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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 1180 | killagreg | 3 | // + Nur für den privaten Gebrauch |
| 1 | ingob | 4 | // + www.MikroKopter.com |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1180 | killagreg | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * 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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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 886 | killagreg | 51 | #include <stdlib.h> |
| 52 | #include <inttypes.h> |
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| 1 | ingob | 53 | #include "main.h" |
| 886 | killagreg | 54 | #include "eeprom.h" |
| 55 | #include "timer2.h" |
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| 56 | #include "fc.h" |
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| 57 | #include "rc.h" |
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| 1180 | killagreg | 58 | #include "uart0.h" |
| 886 | killagreg | 59 | #include "printf_P.h" |
| 60 | #include "analog.h" |
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| 1222 | killagreg | 61 | #include "twimaster.h" |
| 1078 | killagreg | 62 | |
| 886 | killagreg | 63 | #ifdef USE_KILLAGREG |
| 64 | #include "mm3.h" |
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| 908 | killagreg | 65 | #endif |
| 1078 | killagreg | 66 | |
| 953 | killagreg | 67 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| 886 | killagreg | 68 | #include "ubx.h" |
| 69 | #endif |
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| 1078 | killagreg | 70 | |
| 71 | #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
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| 1222 | killagreg | 72 | uint8_t MaxMenuItem = 13; |
| 1078 | killagreg | 73 | #else |
| 74 | #ifdef USE_MK3MAG |
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| 1222 | killagreg | 75 | uint8_t MaxMenuItem = 14; |
| 1078 | killagreg | 76 | #endif |
| 1 | ingob | 77 | |
| 1078 | killagreg | 78 | #ifdef USE_KILLAGREG |
| 1222 | killagreg | 79 | uint8_t MaxMenuItem = 16; |
| 1078 | killagreg | 80 | #endif |
| 81 | #endif |
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| 82 | uint8_t MenuItem = 0; |
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| 83 | uint8_t RemoteKeys = 0; |
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| 886 | killagreg | 84 | |
| 1 | ingob | 85 | #define KEY1 0x01 |
| 86 | #define KEY2 0x02 |
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| 87 | #define KEY3 0x04 |
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| 88 | #define KEY4 0x08 |
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| 89 | #define KEY5 0x10 |
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| 90 | |||
| 1078 | killagreg | 91 | |
| 92 | |||
| 93 | #define DISPLAYBUFFSIZE 80 |
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| 94 | int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
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| 95 | uint8_t DispPtr = 0; |
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| 96 | |||
| 97 | |||
| 886 | killagreg | 98 | /************************************/ |
| 99 | /* Clear LCD Buffer */ |
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| 100 | /************************************/ |
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| 101 | void LCD_Clear(void) |
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| 1 | ingob | 102 | { |
| 886 | killagreg | 103 | uint8_t i; |
| 104 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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| 1 | ingob | 105 | } |
| 106 | |||
| 886 | killagreg | 107 | |
| 108 | /************************************/ |
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| 109 | /* Update Menu on LCD */ |
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| 110 | /************************************/ |
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| 111 | // Display with 20 characters in 4 lines |
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| 112 | void LCD_PrintMenu(void) |
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| 908 | killagreg | 113 | { |
| 1078 | killagreg | 114 | if(RemoteKeys & KEY1) |
| 115 | { |
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| 116 | if(MenuItem) MenuItem--; |
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| 117 | else MenuItem = MaxMenuItem; |
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| 118 | } |
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| 119 | if(RemoteKeys & KEY2) |
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| 120 | { |
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| 121 | if(MenuItem == MaxMenuItem) MenuItem = 0; |
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| 122 | else MenuItem++; |
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| 123 | } |
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| 124 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
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| 908 | killagreg | 125 | |
| 1078 | killagreg | 126 | LCD_Clear(); |
| 886 | killagreg | 127 | |
| 1078 | killagreg | 128 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| 129 | // print menu item number in the upper right corner |
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| 130 | if(MenuItem < 10) |
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| 131 | { |
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| 1222 | killagreg | 132 | LCD_printfxy(17,0,"[%i]",MenuItem); |
| 1078 | killagreg | 133 | } |
| 134 | else |
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| 135 | { |
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| 886 | killagreg | 136 | LCD_printfxy(16,0,"[%i]",MenuItem); |
| 1078 | killagreg | 137 | } |
| 886 | killagreg | 138 | |
| 1078 | killagreg | 139 | switch(MenuItem) |
| 140 | { |
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| 1222 | killagreg | 141 | case 0:// Version Info Menu Item |
| 142 | LCD_printfxy(0,0,"+ MikroKopter +"); |
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| 143 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
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| 144 | LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name); |
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| 145 | if(I2CTimeout < 6) |
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| 146 | { |
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| 147 | LCD_printfxy(0,3,"I2C Error!!!"); |
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| 148 | } |
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| 149 | else if (MissingMotor) |
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| 150 | { |
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| 151 | LCD_printfxy(0,3,"Missing BL-Ctrl:%d", MissingMotor); |
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| 152 | } |
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| 153 | else LCD_printfxy(0,3,"(c) Holger Buss"); |
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| 154 | break; |
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| 155 | case 1:// Height Control Menu Item |
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| 156 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
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| 157 | { |
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| 158 | LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
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| 159 | LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
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| 160 | LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
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| 161 | LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
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| 162 | } |
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| 163 | else |
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| 164 | { |
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| 165 | LCD_printfxy(0,1,"No "); |
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| 166 | LCD_printfxy(0,2,"Height Control"); |
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| 167 | } |
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| 168 | break; |
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| 886 | killagreg | 169 | |
| 1222 | killagreg | 170 | case 2:// Attitude Menu Item |
| 171 | LCD_printfxy(0,0,"Attitude"); |
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| 172 | LCD_printfxy(0,1,"Nick: %5i",IntegralGyroNick/1024); |
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| 173 | LCD_printfxy(0,2,"Roll: %5i",IntegralGyroRoll/1024); |
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| 174 | LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
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| 175 | break; |
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| 176 | case 3:// Remote Control Channel Menu Item |
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| 177 | LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
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| 178 | LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
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| 179 | LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
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| 180 | LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
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| 181 | break; |
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| 182 | case 4:// Remote Control Mapping Menu Item |
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| 183 | LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
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| 184 | LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
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| 185 | LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
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| 186 | LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
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| 187 | break; |
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| 1078 | killagreg | 188 | case 5:// Gyro Sensor Menu Item |
| 1222 | killagreg | 189 | LCD_printfxy(0,0,"Gyro - Sensor"); |
| 190 | switch(BoardRelease) |
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| 191 | { |
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| 192 | case 10: |
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| 193 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY); |
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| 194 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY); |
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| 195 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw); |
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| 196 | break; |
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| 936 | killagreg | 197 | |
| 1222 | killagreg | 198 | case 11: |
| 199 | case 12: |
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| 200 | case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
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| 201 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
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| 202 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
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| 203 | LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2); |
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| 204 | break; |
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| 936 | killagreg | 205 | |
| 1222 | killagreg | 206 | case 13: |
| 207 | default: // divice Offests by 2 becuse 2 samples are added in adc isr |
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| 208 | LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7) |
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| 209 | LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7) |
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| 210 | LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw ); |
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| 211 | break; |
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| 212 | } |
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| 213 | break; |
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| 214 | case 6:// Acceleration Sensor Menu Item |
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| 215 | LCD_printfxy(0,0,"ACC - Sensor"); |
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| 216 | LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR |
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| 217 | LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
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| 218 | LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
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| 219 | break; |
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| 220 | case 7:// Accumulator Voltage / Remote Control Level |
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| 221 | LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
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| 222 | LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
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| 223 | break; |
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| 224 | case 8:// Compass Menu Item |
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| 225 | LCD_printfxy(0,0,"Compass "); |
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| 226 | LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
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| 227 | LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
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| 228 | LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
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| 229 | break; |
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| 230 | case 9:// Poti Menu Item |
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| 231 | LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
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| 232 | LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
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| 233 | LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
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| 234 | LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
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| 235 | break; |
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| 236 | case 10:// Servo Menu Item |
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| 237 | LCD_printfxy(0,0,"Servo " ); |
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| 238 | LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
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| 239 | LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
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| 240 | LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
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| 241 | break; |
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| 242 | case 11://Extern Control |
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| 243 | LCD_printfxy(0,0,"ExternControl " ); |
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| 244 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
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| 245 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
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| 246 | LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
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| 247 | break; |
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| 886 | killagreg | 248 | |
| 1222 | killagreg | 249 | case 12://BL Communication errors |
| 250 | LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
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| 251 | LCD_printfxy(0,1," %3d %3d %3d %3d ",Motor[0].Error,Motor[1].Error,Motor[2].Error,Motor[3].Error); |
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| 252 | LCD_printfxy(0,2," %3d %3d %3d %3d ",Motor[4].Error,Motor[5].Error,Motor[6].Error,Motor[7].Error); |
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| 253 | LCD_printfxy(0,3," %3d %3d %3d %3d ",Motor[8].Error,Motor[9].Error,Motor[10].Error,Motor[11].Error); |
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| 254 | break; |
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| 255 | |||
| 256 | case 13://BL Overview |
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| 257 | LCD_printfxy(0,0,"BL-Ctrl found " ); |
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| 258 | LCD_printfxy(0,1," %c %c %c %c ",Motor[0].Present + '-',Motor[1].Present + '-',Motor[2].Present + '-',Motor[3].Present + '-'); |
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| 259 | LCD_printfxy(0,2," %c %c %c %c ",Motor[4].Present + '-',Motor[5].Present + '-',Motor[6].Present + '-',Motor[7].Present + '-'); |
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| 260 | LCD_printfxy(0,3," %c - - - ",Motor[8].Present + '-'); |
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| 261 | if(Motor[9].Present) LCD_printfxy(4,3,"10"); |
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| 262 | if(Motor[10].Present) LCD_printfxy(8,3,"11"); |
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| 263 | if(Motor[11].Present) LCD_printfxy(12,3,"12"); |
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| 264 | break; |
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| 265 | |||
| 266 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
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| 267 | case 14://GPS Lat/Lon coords |
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| 886 | killagreg | 268 | if (GPSInfo.status == INVALID) |
| 269 | { |
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| 270 | LCD_printfxy(0,0,"No GPS data!"); |
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| 271 | } |
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| 272 | else |
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| 273 | { |
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| 274 | switch (GPSInfo.satfix) |
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| 275 | { |
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| 276 | case SATFIX_NONE: |
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| 277 | LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
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| 278 | break; |
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| 279 | case SATFIX_2D: |
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| 280 | LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
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| 281 | break; |
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| 282 | case SATFIX_3D: |
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| 283 | LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
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| 284 | break; |
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| 285 | default: |
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| 286 | LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
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| 287 | break; |
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| 288 | } |
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| 289 | int16_t i1,i2,i3; |
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| 290 | i1 = (int16_t)(GPSInfo.longitude/10000000L); |
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| 291 | i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
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| 292 | i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
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| 1222 | killagreg | 293 | LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3); |
| 886 | killagreg | 294 | i1 = (int16_t)(GPSInfo.latitude/10000000L); |
| 295 | i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
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| 296 | i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
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| 1222 | killagreg | 297 | LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3); |
| 886 | killagreg | 298 | i1 = (int16_t)(GPSInfo.altitude/1000L); |
| 299 | i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
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| 1222 | killagreg | 300 | LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
| 886 | killagreg | 301 | } |
| 302 | break; |
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| 908 | killagreg | 303 | #endif |
| 304 | #ifdef USE_KILLAGREG |
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| 1222 | killagreg | 305 | case 15:// MM3 Kompass |
| 886 | killagreg | 306 | LCD_printfxy(0,0,"MM3 Offset"); |
| 307 | LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
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| 308 | LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
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| 309 | LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
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| 310 | break; |
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| 1222 | killagreg | 311 | case 16://MM3 Range |
| 886 | killagreg | 312 | LCD_printfxy(0,0,"MM3 Range"); |
| 313 | LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
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| 314 | LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
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| 315 | LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
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| 316 | break; |
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| 317 | #endif |
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| 318 | |||
| 1222 | killagreg | 319 | default: |
| 320 | MaxMenuItem = MenuItem - 1; |
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| 321 | MenuItem = 0; |
||
| 322 | break; |
||
| 323 | } |
||
| 324 | RemoteKeys = 0; |
||
| 304 | ingob | 325 | } |