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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); |
| 617 | holgerb | 118 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) 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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| 589 | holgerb | 289 | LCD_printfxy(0,3,"Alt:%c%04ld.%1dm",sign, i1, i2/1000); |
| 588 | holgerb | 290 | switch(Parameter.HomeYawMode) |
| 291 | { |
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| 292 | case NO_CHANGE: LCD_printfxy(17,3,"(-)"); break; |
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| 293 | case FRONT_TO_HOME: LCD_printfxy(17,3,"(F)"); break; |
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| 294 | case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break; |
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| 295 | case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break; |
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| 296 | } |
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| 41 | ingob | 297 | } |
| 298 | break; |
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| 351 | holgerb | 299 | case 9: |
| 318 | holgerb | 300 | LCD_printfxy(0,0,"Target Position"); |
| 301 | if(NaviData.TargetPosition.Status == INVALID) |
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| 302 | { |
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| 303 | LCD_printfxy(0,1," "); |
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| 304 | LCD_printfxy(0,2," Is not set. "); |
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| 305 | LCD_printfxy(0,3," "); |
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| 306 | } |
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| 307 | else |
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| 308 | { |
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| 309 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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| 310 | else sign = '+'; |
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| 311 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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| 312 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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| 313 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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| 314 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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| 315 | else sign = '+'; |
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| 316 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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| 317 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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| 318 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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| 319 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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| 320 | else sign = '+'; |
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| 321 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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| 322 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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| 588 | holgerb | 323 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2); |
| 318 | holgerb | 324 | } |
| 325 | break; |
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| 351 | holgerb | 326 | case 10: // RC stick controls from FC |
| 41 | ingob | 327 | LCD_printfxy(0,0,"RC-Sticks" ); |
| 516 | holgerb | 328 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
| 329 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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| 330 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
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| 41 | ingob | 331 | break; |
| 351 | holgerb | 332 | case 11: // RC poti controls from FC |
| 190 | killagreg | 333 | LCD_printfxy(0,0,"RC-Potis 1" ); |
| 516 | holgerb | 334 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
| 335 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
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| 41 | ingob | 336 | break; |
| 351 | holgerb | 337 | case 12: // RC poti controls from FC |
| 190 | killagreg | 338 | LCD_printfxy(0,0,"RC-Potis 2" ); |
| 516 | holgerb | 339 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
| 340 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
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| 190 | killagreg | 341 | break; |
| 351 | holgerb | 342 | case 13: // attitude from FC |
| 66 | killagreg | 343 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
| 344 | else sign = '+'; |
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| 345 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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| 346 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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| 201 | killagreg | 347 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
| 66 | killagreg | 348 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
| 349 | else sign = '+'; |
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| 350 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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| 351 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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| 516 | holgerb | 352 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
| 67 | killagreg | 353 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
| 354 | else sign = '+'; |
||
| 355 | i1 = abs(FromFlightCtrl.AccNick)/10; |
||
| 356 | i2 = abs(FromFlightCtrl.AccNick)%10; |
||
| 201 | killagreg | 357 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
| 516 | holgerb | 358 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
| 67 | killagreg | 359 | else sign = '+'; |
| 360 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
||
| 361 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
||
| 516 | holgerb | 362 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
| 41 | ingob | 363 | break; |
| 351 | holgerb | 364 | case 14: // gyros from FC |
| 516 | holgerb | 365 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
| 366 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
||
| 41 | ingob | 367 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
| 489 | killagreg | 368 | if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ") |
| 369 | else LCD_printfxy(0,3,"not calibrated"); |
||
| 41 | ingob | 370 | break; |
| 489 | killagreg | 371 | case 15: |
| 475 | holgerb | 372 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
| 373 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
||
| 374 | if(FC.FromFC_DisableDeclination) |
||
| 516 | holgerb | 375 | { |
| 489 | killagreg | 376 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
| 475 | holgerb | 377 | } |
| 378 | else |
||
| 379 | { |
||
| 489 | killagreg | 380 | if(GeoMagDec < 0) sign = '-'; |
| 381 | else sign = '+'; |
||
| 382 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 475 | holgerb | 383 | } |
| 463 | holgerb | 384 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
| 516 | holgerb | 385 | break; |
| 351 | holgerb | 386 | case 16: // User Parameter |
| 153 | killagreg | 387 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
| 388 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
| 389 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
| 390 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
| 41 | ingob | 391 | break; |
| 380 | holgerb | 392 | case 17: // User Parameter |
| 426 | holgerb | 393 | LCD_printfxy(0,0,"SD-Card Logs"); |
| 548 | holgerb | 394 | if(SDCardInfo.Valid == 1) |
| 395 | { |
||
| 396 | LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
||
| 397 | LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
| 398 | } |
||
| 399 | else |
||
| 400 | LCD_printfxy(0,1,"no card in slot "); |
||
| 380 | holgerb | 401 | break; |
| 402 | case 18: // magnetic field |
||
| 292 | killagreg | 403 | if(Compass_CalState) |
| 254 | killagreg | 404 | { |
| 292 | killagreg | 405 | LCD_printfxy(0,0,"Calibration:"); |
| 406 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
| 516 | holgerb | 407 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
| 292 | killagreg | 408 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
| 409 | switch(Compass_CalState) |
||
| 254 | killagreg | 410 | { |
| 292 | killagreg | 411 | case 1: |
| 412 | case 3: |
||
| 413 | LCD_printfxy(7,1,"pause"); |
||
| 414 | break; |
||
| 415 | |||
| 416 | case 2: |
||
| 417 | LCD_printfxy(7,1,"horizontal"); |
||
| 418 | break; |
||
| 419 | |||
| 420 | case 4: |
||
| 421 | LCD_printfxy(7,1,"vertical"); |
||
| 422 | break; |
||
| 423 | |||
| 424 | case 5: |
||
| 425 | LCD_printfxy(7,1,"data saved"); |
||
| 426 | LCD_printfxy(8,3," (END) "); |
||
| 427 | break; |
||
| 489 | killagreg | 428 | |
| 292 | killagreg | 429 | default: |
| 430 | break; |
||
| 254 | killagreg | 431 | } |
| 432 | } |
||
| 292 | killagreg | 433 | else |
| 254 | killagreg | 434 | { |
| 330 | holgerb | 435 | if(GeoMagDec < 0) sign = '-'; |
| 436 | else sign = '+'; |
||
| 254 | killagreg | 437 | LCD_printfxy(0,0,"Magnetic Field"); |
| 516 | holgerb | 438 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
| 292 | killagreg | 439 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
| 440 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
| 330 | holgerb | 441 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
| 489 | killagreg | 442 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
| 443 | else LCD_printfxy(11,2,"Intern"); |
||
| 338 | holgerb | 444 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
| 445 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
| 292 | killagreg | 446 | LCD_printfxy(15,3,"(CAL)"); |
| 447 | } |
||
| 448 | if(Keys & KEY4) // next step |
||
| 449 | { |
||
| 450 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
| 451 | else Compass_SetCalState(0); |
||
| 452 | } |
||
| 453 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
| 41 | ingob | 454 | break; |
| 489 | killagreg | 455 | case 19: |
| 345 | holgerb | 456 | if(GeoMagDec < 0) sign = '-'; |
| 457 | else sign = '+'; |
||
| 338 | holgerb | 458 | LCD_printfxy(0,0,"Magnetic Field"); |
| 459 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
| 460 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
| 461 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
| 462 | break; |
||
| 489 | killagreg | 463 | case 20: |
| 426 | holgerb | 464 | LCD_printfxy(0,0,"SD-Setting "); |
| 465 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
| 466 | break; |
||
| 489 | killagreg | 467 | case 21: |
| 453 | holgerb | 468 | LCD_printfxy(0,0,"CPU Processing "); |
| 457 | holgerb | 469 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10); |
| 470 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10); |
||
| 471 | if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
||
| 472 | if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
||
| 453 | holgerb | 473 | break; |
| 489 | killagreg | 474 | case 22: |
| 475 | LCD_printfxy(0,0,"BL Current" ); |
||
| 476 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
| 477 | for(i1 = 0; i1 < 3; i1++) |
||
| 478 | { |
||
| 502 | killagreg | 479 | 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)); |
| 480 | if(Motor[4 + i1 * 4].State == 0) break; |
||
| 489 | killagreg | 481 | } |
| 471 | holgerb | 482 | break; |
| 489 | killagreg | 483 | |
| 473 | holgerb | 484 | case 23: |
| 489 | killagreg | 485 | LCD_printfxy(0,0,"Ext. Compass" ); |
| 486 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
| 487 | { |
||
| 516 | holgerb | 488 | u8 tmp; |
| 489 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
| 490 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
| 491 | tmp = NCMAG_GetOrientationFromAcc(); |
||
| 492 | LCD_printfxy(0,3,"Orientat.: "); |
||
| 493 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
| 494 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
| 489 | killagreg | 495 | } |
| 496 | else |
||
| 497 | { |
||
| 498 | LCD_printfxy(0,1,"Not connected"); |
||
| 499 | } |
||
| 473 | holgerb | 500 | break; |
| 498 | killagreg | 501 | |
| 502 | case 24: |
||
| 503 | { |
||
| 504 | holgerb | 504 | static u8 index = 1; |
| 498 | killagreg | 505 | if(Keys & KEY3) // next step |
| 506 | { |
||
| 503 | holgerb | 507 | if(index < ToFC_MaxWpListIndex) index++; |
| 498 | killagreg | 508 | else index = 1; |
| 509 | } |
||
| 503 | holgerb | 510 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
| 511 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
| 498 | killagreg | 512 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 513 | // 12345678901234567890 |
||
| 514 | LCD_printfxy(0,2,"Points Index "); |
||
| 515 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 516 | holgerb | 516 | } |
| 498 | killagreg | 517 | break; |
| 504 | holgerb | 518 | case 25: |
| 519 | { |
||
| 520 | static u8 index = 1; |
||
| 516 | holgerb | 521 | if(Keys & KEY3) |
| 504 | holgerb | 522 | { |
| 523 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 524 | else index = 1; |
||
| 525 | } |
||
| 514 | holgerb | 526 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
| 504 | holgerb | 527 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
| 528 | // 12345678901234567890 |
||
| 529 | LCD_printfxy(0,2,"Points Index "); |
||
| 516 | holgerb | 530 | if(GPSData.SatFix == SATFIX_3D) |
| 531 | { |
||
| 532 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
| 533 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
| 534 | } |
||
| 535 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 514 | holgerb | 536 | |
| 516 | holgerb | 537 | } |
| 504 | holgerb | 538 | break; |
| 514 | holgerb | 539 | case 26: |
| 540 | { |
||
| 541 | static u8 index = 1; |
||
| 516 | holgerb | 542 | if(Keys & KEY3) |
| 514 | holgerb | 543 | { |
| 544 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 545 | else index = 1; |
||
| 546 | } |
||
| 547 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
| 548 | LCD_printfxy(0,0,"Load Point" ); |
||
| 549 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
| 550 | // 12345678901234567890 |
||
| 551 | // LCD_printfxy(0,2,"Points Index "); |
||
| 552 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
| 516 | holgerb | 553 | } |
| 514 | holgerb | 554 | break; |
| 555 | case 27: |
||
| 556 | { |
||
| 557 | static u8 index = 1; |
||
| 558 | if(Keys & KEY3) |
||
| 559 | { |
||
| 560 | if(index < ToFC_MaxWpListIndex) index++; |
||
| 561 | else index = 1; |
||
| 562 | } |
||
| 563 | LCD_printfxy(0,0,"Save Point" ); |
||
| 564 | LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter/20); |
||
| 565 | // 12345678901234567890 |
||
| 566 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
| 516 | holgerb | 567 | if(GPSData.SatFix == SATFIX_3D) |
| 514 | holgerb | 568 | { |
| 569 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
| 570 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
| 571 | } |
||
| 572 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
| 516 | holgerb | 573 | } |
| 514 | holgerb | 574 | break; |
| 41 | ingob | 575 | default: |
| 201 | killagreg | 576 | //MaxMenuItem = MenuItem - 1; |
| 41 | ingob | 577 | MenuItem = 0; |
| 578 | break; |
||
| 516 | holgerb | 579 | } |
| 1 | ingob | 580 | } |