in;
-  for (current_input=0; current_input<=7; current_input++) {
+  int current_input, adc_in, fact;
+  float min, max;
+
+  for (current_input=0; current_input<MAX_INPUTS; current_input++) {
 
     mplx_select(current_input);
     adc_in = analogRead(0);
 
-    model.stick[current_input] = ((float)adc_in - (float)input_cal.min[current_input]) / (float)(input_cal.max[current_input]-input_cal.min[current_input]);    
-    if ( model.rev[current_input] ) model.stick[current_input] = 1.0f - model.stick[current_input];  
+	model.raw[current_input] = adc_in;
+	// New format on stick values
+	// The calculations happen around the center point, the values
+	// need to arrive at 0...100 of the range "center-to-edge",
+	// and must end up as negative on the ... negative side of center.
+	
+    if ( adc_in < input_cal.center[current_input] )
+    {
+			// The stick is on the negative side, so the range is
+			// from the lowest possible value to center, and we must
+			// make this a negative percentage value.
+            max = input_cal.min[current_input];
+            min = input_cal.center[current_input];
+			fact = -100;
+    } 
+    else 
+    {
+			// The stick is at center, or on the positive side.
+			// Thus, the range is from center to max, and
+			// we need positive percentages.
+            min = input_cal.center[current_input];
+            max = input_cal.max[current_input];
+			fact = 100;
+    }
+	// Calculate the percentage that the current stick position is at
+	// in the given range, referenced to or from center, depending :P
+    model.stick[current_input] =  fact * ((float)adc_in - min ) / (max - min);
+	
+	// If this input is configured to be reversed, simply do a sign-flip :D
+    if ( model.rev[current_input] ) model.stick[current_input] *= -1;
+
+    // Dual-rate calculation :D
+    // This is very repetitive code. It should be fast, but it may waste code-space.
+    float dr_val;
+    // Test to see if dualrate-switch #1 applies to channel...
+    if ( ( current_input == ( model.dr[0]-1) ) || ( current_input == ( model.dr[1]-1) ) )
+    {
+            if ( !keys[KEY_DR1] )
+                    dr_val = ((float)model.dr[4])/100.0; 
+            else
+                    dr_val = ((float)model.dr[5])/100.0;
+
+            model.stick[current_input] *= dr_val; 
+    }
+    else
+    // 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] )
+                    dr_val = ((float)model.dr[6])/100.0; 
+            else
+                    dr_val = ((float)model.dr[7])/100.0;
+
+            model.stick[current_input] *= dr_val; 
+    }
   }
 }
 
@@ -369,9 +681,19 @@ void ISR_timer(void)
   if ( do_channel )
   {
     set_ppm_output( HIGH );
-    long next_timer = (( chwidht * model.stick[cchannel] ) + chmin);
-    // Do sanity-check of next_timer compared to chmax ...
+
+	// New format on stick values
+    // model.stick contains percentages, -100% to 100% in float. To make the timer-handling
+    // here as simple as possible. We want to calc the channel value as a  "ratio-value",
+    // a float in the range 0..1.0. So, by moving the lower bound to 0, then cutting the
+    // range in half, and finally dividing by 100, we should get the ratio value.
+    // Some loss of presicion occurs, perhaps the algo' should be reconsidered :P
+    long next_timer = (( chwidht * ((model.stick[cchannel]+100)/200) ) + chmin);
+    // Do sanity-check of next_timer compared to chmax and chmin...
     while ( chmax < next_timer ) next_timer--;
+    while ( next_timer < chmin ) next_timer++;
+	
+	// Update the sum of elapsed time
     sum += next_timer;
 
     // Done with channel separator and value,
@@ -383,18 +705,19 @@ void ISR_timer(void)
   }
 }
 
+
+#ifdef DEBUG
 void serial_debug()
 {
   int current_input;
-  for (current_input=0; current_input<=7; current_input++) {
-    int v = (int)(model.stick[current_input] * 100);
+  for (current_input=0; current_input<MAX_INPUTS; current_input++) {
 
     Serial.print("Input #");
     Serial.print(current_input);
-    Serial.print(" value: ");
-    Serial.print(model.stick[current_input]);
     Serial.print(" pct: ");
-    Serial.print(v);
+    Serial.print(model.stick[current_input]);
+    Serial.print(" raw value: ");
+    Serial.print(model.raw[current_input]);
     Serial.print(" min: ");
     Serial.print(input_cal.min[current_input]);
     Serial.print(" max: ");
@@ -407,8 +730,12 @@ void serial_debug()
   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 )
 {
 	if ( model.dr[menu_substate] < 0 ) model.dr[menu_substate] = 4;
@@ -417,7 +744,10 @@ 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);
@@ -453,18 +783,21 @@ void dr_value()
 	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 :");
 	
 	lcd.print( model.dr[pos] );
 	
-	if ( keys[KEY_INC] ) {
+	if ( !keys[KEY_INC] ) {
 		if ( model.dr[pos] < 100) model.dr[pos] += 5;
 		return;
 	}
-	else if ( keys[KEY_DEC] ) {
+	else if ( !keys[KEY_DEC] ) {
 		if ( model.dr[pos] > -100) model.dr[pos] -= 5;
 		return;
 	}
@@ -477,6 +810,9 @@ void ui_handler()
   int col;
   scan_keys();
 
+  if ( check_key( KEY_UP) || check_key(KEY_DOWN))
+	lcd.clear();
+
   if ( displaystate != MENU )
   {
 	menu_substate = 0;
@@ -489,6 +825,10 @@ void ui_handler()
       return; 
     }
     else if ( check_key(KEY_UP) && displaystate == TIMER ) { 
+      displaystate = CURMODEL; 
+      return; 
+    }
+    else if ( check_key(KEY_UP) && displaystate == CURMODEL ) { 
       displaystate = VALUES; 
       return; 
     }
@@ -498,45 +838,46 @@ void ui_handler()
       return; 
     }
   }
-
+	
   digitalWrite(13, digitalRead(13) ^ 1 );
 
   switch ( displaystate )
   {
     case VALUES:
       int current_input;
-      for (current_input=0; current_input<=7; 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;
-        }
+	  row = 1;
+	  col = 0;
+	  
+      for (current_input=0; current_input<MAX_INPUTS; current_input++) {
+		if (row == 5)
+		{
+			row = 1;
+			col = 44;
+		}
+
         // 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);
+		lcd.print( current_input+1);
+		lcd.print(":");
         // Display uses percents, while PPM uses ratio....
-        int v = (int)(model.stick[current_input] * 100);
-        lcd.print(v);
+		// 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");
@@ -551,10 +892,12 @@ void ui_handler()
 		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);
@@ -596,20 +939,38 @@ void ui_handler()
         }
 		break;
 
+
+		
+	case CURMODEL:    
+      lcd.setCursor(0 , 0);
+      lcd.print("Model #: ");
+	  lcd.print( (int)current_model );
+      lcd.setCursor(0 , 1);
+      lcd.print("NAME (not impl)");
+      break;
+
+
+	  
     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; 
           }
@@ -627,10 +988,12 @@ void ui_handler()
 
           if ( check_key(KEY_UP) ) { 
             menu_mainstate = TOP; 
+			lcd.clear();
             return; 
           }
           else if ( check_key(KEY_DOWN) ) { 
             menu_mainstate = DUALRATES; 
+			lcd.clear();
             return; 
           }
 
@@ -654,10 +1017,12 @@ void ui_handler()
 		
           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) ) { 
@@ -702,17 +1067,33 @@ void ui_handler()
           // Run in wolfram to see result, adjust the 1.0 factor to inc/red effect.
           // Problem: -100 to 100 is terribly bad presicion, esp. considering that
           // the values started as 0...1024, and we have 1000usec to "spend" on channels.
+		  
+		  // NEW IDEA provided my ivarf @ hig: use bezier curves og hermite curves!
+		  // Looks like a promising idea, but the implementation is still a bitt off
+		  // 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;
+            menu_mainstate = DEBUG_DUMP;
+			lcd.clear();
             return;
           }
+#else
+          if ( check_key(KEY_DOWN ) ) {
+            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);
@@ -721,13 +1102,15 @@ void ui_handler()
           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);
@@ -745,7 +1128,34 @@ void ui_handler()
   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
+
 
 
 
-