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Rev | Author | Line No. | Line |
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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" |
380 | holgerb | 69 | #include "logging.h" |
426 | holgerb | 70 | #include "settings.h" |
471 | holgerb | 71 | #include "gpx.h" |
1 | ingob | 72 | |
73 | u8 DispPtr = 0; |
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201 | killagreg | 74 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
1 | ingob | 75 | |
201 | killagreg | 76 | |
41 | ingob | 77 | u8 MenuItem = 0; |
473 | holgerb | 78 | u8 MaxMenuItem = 23; |
41 | ingob | 79 | |
203 | killagreg | 80 | void Menu_Putchar(char c) |
81 | { |
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82 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
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83 | } |
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84 | |||
201 | killagreg | 85 | void Menu_Clear(void) |
1 | ingob | 86 | { |
201 | killagreg | 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 | // Display with 20 characters in 4 lines |
201 | killagreg | 93 | void Menu_Update(u8 Keys) |
41 | ingob | 94 | { |
95 | s32 i1,i2; |
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51 | killagreg | 96 | u8 sign; |
41 | ingob | 97 | |
201 | killagreg | 98 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
99 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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100 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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41 | ingob | 101 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
201 | killagreg | 102 | Menu_Clear(); |
41 | ingob | 103 | // print menu item number in the upper right corner |
104 | if(MenuItem < 10) |
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105 | { |
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106 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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107 | } |
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201 | killagreg | 108 | else // Menuitem >= 10 |
41 | ingob | 109 | { |
110 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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111 | } |
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112 | |||
113 | switch(MenuItem) |
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114 | { |
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115 | // Version Info |
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116 | case 0: |
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117 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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467 | holgerb | 118 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
321 | holgerb | 119 | |
264 | killagreg | 120 | if(ErrorCode) |
121 | { |
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122 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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123 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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124 | } |
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321 | holgerb | 125 | else |
380 | holgerb | 126 | { |
127 | LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
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321 | holgerb | 128 | LCD_printfxy(0,2,"%s",ErrorMSG); |
129 | } |
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41 | ingob | 130 | break; |
131 | case 1: |
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132 | if (GPSData.Status == INVALID) |
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133 | { |
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134 | LCD_printfxy(0,0,"No GPS data"); |
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135 | LCD_printfxy(0,1,"Lon: "); |
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136 | LCD_printfxy(0,2,"Lat: "); |
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137 | LCD_printfxy(0,3,"Alt: "); |
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138 | } |
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139 | else // newdata or processed |
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140 | { |
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122 | killagreg | 141 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 142 | switch (GPSData.SatFix) |
143 | { |
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144 | case SATFIX_NONE: |
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127 | killagreg | 145 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 146 | break; |
147 | case SATFIX_2D: |
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127 | killagreg | 148 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 149 | break; |
150 | case SATFIX_3D: |
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127 | killagreg | 151 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 152 | break; |
153 | default: |
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127 | killagreg | 154 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 155 | break; |
156 | } |
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121 | killagreg | 157 | if(GPSData.Flags & FLAG_DIFFSOLN) |
158 | { |
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127 | killagreg | 159 | LCD_printfxy(12,0,"/DGPS"); |
121 | killagreg | 160 | } |
161 | else |
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162 | { |
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127 | killagreg | 163 | LCD_printfxy(12,0," "); |
121 | killagreg | 164 | } |
165 | |||
51 | killagreg | 166 | if(GPSData.Position.Longitude < 0) sign = '-'; |
167 | else sign = '+'; |
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53 | killagreg | 168 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
169 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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54 | killagreg | 170 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 171 | if(GPSData.Position.Latitude < 0) sign = '-'; |
172 | else sign = '+'; |
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53 | killagreg | 173 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
174 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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54 | killagreg | 175 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 176 | if(GPSData.Position.Altitude < 0) sign = '-'; |
177 | else sign = '+'; |
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53 | killagreg | 178 | i1 = abs(GPSData.Position.Altitude)/1000L; |
179 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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54 | killagreg | 180 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
41 | ingob | 181 | } |
182 | break; |
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183 | case 2: |
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184 | if (GPSData.Status == INVALID) |
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185 | { |
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186 | LCD_printfxy(0,0,"No GPS data"); |
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187 | LCD_printfxy(0,1,"Speed N: "); |
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188 | LCD_printfxy(0,2,"Speed E: "); |
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189 | LCD_printfxy(0,3,"Speed T: "); |
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190 | } |
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191 | else // newdata or processed |
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192 | { |
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124 | killagreg | 193 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 194 | switch (GPSData.SatFix) |
195 | { |
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196 | case SATFIX_NONE: |
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127 | killagreg | 197 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 198 | break; |
199 | case SATFIX_2D: |
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127 | killagreg | 200 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 201 | break; |
202 | case SATFIX_3D: |
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127 | killagreg | 203 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 204 | break; |
205 | default: |
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127 | killagreg | 206 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 207 | break; |
208 | } |
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124 | killagreg | 209 | if(GPSData.Flags & FLAG_DIFFSOLN) |
210 | { |
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127 | killagreg | 211 | LCD_printfxy(12,0,"/DGPS"); |
124 | killagreg | 212 | } |
213 | else |
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214 | { |
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127 | killagreg | 215 | LCD_printfxy(12,0," "); |
124 | killagreg | 216 | } |
217 | |||
41 | ingob | 218 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
219 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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220 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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221 | } |
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222 | break; |
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223 | case 3: |
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224 | LCD_printfxy(0,0,"GPS UTC Time"); |
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225 | if (!SystemTime.Valid) |
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226 | { |
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227 | LCD_printfxy(0,1," "); |
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228 | LCD_printfxy(0,2," No time data! "); |
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229 | LCD_printfxy(0,3," "); |
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230 | } |
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231 | else // newdata or processed |
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232 | { |
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233 | LCD_printfxy(0,1," "); |
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234 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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235 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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236 | } |
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237 | break; |
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59 | killagreg | 238 | case 4: // Navi Params 1 from FC |
41 | ingob | 239 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
240 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
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241 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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242 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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243 | break; |
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59 | killagreg | 244 | case 5: // Navi Params 2 from FC |
245 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
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351 | holgerb | 246 | LCD_printfxy(0,1,"MaxRadius: %3im", DebugOut.Analog[4]); |
59 | killagreg | 247 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
327 | holgerb | 248 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
59 | killagreg | 249 | break; |
250 | case 6: // Navi Params 3 from FC |
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251 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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252 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
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253 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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254 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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255 | break; |
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351 | holgerb | 256 | case 7: // Max Ranges |
257 | LCD_printfxy(0,0,"Maximum flying "); |
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355 | holgerb | 258 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange); |
357 | holgerb | 259 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange); |
355 | holgerb | 260 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
261 | if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled"); |
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262 | if(!AutoDescendRange) LCD_printfxy(9,2,"disabled"); |
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263 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
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351 | holgerb | 264 | break; |
265 | case 8: |
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41 | ingob | 266 | LCD_printfxy(0,0,"Home Position"); |
215 | killagreg | 267 | if(NaviData.HomePosition.Status == INVALID) |
41 | ingob | 268 | { |
269 | LCD_printfxy(0,1," "); |
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270 | LCD_printfxy(0,2," Is not set. "); |
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271 | LCD_printfxy(0,3," "); |
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272 | } |
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273 | else |
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274 | { |
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215 | killagreg | 275 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
51 | killagreg | 276 | else sign = '+'; |
215 | killagreg | 277 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
278 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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55 | killagreg | 279 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 280 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
51 | killagreg | 281 | else sign = '+'; |
215 | killagreg | 282 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
283 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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55 | killagreg | 284 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 285 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
51 | killagreg | 286 | else sign = '+'; |
215 | killagreg | 287 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
288 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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54 | killagreg | 289 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
41 | ingob | 290 | } |
291 | break; |
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351 | holgerb | 292 | case 9: |
318 | holgerb | 293 | LCD_printfxy(0,0,"Target Position"); |
294 | if(NaviData.TargetPosition.Status == INVALID) |
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295 | { |
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296 | LCD_printfxy(0,1," "); |
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297 | LCD_printfxy(0,2," Is not set. "); |
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298 | LCD_printfxy(0,3," "); |
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299 | } |
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300 | else |
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301 | { |
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302 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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303 | else sign = '+'; |
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304 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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305 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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306 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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307 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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308 | else sign = '+'; |
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309 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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310 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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311 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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312 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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313 | else sign = '+'; |
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314 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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315 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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316 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
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317 | } |
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318 | break; |
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351 | holgerb | 319 | case 10: // RC stick controls from FC |
41 | ingob | 320 | LCD_printfxy(0,0,"RC-Sticks" ); |
321 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
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322 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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463 | holgerb | 323 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
41 | ingob | 324 | break; |
351 | holgerb | 325 | case 11: // RC poti controls from FC |
190 | killagreg | 326 | LCD_printfxy(0,0,"RC-Potis 1" ); |
327 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
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328 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
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41 | ingob | 329 | break; |
351 | holgerb | 330 | case 12: // RC poti controls from FC |
190 | killagreg | 331 | LCD_printfxy(0,0,"RC-Potis 2" ); |
332 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
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333 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
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334 | break; |
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351 | holgerb | 335 | case 13: // attitude from FC |
66 | killagreg | 336 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
337 | else sign = '+'; |
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338 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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339 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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201 | killagreg | 340 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
66 | killagreg | 341 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
342 | else sign = '+'; |
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343 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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344 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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201 | killagreg | 345 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
67 | killagreg | 346 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
347 | else sign = '+'; |
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348 | i1 = abs(FromFlightCtrl.AccNick)/10; |
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349 | i2 = abs(FromFlightCtrl.AccNick)%10; |
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201 | killagreg | 350 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
67 | killagreg | 351 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
352 | else sign = '+'; |
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353 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
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354 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
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201 | killagreg | 355 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
41 | ingob | 356 | break; |
351 | holgerb | 357 | case 14: // gyros from FC |
41 | ingob | 358 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
359 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
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360 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
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473 | holgerb | 361 | if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ") else LCD_printfxy(0,3,"not calibrated"); |
41 | ingob | 362 | break; |
463 | holgerb | 363 | case 15: |
364 | LCD_printfxy(0,0,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
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365 | LCD_printfxy(0,1,"Compass: %3i", Compass_Heading); |
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153 | killagreg | 366 | if(GeoMagDec < 0) sign = '-'; |
367 | else sign = '+'; |
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463 | holgerb | 368 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
369 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
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41 | ingob | 370 | break; |
351 | holgerb | 371 | case 16: // User Parameter |
153 | killagreg | 372 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
373 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
374 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
375 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
41 | ingob | 376 | break; |
380 | holgerb | 377 | case 17: // User Parameter |
426 | holgerb | 378 | LCD_printfxy(0,0,"SD-Card Logs"); |
380 | holgerb | 379 | LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
380 | LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
381 | break; |
||
382 | case 18: // magnetic field |
||
292 | killagreg | 383 | if(Compass_CalState) |
254 | killagreg | 384 | { |
292 | killagreg | 385 | LCD_printfxy(0,0,"Calibration:"); |
386 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
387 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
||
388 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
||
389 | switch(Compass_CalState) |
||
254 | killagreg | 390 | { |
292 | killagreg | 391 | case 1: |
392 | case 3: |
||
393 | LCD_printfxy(7,1,"pause"); |
||
394 | break; |
||
395 | |||
396 | case 2: |
||
397 | LCD_printfxy(7,1,"horizontal"); |
||
398 | break; |
||
399 | |||
400 | case 4: |
||
401 | LCD_printfxy(7,1,"vertical"); |
||
402 | break; |
||
403 | |||
404 | case 5: |
||
405 | LCD_printfxy(7,1,"data saved"); |
||
406 | LCD_printfxy(8,3," (END) "); |
||
407 | break; |
||
408 | |||
409 | default: |
||
410 | break; |
||
254 | killagreg | 411 | } |
412 | } |
||
292 | killagreg | 413 | else |
254 | killagreg | 414 | { |
330 | holgerb | 415 | if(GeoMagDec < 0) sign = '-'; |
416 | else sign = '+'; |
||
254 | killagreg | 417 | LCD_printfxy(0,0,"Magnetic Field"); |
292 | killagreg | 418 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
419 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
||
420 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
330 | holgerb | 421 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
473 | holgerb | 422 | if(I2C_CompassPort == I2C_EXTERN_0) LCD_printfxy(11,2,"Extern %d",ExtCompassOrientation) else LCD_printfxy(11,2,"Intern"); |
338 | holgerb | 423 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
424 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
292 | killagreg | 425 | LCD_printfxy(15,3,"(CAL)"); |
426 | } |
||
427 | if(Keys & KEY4) // next step |
||
428 | { |
||
429 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
430 | else Compass_SetCalState(0); |
||
431 | } |
||
432 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
41 | ingob | 433 | break; |
380 | holgerb | 434 | case 19: |
345 | holgerb | 435 | if(GeoMagDec < 0) sign = '-'; |
436 | else sign = '+'; |
||
338 | holgerb | 437 | LCD_printfxy(0,0,"Magnetic Field"); |
438 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
439 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
440 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
441 | break; |
||
453 | holgerb | 442 | case 20: |
426 | holgerb | 443 | LCD_printfxy(0,0,"SD-Setting "); |
444 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
445 | break; |
||
453 | holgerb | 446 | case 21: |
447 | LCD_printfxy(0,0,"CPU Processing "); |
||
457 | holgerb | 448 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10); |
449 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10); |
||
450 | if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
||
451 | if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
||
453 | holgerb | 452 | break; |
471 | holgerb | 453 | case 22: |
454 | LCD_printfxy(0,0,"BL Current" ); |
||
455 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
456 | for(i1 = 0; i1 < 3; i1++) |
||
457 | { |
||
458 | LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i1*4),BL3_Current(i1*4+1),BL3_Current(i1*4+2),BL3_Current(i1*4+3)); |
||
459 | if(Motor[4 + i1 * 4].State == 0) break; |
||
460 | } |
||
461 | break; |
||
473 | holgerb | 462 | case 23: |
463 | LCD_printfxy(0,0,"Ext. Compass" ); |
||
464 | if(I2C_CompassPort == I2C_EXTERN_0) |
||
465 | { |
||
466 | u8 tmp; |
||
467 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
468 | LCD_printfxy(0,2," %5d %5d %5d",AccRawVector.X,AccRawVector.Y,AccRawVector.Z); |
||
469 | tmp = GetExtCompassOrientation(); |
||
470 | LCD_printfxy(0,3,"Orientat.: "); |
||
471 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
472 | } |
||
473 | else |
||
474 | { |
||
475 | LCD_printfxy(0,1,"Not connected"); |
||
476 | } |
||
477 | break; |
||
41 | ingob | 478 | default: |
201 | killagreg | 479 | //MaxMenuItem = MenuItem - 1; |
41 | ingob | 480 | MenuItem = 0; |
481 | break; |
||
1 | ingob | 482 | } |
483 | } |