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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" |
| 1 | ingob | 72 | |
| 73 | u8 DispPtr = 0; |
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| 201 | killagreg | 74 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
| 1 | ingob | 75 | |
| 201 | killagreg | 76 | |
| 41 | ingob | 77 | u8 MenuItem = 0; |
| 514 | holgerb | 78 | u8 MaxMenuItem = 27; |
| 41 | ingob | 79 | |
| 203 | killagreg | 80 | void Menu_Putchar(char c) |
| 81 | { |
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| 516 | holgerb | 82 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
| 203 | killagreg | 83 | } |
| 84 | |||
| 201 | killagreg | 85 | void Menu_Clear(void) |
| 1 | ingob | 86 | { |
| 201 | killagreg | 87 | u8 i; |
| 88 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 89 | } |
| 90 | |||
| 41 | ingob | 91 | // Display with 20 characters in 4 lines |
| 201 | killagreg | 92 | void Menu_Update(u8 Keys) |
| 41 | ingob | 93 | { |
| 516 | holgerb | 94 | s32 i1,i2; |
| 51 | killagreg | 95 | u8 sign; |
| 41 | ingob | 96 | |
| 201 | killagreg | 97 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
| 98 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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| 99 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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| 41 | ingob | 100 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| 201 | killagreg | 101 | Menu_Clear(); |
| 41 | ingob | 102 | // print menu item number in the upper right corner |
| 516 | holgerb | 103 | if(MenuItem < 10) |
| 104 | { |
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| 41 | ingob | 105 | LCD_printfxy(17,0,"[%i]",MenuItem); |
| 106 | } |
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| 201 | killagreg | 107 | else // Menuitem >= 10 |
| 41 | ingob | 108 | { |
| 109 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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| 110 | } |
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| 111 | |||
| 516 | holgerb | 112 | switch(MenuItem) |
| 113 | { |
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| 41 | ingob | 114 | // Version Info |
| 115 | case 0: |
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| 116 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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| 530 | holgerb | 117 | 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); |
| 571 | holgerb | 118 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE) LCD_printfxy(19,1,"R"); |
| 516 | holgerb | 119 | if(ErrorCode) |
| 264 | killagreg | 120 | { |
| 121 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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| 516 | holgerb | 122 | LCD_printfxy(0,3,"%s",ErrorMSG); |
| 264 | killagreg | 123 | } |
| 489 | killagreg | 124 | else |
| 125 | { |
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| 574 | holgerb | 126 | LCD_printfxy(0,2,"%s",ErrorMSG); |
| 516 | holgerb | 127 | LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
| 321 | holgerb | 128 | } |
| 574 | holgerb | 129 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
| 41 | ingob | 130 | break; |
| 131 | case 1: |
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| 132 | if (GPSData.Status == INVALID) |
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| 133 | { |
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| 134 | LCD_printfxy(0,0,"No GPS data"); |
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| 135 | LCD_printfxy(0,1,"Lon: "); |
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| 136 | LCD_printfxy(0,2,"Lat: "); |
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| 137 | LCD_printfxy(0,3,"Alt: "); |
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| 138 | } |
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| 139 | else // newdata or processed |
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| 140 | { |
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| 122 | killagreg | 141 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 142 | switch (GPSData.SatFix) |
| 143 | { |
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| 144 | case SATFIX_NONE: |
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| 127 | killagreg | 145 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 146 | break; |
| 147 | case SATFIX_2D: |
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| 127 | killagreg | 148 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 149 | break; |
| 150 | case SATFIX_3D: |
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| 127 | killagreg | 151 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 152 | break; |
| 153 | default: |
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| 127 | killagreg | 154 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 155 | break; |
| 156 | } |
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| 121 | killagreg | 157 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 158 | { |
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| 127 | killagreg | 159 | LCD_printfxy(12,0,"/DGPS"); |
| 121 | killagreg | 160 | } |
| 161 | else |
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| 162 | { |
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| 127 | killagreg | 163 | LCD_printfxy(12,0," "); |
| 121 | killagreg | 164 | } |
| 165 | |||
| 51 | killagreg | 166 | if(GPSData.Position.Longitude < 0) sign = '-'; |
| 167 | else sign = '+'; |
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| 53 | killagreg | 168 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 169 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 54 | killagreg | 170 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 171 | if(GPSData.Position.Latitude < 0) sign = '-'; |
| 172 | else sign = '+'; |
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| 53 | killagreg | 173 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 174 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 54 | killagreg | 175 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 176 | if(GPSData.Position.Altitude < 0) sign = '-'; |
| 177 | else sign = '+'; |
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| 53 | killagreg | 178 | i1 = abs(GPSData.Position.Altitude)/1000L; |
| 179 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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| 54 | killagreg | 180 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
| 41 | ingob | 181 | } |
| 182 | break; |
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| 183 | case 2: |
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| 184 | if (GPSData.Status == INVALID) |
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| 185 | { |
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| 186 | LCD_printfxy(0,0,"No GPS data"); |
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| 187 | LCD_printfxy(0,1,"Speed N: "); |
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| 188 | LCD_printfxy(0,2,"Speed E: "); |
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| 189 | LCD_printfxy(0,3,"Speed T: "); |
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| 190 | } |
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| 191 | else // newdata or processed |
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| 192 | { |
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| 124 | killagreg | 193 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 194 | switch (GPSData.SatFix) |
| 195 | { |
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| 196 | case SATFIX_NONE: |
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| 127 | killagreg | 197 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 198 | break; |
| 199 | case SATFIX_2D: |
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| 127 | killagreg | 200 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 201 | break; |
| 202 | case SATFIX_3D: |
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| 127 | killagreg | 203 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 204 | break; |
| 205 | default: |
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| 127 | killagreg | 206 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 207 | break; |
| 208 | } |
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| 124 | killagreg | 209 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 210 | { |
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| 127 | killagreg | 211 | LCD_printfxy(12,0,"/DGPS"); |
| 124 | killagreg | 212 | } |
| 213 | else |
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| 214 | { |
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| 127 | killagreg | 215 | LCD_printfxy(12,0," "); |
| 124 | killagreg | 216 | } |
| 217 | |||
| 41 | ingob | 218 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
| 219 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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| 220 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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| 221 | } |
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| 222 | break; |
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| 223 | case 3: |
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| 224 | LCD_printfxy(0,0,"GPS UTC Time"); |
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| 225 | if (!SystemTime.Valid) |
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| 226 | { |
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| 227 | LCD_printfxy(0,1," "); |
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| 228 | LCD_printfxy(0,2," No time data! "); |
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| 229 | LCD_printfxy(0,3," "); |
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| 230 | } |
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| 231 | else // newdata or processed |
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| 232 | { |
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| 233 | LCD_printfxy(0,1," "); |
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| 234 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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| 235 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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| 236 | } |
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| 237 | break; |
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| 59 | killagreg | 238 | case 4: // Navi Params 1 from FC |
| 41 | ingob | 239 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
| 516 | holgerb | 240 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
| 241 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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| 242 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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| 41 | ingob | 243 | break; |
| 516 | holgerb | 244 | case 5: // Navi Params 2 from FC |
| 59 | killagreg | 245 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
| 532 | holgerb | 246 | LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m); |
| 516 | holgerb | 247 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
| 248 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
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| 59 | killagreg | 249 | break; |
| 250 | case 6: // Navi Params 3 from FC |
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| 251 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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| 516 | holgerb | 252 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
| 253 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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| 254 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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| 59 | killagreg | 255 | break; |
| 351 | holgerb | 256 | case 7: // Max Ranges |
| 257 | LCD_printfxy(0,0,"Maximum flying "); |
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| 532 | holgerb | 258 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m); |
| 259 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m); |
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| 516 | holgerb | 260 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
| 532 | holgerb | 261 | if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled"); |
| 262 | if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled"); |
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| 355 | holgerb | 263 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
| 351 | holgerb | 264 | break; |
| 265 | case 8: |
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| 41 | ingob | 266 | LCD_printfxy(0,0,"Home Position"); |
| 215 | killagreg | 267 | if(NaviData.HomePosition.Status == INVALID) |
| 41 | ingob | 268 | { |
| 269 | LCD_printfxy(0,1," "); |
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| 270 | LCD_printfxy(0,2," Is not set. "); |
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| 271 | LCD_printfxy(0,3," "); |
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| 272 | } |
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| 273 | else |
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| 274 | { |
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| 215 | killagreg | 275 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
| 51 | killagreg | 276 | else sign = '+'; |
| 215 | killagreg | 277 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
| 278 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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| 55 | killagreg | 279 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 280 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
| 51 | killagreg | 281 | else sign = '+'; |
| 215 | killagreg | 282 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
| 283 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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| 55 | killagreg | 284 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 285 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
| 51 | killagreg | 286 | else sign = '+'; |
| 215 | killagreg | 287 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
| 288 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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| 54 | killagreg | 289 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
| 41 | ingob | 290 | } |
| 291 | break; |
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| 351 | holgerb | 292 | case 9: |
| 318 | holgerb | 293 | LCD_printfxy(0,0,"Target Position"); |
| 294 | if(NaviData.TargetPosition.Status == INVALID) |
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| 295 | { |
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| 296 | LCD_printfxy(0,1," "); |
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| 297 | LCD_printfxy(0,2," Is not set. "); |
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| 298 | LCD_printfxy(0,3," "); |
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| 299 | } |
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| 300 | else |
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| 301 | { |
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| 302 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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| 303 | else sign = '+'; |
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| 304 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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| 305 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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| 306 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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| 307 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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| 308 | else sign = '+'; |
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| 309 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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| 310 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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| 311 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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| 312 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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| 313 | else sign = '+'; |
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| 314 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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| 315 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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| 316 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
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| 317 | } |
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| 318 | break; |
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| 351 | holgerb | 319 | case 10: // RC stick controls from FC |
| 41 | ingob | 320 | LCD_printfxy(0,0,"RC-Sticks" ); |
| 516 | holgerb | 321 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
| 322 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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| 323 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
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| 41 | ingob | 324 | break; |
| 351 | holgerb | 325 | case 11: // RC poti controls from FC |
| 190 | killagreg | 326 | LCD_printfxy(0,0,"RC-Potis 1" ); |
| 516 | holgerb | 327 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
| 328 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
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| 41 | ingob | 329 | break; |
| 351 | holgerb | 330 | case 12: // RC poti controls from FC |
| 190 | killagreg | 331 | LCD_printfxy(0,0,"RC-Potis 2" ); |
| 516 | holgerb | 332 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
| 333 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
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| 190 | killagreg | 334 | break; |
| 351 | holgerb | 335 | case 13: // attitude from FC |
| 66 | killagreg | 336 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
| 337 | else sign = '+'; |
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| 338 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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| 339 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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| 201 | killagreg | 340 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
| 66 | killagreg | 341 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
| 342 | else sign = '+'; |
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| 343 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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| 344 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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| 516 | holgerb | 345 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
| 67 | killagreg | 346 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
| 347 | else sign = '+'; |
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| 348 | i1 = abs(FromFlightCtrl.AccNick)/10; |
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| 349 | i2 = abs(FromFlightCtrl.AccNick)%10; |
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| 201 | killagreg | 350 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
| 516 | holgerb | 351 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
| 67 | killagreg | 352 | else sign = '+'; |
| 353 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
||
| 354 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
||
| 516 | holgerb | 355 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
| 41 | ingob | 356 | break; |
| 351 | holgerb | 357 | case 14: // gyros from FC |
| 516 | holgerb | 358 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
| 359 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
||
| 41 | ingob | 360 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
| 489 | killagreg | 361 | if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ") |
| 362 | else LCD_printfxy(0,3,"not calibrated"); |
||
| 41 | ingob | 363 | break; |
| 489 | killagreg | 364 | case 15: |
| 475 | holgerb | 365 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
| 366 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
||
| 367 | if(FC.FromFC_DisableDeclination) |
||
| 516 | holgerb | 368 | { |
| 489 | killagreg | 369 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
| 475 | holgerb | 370 | } |
| 371 | else |
||
| 372 | { |
||
| 489 | killagreg | 373 | if(GeoMagDec < 0) sign = '-'; |
| 374 | else sign = '+'; |
||
| 375 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 475 | holgerb | 376 | } |
| 463 | holgerb | 377 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
| 516 | holgerb | 378 | break; |
| 351 | holgerb | 379 | case 16: // User Parameter |
| 153 | killagreg | 380 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
| 381 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
| 382 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
| 383 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
| 41 | ingob | 384 | break; |
| 380 | holgerb | 385 | case 17: // User Parameter |
| 426 | holgerb | 386 | LCD_printfxy(0,0,"SD-Card Logs"); |
| 548 | holgerb | 387 | if(SDCardInfo.Valid == 1) |
| 388 | { |
||
| 389 | LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
||
| 390 | LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
| 391 | } |
||
| 392 | else |
||
| 393 | LCD_printfxy(0,1,"no card in slot "); |
||
| 380 | holgerb | 394 | break; |
| 395 | case 18: // magnetic field |
||
| 292 | killagreg | 396 | if(Compass_CalState) |
| 254 | killagreg | 397 | { |
| 292 | killagreg | 398 | LCD_printfxy(0,0,"Calibration:"); |
| 399 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
| 516 | holgerb | 400 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
| 292 | killagreg | 401 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
| 402 | switch(Compass_CalState) |
||
| 254 | killagreg | 403 | { |
| 292 | killagreg | 404 | case 1: |
| 405 | case 3: |
||
| 406 | LCD_printfxy(7,1,"pause"); |
||
| 407 | break; |
||
| 408 | |||
| 409 | case 2: |
||
| 410 | LCD_printfxy(7,1,"horizontal"); |
||
| 411 | break; |
||
| 412 | |||
| 413 | case 4: |
||
| 414 | LCD_printfxy(7,1,"vertical"); |
||
| 415 | break; |
||
| 416 | |||
| 417 | case 5: |
||
| 418 | LCD_printfxy(7,1,"data saved"); |
||
| 419 | LCD_printfxy(8,3," (END) "); |
||
| 420 | break; |
||
| 489 | killagreg | 421 | |
| 292 | killagreg | 422 | default: |
| 423 | break; |
||
| 254 | killagreg | 424 | } |
| 425 | } |
||
| 292 | killagreg | 426 | else |
| 254 | killagreg | 427 | { |
| 330 | holgerb | 428 | if(GeoMagDec < 0) sign = '-'; |
| 429 | else sign = '+'; |
||
| 254 | killagreg | 430 | LCD_printfxy(0,0,"Magnetic Field"); |
| 516 | holgerb | 431 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
| 292 | killagreg | 432 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
| 433 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
| 330 | holgerb | 434 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
| 489 | killagreg | 435 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
| 436 | else LCD_printfxy(11,2,"Intern"); |
||
| 338 | holgerb | 437 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
| 438 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
| 292 | killagreg | 439 | LCD_printfxy(15,3,"(CAL)"); |
| 440 | } |
||
| 441 | if(Keys & KEY4) // next step |
||
| 442 | { |
||
| 443 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
| 444 | else Compass_SetCalState(0); |
||
| 445 | } |
||
| 446 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
| 41 | ingob | 447 | break; |
| 489 | killagreg | 448 | case 19: |
| 345 | holgerb | 449 | if(GeoMagDec < 0) sign = '-'; |
| 450 | else sign = '+'; |
||
| 338 | holgerb | 451 | LCD_printfxy(0,0,"Magnetic Field"); |
| 452 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
| 453 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 454 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
| 455 | break; |
||
| 489 | killagreg | 456 | case 20: |
| 426 | holgerb | 457 | LCD_printfxy(0,0,"SD-Setting "); |
| 458 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
| 459 | break; |
||
| 489 | killagreg | 460 | case 21: |
| 453 | holgerb | 461 | LCD_printfxy(0,0,"CPU Processing "); |
| 457 | holgerb | 462 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10); |
| 463 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10); |
||
| 464 | if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
||
| 465 | if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
||
| 453 | holgerb | 466 | break; |
| 489 | killagreg | 467 | case 22: |
| 468 | LCD_printfxy(0,0,"BL Current" ); |
||
| 469 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
| 470 | for(i1 = 0; i1 < 3; i1++) |
||
| 471 | { |
||
| 502 | killagreg | 472 | 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)); |
| 473 | if(Motor[4 + i1 * 4].State == 0) break; |
||
| 489 | killagreg | 474 | } |
| 471 | holgerb | 475 | break; |
| 489 | killagreg | 476 | |
| 473 | holgerb | 477 | case 23: |
| 489 | killagreg | 478 | LCD_printfxy(0,0,"Ext. Compass" ); |
| 479 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
| 480 | { |
||
| 516 | holgerb | 481 | u8 tmp; |
| 482 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
| 483 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
| 484 | tmp = NCMAG_GetOrientationFromAcc(); |
||
| 485 | LCD_printfxy(0,3,"Orientat.: "); |
||
| 486 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
| 487 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
| 489 | killagreg | 488 | } |
| 489 | else |
||
| 490 | { |
||
| 491 | LCD_printfxy(0,1,"Not connected"); |
||
| 492 | } |
||
| 473 | holgerb | 493 | break; |
| 498 | killagreg | 494 | |
| 495 | case 24: |
||
| 496 | { |
||
| 504 | holgerb | 497 | static u8 index = 1; |
| 498 | killagreg | 498 | if(Keys & KEY3) // next step |
| 499 | { |
||
| 503 | holgerb | 500 | if(index < ToFC_MaxWpListIndex) index++; |
| 498 | killagreg | 501 | else index = 1; |
| 502 | } |
||
| 503 | holgerb | 503 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
| 504 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
| 498 | killagreg | 505 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 506 | // 12345678901234567890 |
||
| 507 | LCD_printfxy(0,2,"Points Index "); |
||
| 508 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 516 | holgerb | 509 | } |
| 498 | killagreg | 510 | break; |
| 504 | holgerb | 511 | case 25: |
| 512 | { |
||
| 513 | static u8 index = 1; |
||
| 516 | holgerb | 514 | if(Keys & KEY3) |
| 504 | holgerb | 515 | { |
| 516 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 517 | else index = 1; |
||
| 518 | } |
||
| 514 | holgerb | 519 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
| 504 | holgerb | 520 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 521 | // 12345678901234567890 |
||
| 522 | LCD_printfxy(0,2,"Points Index "); |
||
| 516 | holgerb | 523 | if(GPSData.SatFix == SATFIX_3D) |
| 524 | { |
||
| 525 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 526 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
| 527 | } |
||
| 528 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 514 | holgerb | 529 | |
| 516 | holgerb | 530 | } |
| 504 | holgerb | 531 | break; |
| 514 | holgerb | 532 | case 26: |
| 533 | { |
||
| 534 | static u8 index = 1; |
||
| 516 | holgerb | 535 | if(Keys & KEY3) |
| 514 | holgerb | 536 | { |
| 537 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 538 | else index = 1; |
||
| 539 | } |
||
| 540 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
| 541 | LCD_printfxy(0,0,"Load Point" ); |
||
| 542 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
| 543 | // 12345678901234567890 |
||
| 544 | // LCD_printfxy(0,2,"Points Index "); |
||
| 545 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
| 516 | holgerb | 546 | } |
| 514 | holgerb | 547 | break; |
| 548 | case 27: |
||
| 549 | { |
||
| 550 | static u8 index = 1; |
||
| 551 | if(Keys & KEY3) |
||
| 552 | { |
||
| 553 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 554 | else index = 1; |
||
| 555 | } |
||
| 556 | LCD_printfxy(0,0,"Save Point" ); |
||
| 557 | LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter/20); |
||
| 558 | // 12345678901234567890 |
||
| 559 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
| 516 | holgerb | 560 | if(GPSData.SatFix == SATFIX_3D) |
| 514 | holgerb | 561 | { |
| 562 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
| 563 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
| 564 | } |
||
| 565 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 516 | holgerb | 566 | } |
| 514 | holgerb | 567 | break; |
| 41 | ingob | 568 | default: |
| 201 | killagreg | 569 | //MaxMenuItem = MenuItem - 1; |
| 41 | ingob | 570 | MenuItem = 0; |
| 571 | break; |
||
| 516 | holgerb | 572 | } |
| 1 | ingob | 573 | } |