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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
| 41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 40 | // + with our written permission |
| 41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 57 | #include <stdlib.h> |
| 58 | #include "91x_lib.h" |
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| 1 | ingob | 59 | #include "main.h" |
| 264 | killagreg | 60 | #include "led.h" |
| 41 | ingob | 61 | #include "ubx.h" |
| 62 | #include "GPS.h" |
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| 119 | killagreg | 63 | #include "timer1.h" |
| 242 | killagreg | 64 | #include "compass.h" |
| 41 | ingob | 65 | #include "spi_slave.h" |
| 66 | #include "menu.h" |
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| 67 | #include "uart1.h" |
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| 267 | holgerb | 68 | #include "ncmag.h" |
| 380 | holgerb | 69 | #include "logging.h" |
| 426 | holgerb | 70 | #include "settings.h" |
| 548 | holgerb | 71 | #include "sdc.h" |
| 677 | holgerb | 72 | #include "analog.h" |
| 697 | holgerb | 73 | #include "canbus.h" |
| 1 | ingob | 74 | |
| 75 | u8 DispPtr = 0; |
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| 201 | killagreg | 76 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
| 1 | ingob | 77 | |
| 201 | killagreg | 78 | |
| 41 | ingob | 79 | u8 MenuItem = 0; |
| 697 | holgerb | 80 | u8 MaxMenuItem = 29; |
| 41 | ingob | 81 | |
| 203 | killagreg | 82 | void Menu_Putchar(char c) |
| 83 | { |
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| 516 | holgerb | 84 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
| 203 | killagreg | 85 | } |
| 86 | |||
| 201 | killagreg | 87 | void Menu_Clear(void) |
| 1 | ingob | 88 | { |
| 201 | killagreg | 89 | u8 i; |
| 90 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 91 | } |
| 92 | |||
| 41 | ingob | 93 | // Display with 20 characters in 4 lines |
| 201 | killagreg | 94 | void Menu_Update(u8 Keys) |
| 41 | ingob | 95 | { |
| 516 | holgerb | 96 | s32 i1,i2; |
| 51 | killagreg | 97 | u8 sign; |
| 41 | ingob | 98 | |
| 201 | killagreg | 99 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
| 100 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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| 101 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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| 41 | ingob | 102 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| 201 | killagreg | 103 | Menu_Clear(); |
| 41 | ingob | 104 | // print menu item number in the upper right corner |
| 516 | holgerb | 105 | if(MenuItem < 10) |
| 106 | { |
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| 41 | ingob | 107 | LCD_printfxy(17,0,"[%i]",MenuItem); |
| 108 | } |
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| 201 | killagreg | 109 | else // Menuitem >= 10 |
| 41 | ingob | 110 | { |
| 111 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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| 112 | } |
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| 113 | |||
| 516 | holgerb | 114 | switch(MenuItem) |
| 115 | { |
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| 41 | ingob | 116 | // Version Info |
| 117 | case 0: |
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| 118 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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| 530 | holgerb | 119 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 617 | holgerb | 120 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) LCD_printfxy(19,1,"R"); |
| 516 | holgerb | 121 | if(ErrorCode) |
| 264 | killagreg | 122 | { |
| 123 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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| 516 | holgerb | 124 | LCD_printfxy(0,3,"%s",ErrorMSG); |
| 264 | killagreg | 125 | } |
| 489 | killagreg | 126 | else |
| 697 | holgerb | 127 | if(Partner.ErrorCode) |
| 489 | killagreg | 128 | { |
| 697 | holgerb | 129 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
| 130 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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| 131 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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| 132 | } |
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| 133 | else |
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| 134 | { |
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| 693 | holgerb | 135 | LCD_printfxy(0,2,"Set:%d %s", Parameter.ActiveSetting,EE_Parameter.Name); |
| 136 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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| 137 | // LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
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| 321 | holgerb | 138 | } |
| 574 | holgerb | 139 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
| 41 | ingob | 140 | break; |
| 141 | case 1: |
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| 697 | holgerb | 142 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"++ Master - NC ++") |
| 143 | else LCD_printfxy(0,0,"++ Slave - NC ++"); |
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| 144 | |||
| 145 | if(CanRxMessage[CAN_ID_VERSION].D.Byte[3]) |
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| 146 | { |
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| 147 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", CanRxMessage[CAN_ID_VERSION].D.Byte[3]/10, CanRxMessage[CAN_ID_VERSION].D.Byte[3]%10, CanRxMessage[CAN_ID_VERSION].D.Byte[7], CanRxMessage[CAN_ID_VERSION].D.Byte[6], 'a'+ CanRxMessage[CAN_ID_VERSION].D.Byte[5]); |
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| 148 | if(Partner.ErrorCode) |
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| 149 | { |
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| 150 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
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| 151 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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| 152 | } |
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| 153 | else |
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| 154 | { |
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| 155 | LCD_printfxy(0,2,"Set:%d", CanRxMessage[CAN_ID_VERSION].D.Byte[1]); |
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| 156 | } |
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| 157 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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| 158 | if(Partner.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
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| 159 | } |
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| 160 | else |
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| 161 | LCD_printfxy(0,2,"not connected", CanTxMessage[CAN_ID_VERSION].D.Byte[1]); |
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| 162 | break; |
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| 163 | case 2: |
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| 41 | ingob | 164 | if (GPSData.Status == INVALID) |
| 165 | { |
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| 166 | LCD_printfxy(0,0,"No GPS data"); |
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| 167 | LCD_printfxy(0,1,"Lon: "); |
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| 168 | LCD_printfxy(0,2,"Lat: "); |
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| 169 | LCD_printfxy(0,3,"Alt: "); |
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| 170 | } |
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| 171 | else // newdata or processed |
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| 172 | { |
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| 122 | killagreg | 173 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 174 | switch (GPSData.SatFix) |
| 175 | { |
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| 176 | case SATFIX_NONE: |
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| 127 | killagreg | 177 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 178 | break; |
| 179 | case SATFIX_2D: |
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| 127 | killagreg | 180 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 181 | break; |
| 182 | case SATFIX_3D: |
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| 127 | killagreg | 183 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 184 | break; |
| 185 | default: |
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| 127 | killagreg | 186 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 187 | break; |
| 188 | } |
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| 121 | killagreg | 189 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 190 | { |
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| 127 | killagreg | 191 | LCD_printfxy(12,0,"/DGPS"); |
| 121 | killagreg | 192 | } |
| 193 | else |
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| 194 | { |
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| 127 | killagreg | 195 | LCD_printfxy(12,0," "); |
| 121 | killagreg | 196 | } |
| 197 | |||
| 51 | killagreg | 198 | if(GPSData.Position.Longitude < 0) sign = '-'; |
| 199 | else sign = '+'; |
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| 53 | killagreg | 200 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 201 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 54 | killagreg | 202 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 203 | if(GPSData.Position.Latitude < 0) sign = '-'; |
| 204 | else sign = '+'; |
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| 53 | killagreg | 205 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 206 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 54 | killagreg | 207 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 208 | if(GPSData.Position.Altitude < 0) sign = '-'; |
| 209 | else sign = '+'; |
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| 53 | killagreg | 210 | i1 = abs(GPSData.Position.Altitude)/1000L; |
| 211 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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| 54 | killagreg | 212 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
| 41 | ingob | 213 | } |
| 214 | break; |
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| 697 | holgerb | 215 | case 3: |
| 41 | ingob | 216 | if (GPSData.Status == INVALID) |
| 217 | { |
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| 218 | LCD_printfxy(0,0,"No GPS data"); |
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| 219 | LCD_printfxy(0,1,"Speed N: "); |
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| 220 | LCD_printfxy(0,2,"Speed E: "); |
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| 221 | LCD_printfxy(0,3,"Speed T: "); |
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| 222 | } |
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| 223 | else // newdata or processed |
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| 224 | { |
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| 124 | killagreg | 225 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 226 | switch (GPSData.SatFix) |
| 227 | { |
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| 228 | case SATFIX_NONE: |
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| 127 | killagreg | 229 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 230 | break; |
| 231 | case SATFIX_2D: |
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| 127 | killagreg | 232 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 233 | break; |
| 234 | case SATFIX_3D: |
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| 127 | killagreg | 235 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 236 | break; |
| 237 | default: |
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| 127 | killagreg | 238 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 239 | break; |
| 240 | } |
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| 124 | killagreg | 241 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 242 | { |
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| 127 | killagreg | 243 | LCD_printfxy(12,0,"/DGPS"); |
| 124 | killagreg | 244 | } |
| 245 | else |
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| 246 | { |
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| 127 | killagreg | 247 | LCD_printfxy(12,0," "); |
| 124 | killagreg | 248 | } |
| 249 | |||
| 41 | ingob | 250 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
| 251 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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| 252 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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| 253 | } |
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| 254 | break; |
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| 697 | holgerb | 255 | case 4: |
| 41 | ingob | 256 | LCD_printfxy(0,0,"GPS UTC Time"); |
| 257 | if (!SystemTime.Valid) |
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| 258 | { |
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| 259 | LCD_printfxy(0,1," "); |
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| 260 | LCD_printfxy(0,2," No time data! "); |
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| 261 | LCD_printfxy(0,3," "); |
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| 262 | } |
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| 263 | else // newdata or processed |
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| 264 | { |
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| 265 | LCD_printfxy(0,1," "); |
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| 266 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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| 267 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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| 268 | } |
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| 269 | break; |
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| 697 | holgerb | 270 | case 5: // Navi Params 1 from FC |
| 41 | ingob | 271 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
| 516 | holgerb | 272 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
| 273 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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| 274 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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| 41 | ingob | 275 | break; |
| 697 | holgerb | 276 | case 6: // Navi Params 2 from FC |
| 59 | killagreg | 277 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
| 532 | holgerb | 278 | LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m); |
| 516 | holgerb | 279 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
| 280 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
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| 59 | killagreg | 281 | break; |
| 697 | holgerb | 282 | case 7: // Navi Params 3 from FC |
| 59 | killagreg | 283 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
| 516 | holgerb | 284 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
| 285 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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| 286 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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| 59 | killagreg | 287 | break; |
| 697 | holgerb | 288 | case 8: // Max Ranges |
| 351 | holgerb | 289 | LCD_printfxy(0,0,"Maximum flying "); |
| 532 | holgerb | 290 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m); |
| 291 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m); |
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| 516 | holgerb | 292 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
| 532 | holgerb | 293 | if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled"); |
| 294 | if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled"); |
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| 355 | holgerb | 295 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
| 351 | holgerb | 296 | break; |
| 697 | holgerb | 297 | case 9: |
| 41 | ingob | 298 | LCD_printfxy(0,0,"Home Position"); |
| 215 | killagreg | 299 | if(NaviData.HomePosition.Status == INVALID) |
| 41 | ingob | 300 | { |
| 301 | LCD_printfxy(0,1," "); |
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| 302 | LCD_printfxy(0,2," Is not set. "); |
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| 303 | LCD_printfxy(0,3," "); |
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| 304 | } |
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| 305 | else |
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| 306 | { |
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| 215 | killagreg | 307 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
| 51 | killagreg | 308 | else sign = '+'; |
| 215 | killagreg | 309 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
| 310 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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| 55 | killagreg | 311 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 312 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
| 51 | killagreg | 313 | else sign = '+'; |
| 215 | killagreg | 314 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
| 315 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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| 55 | killagreg | 316 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 317 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
| 51 | killagreg | 318 | else sign = '+'; |
| 215 | killagreg | 319 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
| 320 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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| 589 | holgerb | 321 | LCD_printfxy(0,3,"Alt:%c%04ld.%1dm",sign, i1, i2/1000); |
| 588 | holgerb | 322 | switch(Parameter.HomeYawMode) |
| 323 | { |
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| 324 | case NO_CHANGE: LCD_printfxy(17,3,"(-)"); break; |
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| 325 | case FRONT_TO_HOME: LCD_printfxy(17,3,"(F)"); break; |
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| 326 | case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break; |
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| 327 | case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break; |
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| 328 | } |
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| 41 | ingob | 329 | } |
| 330 | break; |
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| 697 | holgerb | 331 | case 10: |
| 318 | holgerb | 332 | LCD_printfxy(0,0,"Target Position"); |
| 333 | if(NaviData.TargetPosition.Status == INVALID) |
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| 334 | { |
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| 335 | LCD_printfxy(0,1," "); |
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| 336 | LCD_printfxy(0,2," Is not set. "); |
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| 337 | LCD_printfxy(0,3," "); |
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| 338 | } |
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| 339 | else |
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| 340 | { |
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| 341 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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| 342 | else sign = '+'; |
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| 343 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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| 344 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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| 345 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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| 346 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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| 347 | else sign = '+'; |
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| 348 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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| 349 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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| 350 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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| 351 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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| 352 | else sign = '+'; |
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| 353 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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| 354 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
||
| 588 | holgerb | 355 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2); |
| 318 | holgerb | 356 | } |
| 357 | break; |
||
| 697 | holgerb | 358 | case 11: // RC stick controls from FC |
| 41 | ingob | 359 | LCD_printfxy(0,0,"RC-Sticks" ); |
| 516 | holgerb | 360 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
| 361 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
||
| 362 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
||
| 41 | ingob | 363 | break; |
| 697 | holgerb | 364 | case 12: // RC poti controls from FC |
| 190 | killagreg | 365 | LCD_printfxy(0,0,"RC-Potis 1" ); |
| 516 | holgerb | 366 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
| 367 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
||
| 41 | ingob | 368 | break; |
| 697 | holgerb | 369 | case 13: // RC poti controls from FC |
| 190 | killagreg | 370 | LCD_printfxy(0,0,"RC-Potis 2" ); |
| 516 | holgerb | 371 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
| 372 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
||
| 190 | killagreg | 373 | break; |
| 697 | holgerb | 374 | case 14: // attitude from FC |
| 66 | killagreg | 375 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
| 376 | else sign = '+'; |
||
| 377 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
||
| 378 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
||
| 201 | killagreg | 379 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
| 66 | killagreg | 380 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
| 381 | else sign = '+'; |
||
| 382 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
||
| 383 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
||
| 516 | holgerb | 384 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
| 688 | holgerb | 385 | if(FromFlightCtrl_AccNick < 0) sign = '-'; |
| 67 | killagreg | 386 | else sign = '+'; |
| 688 | holgerb | 387 | i1 = abs(FromFlightCtrl_AccNick)/10; |
| 388 | i2 = abs(FromFlightCtrl_AccNick)%10; |
||
| 201 | killagreg | 389 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
| 688 | holgerb | 390 | if(FromFlightCtrl_AccRoll < 0) sign = '-'; |
| 67 | killagreg | 391 | else sign = '+'; |
| 688 | holgerb | 392 | i1 = abs(FromFlightCtrl_AccRoll)/10; |
| 393 | i2 = abs(FromFlightCtrl_AccRoll)%10; |
||
| 516 | holgerb | 394 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
| 41 | ingob | 395 | break; |
| 697 | holgerb | 396 | case 15: |
| 688 | holgerb | 397 | LCD_printfxy(0,0,"Analog inputs"); |
| 398 | LCD_printfxy(0,1,"A5:%3i ",AnalogData.Ch5); |
||
| 399 | LCD_printfxy(0,2,"A6:%3i ",AnalogData.Ch6); |
||
| 400 | LCD_printfxy(0,3,"A7:%3i ",AnalogData.Ch7); |
||
| 41 | ingob | 401 | break; |
| 697 | holgerb | 402 | case 16: |
| 475 | holgerb | 403 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
| 404 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
||
| 405 | if(FC.FromFC_DisableDeclination) |
||
| 516 | holgerb | 406 | { |
| 489 | killagreg | 407 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
| 475 | holgerb | 408 | } |
| 409 | else |
||
| 410 | { |
||
| 489 | killagreg | 411 | if(GeoMagDec < 0) sign = '-'; |
| 412 | else sign = '+'; |
||
| 413 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 475 | holgerb | 414 | } |
| 463 | holgerb | 415 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
| 516 | holgerb | 416 | break; |
| 697 | holgerb | 417 | case 17: // User Parameter |
| 153 | killagreg | 418 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
| 419 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
| 420 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
| 421 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
| 41 | ingob | 422 | break; |
| 697 | holgerb | 423 | case 18: // User Parameter |
| 426 | holgerb | 424 | LCD_printfxy(0,0,"SD-Card Logs"); |
| 548 | holgerb | 425 | if(SDCardInfo.Valid == 1) |
| 426 | { |
||
| 427 | LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
||
| 428 | LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
| 429 | } |
||
| 430 | else |
||
| 431 | LCD_printfxy(0,1,"no card in slot "); |
||
| 380 | holgerb | 432 | break; |
| 697 | holgerb | 433 | case 19: // magnetic field |
| 292 | killagreg | 434 | if(Compass_CalState) |
| 254 | killagreg | 435 | { |
| 292 | killagreg | 436 | LCD_printfxy(0,0,"Calibration:"); |
| 437 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
| 516 | holgerb | 438 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
| 292 | killagreg | 439 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
| 440 | switch(Compass_CalState) |
||
| 254 | killagreg | 441 | { |
| 292 | killagreg | 442 | case 1: |
| 443 | case 3: |
||
| 444 | LCD_printfxy(7,1,"pause"); |
||
| 445 | break; |
||
| 446 | |||
| 447 | case 2: |
||
| 448 | LCD_printfxy(7,1,"horizontal"); |
||
| 449 | break; |
||
| 450 | |||
| 451 | case 4: |
||
| 452 | LCD_printfxy(7,1,"vertical"); |
||
| 453 | break; |
||
| 454 | |||
| 455 | case 5: |
||
| 456 | LCD_printfxy(7,1,"data saved"); |
||
| 457 | LCD_printfxy(8,3," (END) "); |
||
| 458 | break; |
||
| 489 | killagreg | 459 | |
| 292 | killagreg | 460 | default: |
| 461 | break; |
||
| 254 | killagreg | 462 | } |
| 463 | } |
||
| 292 | killagreg | 464 | else |
| 254 | killagreg | 465 | { |
| 330 | holgerb | 466 | if(GeoMagDec < 0) sign = '-'; |
| 467 | else sign = '+'; |
||
| 254 | killagreg | 468 | LCD_printfxy(0,0,"Magnetic Field"); |
| 516 | holgerb | 469 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
| 292 | killagreg | 470 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
| 471 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
| 330 | holgerb | 472 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
| 489 | killagreg | 473 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
| 474 | else LCD_printfxy(11,2,"Intern"); |
||
| 338 | holgerb | 475 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
| 476 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
| 292 | killagreg | 477 | LCD_printfxy(15,3,"(CAL)"); |
| 478 | } |
||
| 479 | if(Keys & KEY4) // next step |
||
| 480 | { |
||
| 481 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
| 482 | else Compass_SetCalState(0); |
||
| 483 | } |
||
| 484 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
| 41 | ingob | 485 | break; |
| 697 | holgerb | 486 | case 20: |
| 345 | holgerb | 487 | if(GeoMagDec < 0) sign = '-'; |
| 488 | else sign = '+'; |
||
| 338 | holgerb | 489 | LCD_printfxy(0,0,"Magnetic Field"); |
| 490 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
| 491 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 492 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
| 493 | break; |
||
| 697 | holgerb | 494 | case 21: |
| 426 | holgerb | 495 | LCD_printfxy(0,0,"SD-Setting "); |
| 496 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
| 497 | break; |
||
| 697 | holgerb | 498 | case 22: |
| 453 | holgerb | 499 | LCD_printfxy(0,0,"CPU Processing "); |
| 659 | holgerb | 500 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10); |
| 663 | holgerb | 501 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10); |
| 659 | holgerb | 502 | if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
| 663 | holgerb | 503 | if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
| 453 | holgerb | 504 | break; |
| 697 | holgerb | 505 | case 23: |
| 489 | killagreg | 506 | LCD_printfxy(0,0,"BL Current" ); |
| 507 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
| 508 | for(i1 = 0; i1 < 3; i1++) |
||
| 509 | { |
||
| 502 | killagreg | 510 | LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i1*4),BL3_Current(i1*4+1),BL3_Current(i1*4+2),BL3_Current(i1*4+3)); |
| 511 | if(Motor[4 + i1 * 4].State == 0) break; |
||
| 489 | killagreg | 512 | } |
| 471 | holgerb | 513 | break; |
| 489 | killagreg | 514 | |
| 697 | holgerb | 515 | case 24: |
| 489 | killagreg | 516 | LCD_printfxy(0,0,"Ext. Compass" ); |
| 686 | holgerb | 517 | if(NCMAG_Compass_use_Orientation) |
| 489 | killagreg | 518 | { |
| 516 | holgerb | 519 | u8 tmp; |
| 520 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
| 521 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
| 522 | tmp = NCMAG_GetOrientationFromAcc(); |
||
| 523 | LCD_printfxy(0,3,"Orientat.: "); |
||
| 524 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
| 525 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
| 489 | killagreg | 526 | } |
| 527 | else |
||
| 528 | { |
||
| 529 | LCD_printfxy(0,1,"Not connected"); |
||
| 530 | } |
||
| 473 | holgerb | 531 | break; |
| 697 | holgerb | 532 | case 25: |
| 498 | killagreg | 533 | { |
| 504 | holgerb | 534 | static u8 index = 1; |
| 498 | killagreg | 535 | if(Keys & KEY3) // next step |
| 536 | { |
||
| 503 | holgerb | 537 | if(index < ToFC_MaxWpListIndex) index++; |
| 498 | killagreg | 538 | else index = 1; |
| 539 | } |
||
| 503 | holgerb | 540 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
| 541 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
| 498 | killagreg | 542 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 543 | // 12345678901234567890 |
||
| 544 | LCD_printfxy(0,2,"Points Index "); |
||
| 545 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 516 | holgerb | 546 | } |
| 498 | killagreg | 547 | break; |
| 697 | holgerb | 548 | case 26: |
| 504 | holgerb | 549 | { |
| 550 | static u8 index = 1; |
||
| 516 | holgerb | 551 | if(Keys & KEY3) |
| 504 | holgerb | 552 | { |
| 553 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 554 | else index = 1; |
||
| 555 | } |
||
| 514 | holgerb | 556 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
| 504 | holgerb | 557 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 558 | // 12345678901234567890 |
||
| 559 | LCD_printfxy(0,2,"Points Index "); |
||
| 516 | holgerb | 560 | if(GPSData.SatFix == SATFIX_3D) |
| 561 | { |
||
| 562 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 563 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
| 564 | } |
||
| 565 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 514 | holgerb | 566 | |
| 516 | holgerb | 567 | } |
| 504 | holgerb | 568 | break; |
| 697 | holgerb | 569 | case 27: |
| 514 | holgerb | 570 | { |
| 571 | static u8 index = 1; |
||
| 516 | holgerb | 572 | if(Keys & KEY3) |
| 514 | holgerb | 573 | { |
| 574 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 575 | else index = 1; |
||
| 576 | } |
||
| 577 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
| 578 | LCD_printfxy(0,0,"Load Point" ); |
||
| 579 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
| 580 | // 12345678901234567890 |
||
| 581 | // LCD_printfxy(0,2,"Points Index "); |
||
| 582 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
| 516 | holgerb | 583 | } |
| 514 | holgerb | 584 | break; |
| 697 | holgerb | 585 | case 28: |
| 514 | holgerb | 586 | { |
| 587 | static u8 index = 1; |
||
| 588 | if(Keys & KEY3) |
||
| 589 | { |
||
| 590 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 591 | else index = 1; |
||
| 592 | } |
||
| 593 | LCD_printfxy(0,0,"Save Point" ); |
||
| 594 | LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter/20); |
||
| 595 | // 12345678901234567890 |
||
| 596 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
| 516 | holgerb | 597 | if(GPSData.SatFix == SATFIX_3D) |
| 514 | holgerb | 598 | { |
| 599 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
| 600 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
| 601 | } |
||
| 602 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 516 | holgerb | 603 | } |
| 514 | holgerb | 604 | break; |
| 677 | holgerb | 605 | /* case 28: |
| 606 | LCD_printfxy(0,0,"Analog inputs"); |
||
| 607 | LCD_printfxy(0,0,"A0:%3i A1:%3i",AnalogData.Ch0,AnalogData.Ch1); |
||
| 608 | LCD_printfxy(0,1,"A2:%3i A3:%3i",AnalogData.Ch2,AnalogData.Ch3); |
||
| 609 | LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5); |
||
| 610 | LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7); |
||
| 611 | break; |
||
| 612 | */ |
||
| 688 | holgerb | 613 | |
| 697 | holgerb | 614 | case 29: |
| 688 | holgerb | 615 | // LCD_printfxy(0,0,"PPM Input"); |
| 616 | /* |
||
| 617 | LCD_printfxy(0,0,"%4i %4i %4i %4i",PPM_In[1],PPM_In[2],PPM_In[3],PPM_In[4]); |
||
| 618 | LCD_printfxy(0,1,"%4i %4i %4i %4i",PPM_In[5],PPM_In[6],PPM_In[7],PPM_In[8]); |
||
| 619 | LCD_printfxy(0,2,"%4i %4i %4i %4i",PPM_In[9],PPM_In[10],PPM_In[11],PPM_In[12]); |
||
| 620 | LCD_printfxy(0,3,"%4i %4i %4i %4i",PPM_In[13],PPM_In[14],PPM_In[15],PPM_In[16]); |
||
| 621 | */ |
||
| 622 | LCD_printfxy(0,0,"%4i %4i %4i %4i",PPM_In[17],PPM_In[18],PPM_In[19],PPM_In[20]); |
||
| 623 | LCD_printfxy(0,1,"%4i %4i %4i %4i",PPM_In[21],PPM_In[22],PPM_In[23],PPM_In[24]); |
||
| 624 | LCD_printfxy(0,2,"%4i %4i %4i %4i",PPM_In[25],PPM_In[26],PPM_In[27],PPM_In[28]); |
||
| 625 | LCD_printfxy(0,3,"%4i %4i %4i %4i",PPM_In[29],PPM_In[30],PPM_In[31],PPM_In[32]); |
||
| 626 | break; |
||
| 41 | ingob | 627 | default: |
| 201 | killagreg | 628 | //MaxMenuItem = MenuItem - 1; |
| 41 | ingob | 629 | MenuItem = 0; |
| 630 | break; |
||
| 516 | holgerb | 631 | } |
| 1 | ingob | 632 | } |