// show model number, extra function to handle more than 10 models
static void show_model_number(u8 model) {
lcd_7seg((u8)(model % 10));
lcd_segment(LS_SYM_RIGHT, (u8)((u8)(model / 10) & 1));
lcd_segment(LS_SYM_LEFT, (u8)((u8)(model / 20) & 1));
lcd_segment(LS_SYM_PERCENT, (u8)((u8)(model / 40) & 1));
lcd_segment(LS_SYM_MODELNO, LS_ON);
}
static void mix_brake_off(u8 action) {
// change value
if (action == MLA_CHG) cm.brake_off ^= 1;
// show value
lcd_7seg(L7_B);
lcd_chars(cm.brake_off ? "CUT" : "OFF");
}
// show firmware version
static void gs_firmware(u8 change) {
if (change == 0xff) {
lcd_set(L7SEG, LB_EMPTY);
return;
}
lcd_7seg(L7_F);
lcd_chars(VERSION);
}
// set channel value, exclude 4WS and DIG channels
// for channels 3..8 so add 2 to channel number
static void sf_channel_val(u8 channel, u8 change) {
s8 *addr = &menu_channel3_8[channel];
if (change && !(menu_channels_mixed & (u8)(1 << (channel + 2))))
*addr = (s8)menu_change_val(*addr, -100, 100, CHANNEL_FAST, 0);
// show value
lcd_7seg((u8)(channel + 2 + 1));
lcd_char_num3(*addr);
}
static void gs_key_beep(u8 change) {
if (change == 0xff) {
lcd_set(L7SEG, LB_EMPTY);
return;
}
if (change) cg.key_beep ^= 1;
lcd_7seg(L7_B);
if (cg.key_beep) lcd_chars("ON ");
else lcd_chars("OFF");
}
static void gs_long_press_delay(u8 change) {
u8 *addr = &cg.long_press_delay;
if (change == 0xff) {
lcd_set(L7SEG, LB_EMPTY);
return;
}
if (change) *addr = (u8)menu_change_val(*addr, 20, 200, 5, 0);
lcd_7seg(L7_D);
lcd_char_num3(*addr * 5);
}
static void gs_throttle_dead(u8 change) {
u8 *addr = &cg.throttle_dead_zone;
if (change == 0xff) {
lcd_set(L7SEG, LB_EMPTY);
return;
}
if (change) *addr = (u8)menu_change_val(*addr, 0, 50, 2, 0);
lcd_7seg(2);
lcd_char_num3(*addr);
}
static void menu_abs_func(u8 action, void *p) {
// change value
if (action == MCA_SET_CHG)
cm.abs_type = (u8)menu_change_val(cm.abs_type, 0, ABS_LABEL_SIZE-1, 1, 1);
// show value
lcd_segment(LS_SYM_CHANNEL, LS_ON);
lcd_7seg(2);
lcd_chars(abs_labels[cm.abs_type]);
}
// set number of model channels
static void menu_channels(u8 action) {
// change value
if (action == MLA_CHG)
cm.channels = (u8)(menu_change_val(cm.channels + 1, 2,
MAX_CHANNELS, 1, 0) - 1);
// show value
lcd_7seg(L7_C);
lcd_segment(LS_SYM_CHANNEL, LS_ON);
lcd_char_num3(cm.channels + 1);
}
// change 4WS crab/no-crab
static void kf_4ws(u8 *id, u8 *param, u8 flags, s16 *prev_val) {
if (flags & FF_ON)
menu_4WS_crab = (u8)(flags & FF_REVERSE ? 0 : 1);
else
menu_4WS_crab = (u8)(flags & FF_REVERSE ? 1 : 0);
if (flags & FF_SHOW) {
lcd_7seg(4);
lcd_chars(menu_4WS_crab ? "CRB" : "NOC");
}
}
// change menu_brake bit
static void kf_brake(u8 *id, u8 *param, u8 flags, s16 *prev_val) {
if (flags & FF_ON)
menu_brake = (u8)(flags & FF_REVERSE ? 0 : 1);
else
menu_brake = (u8)(flags & FF_REVERSE ? 1 : 0);
if (flags & FF_SHOW) {
lcd_7seg(L7_B);
lcd_chars(menu_brake ? "BRK" : "OFF");
}
}
// multi-position show and set value
static void show_MP(u8 *name, s16 val) {
u8 mp_id = (u8)(name[2] - '1');
s8 *multi_position;
u8 channel_MP;
u8 num_MP = config_get_MP(mp_id, &channel_MP, &multi_position);
// show also selected channel/DIG
if (channel_MP == MP_DIG) {
lcd_7seg(L7_D);
lcd_menu(LM_EPO);
lcd_set_blink(LMENU, LB_SPC);
lcd_segment(LS_SYM_CHANNEL, LS_OFF);
lcd_segment(LS_SYM_PERCENT, LS_ON);
}
else {
lcd_7seg(channel_MP);
lcd_segment(LS_SYM_CHANNEL, LS_ON);
}
lcd_char_num3(multi_position[menu_MP_index[mp_id]]);
}
// show functions ID
static void menu_et_function_show_id(et_functions_s *etf) {
lcd_menu(etf->menu);
if (etf->flags & EF_BLINK) lcd_set_blink(LMENU, LB_SPC);
lcd_segment(LS_SYM_MODELNO, LS_OFF);
lcd_segment(LS_SYM_DOT, LS_OFF);
lcd_segment(LS_SYM_VOLTS, LS_OFF);
lcd_segment(LS_SYM_PERCENT, (u8)(etf->flags & EF_PERCENT ? LS_ON : LS_OFF));
lcd_segment(LS_SYM_LEFT, (u8)(etf->flags & EF_LEFT ? LS_ON : LS_OFF));
lcd_segment(LS_SYM_RIGHT, (u8)(etf->flags & EF_RIGHT ? LS_ON : LS_OFF));
lcd_segment(LS_SYM_CHANNEL, (u8)(etf->flags & EF_NOCHANNEL ? LS_OFF : LS_ON));
lcd_7seg(etf->channel);
}
static void mix_4WS(u8 action) {
u8 val;
if (action == MLA_CHG) {
// change value
switch (menu_set) {
case 0:
// channel number/off
val = cm.channel_4WS;
if (!val) val = 2;
val = (u8)menu_change_val(val, 2, channels, 1, 1);
if (val == 2) cm.channel_4WS = 0;
else cm.channel_4WS = val;
break;
case 1:
// mix value
menu_4WS_mix = (s8)menu_change_val(menu_4WS_mix, -100, 100,
MIX_FAST, 0);
break;
case 2:
// crab/no-crab
menu_4WS_crab ^= 1;
}
}
else if (action == MLA_NEXT) {
// select next value
if (++menu_set > 2) menu_set = 0;
if (!cm.channel_4WS) menu_set = 0;
}
// show value
lcd_7seg(4);
switch (menu_set) {
case 0:
// channel number/OFF
if (!cm.channel_4WS) lcd_chars("OFF");
else lcd_char_num3(cm.channel_4WS);
lcd_segment(LS_SYM_CHANNEL, LS_ON);
break;
case 1:
// mix value
lcd_char_num3(menu_4WS_mix);
lcd_segment(LS_SYM_PERCENT, LS_ON);
break;
case 2:
// crab/no-crab
lcd_chars("CR");
lcd_char(LCHR3, (u8)(menu_4WS_crab + '0'));
menu_blink &= (u8)~(MCB_CHR1 | MCB_CHR2);
}
}
static void gs_backlight_time(u8 change) {
s8 i;
u16 *addr = &cg.backlight_time;
if (change == 0xff) {
lcd_set(L7SEG, LB_EMPTY);
return;
}
if (change) {
if (btn(BTN_ROT_L)) {
// find lower value
for (i = BL_STEPS_SIZE - 1; i >= 0; i--) {
if (bl_steps[i] >= *addr) continue;
*addr = bl_steps[i];
break;
}
if (i < 0)
*addr = bl_steps[BL_STEPS_SIZE - 1];
}
else {
// find upper value
for (i = 0; i < BL_STEPS_SIZE; i++) {
if (bl_steps[i] <= *addr) continue;
*addr = bl_steps[i];
break;
}
if (i == BL_STEPS_SIZE)
*addr = bl_steps[0];
}
}
lcd_7seg(L7_L);
if (*addr < 60) {
// seconds
bl_num2((u8)*addr);
lcd_char(LCHR3, 'S');
}
else if (*addr < 3600) {
// minutes
bl_num2((u8)(*addr / 60));
lcd_char(LCHR3, 'M');
}
else if (*addr != BACKLIGHT_MAX) {
// hours
bl_num2((u8)(*addr / 3600));
lcd_char(LCHR3, 'H');
}
else {
// max
lcd_chars("MAX");
}
}
static void gs_inactivity_alarm(u8 change) {
if (change == 0xff) {
lcd_set(L7SEG, LB_EMPTY);
return;
}
if (change) {
cg.inactivity_alarm = (u8)menu_change_val(cg.inactivity_alarm, 0, 10,
1, 1);
reset_inactivity_timer();
}
lcd_7seg(L7_A);
if (!cg.inactivity_alarm) lcd_chars("OFF");
else {
bl_num2(cg.inactivity_alarm);
lcd_char(LCHR3, 'M');
}
}
static void gs_reset_model_all(u8 change) {
if (change == 0xff) {
lcd_set(L7SEG, LB_EMPTY);
if (gs_reset_flag) {
gs_reset_flag = 0;
cg.model = 0;
config_global_save();
eeprom_empty_models();
menu_load_model();
}
return;
}
if (change) gs_reset_flag ^= 1;
lcd_7seg(L7_R);
if (gs_reset_flag) lcd_chars("YES");
else lcd_chars("MOD");
}
// reset model to defaults
static void menu_reset_model(u8 action) {
// change value
if (action == MLA_CHG) menu_tmp_flag ^= 1;
// select next value, reset when flag is set
else if (action == MLA_NEXT) {
if (menu_tmp_flag) {
menu_tmp_flag = 0;
config_model_set_default();
buzzer_on(60, 0, 1);
}
}
// show value
lcd_7seg(L7_R);
lcd_chars(menu_tmp_flag ? "YES" : "NO ");
}
static void gs_endpoint_max(u8 change) {
u8 *addr = &cg.endpoint_max;
if (change == 0xff) {
lcd_segment(LS_MENU_EPO, LS_OFF);
lcd_segment(LS_SYM_PERCENT, LS_OFF);
lcd_set(L7SEG, LB_EMPTY);
return;
}
if (change) *addr = (u8)menu_change_val(*addr, 100, 150, 5, 0);
lcd_segment(LS_SYM_PERCENT, LS_ON);
lcd_segment(LS_MENU_EPO, LS_ON);
lcd_char_num3(*addr);
if (*addr > 120) {
lcd_7seg(L7_D);
lcd_set_blink(L7SEG, LB_SPC);
}
else lcd_set(L7SEG, LB_EMPTY);
}
static void mix_DIG(u8 action) {
u8 val;
if (action == MLA_CHG) {
// change value
switch (menu_set) {
case 0:
// channel number/off
val = cm.channel_DIG;
if (!val) val = 2;
val = (u8)menu_change_val(val, 1, channels, 1, 1);
if (val == 2) cm.channel_DIG = 0;
else cm.channel_DIG = val;
break;
case 1:
// mix value
menu_DIG_mix = (s8)menu_change_val(menu_DIG_mix, -100, 100,
MIX_FAST, 0);
break;
}
}
else if (action == MLA_NEXT) {
// select next value
if (++menu_set > 1) menu_set = 0;
if (!cm.channel_DIG) menu_set = 0;
}
// show value
lcd_7seg(L7_D);
switch (menu_set) {
case 0:
// channel number/OFF
if (!cm.channel_DIG) lcd_chars("OFF");
else lcd_char_num3(cm.channel_DIG);
lcd_segment(LS_SYM_CHANNEL, LS_ON);
break;
case 1:
// mix value
lcd_char_num3(menu_DIG_mix);
lcd_segment(LS_SYM_PERCENT, LS_ON);
break;
}
}
void menu_key_test(void) {
u8 i;
u16 bit;
// cleanup screen and disable possible low bat warning
buzzer_off();
key_beep();
menu_battery_low = 0; // it will be set automatically again
battery_low_shutup = 0;
// do full screen blink
lcd_set_full_on();
delay_menu_always(2);
while (btns(BTN_ENTER)) stop(); // wait for release of ENTER
lcd_clear();
button_autorepeat(0); // disable autorepeats
btnra();
// show intro text
lcd_chars("KEY");
lcd_update_stop(); // wait for key
while (1) {
if (btnl(BTN_BACK | BTN_ENTER)) break;
for (i = 0, bit = 1; i < 16; i++, bit <<= 1) {
if (btn(bit)) {
key_beep();
lcd_chars(key_ids[i]);
if (btnl(bit)) lcd_7seg(L7_L);
else lcd_set(L7SEG, LB_EMPTY);
lcd_update();
break;
}
}
btnra();
stop();
}
key_beep();
apply_model_config();
}
void menu_key_mapping_func(u8 action, void *p) {
if (action == MCA_SET_CHG) {
km_trim_key(1);
}
else if (action == MCA_SET_NEXT) {
km_trim_key(2);
}
else if (action == MCA_ID_CHG) {
while (1) {
// select prev/next menu_id
menu_id = (u8)menu_change_val(menu_id, 0,
3 * NUM_TRIMS + NUM_KEYS - 1, 1, 1);
// trims and 3keys (CH3/BACK/END) always
if (menu_id < NUM_TRIMS + NUM_KEYS) break;
// check trim keys and use them only when corresponding
// trim is off
if (ck.key_map[menu_id - NUM_TRIMS].is_trim) continue;
break;
}
}
// show value
if (menu_id < NUM_TRIMS + NUM_KEYS)
// standard trims and buttons
lcd_7seg(key_ids[menu_id]);
else {
// trims as buttons, use arrows to show them
lcd_7seg(key_ids[(u8)((u8)(menu_id - NUM_TRIMS - NUM_KEYS) >> 1)]);
if ((u8)(menu_id - NUM_TRIMS - NUM_KEYS) & 1)
// right trim key
lcd_segment(LS_SYM_RIGHT, LS_ON);
else
// left trim key
lcd_segment(LS_SYM_LEFT, LS_ON);
}
if (action != MCA_SET_NEXT && action != MCA_SET_CHG)
km_trim_key(0);
}
static void menu_channel_func(u8 action, menu_channel_t *p) {
switch (action) {
case MCA_INIT:
menu_set_adc_force(menu_id, p->use_adc, p->forced_values);
break;
case MCA_SET_CHG:
p->func(menu_id, 1);
break;
case MCA_ID_CHG:
menu_id = (u8)menu_change_val(menu_id, 0, p->end_channel - 1, 1, 1);
menu_set_adc_force(menu_id, p->use_adc, p->forced_values);
break;
case MCA_ADC_PRE:
menu_set_adc_direction(menu_id);
return; // show nothing at ADC_PRE
case MCA_ADC_POST:
// do nothing if left-right didn't changed
if (p->last_direction == menu_adc_direction) return;
// else flag it to show value
menu_id_set = 1; // flag that new value is showed
return;
}
// show value
lcd_segment(LS_SYM_CHANNEL, LS_ON);
if (action != MCA_SET_CHG) { // already showed
lcd_7seg((u8)(menu_id + 1));
p->func(menu_id, 0);
}
if (menu_adc_wakeup) {
// show arrow
if (menu_adc_direction)
lcd_segment(LS_SYM_RIGHT, LS_ON);
else
lcd_segment(LS_SYM_LEFT, LS_ON);
}
p->last_direction = menu_adc_direction;
}
// calibrate menu
void menu_calibrate(u8 at_poweron) {
u8 channel = 1;
u16 last_val = 0xffff;
u16 val;
u8 seg;
u8 bat_volts;
u16 update_time = 0;
u16 update_val = 0;
menu_adc_wakeup = 1;
// cleanup screen and disable possible low bat warning
buzzer_off();
if (at_poweron) buzzer_on(30, 30, 2);
else key_beep();
menu_battery_low = 0; // it will be set automatically again
battery_low_shutup = 0;
backlight_set_default(BACKLIGHT_MAX);
backlight_on();
lcd_clear();
btnra();
// show intro text
lcd_chars("CAL");
lcd_update();
delay_menu_always(2);
// show channel number and not-yet calibrated values
lcd_segment(LS_SYM_CHANNEL, LS_ON);
lcd_7seg(channel);
lcd_menu(LM_MODEL | LM_NAME | LM_REV | LM_TRIM | LM_DR | LM_EXP);
lcd_set_blink(LMENU, LB_SPC);
while (1) {
// check keys
if (btnl(BTN_BACK | BTN_ENTER)) break;
if (btn(BTN_END | BTN_ROT_ALL)) {
if (btn(BTN_END)) key_beep();
// change channel number
channel = (u8)menu_change_val(channel, 1, 4, 1, 1);
lcd_7seg(channel);
lcd_update();
update_time = 0;
}
else if (btn(BTN_ENTER)) {
// save calibrate value for channels 1 and 2
// select actual voltage for channel 4
if (channel == 1) {
key_beep();
val = ADC_OVS(steering);
if (val < CALIB_ST_LOW_MID) {
cg.calib_steering_left = val;
seg = LS_MENU_MODEL;
}
else if (val <= CALIB_ST_MID_HIGH) {
cg.calib_steering_mid = val;
seg = LS_MENU_NAME;
}
else {
cg.calib_steering_right = val;
seg = LS_MENU_REV;
}
lcd_segment(seg, LS_OFF);
lcd_update();
}
else if (channel == 2) {
key_beep();
val = ADC_OVS(throttle);
if (val < CALIB_TH_LOW_MID) {
cg.calib_throttle_fwd = val;
seg = LS_MENU_TRIM;
}
else if (val <= CALIB_TH_MID_HIGH) {
cg.calib_throttle_mid = val;
seg = LS_MENU_DR;
}
else {
cg.calib_throttle_bck = val;
seg = LS_MENU_EXP;
}
lcd_segment(seg, LS_OFF); // set corresponding LCD off
lcd_update();
}
else if (channel == 4) {
key_beep();
// allow to set actual battery voltage
lcd_segment(LS_SYM_DOT, LS_ON);
lcd_segment(LS_SYM_VOLTS, LS_ON);
bat_volts = (u8)(((u32)adc_battery * 100 + 300) / cg.battery_calib);
lcd_char_num3(bat_volts);
lcd_update();
while (1) {
btnra();
stop();
if (btnl(BTN_BACK) || btn(BTN_ENTER | BTN_END)) break;
if (btn(BTN_ROT_ALL)) {
if (btn(BTN_ROT_L)) bat_volts--;
else bat_volts++;
lcd_char_num3(bat_volts);
lcd_update();
}
}
key_beep();
lcd_segment(LS_SYM_DOT, LS_OFF);
lcd_segment(LS_SYM_VOLTS, LS_OFF);
last_val = 0xffff; // show ADC value
if (!btn(BTN_END)) {
// recalculate calibrate value for 10V
cg.battery_calib = (u16)(((u32)adc_battery * 100 + 40) / bat_volts);
if (btnl(BTN_BACK | BTN_ENTER)) break;
}
}
}
// show ADC value if other than last val
switch (channel) {
case 1:
val = ADC_OVS(steering);
break;
case 2:
val = ADC_OVS(throttle);
break;
case 3:
val = ADC_OVS(ch3);
break;
case 4:
val = adc_battery;
break;
default: // to eliminate compiler warning
val = 0;
}
// only update display every 1s
if (time_sec >= update_time) {
update_time = time_sec + 1;
update_val = val;
}
if (update_val != last_val) {
last_val = update_val;
lcd_char_num3(val);
lcd_update();
}
btnra();
stop();
}
menu_adc_wakeup = 0;
beep(60);
lcd_menu(0);
lcd_update();
config_global_save();
apply_global_config();
}
// show model number, extra function to handle more than 10 models
static void show_model_number(u8 model) {
lcd_7seg((u8)(model % 10));
lcd_segment(LS_SYM_RIGHT, (u8)((u8)(model / 10) & 1));
lcd_segment(LS_SYM_LEFT, (u8)((u8)(model / 20) & 1));
}
static void mix_MultiPosition(u8 action) {
s8 val;
if (action == MLA_CHG) {
// change value
if (menu_set == 0) {
// channel number/off
val = cm.channel_MP;
if (!val) val = 2;
else if (val == MP_DIG) val = (s8)(channels + 1);
val = (u8)menu_change_val(val, 2, channels + 1, 1, 1);
if (val == 2) cm.channel_MP = 0;
else if (val == (s8)(channels + 1)) cm.channel_MP = MP_DIG;
else cm.channel_MP = val;
}
else {
// position value + END state (END not for first position)
val = cm.multi_position[menu_set - 1];
if (val == MULTI_POSITION_END) val = -101;
val = (s8)menu_change_val(val, menu_set == 1 ? -100 : -101, 100,
CHANNEL_FAST, 0);
if (val == -101) {
// set all from this to END value
memset(&cm.multi_position[menu_set - 1], (u8)MULTI_POSITION_END,
NUM_MULTI_POSITION + 1 - menu_set);
}
else cm.multi_position[menu_set - 1] = val;
}
}
else if (action == MLA_NEXT) {
// select next value
if (cm.channel_MP) {
if (menu_set == 0) menu_set = 1;
else if (cm.multi_position[menu_set - 1] == MULTI_POSITION_END
|| ++menu_set > NUM_MULTI_POSITION) menu_set = 0;
}
// allow forcing channel value
if (menu_set && cm.channel_MP && cm.channel_MP <= channels) {
menu_force_value_channel = cm.channel_MP;
}
else menu_force_value_channel = 0;
}
// show value
lcd_7seg(L7_P);
if (menu_set == 0) {
// channel number/OFF
if (!cm.channel_MP) lcd_chars("OFF");
else if (cm.channel_MP == MP_DIG)
lcd_chars("DIG");
else lcd_char_num3(cm.channel_MP);
lcd_segment(LS_SYM_CHANNEL, LS_ON);
}
else {
// position value
val = cm.multi_position[menu_set - 1];
if (val == MULTI_POSITION_END) {
lcd_chars("END");
val = -100;
}
else lcd_char_num3(val);
if (cm.channel_MP == MP_DIG) menu_DIG_mix = val;
else menu_force_value = val * PPM(5);
}
}