Rev 345 | Rev 354 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
||
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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. |
||
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
22 | // + eindeutig als Ursprung verlinkt werden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
25 | // + Benutzung auf eigene Gefahr |
||
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 |
||
36 | // + from this software without specific prior written permission. |
||
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 |
||
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" |
||
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | #include <stdlib.h> |
58 | #include "91x_lib.h" |
||
1 | ingob | 59 | #include "main.h" |
264 | killagreg | 60 | #include "led.h" |
41 | ingob | 61 | #include "ubx.h" |
62 | #include "GPS.h" |
||
119 | killagreg | 63 | #include "timer1.h" |
242 | killagreg | 64 | #include "compass.h" |
41 | ingob | 65 | #include "spi_slave.h" |
66 | #include "menu.h" |
||
67 | #include "uart1.h" |
||
267 | holgerb | 68 | #include "ncmag.h" |
1 | ingob | 69 | |
70 | u8 DispPtr = 0; |
||
201 | killagreg | 71 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
1 | ingob | 72 | |
201 | killagreg | 73 | |
41 | ingob | 74 | u8 MenuItem = 0; |
338 | holgerb | 75 | u8 MaxMenuItem = 17; |
41 | ingob | 76 | |
203 | killagreg | 77 | void Menu_Putchar(char c) |
78 | { |
||
79 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
||
80 | } |
||
81 | |||
201 | killagreg | 82 | void Menu_Clear(void) |
1 | ingob | 83 | { |
201 | killagreg | 84 | u8 i; |
85 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
||
1 | ingob | 86 | } |
87 | |||
24 | StephanB | 88 | |
41 | ingob | 89 | // Display with 20 characters in 4 lines |
201 | killagreg | 90 | void Menu_Update(u8 Keys) |
41 | ingob | 91 | { |
92 | s32 i1,i2; |
||
51 | killagreg | 93 | u8 sign; |
41 | ingob | 94 | |
201 | killagreg | 95 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
96 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
||
97 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
||
41 | ingob | 98 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
201 | killagreg | 99 | Menu_Clear(); |
41 | ingob | 100 | // print menu item number in the upper right corner |
101 | if(MenuItem < 10) |
||
102 | { |
||
103 | LCD_printfxy(17,0,"[%i]",MenuItem); |
||
104 | } |
||
201 | killagreg | 105 | else // Menuitem >= 10 |
41 | ingob | 106 | { |
107 | LCD_printfxy(16,0,"[%i]",MenuItem); |
||
108 | } |
||
109 | |||
110 | switch(MenuItem) |
||
111 | { |
||
112 | // Version Info |
||
113 | case 0: |
||
114 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
||
264 | killagreg | 115 | 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 | 116 | |
264 | killagreg | 117 | if(ErrorCode) |
118 | { |
||
119 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
||
120 | LCD_printfxy(0,3,"%s",ErrorMSG); |
||
121 | } |
||
321 | holgerb | 122 | else |
123 | { |
||
124 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
||
125 | LCD_printfxy(0,2,"%s",ErrorMSG); |
||
126 | } |
||
41 | ingob | 127 | break; |
128 | case 1: |
||
129 | if (GPSData.Status == INVALID) |
||
130 | { |
||
131 | LCD_printfxy(0,0,"No GPS data"); |
||
132 | LCD_printfxy(0,1,"Lon: "); |
||
133 | LCD_printfxy(0,2,"Lat: "); |
||
134 | LCD_printfxy(0,3,"Alt: "); |
||
135 | } |
||
136 | else // newdata or processed |
||
137 | { |
||
122 | killagreg | 138 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 139 | switch (GPSData.SatFix) |
140 | { |
||
141 | case SATFIX_NONE: |
||
127 | killagreg | 142 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 143 | break; |
144 | case SATFIX_2D: |
||
127 | killagreg | 145 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 146 | break; |
147 | case SATFIX_3D: |
||
127 | killagreg | 148 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 149 | break; |
150 | default: |
||
127 | killagreg | 151 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 152 | break; |
153 | } |
||
121 | killagreg | 154 | if(GPSData.Flags & FLAG_DIFFSOLN) |
155 | { |
||
127 | killagreg | 156 | LCD_printfxy(12,0,"/DGPS"); |
121 | killagreg | 157 | } |
158 | else |
||
159 | { |
||
127 | killagreg | 160 | LCD_printfxy(12,0," "); |
121 | killagreg | 161 | } |
162 | |||
51 | killagreg | 163 | if(GPSData.Position.Longitude < 0) sign = '-'; |
164 | else sign = '+'; |
||
53 | killagreg | 165 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
166 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
54 | killagreg | 167 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 168 | if(GPSData.Position.Latitude < 0) sign = '-'; |
169 | else sign = '+'; |
||
53 | killagreg | 170 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
171 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
54 | killagreg | 172 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 173 | if(GPSData.Position.Altitude < 0) sign = '-'; |
174 | else sign = '+'; |
||
53 | killagreg | 175 | i1 = abs(GPSData.Position.Altitude)/1000L; |
176 | i2 = abs(GPSData.Position.Altitude)%1000L; |
||
54 | killagreg | 177 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
41 | ingob | 178 | } |
179 | break; |
||
180 | case 2: |
||
181 | if (GPSData.Status == INVALID) |
||
182 | { |
||
183 | LCD_printfxy(0,0,"No GPS data"); |
||
184 | LCD_printfxy(0,1,"Speed N: "); |
||
185 | LCD_printfxy(0,2,"Speed E: "); |
||
186 | LCD_printfxy(0,3,"Speed T: "); |
||
187 | } |
||
188 | else // newdata or processed |
||
189 | { |
||
124 | killagreg | 190 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 191 | switch (GPSData.SatFix) |
192 | { |
||
193 | case SATFIX_NONE: |
||
127 | killagreg | 194 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 195 | break; |
196 | case SATFIX_2D: |
||
127 | killagreg | 197 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 198 | break; |
199 | case SATFIX_3D: |
||
127 | killagreg | 200 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 201 | break; |
202 | default: |
||
127 | killagreg | 203 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 204 | break; |
205 | } |
||
124 | killagreg | 206 | if(GPSData.Flags & FLAG_DIFFSOLN) |
207 | { |
||
127 | killagreg | 208 | LCD_printfxy(12,0,"/DGPS"); |
124 | killagreg | 209 | } |
210 | else |
||
211 | { |
||
127 | killagreg | 212 | LCD_printfxy(12,0," "); |
124 | killagreg | 213 | } |
214 | |||
41 | ingob | 215 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
216 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
||
217 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
||
218 | } |
||
219 | break; |
||
220 | case 3: |
||
221 | LCD_printfxy(0,0,"GPS UTC Time"); |
||
222 | if (!SystemTime.Valid) |
||
223 | { |
||
224 | LCD_printfxy(0,1," "); |
||
225 | LCD_printfxy(0,2," No time data! "); |
||
226 | LCD_printfxy(0,3," "); |
||
227 | } |
||
228 | else // newdata or processed |
||
229 | { |
||
230 | LCD_printfxy(0,1," "); |
||
231 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
||
232 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
||
233 | } |
||
234 | break; |
||
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); |
||
238 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
||
239 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
||
240 | break; |
||
59 | killagreg | 241 | case 5: // Navi Params 2 from FC |
242 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
||
351 | holgerb | 243 | LCD_printfxy(0,1,"MaxRadius: %3im", DebugOut.Analog[4]); |
59 | killagreg | 244 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
327 | holgerb | 245 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
59 | killagreg | 246 | break; |
247 | case 6: // Navi Params 3 from FC |
||
248 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
||
249 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
||
250 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
||
251 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
||
252 | break; |
||
351 | holgerb | 253 | case 7: // Max Ranges |
254 | LCD_printfxy(0,0,"Maximum flying "); |
||
255 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange); |
||
256 | LCD_printfxy(0,2,"Descend:%4im ", AutoDescendRange); |
||
257 | if(!AbsoluteFlyingRange) LCD_printfxy(8,1,"disabled"); |
||
258 | if(!AutoDescendRange) LCD_printfxy(8,2,"disabled"); |
||
259 | break; |
||
260 | case 8: |
||
41 | ingob | 261 | LCD_printfxy(0,0,"Home Position"); |
215 | killagreg | 262 | if(NaviData.HomePosition.Status == INVALID) |
41 | ingob | 263 | { |
264 | LCD_printfxy(0,1," "); |
||
265 | LCD_printfxy(0,2," Is not set. "); |
||
266 | LCD_printfxy(0,3," "); |
||
267 | } |
||
268 | else |
||
269 | { |
||
215 | killagreg | 270 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
51 | killagreg | 271 | else sign = '+'; |
215 | killagreg | 272 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
273 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
||
55 | killagreg | 274 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 275 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
51 | killagreg | 276 | else sign = '+'; |
215 | killagreg | 277 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
278 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
||
55 | killagreg | 279 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 280 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
51 | killagreg | 281 | else sign = '+'; |
215 | killagreg | 282 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
283 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
||
54 | killagreg | 284 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
41 | ingob | 285 | } |
286 | break; |
||
351 | holgerb | 287 | case 9: |
318 | holgerb | 288 | LCD_printfxy(0,0,"Target Position"); |
289 | if(NaviData.TargetPosition.Status == INVALID) |
||
290 | { |
||
291 | LCD_printfxy(0,1," "); |
||
292 | LCD_printfxy(0,2," Is not set. "); |
||
293 | LCD_printfxy(0,3," "); |
||
294 | } |
||
295 | else |
||
296 | { |
||
297 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
||
298 | else sign = '+'; |
||
299 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
||
300 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
||
301 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
||
302 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
||
303 | else sign = '+'; |
||
304 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
||
305 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
||
306 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
||
307 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
||
308 | else sign = '+'; |
||
309 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
||
310 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
||
311 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
||
312 | } |
||
313 | break; |
||
351 | holgerb | 314 | case 10: // RC stick controls from FC |
41 | ingob | 315 | LCD_printfxy(0,0,"RC-Sticks" ); |
316 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
||
317 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
||
318 | break; |
||
351 | holgerb | 319 | case 11: // RC poti controls from FC |
190 | killagreg | 320 | LCD_printfxy(0,0,"RC-Potis 1" ); |
321 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
||
322 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
||
41 | ingob | 323 | break; |
351 | holgerb | 324 | case 12: // RC poti controls from FC |
190 | killagreg | 325 | LCD_printfxy(0,0,"RC-Potis 2" ); |
326 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
||
327 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
||
328 | break; |
||
351 | holgerb | 329 | case 13: // attitude from FC |
66 | killagreg | 330 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
331 | else sign = '+'; |
||
332 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
||
333 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
||
201 | killagreg | 334 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
66 | killagreg | 335 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
336 | else sign = '+'; |
||
337 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
||
338 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
||
201 | killagreg | 339 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
67 | killagreg | 340 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
341 | else sign = '+'; |
||
342 | i1 = abs(FromFlightCtrl.AccNick)/10; |
||
343 | i2 = abs(FromFlightCtrl.AccNick)%10; |
||
201 | killagreg | 344 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
67 | killagreg | 345 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
346 | else sign = '+'; |
||
347 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
||
348 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
||
201 | killagreg | 349 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
41 | ingob | 350 | break; |
351 | holgerb | 351 | case 14: // gyros from FC |
41 | ingob | 352 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
353 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
||
354 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
||
355 | break; |
||
351 | holgerb | 356 | case 15: // Remote Control Level from FC |
41 | ingob | 357 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
206 | killagreg | 358 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
254 | killagreg | 359 | LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading); |
153 | killagreg | 360 | if(GeoMagDec < 0) sign = '-'; |
361 | else sign = '+'; |
||
362 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
41 | ingob | 363 | break; |
351 | holgerb | 364 | case 16: // User Parameter |
153 | killagreg | 365 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
366 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
367 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
368 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
41 | ingob | 369 | break; |
351 | holgerb | 370 | case 17: // magnetic field |
292 | killagreg | 371 | if(Compass_CalState) |
254 | killagreg | 372 | { |
292 | killagreg | 373 | LCD_printfxy(0,0,"Calibration:"); |
374 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
375 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
||
376 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
||
377 | switch(Compass_CalState) |
||
254 | killagreg | 378 | { |
292 | killagreg | 379 | case 1: |
380 | case 3: |
||
381 | LCD_printfxy(7,1,"pause"); |
||
382 | break; |
||
383 | |||
384 | case 2: |
||
385 | LCD_printfxy(7,1,"horizontal"); |
||
386 | break; |
||
387 | |||
388 | case 4: |
||
389 | LCD_printfxy(7,1,"vertical"); |
||
390 | break; |
||
391 | |||
392 | case 5: |
||
393 | LCD_printfxy(7,1,"data saved"); |
||
394 | LCD_printfxy(8,3," (END) "); |
||
395 | break; |
||
396 | |||
397 | default: |
||
398 | break; |
||
254 | killagreg | 399 | } |
400 | } |
||
292 | killagreg | 401 | else |
254 | killagreg | 402 | { |
330 | holgerb | 403 | if(GeoMagDec < 0) sign = '-'; |
404 | else sign = '+'; |
||
254 | killagreg | 405 | LCD_printfxy(0,0,"Magnetic Field"); |
292 | killagreg | 406 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
407 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
||
408 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
330 | holgerb | 409 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
338 | holgerb | 410 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
411 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
292 | killagreg | 412 | LCD_printfxy(15,3,"(CAL)"); |
413 | } |
||
414 | if(Keys & KEY4) // next step |
||
415 | { |
||
416 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
417 | else Compass_SetCalState(0); |
||
418 | } |
||
419 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
41 | ingob | 420 | break; |
351 | holgerb | 421 | case 18: |
345 | holgerb | 422 | if(GeoMagDec < 0) sign = '-'; |
423 | else sign = '+'; |
||
338 | holgerb | 424 | LCD_printfxy(0,0,"Magnetic Field"); |
425 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
426 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
427 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
428 | break; |
||
41 | ingob | 429 | default: |
201 | killagreg | 430 | //MaxMenuItem = MenuItem - 1; |
41 | ingob | 431 | MenuItem = 0; |
432 | break; |
||
1 | ingob | 433 | } |
434 | } |