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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" |
| 1 | ingob | 69 | |
| 70 | u8 DispPtr = 0; |
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| 201 | killagreg | 71 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
| 1 | ingob | 72 | |
| 201 | killagreg | 73 | |
| 41 | ingob | 74 | u8 MenuItem = 0; |
| 338 | holgerb | 75 | u8 MaxMenuItem = 17; |
| 41 | ingob | 76 | |
| 203 | killagreg | 77 | void Menu_Putchar(char c) |
| 78 | { |
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| 79 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
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| 80 | } |
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| 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] = ' '; |
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| 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; |
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| 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++;} |
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| 97 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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| 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) |
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| 102 | { |
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| 103 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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| 104 | } |
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| 201 | killagreg | 105 | else // Menuitem >= 10 |
| 41 | ingob | 106 | { |
| 107 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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| 108 | } |
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| 109 | |||
| 110 | switch(MenuItem) |
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| 111 | { |
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| 112 | // Version Info |
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| 113 | case 0: |
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| 114 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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| 264 | killagreg | 115 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 321 | holgerb | 116 | |
| 264 | killagreg | 117 | if(ErrorCode) |
| 118 | { |
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| 119 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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| 120 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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| 121 | } |
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| 321 | holgerb | 122 | else |
| 123 | { |
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| 124 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
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| 125 | LCD_printfxy(0,2,"%s",ErrorMSG); |
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| 126 | } |
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| 41 | ingob | 127 | break; |
| 128 | case 1: |
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| 129 | if (GPSData.Status == INVALID) |
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| 130 | { |
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| 131 | LCD_printfxy(0,0,"No GPS data"); |
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| 132 | LCD_printfxy(0,1,"Lon: "); |
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| 133 | LCD_printfxy(0,2,"Lat: "); |
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| 134 | LCD_printfxy(0,3,"Alt: "); |
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| 135 | } |
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| 136 | else // newdata or processed |
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| 137 | { |
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| 122 | killagreg | 138 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 139 | switch (GPSData.SatFix) |
| 140 | { |
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| 141 | case SATFIX_NONE: |
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| 127 | killagreg | 142 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 143 | break; |
| 144 | case SATFIX_2D: |
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| 127 | killagreg | 145 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 146 | break; |
| 147 | case SATFIX_3D: |
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| 127 | killagreg | 148 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 149 | break; |
| 150 | default: |
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| 127 | killagreg | 151 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 152 | break; |
| 153 | } |
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| 121 | killagreg | 154 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 155 | { |
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| 127 | killagreg | 156 | LCD_printfxy(12,0,"/DGPS"); |
| 121 | killagreg | 157 | } |
| 158 | else |
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| 159 | { |
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| 127 | killagreg | 160 | LCD_printfxy(12,0," "); |
| 121 | killagreg | 161 | } |
| 162 | |||
| 51 | killagreg | 163 | if(GPSData.Position.Longitude < 0) sign = '-'; |
| 164 | else sign = '+'; |
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| 53 | killagreg | 165 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 166 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 54 | killagreg | 167 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 168 | if(GPSData.Position.Latitude < 0) sign = '-'; |
| 169 | else sign = '+'; |
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| 53 | killagreg | 170 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 171 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 54 | killagreg | 172 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 173 | if(GPSData.Position.Altitude < 0) sign = '-'; |
| 174 | else sign = '+'; |
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| 53 | killagreg | 175 | i1 = abs(GPSData.Position.Altitude)/1000L; |
| 176 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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| 54 | killagreg | 177 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
| 41 | ingob | 178 | } |
| 179 | break; |
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| 180 | case 2: |
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| 181 | if (GPSData.Status == INVALID) |
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| 182 | { |
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| 183 | LCD_printfxy(0,0,"No GPS data"); |
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| 184 | LCD_printfxy(0,1,"Speed N: "); |
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| 185 | LCD_printfxy(0,2,"Speed E: "); |
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| 186 | LCD_printfxy(0,3,"Speed T: "); |
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| 187 | } |
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| 188 | else // newdata or processed |
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| 189 | { |
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| 124 | killagreg | 190 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 191 | switch (GPSData.SatFix) |
| 192 | { |
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| 193 | case SATFIX_NONE: |
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| 127 | killagreg | 194 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 195 | break; |
| 196 | case SATFIX_2D: |
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| 127 | killagreg | 197 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 198 | break; |
| 199 | case SATFIX_3D: |
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| 127 | killagreg | 200 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 201 | break; |
| 202 | default: |
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| 127 | killagreg | 203 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 204 | break; |
| 205 | } |
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| 124 | killagreg | 206 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 207 | { |
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| 127 | killagreg | 208 | LCD_printfxy(12,0,"/DGPS"); |
| 124 | killagreg | 209 | } |
| 210 | else |
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| 211 | { |
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| 127 | killagreg | 212 | LCD_printfxy(12,0," "); |
| 124 | killagreg | 213 | } |
| 214 | |||
| 41 | ingob | 215 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
| 216 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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| 217 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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| 218 | } |
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| 219 | break; |
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| 220 | case 3: |
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| 221 | LCD_printfxy(0,0,"GPS UTC Time"); |
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| 222 | if (!SystemTime.Valid) |
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| 223 | { |
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| 224 | LCD_printfxy(0,1," "); |
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| 225 | LCD_printfxy(0,2," No time data! "); |
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| 226 | LCD_printfxy(0,3," "); |
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| 227 | } |
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| 228 | else // newdata or processed |
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| 229 | { |
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| 230 | LCD_printfxy(0,1," "); |
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| 231 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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| 232 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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| 233 | } |
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| 234 | break; |
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| 59 | killagreg | 235 | case 4: // Navi Params 1 from FC |
| 41 | ingob | 236 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
| 237 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
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| 238 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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| 239 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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| 240 | break; |
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| 59 | killagreg | 241 | case 5: // Navi Params 2 from FC |
| 242 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
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| 213 | killagreg | 243 | LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius); |
| 59 | killagreg | 244 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
| 327 | holgerb | 245 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
| 59 | killagreg | 246 | break; |
| 247 | case 6: // Navi Params 3 from FC |
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| 248 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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| 249 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
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| 250 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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| 251 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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| 252 | break; |
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| 253 | case 7: |
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| 41 | ingob | 254 | LCD_printfxy(0,0,"Home Position"); |
| 215 | killagreg | 255 | if(NaviData.HomePosition.Status == INVALID) |
| 41 | ingob | 256 | { |
| 257 | LCD_printfxy(0,1," "); |
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| 258 | LCD_printfxy(0,2," Is not set. "); |
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| 259 | LCD_printfxy(0,3," "); |
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| 260 | } |
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| 261 | else |
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| 262 | { |
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| 215 | killagreg | 263 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
| 51 | killagreg | 264 | else sign = '+'; |
| 215 | killagreg | 265 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
| 266 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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| 55 | killagreg | 267 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 268 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
| 51 | killagreg | 269 | else sign = '+'; |
| 215 | killagreg | 270 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
| 271 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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| 55 | killagreg | 272 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 273 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
| 51 | killagreg | 274 | else sign = '+'; |
| 215 | killagreg | 275 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
| 276 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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| 54 | killagreg | 277 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
| 41 | ingob | 278 | } |
| 279 | break; |
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| 318 | holgerb | 280 | case 8: |
| 281 | LCD_printfxy(0,0,"Target Position"); |
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| 282 | if(NaviData.TargetPosition.Status == INVALID) |
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| 283 | { |
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| 284 | LCD_printfxy(0,1," "); |
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| 285 | LCD_printfxy(0,2," Is not set. "); |
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| 286 | LCD_printfxy(0,3," "); |
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| 287 | } |
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| 288 | else |
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| 289 | { |
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| 290 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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| 291 | else sign = '+'; |
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| 292 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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| 293 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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| 294 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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| 295 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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| 296 | else sign = '+'; |
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| 297 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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| 298 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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| 299 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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| 300 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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| 301 | else sign = '+'; |
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| 302 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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| 303 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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| 304 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
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| 305 | } |
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| 306 | break; |
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| 307 | case 9: // RC stick controls from FC |
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| 41 | ingob | 308 | LCD_printfxy(0,0,"RC-Sticks" ); |
| 309 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
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| 310 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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| 311 | break; |
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| 318 | holgerb | 312 | case 10: // RC poti controls from FC |
| 190 | killagreg | 313 | LCD_printfxy(0,0,"RC-Potis 1" ); |
| 314 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
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| 315 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
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| 41 | ingob | 316 | break; |
| 318 | holgerb | 317 | case 11: // RC poti controls from FC |
| 190 | killagreg | 318 | LCD_printfxy(0,0,"RC-Potis 2" ); |
| 319 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
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| 320 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
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| 321 | break; |
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| 318 | holgerb | 322 | case 12: // attitude from FC |
| 66 | killagreg | 323 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
| 324 | else sign = '+'; |
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| 325 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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| 326 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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| 201 | killagreg | 327 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
| 66 | killagreg | 328 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
| 329 | else sign = '+'; |
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| 330 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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| 331 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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| 201 | killagreg | 332 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
| 67 | killagreg | 333 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
| 334 | else sign = '+'; |
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| 335 | i1 = abs(FromFlightCtrl.AccNick)/10; |
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| 336 | i2 = abs(FromFlightCtrl.AccNick)%10; |
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| 201 | killagreg | 337 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
| 67 | killagreg | 338 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
| 339 | else sign = '+'; |
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| 340 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
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| 341 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
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| 201 | killagreg | 342 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
| 41 | ingob | 343 | break; |
| 318 | holgerb | 344 | case 13: // gyros from FC |
| 41 | ingob | 345 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
| 346 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
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| 347 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
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| 348 | break; |
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| 318 | holgerb | 349 | case 14: // Remote Control Level from FC |
| 41 | ingob | 350 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
| 206 | killagreg | 351 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
| 254 | killagreg | 352 | LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading); |
| 153 | killagreg | 353 | if(GeoMagDec < 0) sign = '-'; |
| 354 | else sign = '+'; |
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| 355 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
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| 41 | ingob | 356 | break; |
| 318 | holgerb | 357 | case 15: // User Parameter |
| 153 | killagreg | 358 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
| 359 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
| 360 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
| 361 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
| 41 | ingob | 362 | break; |
| 318 | holgerb | 363 | case 16: // magnetic field |
| 292 | killagreg | 364 | if(Compass_CalState) |
| 254 | killagreg | 365 | { |
| 292 | killagreg | 366 | LCD_printfxy(0,0,"Calibration:"); |
| 367 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
| 368 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
||
| 369 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
||
| 370 | switch(Compass_CalState) |
||
| 254 | killagreg | 371 | { |
| 292 | killagreg | 372 | case 1: |
| 373 | case 3: |
||
| 374 | LCD_printfxy(7,1,"pause"); |
||
| 375 | break; |
||
| 376 | |||
| 377 | case 2: |
||
| 378 | LCD_printfxy(7,1,"horizontal"); |
||
| 379 | break; |
||
| 380 | |||
| 381 | case 4: |
||
| 382 | LCD_printfxy(7,1,"vertical"); |
||
| 383 | break; |
||
| 384 | |||
| 385 | case 5: |
||
| 386 | LCD_printfxy(7,1,"data saved"); |
||
| 387 | LCD_printfxy(8,3," (END) "); |
||
| 388 | break; |
||
| 389 | |||
| 390 | default: |
||
| 391 | break; |
||
| 254 | killagreg | 392 | } |
| 393 | } |
||
| 292 | killagreg | 394 | else |
| 254 | killagreg | 395 | { |
| 330 | holgerb | 396 | if(GeoMagDec < 0) sign = '-'; |
| 397 | else sign = '+'; |
||
| 254 | killagreg | 398 | LCD_printfxy(0,0,"Magnetic Field"); |
| 292 | killagreg | 399 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
| 400 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
||
| 401 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
| 330 | holgerb | 402 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
| 338 | holgerb | 403 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
| 404 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
| 292 | killagreg | 405 | LCD_printfxy(15,3,"(CAL)"); |
| 406 | } |
||
| 407 | if(Keys & KEY4) // next step |
||
| 408 | { |
||
| 409 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
| 410 | else Compass_SetCalState(0); |
||
| 411 | } |
||
| 412 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
| 41 | ingob | 413 | break; |
| 338 | holgerb | 414 | case 17: |
| 345 | holgerb | 415 | if(GeoMagDec < 0) sign = '-'; |
| 416 | else sign = '+'; |
||
| 338 | holgerb | 417 | LCD_printfxy(0,0,"Magnetic Field"); |
| 418 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
| 419 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 420 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
| 421 | break; |
||
| 41 | ingob | 422 | default: |
| 201 | killagreg | 423 | //MaxMenuItem = MenuItem - 1; |
| 41 | ingob | 424 | MenuItem = 0; |
| 425 | break; |
||
| 1 | ingob | 426 | } |
| 427 | } |