WebSVN - NaviCtrl - Blame - Rev 254

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
171	ingob	6	// + Nur f�r den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1	ingob	7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
1	ingob	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
1	ingob	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
		36	// + from this software without specific prior written permission.
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
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"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
41	ingob	55	// + POSSIBILITY OF SUCH DAMAGE.
1	ingob	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	57	#include <stdlib.h>
		58	#include "91x_lib.h"
1	ingob	59	#include "main.h"
41	ingob	60	#include "ubx.h"
		61	#include "GPS.h"
119	killagreg	62	#include "timer1.h"
242	killagreg	63	#include "compass.h"
41	ingob	64	#include "spi_slave.h"
		65	#include "menu.h"
		66	#include "uart1.h"
1	ingob	67
		68	u8 DispPtr = 0;
201	killagreg	69	s8 DisplayBuff[DISPLAYBUFFSIZE];
1	ingob	70
201	killagreg	71
41	ingob	72	u8 MenuItem = 0;
190	killagreg	73	u8 MaxMenuItem = 15;
41	ingob	74
203	killagreg	75
		76
		77	void Menu_Putchar(char c)
		78	{
		79	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
		80	}
		81
201	killagreg	82	void Menu_Clear(void)
1	ingob	83	{
201	killagreg	84	u8 i;
		85	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
1	ingob	86	}
		87
24	StephanB	88
41	ingob	89	// Display with 20 characters in 4 lines
201	killagreg	90	void Menu_Update(u8 Keys)
41	ingob	91	{
		92	s32 i1,i2;
51	killagreg	93	u8 sign;
41	ingob	94
201	killagreg	95	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
		96	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
		97	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
41	ingob	98	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
201	killagreg	99	Menu_Clear();
41	ingob	100	// print menu item number in the upper right corner
		101	if(MenuItem < 10)
		102	{
		103	LCD_printfxy(17,0,"[%i]",MenuItem);
		104	}
201	killagreg	105	else // Menuitem >= 10
41	ingob	106	{
		107	LCD_printfxy(16,0,"[%i]",MenuItem);
		108	}
		109
		110	switch(MenuItem)
		111	{
		112	// Version Info
		113	case 0:
		114	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
		115	LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
234	killagreg	116	if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," ");
41	ingob	117	LCD_printfxy(0,2,"%s",ErrorMSG);
		118	LCD_printfxy(0,3,"(c) Buss, Busker");
		119	break;
		120	case 1:
		121	if (GPSData.Status == INVALID)
		122	{
		123	LCD_printfxy(0,0,"No GPS data");
		124	LCD_printfxy(0,1,"Lon: ");
		125	LCD_printfxy(0,2,"Lat: ");
		126	LCD_printfxy(0,3,"Alt: ");
		127	}
		128	else // newdata or processed
		129	{
122	killagreg	130	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
41	ingob	131	switch (GPSData.SatFix)
		132	{
		133	case SATFIX_NONE:
127	killagreg	134	LCD_printfxy(7,0,"NoFix");
41	ingob	135	break;
		136	case SATFIX_2D:
127	killagreg	137	LCD_printfxy(7,0,"2DFix");
41	ingob	138	break;
		139	case SATFIX_3D:
127	killagreg	140	LCD_printfxy(7,0,"3DFix");
41	ingob	141	break;
		142	default:
127	killagreg	143	LCD_printfxy(7,0,"??Fix");
41	ingob	144	break;
		145	}
121	killagreg	146	if(GPSData.Flags & FLAG_DIFFSOLN)
		147	{
127	killagreg	148	LCD_printfxy(12,0,"/DGPS");
121	killagreg	149	}
		150	else
		151	{
127	killagreg	152	LCD_printfxy(12,0," ");
121	killagreg	153	}
		154
51	killagreg	155	if(GPSData.Position.Longitude < 0) sign = '-';
		156	else sign = '+';
53	killagreg	157	i1 = abs(GPSData.Position.Longitude)/10000000L;
		158	i2 = abs(GPSData.Position.Longitude)%10000000L;
54	killagreg	159	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
51	killagreg	160	if(GPSData.Position.Latitude < 0) sign = '-';
		161	else sign = '+';
53	killagreg	162	i1 = abs(GPSData.Position.Latitude)/10000000L;
		163	i2 = abs(GPSData.Position.Latitude)%10000000L;
54	killagreg	164	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
51	killagreg	165	if(GPSData.Position.Altitude < 0) sign = '-';
		166	else sign = '+';
53	killagreg	167	i1 = abs(GPSData.Position.Altitude)/1000L;
		168	i2 = abs(GPSData.Position.Altitude)%1000L;
54	killagreg	169	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
41	ingob	170	}
		171	break;
		172	case 2:
		173	if (GPSData.Status == INVALID)
		174	{
		175	LCD_printfxy(0,0,"No GPS data");
		176	LCD_printfxy(0,1,"Speed N: ");
		177	LCD_printfxy(0,2,"Speed E: ");
		178	LCD_printfxy(0,3,"Speed T: ");
		179	}
		180	else // newdata or processed
		181	{
124	killagreg	182	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
41	ingob	183	switch (GPSData.SatFix)
		184	{
		185	case SATFIX_NONE:
127	killagreg	186	LCD_printfxy(7,0,"NoFix");
41	ingob	187	break;
		188	case SATFIX_2D:
127	killagreg	189	LCD_printfxy(7,0,"2DFix");
41	ingob	190	break;
		191	case SATFIX_3D:
127	killagreg	192	LCD_printfxy(7,0,"3DFix");
41	ingob	193	break;
		194	default:
127	killagreg	195	LCD_printfxy(7,0,"??Fix");
41	ingob	196	break;
		197	}
124	killagreg	198	if(GPSData.Flags & FLAG_DIFFSOLN)
		199	{
127	killagreg	200	LCD_printfxy(12,0,"/DGPS");
124	killagreg	201	}
		202	else
		203	{
127	killagreg	204	LCD_printfxy(12,0," ");
124	killagreg	205	}
		206
41	ingob	207	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
		208	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
		209	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
		210	}
		211	break;
		212	case 3:
		213	LCD_printfxy(0,0,"GPS UTC Time");
		214	if (!SystemTime.Valid)
		215	{
		216	LCD_printfxy(0,1," ");
		217	LCD_printfxy(0,2," No time data! ");
		218	LCD_printfxy(0,3," ");
		219	}
		220	else // newdata or processed
		221	{
		222	LCD_printfxy(0,1," ");
		223	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
		224	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
		225	}
		226	break;
59	killagreg	227	case 4: // Navi Params 1 from FC
41	ingob	228	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
		229	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
		230	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
		231	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
		232	break;
59	killagreg	233	case 5: // Navi Params 2 from FC
		234	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
213	killagreg	235	LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius);
59	killagreg	236	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
		237	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);
		238	break;
		239	case 6: // Navi Params 3 from FC
		240	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
		241	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
		242	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
		243	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
		244	break;
		245	case 7:
41	ingob	246	LCD_printfxy(0,0,"Home Position");
215	killagreg	247	if(NaviData.HomePosition.Status == INVALID)
41	ingob	248	{
		249	LCD_printfxy(0,1," ");
		250	LCD_printfxy(0,2," Is not set. ");
		251	LCD_printfxy(0,3," ");
		252	}
		253	else
		254	{
215	killagreg	255	if(NaviData.HomePosition.Longitude < 0) sign = '-';
51	killagreg	256	else sign = '+';
215	killagreg	257	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
		258	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
55	killagreg	259	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
215	killagreg	260	if(NaviData.HomePosition.Latitude < 0) sign = '-';
51	killagreg	261	else sign = '+';
215	killagreg	262	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
		263	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
55	killagreg	264	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
215	killagreg	265	if(NaviData.HomePosition.Altitude < 0) sign = '-';
51	killagreg	266	else sign = '+';
215	killagreg	267	i1 = abs(NaviData.HomePosition.Altitude)/1000L;
		268	i2 = abs(NaviData.HomePosition.Altitude)%1000L;
54	killagreg	269	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
41	ingob	270	}
		271	break;
59	killagreg	272	case 8: // RC stick controls from FC
41	ingob	273	LCD_printfxy(0,0,"RC-Sticks" );
		274	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
		275	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
		276	break;
59	killagreg	277	case 9: // RC poti controls from FC
190	killagreg	278	LCD_printfxy(0,0,"RC-Potis 1" );
		279	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
		280	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
41	ingob	281	break;
190	killagreg	282	case 10: // RC poti controls from FC
		283	LCD_printfxy(0,0,"RC-Potis 2" );
		284	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
		285	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
		286	break;
		287	case 11: // attitude from FC
66	killagreg	288	if(FromFlightCtrl.AngleNick < 0) sign = '-';
		289	else sign = '+';
		290	i1 = abs(FromFlightCtrl.AngleNick)/10;
		291	i2 = abs(FromFlightCtrl.AngleNick)%10;
201	killagreg	292	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
66	killagreg	293	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
		294	else sign = '+';
		295	i1 = abs(FromFlightCtrl.AngleRoll)/10;
		296	i2 = abs(FromFlightCtrl.AngleRoll)%10;
201	killagreg	297	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
67	killagreg	298	if(FromFlightCtrl.AccNick < 0) sign = '-';
		299	else sign = '+';
		300	i1 = abs(FromFlightCtrl.AccNick)/10;
		301	i2 = abs(FromFlightCtrl.AccNick)%10;
201	killagreg	302	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
67	killagreg	303	if(FromFlightCtrl.AccRoll < 0) sign = '-';
		304	else sign = '+';
		305	i1 = abs(FromFlightCtrl.AccRoll)/10;
		306	i2 = abs(FromFlightCtrl.AccRoll)%10;
201	killagreg	307	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
41	ingob	308	break;
190	killagreg	309	case 12: // gyros from FC
41	ingob	310	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
		311	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
		312	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
		313	break;
190	killagreg	314	case 13: // Remote Control Level from FC
41	ingob	315	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);
206	killagreg	316	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);
254	killagreg	317	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);
153	killagreg	318	if(GeoMagDec < 0) sign = '-';
		319	else sign = '+';
		320	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
41	ingob	321	break;
190	killagreg	322	case 14: // User Parameter
153	killagreg	323	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
		324	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
		325	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
		326	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
41	ingob	327	break;
254	killagreg	328	case 15: // magnetic field
		329	if(Compass_Device == COMPASS_NCMAG)
		330	{
		331	if(Compass_CalState)
		332	{
		333	LCD_printfxy(0,0,"Calibration:");
		334	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
		335	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
		336	LCD_printfxy(9,3,"(ESC)(NEXT)");
		337	switch(Compass_CalState)
		338	{
		339	case 1:
		340	case 3:
		341	LCD_printfxy(7,1,"pause");
		342	break;
		343
		344	case 2:
		345	LCD_printfxy(7,1,"horizontal");
		346	break;
		347
		348	case 4:
		349	LCD_printfxy(7,1,"vertical");
		350	break;
		351
		352	case 5:
		353	LCD_printfxy(7,1,"data saved");
		354	LCD_printfxy(8,3," (END) ");
		355	break;
		356
		357	default:
		358	break;
		359	}
		360	}
		361	else
		362	{
		363	LCD_printfxy(0,0,"Magnetic Field");
		364	LCD_printfxy(0,1,"X: %4i",MagVector.X);
		365	LCD_printfxy(0,2,"Y: %4i",MagVector.Y);
		366	LCD_printfxy(0,3,"Z: %4i",MagVector.Z);
		367	LCD_printfxy(13,3,"(CALIB)");
		368	}
		369	if(Keys & KEY4) // next step
		370	{
		371	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
		372	else Compass_SetCalState(0);
		373	}
		374	if(Keys & KEY3)Compass_SetCalState(0); // cancel
		375	}
		376	else // other compass
		377	{
		378	Compass_UpdateMagVector();
		379	LCD_printfxy(0,0,"Magnetic Field");
		380	LCD_printfxy(0,1,"X: %4i",MagVector.X);
		381	LCD_printfxy(0,2,"Y: %4i",MagVector.Y);
		382	LCD_printfxy(0,3,"Z: %4i",MagVector.Z);
		383	}
41	ingob	384	break;
		385	default:
201	killagreg	386	//MaxMenuItem = MenuItem - 1;
41	ingob	387	MenuItem = 0;
		388	break;
1	ingob	389	}
		390	}

Subversion Repositories NaviCtrl

(root)/tags/V0.22a/menu.c @ 935 - Rev 254