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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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59 | #include "printf_P.h" |
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1 | ingob | 60 | #include "main.h" |
41 | ingob | 61 | #include "ubx.h" |
62 | #include "GPS.h" |
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119 | killagreg | 63 | #include "timer1.h" |
41 | ingob | 64 | #include "i2c.h" |
65 | #include "spi_slave.h" |
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66 | #include "menu.h" |
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67 | #include "uart1.h" |
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1 | ingob | 68 | |
41 | ingob | 69 | s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
1 | ingob | 70 | u8 DispPtr = 0; |
71 | |||
41 | ingob | 72 | u8 MenuItem = 0; |
59 | killagreg | 73 | u8 MaxMenuItem = 14; |
41 | ingob | 74 | u8 RemoteKeys = 0; |
75 | |||
1 | ingob | 76 | #define KEY1 0x01 |
77 | #define KEY2 0x02 |
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78 | #define KEY3 0x04 |
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79 | #define KEY4 0x08 |
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80 | #define KEY5 0x10 |
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81 | |||
41 | ingob | 82 | /************************************/ |
83 | /* Clear LCD Buffer */ |
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84 | /************************************/ |
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85 | void LCD_Clear(void) |
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1 | ingob | 86 | { |
41 | ingob | 87 | u8 i; |
88 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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1 | ingob | 89 | } |
90 | |||
24 | StephanB | 91 | |
41 | ingob | 92 | /************************************/ |
93 | /* Update Menu on LCD */ |
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94 | /************************************/ |
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95 | // Display with 20 characters in 4 lines |
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96 | void LCD_PrintMenu(void) |
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97 | { |
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98 | s32 i1,i2; |
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51 | killagreg | 99 | u8 sign; |
41 | ingob | 100 | if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;} |
101 | if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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102 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
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103 | |||
104 | LCD_Clear(); |
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105 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
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106 | // print menu item number in the upper right corner |
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107 | if(MenuItem < 10) |
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108 | { |
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109 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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110 | } |
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111 | else |
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112 | { |
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113 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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114 | } |
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115 | |||
116 | switch(MenuItem) |
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117 | { |
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118 | // Version Info |
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119 | case 0: |
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120 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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121 | LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
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122 | if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," "); |
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123 | LCD_printfxy(0,2,"%s",ErrorMSG); |
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124 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
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125 | break; |
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126 | case 1: |
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127 | if (GPSData.Status == INVALID) |
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128 | { |
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129 | LCD_printfxy(0,0,"No GPS data"); |
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130 | LCD_printfxy(0,1,"Lon: "); |
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131 | LCD_printfxy(0,2,"Lat: "); |
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132 | LCD_printfxy(0,3,"Alt: "); |
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133 | } |
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134 | else // newdata or processed |
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135 | { |
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122 | killagreg | 136 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 137 | switch (GPSData.SatFix) |
138 | { |
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139 | case SATFIX_NONE: |
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127 | killagreg | 140 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 141 | break; |
142 | case SATFIX_2D: |
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127 | killagreg | 143 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 144 | break; |
145 | case SATFIX_3D: |
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127 | killagreg | 146 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 147 | break; |
148 | default: |
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127 | killagreg | 149 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 150 | break; |
151 | } |
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121 | killagreg | 152 | if(GPSData.Flags & FLAG_DIFFSOLN) |
153 | { |
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127 | killagreg | 154 | LCD_printfxy(12,0,"/DGPS"); |
121 | killagreg | 155 | } |
156 | else |
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157 | { |
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127 | killagreg | 158 | LCD_printfxy(12,0," "); |
121 | killagreg | 159 | } |
160 | |||
51 | killagreg | 161 | if(GPSData.Position.Longitude < 0) sign = '-'; |
162 | else sign = '+'; |
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53 | killagreg | 163 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
164 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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54 | killagreg | 165 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 166 | if(GPSData.Position.Latitude < 0) sign = '-'; |
167 | else sign = '+'; |
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53 | killagreg | 168 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
169 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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54 | killagreg | 170 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 171 | if(GPSData.Position.Altitude < 0) sign = '-'; |
172 | else sign = '+'; |
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53 | killagreg | 173 | i1 = abs(GPSData.Position.Altitude)/1000L; |
174 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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54 | killagreg | 175 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
41 | ingob | 176 | } |
177 | break; |
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178 | case 2: |
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179 | if (GPSData.Status == INVALID) |
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180 | { |
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181 | LCD_printfxy(0,0,"No GPS data"); |
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182 | LCD_printfxy(0,1,"Speed N: "); |
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183 | LCD_printfxy(0,2,"Speed E: "); |
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184 | LCD_printfxy(0,3,"Speed T: "); |
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185 | } |
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186 | else // newdata or processed |
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187 | { |
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124 | killagreg | 188 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 189 | switch (GPSData.SatFix) |
190 | { |
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191 | case SATFIX_NONE: |
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127 | killagreg | 192 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 193 | break; |
194 | case SATFIX_2D: |
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127 | killagreg | 195 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 196 | break; |
197 | case SATFIX_3D: |
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127 | killagreg | 198 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 199 | break; |
200 | default: |
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127 | killagreg | 201 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 202 | break; |
203 | } |
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124 | killagreg | 204 | if(GPSData.Flags & FLAG_DIFFSOLN) |
205 | { |
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127 | killagreg | 206 | LCD_printfxy(12,0,"/DGPS"); |
124 | killagreg | 207 | } |
208 | else |
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209 | { |
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127 | killagreg | 210 | LCD_printfxy(12,0," "); |
124 | killagreg | 211 | } |
212 | |||
41 | ingob | 213 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
214 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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215 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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216 | } |
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217 | break; |
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218 | case 3: |
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219 | LCD_printfxy(0,0,"GPS UTC Time"); |
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220 | if (!SystemTime.Valid) |
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221 | { |
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222 | LCD_printfxy(0,0,"GPS UTC Time"); |
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223 | LCD_printfxy(0,1," "); |
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224 | LCD_printfxy(0,2," No time data! "); |
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225 | LCD_printfxy(0,3," "); |
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226 | } |
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227 | else // newdata or processed |
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228 | { |
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229 | LCD_printfxy(0,1," "); |
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230 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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231 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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232 | |||
233 | } |
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234 | break; |
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59 | killagreg | 235 | case 4: // Navi Params 1 from FC |
41 | ingob | 236 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
237 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
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238 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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239 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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240 | break; |
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59 | killagreg | 241 | case 5: // Navi Params 2 from FC |
242 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
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243 | LCD_printfxy(0,1,"MaxRadius: %3i m", Parameter.NaviOperatingRadius); |
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244 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
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245 | LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation); |
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246 | break; |
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247 | case 6: // Navi Params 3 from FC |
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248 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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249 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
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250 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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251 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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252 | break; |
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253 | case 7: |
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41 | ingob | 254 | LCD_printfxy(0,0,"Home Position"); |
255 | if(GPS_HomePosition.Status == INVALID) |
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256 | { |
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257 | LCD_printfxy(0,1," "); |
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258 | LCD_printfxy(0,2," Is not set. "); |
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259 | LCD_printfxy(0,3," "); |
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260 | } |
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261 | else |
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262 | { |
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51 | killagreg | 263 | if(GPS_HomePosition.Longitude < 0) sign = '-'; |
264 | else sign = '+'; |
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53 | killagreg | 265 | i1 = abs(GPS_HomePosition.Longitude)/10000000L; |
266 | i2 = abs(GPS_HomePosition.Longitude)%10000000L; |
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55 | killagreg | 267 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 268 | if(GPS_HomePosition.Latitude < 0) sign = '-'; |
269 | else sign = '+'; |
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53 | killagreg | 270 | i1 = abs(GPS_HomePosition.Latitude)/10000000L; |
271 | i2 = abs(GPS_HomePosition.Latitude)%10000000L; |
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55 | killagreg | 272 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 273 | if(GPS_HomePosition.Altitude < 0) sign = '-'; |
274 | else sign = '+'; |
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53 | killagreg | 275 | i1 = abs(GPS_HomePosition.Altitude)/1000L; |
276 | i2 = abs(GPS_HomePosition.Altitude)%1000L; |
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54 | killagreg | 277 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
41 | ingob | 278 | } |
279 | break; |
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59 | killagreg | 280 | case 8: // RC stick controls from FC |
41 | ingob | 281 | LCD_printfxy(0,0,"RC-Sticks" ); |
282 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
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283 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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284 | break; |
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59 | killagreg | 285 | case 9: // RC poti controls from FC |
41 | ingob | 286 | LCD_printfxy(0,0,"RC-Potis" ); |
287 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti1, FC.Poti2); |
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288 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti3, FC.Poti4); |
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289 | break; |
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59 | killagreg | 290 | case 10: // attitude from FC |
66 | killagreg | 291 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
292 | else sign = '+'; |
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293 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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294 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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67 | killagreg | 295 | LCD_printfxy(0,0,"GyroNick:%c%03i.%01i", sign, i1, i2); |
66 | killagreg | 296 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
297 | else sign = '+'; |
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298 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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299 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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67 | killagreg | 300 | LCD_printfxy(0,1,"GyroRoll:%c%03i.%01i", sign, i1, i2); |
301 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
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302 | else sign = '+'; |
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303 | i1 = abs(FromFlightCtrl.AccNick)/10; |
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304 | i2 = abs(FromFlightCtrl.AccNick)%10; |
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305 | LCD_printfxy(0,2," AccNick:%c%03i.%01i", sign, i1, i2); |
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306 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
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307 | else sign = '+'; |
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308 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
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309 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
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310 | LCD_printfxy(0,3," AccRoll:%c%03i.%01i", sign, i1, i2); |
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41 | ingob | 311 | break; |
59 | killagreg | 312 | case 11: // gyros from FC |
41 | ingob | 313 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
314 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
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315 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
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316 | break; |
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59 | killagreg | 317 | case 12: // Remote Control Level from FC |
41 | ingob | 318 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
153 | killagreg | 319 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.UBat/10, FC.UBat%10); |
41 | ingob | 320 | LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading); |
153 | killagreg | 321 | if(GeoMagDec < 0) sign = '-'; |
322 | else sign = '+'; |
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323 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
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41 | ingob | 324 | break; |
59 | killagreg | 325 | case 13: // User Parameter |
153 | killagreg | 326 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
327 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
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328 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
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329 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
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41 | ingob | 330 | break; |
59 | killagreg | 331 | case 14: // MK3MAG |
41 | ingob | 332 | I2C1_SendCommand(I2C_CMD_READ_MAG); |
333 | LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch); |
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153 | killagreg | 334 | LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX); |
41 | ingob | 335 | LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY); |
336 | LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ); |
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337 | break; |
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338 | default: |
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339 | MaxMenuItem = MenuItem - 1; |
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340 | MenuItem = 0; |
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341 | break; |
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1 | ingob | 342 | } |
41 | ingob | 343 | RemoteKeys = 0; |
1 | ingob | 344 | } |