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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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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); |
327 | holgerb | 247 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
59 | killagreg | 248 | break; |
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); |
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362 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
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363 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
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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); |
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370 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
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371 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
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372 | switch(Compass_CalState) |
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254 | killagreg | 373 | { |
292 | killagreg | 374 | case 1: |
375 | case 3: |
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376 | LCD_printfxy(7,1,"pause"); |
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377 | break; |
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378 | |||
379 | case 2: |
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380 | LCD_printfxy(7,1,"horizontal"); |
||
381 | break; |
||
382 | |||
383 | case 4: |
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384 | LCD_printfxy(7,1,"vertical"); |
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385 | break; |
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386 | |||
387 | case 5: |
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388 | LCD_printfxy(7,1,"data saved"); |
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389 | LCD_printfxy(8,3," (END) "); |
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390 | break; |
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391 | |||
392 | default: |
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393 | break; |
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254 | killagreg | 394 | } |
395 | } |
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292 | killagreg | 396 | else |
254 | killagreg | 397 | { |
330 | holgerb | 398 | if(GeoMagDec < 0) sign = '-'; |
399 | else sign = '+'; |
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254 | killagreg | 400 | LCD_printfxy(0,0,"Magnetic Field"); |
292 | killagreg | 401 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
402 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
||
403 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
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330 | holgerb | 404 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
405 | LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
406 | LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
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292 | killagreg | 407 | LCD_printfxy(15,3,"(CAL)"); |
408 | } |
||
409 | if(Keys & KEY4) // next step |
||
410 | { |
||
411 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
412 | else Compass_SetCalState(0); |
||
413 | } |
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414 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
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41 | ingob | 415 | break; |
416 | default: |
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201 | killagreg | 417 | //MaxMenuItem = MenuItem - 1; |
41 | ingob | 418 | MenuItem = 0; |
419 | break; |
||
1 | ingob | 420 | } |
421 | } |