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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; |
| 320 | holgerb | 75 | u8 MaxMenuItem = 16; |
| 41 | ingob | 76 | |
| 203 | killagreg | 77 | |
| 78 | |||
| 79 | void Menu_Putchar(char c) |
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| 80 | { |
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| 81 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
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| 82 | } |
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| 83 | |||
| 201 | killagreg | 84 | void Menu_Clear(void) |
| 1 | ingob | 85 | { |
| 201 | killagreg | 86 | u8 i; |
| 87 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 88 | } |
| 89 | |||
| 24 | StephanB | 90 | |
| 41 | ingob | 91 | // Display with 20 characters in 4 lines |
| 201 | killagreg | 92 | void Menu_Update(u8 Keys) |
| 41 | ingob | 93 | { |
| 94 | s32 i1,i2; |
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| 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 |
| 103 | if(MenuItem < 10) |
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| 104 | { |
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| 105 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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| 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 | |||
| 112 | switch(MenuItem) |
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| 113 | { |
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| 114 | // Version Info |
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| 115 | case 0: |
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| 116 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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| 264 | killagreg | 117 | 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 | 118 | |
| 264 | killagreg | 119 | if(ErrorCode) |
| 120 | { |
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| 121 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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| 122 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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| 123 | } |
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| 321 | holgerb | 124 | else |
| 125 | { |
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| 126 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
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| 127 | LCD_printfxy(0,2,"%s",ErrorMSG); |
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| 128 | } |
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| 41 | ingob | 129 | break; |
| 130 | case 1: |
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| 131 | if (GPSData.Status == INVALID) |
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| 132 | { |
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| 133 | LCD_printfxy(0,0,"No GPS data"); |
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| 134 | LCD_printfxy(0,1,"Lon: "); |
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| 135 | LCD_printfxy(0,2,"Lat: "); |
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| 136 | LCD_printfxy(0,3,"Alt: "); |
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| 137 | } |
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| 138 | else // newdata or processed |
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| 139 | { |
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| 122 | killagreg | 140 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 141 | switch (GPSData.SatFix) |
| 142 | { |
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| 143 | case SATFIX_NONE: |
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| 127 | killagreg | 144 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 145 | break; |
| 146 | case SATFIX_2D: |
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| 127 | killagreg | 147 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 148 | break; |
| 149 | case SATFIX_3D: |
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| 127 | killagreg | 150 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 151 | break; |
| 152 | default: |
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| 127 | killagreg | 153 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 154 | break; |
| 155 | } |
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| 121 | killagreg | 156 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 157 | { |
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| 127 | killagreg | 158 | LCD_printfxy(12,0,"/DGPS"); |
| 121 | killagreg | 159 | } |
| 160 | else |
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| 161 | { |
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| 127 | killagreg | 162 | LCD_printfxy(12,0," "); |
| 121 | killagreg | 163 | } |
| 164 | |||
| 51 | killagreg | 165 | if(GPSData.Position.Longitude < 0) sign = '-'; |
| 166 | else sign = '+'; |
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| 53 | killagreg | 167 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
| 168 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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| 54 | killagreg | 169 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 170 | if(GPSData.Position.Latitude < 0) sign = '-'; |
| 171 | else sign = '+'; |
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| 53 | killagreg | 172 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
| 173 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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| 54 | killagreg | 174 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 51 | killagreg | 175 | if(GPSData.Position.Altitude < 0) sign = '-'; |
| 176 | else sign = '+'; |
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| 53 | killagreg | 177 | i1 = abs(GPSData.Position.Altitude)/1000L; |
| 178 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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| 54 | killagreg | 179 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
| 41 | ingob | 180 | } |
| 181 | break; |
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| 182 | case 2: |
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| 183 | if (GPSData.Status == INVALID) |
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| 184 | { |
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| 185 | LCD_printfxy(0,0,"No GPS data"); |
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| 186 | LCD_printfxy(0,1,"Speed N: "); |
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| 187 | LCD_printfxy(0,2,"Speed E: "); |
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| 188 | LCD_printfxy(0,3,"Speed T: "); |
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| 189 | } |
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| 190 | else // newdata or processed |
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| 191 | { |
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| 124 | killagreg | 192 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
| 41 | ingob | 193 | switch (GPSData.SatFix) |
| 194 | { |
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| 195 | case SATFIX_NONE: |
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| 127 | killagreg | 196 | LCD_printfxy(7,0,"NoFix"); |
| 41 | ingob | 197 | break; |
| 198 | case SATFIX_2D: |
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| 127 | killagreg | 199 | LCD_printfxy(7,0,"2DFix"); |
| 41 | ingob | 200 | break; |
| 201 | case SATFIX_3D: |
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| 127 | killagreg | 202 | LCD_printfxy(7,0,"3DFix"); |
| 41 | ingob | 203 | break; |
| 204 | default: |
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| 127 | killagreg | 205 | LCD_printfxy(7,0,"??Fix"); |
| 41 | ingob | 206 | break; |
| 207 | } |
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| 124 | killagreg | 208 | if(GPSData.Flags & FLAG_DIFFSOLN) |
| 209 | { |
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| 127 | killagreg | 210 | LCD_printfxy(12,0,"/DGPS"); |
| 124 | killagreg | 211 | } |
| 212 | else |
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| 213 | { |
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| 127 | killagreg | 214 | LCD_printfxy(12,0," "); |
| 124 | killagreg | 215 | } |
| 216 | |||
| 41 | ingob | 217 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
| 218 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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| 219 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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| 220 | } |
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| 221 | break; |
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| 222 | case 3: |
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| 223 | LCD_printfxy(0,0,"GPS UTC Time"); |
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| 224 | if (!SystemTime.Valid) |
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| 225 | { |
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| 226 | LCD_printfxy(0,1," "); |
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| 227 | LCD_printfxy(0,2," No time data! "); |
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| 228 | LCD_printfxy(0,3," "); |
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| 229 | } |
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| 230 | else // newdata or processed |
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| 231 | { |
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| 232 | LCD_printfxy(0,1," "); |
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| 233 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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| 234 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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| 235 | } |
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| 236 | break; |
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| 59 | killagreg | 237 | case 4: // Navi Params 1 from FC |
| 41 | ingob | 238 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
| 239 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
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| 240 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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| 241 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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| 242 | break; |
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| 59 | killagreg | 243 | case 5: // Navi Params 2 from FC |
| 244 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
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| 213 | killagreg | 245 | LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius); |
| 59 | killagreg | 246 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
| 247 | LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation); |
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| 248 | break; |
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| 249 | case 6: // Navi Params 3 from FC |
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| 250 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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| 251 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
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| 252 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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| 253 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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| 254 | break; |
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| 255 | case 7: |
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| 41 | ingob | 256 | LCD_printfxy(0,0,"Home Position"); |
| 215 | killagreg | 257 | if(NaviData.HomePosition.Status == INVALID) |
| 41 | ingob | 258 | { |
| 259 | LCD_printfxy(0,1," "); |
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| 260 | LCD_printfxy(0,2," Is not set. "); |
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| 261 | LCD_printfxy(0,3," "); |
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| 262 | } |
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| 263 | else |
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| 264 | { |
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| 215 | killagreg | 265 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
| 51 | killagreg | 266 | else sign = '+'; |
| 215 | killagreg | 267 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
| 268 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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| 55 | killagreg | 269 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 270 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
| 51 | killagreg | 271 | else sign = '+'; |
| 215 | killagreg | 272 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
| 273 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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| 55 | killagreg | 274 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
| 215 | killagreg | 275 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
| 51 | killagreg | 276 | else sign = '+'; |
| 215 | killagreg | 277 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
| 278 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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| 54 | killagreg | 279 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
| 41 | ingob | 280 | } |
| 281 | break; |
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| 318 | holgerb | 282 | case 8: |
| 283 | LCD_printfxy(0,0,"Target Position"); |
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| 284 | if(NaviData.TargetPosition.Status == INVALID) |
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| 285 | { |
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| 286 | LCD_printfxy(0,1," "); |
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| 287 | LCD_printfxy(0,2," Is not set. "); |
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| 288 | LCD_printfxy(0,3," "); |
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| 289 | } |
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| 290 | else |
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| 291 | { |
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| 292 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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| 293 | else sign = '+'; |
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| 294 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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| 295 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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| 296 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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| 297 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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| 298 | else sign = '+'; |
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| 299 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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| 300 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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| 301 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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| 302 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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| 303 | else sign = '+'; |
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| 304 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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| 305 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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| 306 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
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| 307 | } |
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| 308 | break; |
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| 309 | case 9: // RC stick controls from FC |
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| 41 | ingob | 310 | LCD_printfxy(0,0,"RC-Sticks" ); |
| 311 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
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| 312 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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| 313 | break; |
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| 318 | holgerb | 314 | case 10: // RC poti controls from FC |
| 190 | killagreg | 315 | LCD_printfxy(0,0,"RC-Potis 1" ); |
| 316 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
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| 317 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
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| 41 | ingob | 318 | break; |
| 318 | holgerb | 319 | case 11: // RC poti controls from FC |
| 190 | killagreg | 320 | LCD_printfxy(0,0,"RC-Potis 2" ); |
| 321 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
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| 322 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
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| 323 | break; |
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| 318 | holgerb | 324 | case 12: // attitude from FC |
| 66 | killagreg | 325 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
| 326 | else sign = '+'; |
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| 327 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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| 328 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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| 201 | killagreg | 329 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
| 66 | killagreg | 330 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
| 331 | else sign = '+'; |
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| 332 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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| 333 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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| 201 | killagreg | 334 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
| 67 | killagreg | 335 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
| 336 | else sign = '+'; |
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| 337 | i1 = abs(FromFlightCtrl.AccNick)/10; |
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| 338 | i2 = abs(FromFlightCtrl.AccNick)%10; |
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| 201 | killagreg | 339 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
| 67 | killagreg | 340 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
| 341 | else sign = '+'; |
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| 342 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
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| 343 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
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| 201 | killagreg | 344 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
| 41 | ingob | 345 | break; |
| 318 | holgerb | 346 | case 13: // gyros from FC |
| 41 | ingob | 347 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
| 348 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
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| 349 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
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| 350 | break; |
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| 318 | holgerb | 351 | case 14: // Remote Control Level from FC |
| 41 | ingob | 352 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
| 206 | killagreg | 353 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
| 254 | killagreg | 354 | LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading); |
| 153 | killagreg | 355 | if(GeoMagDec < 0) sign = '-'; |
| 356 | else sign = '+'; |
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| 357 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
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| 41 | ingob | 358 | break; |
| 318 | holgerb | 359 | case 15: // User Parameter |
| 153 | killagreg | 360 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
| 361 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
| 362 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
| 363 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
| 41 | ingob | 364 | break; |
| 318 | holgerb | 365 | case 16: // magnetic field |
| 292 | killagreg | 366 | if(Compass_CalState) |
| 254 | killagreg | 367 | { |
| 292 | killagreg | 368 | LCD_printfxy(0,0,"Calibration:"); |
| 369 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
| 370 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
||
| 371 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
||
| 372 | switch(Compass_CalState) |
||
| 254 | killagreg | 373 | { |
| 292 | killagreg | 374 | case 1: |
| 375 | case 3: |
||
| 376 | LCD_printfxy(7,1,"pause"); |
||
| 377 | break; |
||
| 378 | |||
| 379 | case 2: |
||
| 380 | LCD_printfxy(7,1,"horizontal"); |
||
| 381 | break; |
||
| 382 | |||
| 383 | case 4: |
||
| 384 | LCD_printfxy(7,1,"vertical"); |
||
| 385 | break; |
||
| 386 | |||
| 387 | case 5: |
||
| 388 | LCD_printfxy(7,1,"data saved"); |
||
| 389 | LCD_printfxy(8,3," (END) "); |
||
| 390 | break; |
||
| 391 | |||
| 392 | default: |
||
| 393 | break; |
||
| 254 | killagreg | 394 | } |
| 395 | } |
||
| 292 | killagreg | 396 | else |
| 254 | killagreg | 397 | { |
| 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); |
||
| 402 | LCD_printfxy(15,3,"(CAL)"); |
||
| 403 | } |
||
| 404 | if(Keys & KEY4) // next step |
||
| 405 | { |
||
| 406 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
| 407 | else Compass_SetCalState(0); |
||
| 408 | } |
||
| 409 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
| 41 | ingob | 410 | break; |
| 411 | default: |
||
| 201 | killagreg | 412 | //MaxMenuItem = MenuItem - 1; |
| 41 | ingob | 413 | MenuItem = 0; |
| 414 | break; |
||
| 1 | ingob | 415 | } |
| 416 | } |