void menu_rc_setup(void)
{
uint8_t cursor = LINE0;
uint8_t top = RCSTART;
uint8_t temp = 0;
int8_t values[RCITEMS];
menu_range_t range;
uint8_t i = 0;
uint8_t text_link;
while(button != BACK)
{
// Load values from eeprom
memcpy(&values[0],&Config.TxSeq,sizeof(int8_t) * RCITEMS);
// Print menu
print_menu_items(top, RCSTART, &values[0], RCITEMS, (prog_uchar*)rc_menu_ranges, RCOFFSET, (prog_uchar*)RCMenuText, cursor);
// Handle menu changes
update_menu(RCITEMS, RCSTART, button, &cursor, &top, &temp);
range = get_menu_range ((prog_uchar*)rc_menu_ranges, temp - RCSTART);
if (button == ENTER)
{
text_link = pgm_read_byte(&RCMenuText[temp - RCSTART]);
values[temp - RCSTART] = do_menu_item(temp, values[temp - RCSTART], range, 0, text_link);
}
// Update value in config structure
memcpy(&Config.TxSeq,&values[0],sizeof(int8_t) * RCITEMS);
// Update Ch7. mixer with source from Config.FlapChan if in Aeroplane mode
if (Config.MixMode == AEROPLANE)
{
Config.Channel[CH7].source_a = Config.FlapChan;
}
if (button == ENTER)
{
// Update channel sequence
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
if (Config.TxSeq == JRSEQ)
{
Config.ChannelOrder[i] = pgm_read_byte(&JR[i]);
}
else if (Config.TxSeq == FUTABASEQ)
{
Config.ChannelOrder[i] = pgm_read_byte(&FUTABA[i]);
}
}
Save_Config_to_EEPROM(); // Save value and return
}
}
}
void menu_battery(void)
{
uint8_t cursor = LINE0;
uint8_t top = BATTSTART;
uint8_t temp = 0;
int16_t values[BATTITEMS];
menu_range_t range;
uint8_t text_link = 0;
uint8_t temp_cells = 0;
uint16_t temp_minvoltage = 0;
while(button != BACK)
{
// Load values from eeprom
memcpy(&values[0],&Config.BatteryType,sizeof(int16_t) * BATTITEMS);
// Save pre-edited values
temp_cells = Config.BatteryCells;
temp_minvoltage = Config.MinVoltage;
// Print menu
print_menu_items_16(top, BATTSTART, &values[0], (prog_uchar*)batt_menu_ranges, BATTOFFSET, (prog_uchar*)BattMenuText, cursor);
// Handle menu changes
update_menu(BATTITEMS, BATTSTART, button, &cursor, &top, &temp);
range = get_menu_range ((prog_uchar*)batt_menu_ranges, temp - BATTSTART);
if (button == ENTER)
{
text_link = pgm_read_byte(&BattMenuText[temp - BATTSTART]);
values[temp - BATTSTART] = do_menu_item(temp, values[temp - BATTSTART], range, 0, text_link);
}
// See if cell number or min_volts has changed
if ((temp_cells != values[1]) || (temp_minvoltage != values[4]))
{
values[2] = values[1] * values[4];
Config.PowerTrigger = values[2];
}
// Update value in config structure
memcpy(&Config.BatteryType,&values[0],sizeof(int16_t) * BATTITEMS);
if (button == ENTER)
{
Save_Config_to_EEPROM(); // Save value and return
}
}
}
void menu_mixer(uint8_t i)
{
uint8_t cursor = LINE0;
uint8_t top = MIXERSTART;
int8_t values[MIXERITEMS];
menu_range_t range;
uint8_t temp = 0;
uint8_t text_link = 0;
while(button != BACK)
{
// Load values from eeprom
memcpy(&values[0],&Config.Channel[i].source_a,sizeof(int8_t) * MIXERITEMS);
// Print menu
print_menu_items(top, MIXERSTART, &values[0], MIXERITEMS,(prog_uchar*)mixer_menu_ranges, MIXOFFSET, (prog_uchar*)MixerMenuText, cursor);
// Handle menu changes
update_menu(MIXERITEMS, MIXERSTART, button, &cursor, &top, &temp);
range = get_menu_range ((prog_uchar*)mixer_menu_ranges, temp - MIXERSTART);
if (button == ENTER)
{
text_link = pgm_read_byte(&MixerMenuText[temp - MIXERSTART]);
values[temp - MIXERSTART] = do_menu_item(temp, values[temp - MIXERSTART], range, 0, text_link);
}
// Update value in config structure
memcpy(&Config.Channel[i].source_a,&values[0],sizeof(int8_t) * MIXERITEMS);
if (button == ENTER)
{
UpdateLimits(); // Update travel limits based on percentages
Save_Config_to_EEPROM(); // Save value and return
}
}
menu_beep(1);
_delay_ms(200);
}
void menu_al_control(void)
{
uint8_t cursor = LINE0;
uint8_t top = AUTOSTART;
uint8_t temp = 0;
int8_t values[AUTOITEMS];
menu_range_t range;
uint8_t text_link = 0;
while(button != BACK)
{
// Load values from eeprom
memcpy(&values[0],&Config.AutoMode,sizeof(int8_t) * AUTOITEMS);
// Print menu
print_menu_items(top, AUTOSTART, &values[0], AUTOITEMS, (prog_uchar*)auto_menu_ranges, AUTOOFFSET, (prog_uchar*)AutoMenuText, cursor);
// Handle menu changes
update_menu(AUTOITEMS, AUTOSTART, button, &cursor, &top, &temp);
range = get_menu_range ((prog_uchar*)auto_menu_ranges, temp - AUTOSTART);
if (button == ENTER)
{
text_link = pgm_read_byte(&AutoMenuText[temp - AUTOSTART]);
values[temp - AUTOSTART] = do_menu_item(temp, values[temp - AUTOSTART], range, 0, text_link);
}
// Update value in config structure
memcpy(&Config.AutoMode,&values[0],sizeof(int8_t) * AUTOITEMS);
if (button == ENTER)
{
UpdateLimits(); // Update I-term limits and triggers based on percentages
Save_Config_to_EEPROM(); // Save value and return
}
}
}
void menu_mixer(uint8_t section)
{
static uint8_t mix_top = MIXERSTART;
static uint8_t old_section;
int8_t *value_ptr;
int8_t values[INPUTITEMS+1];
menu_range_t range;
uint8_t text_link = 0;
uint8_t offset; // Index into channel structure
uint8_t items; // Items in group
// If submenu item has changed, reset submenu positions
if (section != old_section)
{
mix_top = MIXERSTART;
old_section = section;
}
// Get mixer menu offsets
// 1 = input mixer data, 2 = output mixer data
switch(section)
{
case 1:
items = INPUTITEMS+1;
offset = 0;
value_ptr = &values[0];
break;
case 2:
items = OUTPUTITEMS+1;
offset = INPUTITEMS+1;
value_ptr = &values[0];
break;
default:
items = INPUTITEMS+1;
offset = 0;
value_ptr = &values[0];
break;
}
while(button != BACK)
{
// Load values from eeprom and insert channel number at the top of each - messy
values[0] = Config.MenuChannel;
if (section == 1)
{
memcpy(&values[1],&Config.Channel[Config.MenuChannel].source_a,(sizeof(int8_t) * INPUTITEMS));
}
else
{
memcpy(&values[1],&Config.Channel[Config.MenuChannel].switcher,(sizeof(int8_t) * OUTPUTITEMS));
}
// Print menu
print_menu_items(mix_top + offset, MIXERSTART + offset, value_ptr, 1, (prog_uchar*)mixer_menu_ranges[section - 1], 0, MIXOFFSET, (prog_uchar*)MixerMenuText[section - 1], cursor);
// Handle menu changes
update_menu(items, MIXERSTART, offset, button, &cursor, &mix_top, &menu_temp);
range = get_menu_range ((prog_uchar*)mixer_menu_ranges[section - 1], menu_temp - MIXERSTART - offset);
if (button == ENTER)
{
text_link = pgm_read_byte(&MixerMenuText[section - 1][menu_temp - MIXERSTART - offset]);
do_menu_item(menu_temp, value_ptr + (menu_temp - MIXERSTART - offset), 1, range, 0, text_link, false, 0);
}
// Save modified data back to Config
// Copy channel number back to global
switch(section)
{
case 1:
memcpy(&Config.Channel[Config.MenuChannel].source_a,&values[1],(sizeof(int8_t) * INPUTITEMS));
Config.MenuChannel = values[0];
break;
case 2:
memcpy(&Config.Channel[Config.MenuChannel].switcher,&values[1],(sizeof(int8_t) * OUTPUTITEMS));
Config.MenuChannel = values[0];
break;
default:
break;
}
// Save and exit
if (button == ENTER)
{
UpdateLimits(); // Update travel limits based on percentages
Save_Config_to_EEPROM(); // Save value and return
}
}
_delay_ms(200);
}
void menu_rc_setup(uint8_t section)
{
int8_t *value_ptr;
menu_range_t range;
uint8_t text_link;
uint8_t i = 0;
uint8_t mult = 1; // Multiplier
uint8_t offset; // Index into channel structure
uint8_t items; // Items in group
// If submenu item has changed, reset submenu positions
if (menu_flag)
{
sub_top = RCSTART;
menu_flag = 0;
}
while(button != BACK)
{
// Get menu offsets and load values from eeprom
// 1 = RC, 2 = Failsafe, 3 = General
switch(section)
{
case 1: // RC setup menu
offset = 0;
items = RCITEMS;
value_ptr = &Config.RxModeIn;
mult = 1;
break;
case 2: // Failsafe menu
offset = RCITEMS;
items = FSITEMS;
value_ptr = &Config.FailsafeType;
mult = 1;
break;
case 3: // General menu
offset = RCITEMS + FSITEMS;
items = GENERALITEMS;
value_ptr = &Config.MixMode;
mult = 1;
break;
default:
offset = 0;
items = RCITEMS;
value_ptr = &Config.RxModeIn;
mult = 1;
break;
}
// Save pre-edited values
int8_t temp_type = Config.MixMode;
int8_t temp_flapchan = Config.FlapChan;
int8_t temp_RxModeIn = Config.RxModeIn;
// Print menu
print_menu_items(sub_top + offset, RCSTART + offset, value_ptr, mult, (const unsigned char*)rc_menu_ranges[section - 1], 0, RCOFFSET, (const unsigned char*)RCMenuText[section - 1], cursor);
// Handle menu changes
update_menu(items, RCSTART, offset, button, &cursor, &sub_top, &menu_temp);
range = get_menu_range ((const unsigned char*)rc_menu_ranges[section - 1], (menu_temp - RCSTART - offset));
if (button == ENTER)
{
text_link = pgm_read_byte(&RCMenuText[section - 1][menu_temp - RCSTART - offset]);
do_menu_item(menu_temp, value_ptr + (menu_temp - RCSTART - offset), mult, range, 0, text_link, false, 0);
}
if (button == ENTER)
{
// Update Ch5. mixer with source from Config.FlapChan if in Aeroplane mode and source changed
if ((Config.MixMode == AEROPLANE) && (Config.FlapChan != temp_flapchan))
{
Config.Channel[CH5].source_a = Config.FlapChan;
}
// Reset serial in channel masks every time the input type is changed
if (temp_RxModeIn != Config.RxModeIn)
{
Xtreme_Chanmask = 0;
Xtreme_RSS = 0;
Spektrum_Chanmask_0 = 0;
Spektrum_Chanmask_1 = 0;
Spektrum_frameloss = 0;
SBUS_Flags = 0;
// Clear channel data
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
RxChannel[i] = 0;
// Unused Spektrum channels set to NULL
if (Config.RxModeOut == SPEKTRUM)
{
ExtChannel[i] = 0xFFFF;
}
// Unused channels set to mid-way
else if (Config.RxModeOut == SBUS)
{
ExtChannel[i] = 0x400;
}
// Xtreme doesn't care
else
{
ExtChannel[i] = 0;
}
}
}
// If model type has changed, reload preset
if ((section == 3) && (temp_type != Config.MixMode))
{
switch(Config.MixMode) // Load selected mix
{
case AEROPLANE:
get_preset_mix(AEROPLANE_MIX);
break;
case FWING:
get_preset_mix(FLYING_WING_MIX);
break;
case MANUAL:
// Clear all channel info
memset(&Config.Channel[0].value,0,(sizeof(channel_t) * MAX_OUTPUTS));
// Preset important settings
for (i = 0; i < MAX_OUTPUTS; i++)
{
Config.Channel[i].source_a = i; // Set to mirror the inputs
Config.Channel[i].source_a_volume = 100;
Config.Channel[i].source_b = NOCHAN;
Config.Channel[i].output_b = UNUSED;
Config.Channel[i].output_c = UNUSED;
}
break;
default:
break;
}
}
init_int(); // In case RC type has changed, reinitialise interrupts
init_uart(); // and UART
UpdateLimits(); // Update I-term limits and triggers based on percentages
#ifdef KK21
// Update MPU6050 LPF
writeI2Cbyte(MPU60X0_DEFAULT_ADDRESS, MPU60X0_RA_CONFIG, (6 - Config.MPU6050_LPF));
#endif
// Update channel sequence
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
if (Config.TxSeq == FUTABASEQ)
{
Config.ChannelOrder[i] = pgm_read_byte(&FUTABA[i]);
}
else
{
Config.ChannelOrder[i] = pgm_read_byte(&JR[i]);
}
}
Save_Config_to_EEPROM(); // Save value and return
Wait_BUTTON4(); // Wait for user's finger off the button
}
}
}
void menu_rc_setup(uint8_t section)
{
static uint8_t rc_top = RCSTART;
int8_t *value_ptr;
menu_range_t range;
uint8_t text_link;
uint8_t i = 0;
uint8_t mult = 1; // Multiplier
uint8_t offset; // Index into channel structure
uint8_t items; // Items in group
uint16_t temp16_1;
// If submenu item has changed, reset submenu positions
if (menu_flag)
{
rc_top = RCSTART;
menu_flag = 0;
}
while(button != BACK)
{
// Get menu offsets and load values from eeprom
// 1 = RC, 2 = Failsafe, 3 = General, 4 = Battery
switch(section)
{
case 1: // RC setup menu
offset = 0;
items = RCITEMS;
value_ptr = &Config.RxMode;
mult = 1;
break;
case 2: // Failsafe menu
offset = RCITEMS;
items = FSITEMS;
value_ptr = &Config.FailsafeType;
mult = 1;
break;
case 3: // General menu
offset = RCITEMS + FSITEMS;
items = GENERALITEMS;
value_ptr = &Config.MixMode;
mult = 1;
break;
case 4: // Battery menu
offset = RCITEMS + FSITEMS + GENERALITEMS;
items = BATTITEMS;
value_ptr = &Config.BatteryType;
mult = 4;
break;
default:
offset = 0;
items = RCITEMS;
value_ptr = &Config.RxMode;
mult = 1;
break;
}
// Save pre-edited values
int8_t temp_type = Config.MixMode;
int8_t temp_cells = Config.BatteryCells;
int8_t temp_minvoltage = Config.MinVoltage;
int8_t temp_flapchan = Config.FlapChan;
// Print menu
print_menu_items(rc_top + offset, RCSTART + offset, value_ptr, mult, (prog_uchar*)rc_menu_ranges[section - 1], 0, RCOFFSET, (prog_uchar*)RCMenuText[section - 1], cursor);
// Handle menu changes
update_menu(items, RCSTART, offset, button, &cursor, &rc_top, &menu_temp);
range = get_menu_range ((prog_uchar*)rc_menu_ranges[section - 1], (menu_temp - RCSTART - offset));
if (button == ENTER)
{
text_link = pgm_read_byte(&RCMenuText[section - 1][menu_temp - RCSTART - offset]);
do_menu_item(menu_temp, value_ptr + (menu_temp - RCSTART - offset), mult, range, 0, text_link, false, 0);
}
if (button == ENTER)
{
// Update Ch7. mixer with source from Config.FlapChan if in Aeroplane mode and source changed
if ((Config.MixMode == AEROPLANE) && (Config.FlapChan != temp_flapchan))
{
Config.Channel[CH7].source_a = Config.FlapChan;
}
// See if cell number or min_volts has changed
if ((temp_cells != Config.BatteryCells) || (temp_minvoltage != Config.MinVoltage))
{
// Recalculate if more cells
temp16_1 = Config.MinVoltage;
temp16_1 = temp16_1 * Config.BatteryCells;
temp16_1 = temp16_1 / 10;
Config.PowerTrigger = (int8_t)temp16_1;
}
// If model type has changed, reload preset
if ((section == 3) && (temp_type != Config.MixMode))
{
switch(Config.MixMode) // Load selected mix
{
case AEROPLANE:
get_preset_mix(AEROPLANE_MIX);
break;
case FWING:
get_preset_mix(FLYING_WING_MIX);
break;
case CAMSTAB:
get_preset_mix(CAM_STAB);
break;
case MANUAL:
// Clear all channel info
memset(&Config.Channel[0].value,0,(sizeof(channel_t) * PSUEDO_OUTPUTS));
// Preset important settings
for (i = 0; i < PSUEDO_OUTPUTS; i++)
{
Config.Channel[i].source_a = NOCHAN;
Config.Channel[i].source_b = NOCHAN;
Config.Channel[i].output_b = UNUSED;
Config.Channel[i].output_c = UNUSED;
Config.Channel[i].output_d = UNUSED;
}
break;
default:
break;
}
}
init_int(); // In case RC type has changed, reinitialise interrupts
init_uart(); // and UART
UpdateIMUvalues(); // Update IMU variables
UpdateLimits(); // Update I-term limits and triggers based on percentages
#ifdef KK21
// Update MPU6050 LPF
writeI2Cbyte(MPU60X0_DEFAULT_ADDRESS, MPU60X0_RA_CONFIG, Config.MPU6050_LPF);
#endif
// Update channel sequence
for (i = 0; i < MAX_RC_CHANNELS; i++)
{
if (Config.TxSeq == FUTABASEQ)
{
Config.ChannelOrder[i] = (uint8_t)pgm_read_byte(&FUTABA[i]);
}
else
{
Config.ChannelOrder[i] = (uint8_t)pgm_read_byte(&JR[i]);
}
}
Save_Config_to_EEPROM(); // Save value and return
}
}
}
void menu_servo_setup(uint8_t section)
{
int8_t *value_ptr = &Config.Servo_reverse[0];
menu_range_t range;
uint8_t text_link;
uint8_t i = 0;
bool servo_enable = false;
bool zero_setting = false;
// If submenu item has changed, reset submenu positions
if (menu_flag)
{
sub_top = SERVOSTART;
menu_flag = 0;
}
// Get menu offsets
// 1 = Reverse, 2 = Min, 3 = Max
while(button != BACK)
{
// Load values from eeprom
for (i = 0; i < SERVOITEMS; i++)
{
switch(section)
{
case 1:
break;
case 2:
value_ptr = &Config.min_travel[0];
servo_enable = true;
zero_setting = true;
break;
case 3:
value_ptr = &Config.max_travel[0];
servo_enable = true;
zero_setting = true;
break;
default:
break;
}
}
// Print menu
print_menu_items(sub_top, SERVOSTART, value_ptr, 1, (const unsigned char*)servo_menu_ranges[section - 1], 1, SERVOOFFSET, (const unsigned char*)ServoMenuText[section - 1], cursor);
// Handle menu changes
update_menu(SERVOITEMS, SERVOSTART, 0, button, &cursor, &sub_top, &menu_temp);
range = get_menu_range ((const unsigned char*)servo_menu_ranges[section - 1], 0);
if (button == ENTER)
{
text_link = pgm_read_byte(&ServoMenuText[section - 1][menu_temp - SERVOSTART]);
// Zero limits if adjusting
if (zero_setting)
{
value_ptr[menu_temp - SERVOSTART] = 0;
}
// Do not allow servo enable for throttle if in CPPM mode
if ((Config.Channel[menu_temp - SERVOSTART].P1_source_a == THROTTLE) && (Config.RxMode == CPPM_MODE))
{
servo_enable = false;
}
do_menu_item(menu_temp, value_ptr + (menu_temp - SERVOSTART), 1, range, 0, text_link, servo_enable, (menu_temp - SERVOSTART));
}
// Disable servos
servo_enable = false;
if (button == ENTER)
{
UpdateLimits(); // Update actual servo trims
Save_Config_to_EEPROM(); // Save value and return
}
}
}
void menu_flight(uint8_t mode)
{
int8_t *value_ptr;
menu_range_t range;
uint8_t text_link;
int8_t temp_gyro_roll = 0;
int8_t temp_gyro_pitch = 0;
int8_t temp_gyro_yaw = 0;
// If submenu item has changed, reset submenu positions
if (menu_flag)
{
sub_top = FLIGHTSTART;
menu_flag = 0;
}
while(button != BACK)
{
value_ptr = &Config.FlightMode[mode-1].StabMode;
// Save pre-edited value for gyro types
temp_gyro_roll = Config.FlightMode[mode - 1].Roll_type;
temp_gyro_pitch = Config.FlightMode[mode - 1].Pitch_type;
temp_gyro_yaw = Config.FlightMode[mode - 1].Yaw_type;
// Print menu
print_menu_items(sub_top, FLIGHTSTART, value_ptr, 1, (const unsigned char*)flight_menu_ranges, 0, FLIGHTOFFSET, (const unsigned char*)FlightMenuText, cursor);
// Handle menu changes
update_menu(FLIGHTITEMS, FLIGHTSTART, 0, button, &cursor, &sub_top, &menu_temp);
range = get_menu_range ((const unsigned char*)flight_menu_ranges, (menu_temp - FLIGHTSTART));
if (button == ENTER)
{
text_link = pgm_read_byte(&FlightMenuText[menu_temp - FLIGHTSTART]);
do_menu_item(menu_temp, value_ptr + (menu_temp - FLIGHTSTART), 1, range, 0, text_link, false, 0);
}
// Preset I-limits when gyro mode changes
if (button == ENTER)
{
// If roll gyro type has changed, reset to an appropriate start point
if (temp_gyro_roll != Config.FlightMode[mode-1].Roll_type)
{
// Use Gyro type value to preset limits
if(Config.FlightMode[mode-1].Roll_type == LOCK)
{
Config.FlightMode[mode - 1].Roll_limit = 125;
}
else
{
Config.FlightMode[mode - 1].Roll_limit = 0;
}
}
if (temp_gyro_pitch != Config.FlightMode[mode-1].Pitch_type)
{
if(Config.FlightMode[mode-1].Pitch_type == LOCK)
{
Config.FlightMode[mode - 1].Pitch_limit = 125;
}
else
{
Config.FlightMode[mode - 1].Pitch_limit = 0;
}
}
if (temp_gyro_yaw != Config.FlightMode[mode-1].Yaw_type)
{
if(Config.FlightMode[mode-1].Yaw_type == LOCK)
{
Config.FlightMode[mode - 1].Yaw_limit = 125;
}
else
{
Config.FlightMode[mode - 1].Yaw_limit = 0;
}
}
UpdateLimits(); // Update I-term limits and triggers based on percentages
Save_Config_to_EEPROM(); // Save value and return
Wait_BUTTON4(); // Wait for user's finger off the button
}
}
}