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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" |
1 | ingob | 71 | |
72 | u8 DispPtr = 0; |
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201 | killagreg | 73 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
1 | ingob | 74 | |
201 | killagreg | 75 | |
41 | ingob | 76 | u8 MenuItem = 0; |
498 | killagreg | 77 | u8 MaxMenuItem = 24; |
41 | ingob | 78 | |
203 | killagreg | 79 | void Menu_Putchar(char c) |
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 | |||
41 | ingob | 90 | // Display with 20 characters in 4 lines |
201 | killagreg | 91 | void Menu_Update(u8 Keys) |
41 | ingob | 92 | { |
93 | s32 i1,i2; |
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51 | killagreg | 94 | u8 sign; |
41 | ingob | 95 | |
201 | killagreg | 96 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
97 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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98 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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41 | ingob | 99 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
201 | killagreg | 100 | Menu_Clear(); |
41 | ingob | 101 | // print menu item number in the upper right corner |
102 | if(MenuItem < 10) |
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103 | { |
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104 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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105 | } |
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201 | killagreg | 106 | else // Menuitem >= 10 |
41 | ingob | 107 | { |
108 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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109 | } |
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110 | |||
111 | switch(MenuItem) |
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112 | { |
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113 | // Version Info |
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114 | case 0: |
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115 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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489 | killagreg | 116 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", (Version_HW & 0x7F)/10, (Version_HW & 0x7F)%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
321 | holgerb | 117 | |
264 | killagreg | 118 | if(ErrorCode) |
119 | { |
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120 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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121 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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122 | } |
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489 | killagreg | 123 | else |
124 | { |
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380 | holgerb | 125 | LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
321 | holgerb | 126 | LCD_printfxy(0,2,"%s",ErrorMSG); |
127 | } |
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41 | ingob | 128 | break; |
129 | case 1: |
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130 | if (GPSData.Status == INVALID) |
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131 | { |
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132 | LCD_printfxy(0,0,"No GPS data"); |
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133 | LCD_printfxy(0,1,"Lon: "); |
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134 | LCD_printfxy(0,2,"Lat: "); |
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135 | LCD_printfxy(0,3,"Alt: "); |
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136 | } |
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137 | else // newdata or processed |
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138 | { |
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122 | killagreg | 139 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 140 | switch (GPSData.SatFix) |
141 | { |
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142 | case SATFIX_NONE: |
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127 | killagreg | 143 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 144 | break; |
145 | case SATFIX_2D: |
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127 | killagreg | 146 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 147 | break; |
148 | case SATFIX_3D: |
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127 | killagreg | 149 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 150 | break; |
151 | default: |
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127 | killagreg | 152 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 153 | break; |
154 | } |
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121 | killagreg | 155 | if(GPSData.Flags & FLAG_DIFFSOLN) |
156 | { |
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127 | killagreg | 157 | LCD_printfxy(12,0,"/DGPS"); |
121 | killagreg | 158 | } |
159 | else |
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160 | { |
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127 | killagreg | 161 | LCD_printfxy(12,0," "); |
121 | killagreg | 162 | } |
163 | |||
51 | killagreg | 164 | if(GPSData.Position.Longitude < 0) sign = '-'; |
165 | else sign = '+'; |
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53 | killagreg | 166 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
167 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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54 | killagreg | 168 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 169 | if(GPSData.Position.Latitude < 0) sign = '-'; |
170 | else sign = '+'; |
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53 | killagreg | 171 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
172 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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54 | killagreg | 173 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 174 | if(GPSData.Position.Altitude < 0) sign = '-'; |
175 | else sign = '+'; |
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53 | killagreg | 176 | i1 = abs(GPSData.Position.Altitude)/1000L; |
177 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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54 | killagreg | 178 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
41 | ingob | 179 | } |
180 | break; |
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181 | case 2: |
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182 | if (GPSData.Status == INVALID) |
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183 | { |
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184 | LCD_printfxy(0,0,"No GPS data"); |
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185 | LCD_printfxy(0,1,"Speed N: "); |
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186 | LCD_printfxy(0,2,"Speed E: "); |
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187 | LCD_printfxy(0,3,"Speed T: "); |
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188 | } |
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189 | else // newdata or processed |
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190 | { |
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124 | killagreg | 191 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 192 | switch (GPSData.SatFix) |
193 | { |
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194 | case SATFIX_NONE: |
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127 | killagreg | 195 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 196 | break; |
197 | case SATFIX_2D: |
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127 | killagreg | 198 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 199 | break; |
200 | case SATFIX_3D: |
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127 | killagreg | 201 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 202 | break; |
203 | default: |
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127 | killagreg | 204 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 205 | break; |
206 | } |
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124 | killagreg | 207 | if(GPSData.Flags & FLAG_DIFFSOLN) |
208 | { |
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127 | killagreg | 209 | LCD_printfxy(12,0,"/DGPS"); |
124 | killagreg | 210 | } |
211 | else |
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212 | { |
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127 | killagreg | 213 | LCD_printfxy(12,0," "); |
124 | killagreg | 214 | } |
215 | |||
41 | ingob | 216 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
217 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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218 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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219 | } |
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220 | break; |
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221 | case 3: |
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222 | LCD_printfxy(0,0,"GPS UTC Time"); |
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223 | if (!SystemTime.Valid) |
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224 | { |
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225 | LCD_printfxy(0,1," "); |
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226 | LCD_printfxy(0,2," No time data! "); |
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227 | LCD_printfxy(0,3," "); |
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228 | } |
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229 | else // newdata or processed |
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230 | { |
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231 | LCD_printfxy(0,1," "); |
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232 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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233 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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234 | } |
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235 | break; |
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59 | killagreg | 236 | case 4: // Navi Params 1 from FC |
41 | ingob | 237 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
238 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
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239 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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240 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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241 | break; |
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59 | killagreg | 242 | case 5: // Navi Params 2 from FC |
243 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
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351 | holgerb | 244 | LCD_printfxy(0,1,"MaxRadius: %3im", DebugOut.Analog[4]); |
59 | killagreg | 245 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
327 | holgerb | 246 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
59 | killagreg | 247 | break; |
248 | case 6: // Navi Params 3 from FC |
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249 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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250 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
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251 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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252 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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253 | break; |
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351 | holgerb | 254 | case 7: // Max Ranges |
255 | LCD_printfxy(0,0,"Maximum flying "); |
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355 | holgerb | 256 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange); |
357 | holgerb | 257 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange); |
355 | holgerb | 258 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
259 | if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled"); |
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260 | if(!AutoDescendRange) LCD_printfxy(9,2,"disabled"); |
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261 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
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351 | holgerb | 262 | break; |
263 | case 8: |
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41 | ingob | 264 | LCD_printfxy(0,0,"Home Position"); |
215 | killagreg | 265 | if(NaviData.HomePosition.Status == INVALID) |
41 | ingob | 266 | { |
267 | LCD_printfxy(0,1," "); |
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268 | LCD_printfxy(0,2," Is not set. "); |
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269 | LCD_printfxy(0,3," "); |
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270 | } |
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271 | else |
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272 | { |
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215 | killagreg | 273 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
51 | killagreg | 274 | else sign = '+'; |
215 | killagreg | 275 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
276 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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55 | killagreg | 277 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 278 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
51 | killagreg | 279 | else sign = '+'; |
215 | killagreg | 280 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
281 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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55 | killagreg | 282 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 283 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
51 | killagreg | 284 | else sign = '+'; |
215 | killagreg | 285 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
286 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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54 | killagreg | 287 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
41 | ingob | 288 | } |
289 | break; |
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351 | holgerb | 290 | case 9: |
318 | holgerb | 291 | LCD_printfxy(0,0,"Target Position"); |
292 | if(NaviData.TargetPosition.Status == INVALID) |
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293 | { |
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294 | LCD_printfxy(0,1," "); |
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295 | LCD_printfxy(0,2," Is not set. "); |
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296 | LCD_printfxy(0,3," "); |
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297 | } |
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298 | else |
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299 | { |
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300 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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301 | else sign = '+'; |
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302 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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303 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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304 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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305 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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306 | else sign = '+'; |
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307 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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308 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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309 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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310 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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311 | else sign = '+'; |
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312 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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313 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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314 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
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315 | } |
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316 | break; |
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351 | holgerb | 317 | case 10: // RC stick controls from FC |
41 | ingob | 318 | LCD_printfxy(0,0,"RC-Sticks" ); |
319 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
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320 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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463 | holgerb | 321 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
41 | ingob | 322 | break; |
351 | holgerb | 323 | case 11: // RC poti controls from FC |
190 | killagreg | 324 | LCD_printfxy(0,0,"RC-Potis 1" ); |
325 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
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326 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
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41 | ingob | 327 | break; |
351 | holgerb | 328 | case 12: // RC poti controls from FC |
190 | killagreg | 329 | LCD_printfxy(0,0,"RC-Potis 2" ); |
330 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
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331 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
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332 | break; |
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351 | holgerb | 333 | case 13: // attitude from FC |
66 | killagreg | 334 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
335 | else sign = '+'; |
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336 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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337 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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201 | killagreg | 338 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
66 | killagreg | 339 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
340 | else sign = '+'; |
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341 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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342 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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201 | killagreg | 343 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
67 | killagreg | 344 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
345 | else sign = '+'; |
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346 | i1 = abs(FromFlightCtrl.AccNick)/10; |
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347 | i2 = abs(FromFlightCtrl.AccNick)%10; |
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201 | killagreg | 348 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
67 | killagreg | 349 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
350 | else sign = '+'; |
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351 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
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352 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
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201 | killagreg | 353 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
41 | ingob | 354 | break; |
351 | holgerb | 355 | case 14: // gyros from FC |
41 | ingob | 356 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
357 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
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358 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
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489 | killagreg | 359 | if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ") |
360 | else LCD_printfxy(0,3,"not calibrated"); |
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41 | ingob | 361 | break; |
489 | killagreg | 362 | case 15: |
475 | holgerb | 363 | // LCD_printfxy(0,0,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
364 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
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365 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
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366 | if(FC.FromFC_DisableDeclination) |
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367 | { |
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489 | killagreg | 368 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
475 | holgerb | 369 | } |
370 | else |
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371 | { |
||
489 | killagreg | 372 | if(GeoMagDec < 0) sign = '-'; |
373 | else sign = '+'; |
||
374 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
475 | holgerb | 375 | } |
463 | holgerb | 376 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
41 | ingob | 377 | break; |
351 | holgerb | 378 | case 16: // User Parameter |
153 | killagreg | 379 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
380 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
381 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
382 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
41 | ingob | 383 | break; |
380 | holgerb | 384 | case 17: // User Parameter |
426 | holgerb | 385 | LCD_printfxy(0,0,"SD-Card Logs"); |
380 | holgerb | 386 | LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
387 | LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
388 | break; |
||
389 | case 18: // magnetic field |
||
292 | killagreg | 390 | if(Compass_CalState) |
254 | killagreg | 391 | { |
292 | killagreg | 392 | LCD_printfxy(0,0,"Calibration:"); |
393 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
394 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
||
395 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
||
396 | switch(Compass_CalState) |
||
254 | killagreg | 397 | { |
292 | killagreg | 398 | case 1: |
399 | case 3: |
||
400 | LCD_printfxy(7,1,"pause"); |
||
401 | break; |
||
402 | |||
403 | case 2: |
||
404 | LCD_printfxy(7,1,"horizontal"); |
||
405 | break; |
||
406 | |||
407 | case 4: |
||
408 | LCD_printfxy(7,1,"vertical"); |
||
409 | break; |
||
410 | |||
411 | case 5: |
||
412 | LCD_printfxy(7,1,"data saved"); |
||
413 | LCD_printfxy(8,3," (END) "); |
||
414 | break; |
||
489 | killagreg | 415 | |
292 | killagreg | 416 | default: |
417 | break; |
||
254 | killagreg | 418 | } |
419 | } |
||
292 | killagreg | 420 | else |
254 | killagreg | 421 | { |
330 | holgerb | 422 | if(GeoMagDec < 0) sign = '-'; |
423 | else sign = '+'; |
||
254 | killagreg | 424 | LCD_printfxy(0,0,"Magnetic Field"); |
292 | killagreg | 425 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
426 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
||
427 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
330 | holgerb | 428 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
489 | killagreg | 429 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
430 | else LCD_printfxy(11,2,"Intern"); |
||
338 | holgerb | 431 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
432 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
292 | killagreg | 433 | LCD_printfxy(15,3,"(CAL)"); |
434 | } |
||
435 | if(Keys & KEY4) // next step |
||
436 | { |
||
437 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
438 | else Compass_SetCalState(0); |
||
439 | } |
||
440 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
41 | ingob | 441 | break; |
489 | killagreg | 442 | case 19: |
345 | holgerb | 443 | if(GeoMagDec < 0) sign = '-'; |
444 | else sign = '+'; |
||
338 | holgerb | 445 | LCD_printfxy(0,0,"Magnetic Field"); |
446 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
447 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
448 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
449 | break; |
||
489 | killagreg | 450 | case 20: |
426 | holgerb | 451 | LCD_printfxy(0,0,"SD-Setting "); |
452 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
453 | break; |
||
489 | killagreg | 454 | case 21: |
453 | holgerb | 455 | LCD_printfxy(0,0,"CPU Processing "); |
457 | holgerb | 456 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10); |
457 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10); |
||
458 | if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
||
459 | if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
||
453 | holgerb | 460 | break; |
489 | killagreg | 461 | case 22: |
462 | LCD_printfxy(0,0,"BL Current" ); |
||
463 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
464 | for(i1 = 0; i1 < 3; i1++) |
||
465 | { |
||
471 | holgerb | 466 | 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)); |
467 | if(Motor[4 + i1 * 4].State == 0) break; |
||
489 | killagreg | 468 | } |
471 | holgerb | 469 | break; |
489 | killagreg | 470 | |
473 | holgerb | 471 | case 23: |
489 | killagreg | 472 | LCD_printfxy(0,0,"Ext. Compass" ); |
473 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
474 | { |
||
473 | holgerb | 475 | u8 tmp; |
475 | holgerb | 476 | LCD_printfxy(0,1,"ACC X Y Z"); |
489 | killagreg | 477 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
478 | tmp = NCMAG_GetOrientationFromAcc(); |
||
473 | holgerb | 479 | LCD_printfxy(0,3,"Orientat.: "); |
480 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
489 | killagreg | 481 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
482 | } |
||
483 | else |
||
484 | { |
||
485 | LCD_printfxy(0,1,"Not connected"); |
||
486 | } |
||
473 | holgerb | 487 | break; |
498 | killagreg | 488 | |
489 | case 24: |
||
490 | { |
||
491 | static u8 index = 1, ret = 0; |
||
492 | if(Keys & KEY3) // next step |
||
493 | { |
||
494 | if(index < 4) index++; |
||
495 | else index = 1; |
||
496 | } |
||
497 | if(Keys & KEY4) |
||
498 | { |
||
499 | WPL_Store.Index = index; |
||
500 | ret = PointList_ReadFromFile(&WPL_Store); |
||
501 | } |
||
502 | LCD_printfxy(0,0,"Load WPL" ); |
||
503 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
504 | // 12345678901234567890 |
||
505 | LCD_printfxy(0,2,"Points Index "); |
||
506 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
507 | } |
||
508 | break; |
||
509 | |||
41 | ingob | 510 | default: |
201 | killagreg | 511 | //MaxMenuItem = MenuItem - 1; |
41 | ingob | 512 | MenuItem = 0; |
513 | break; |
||
1 | ingob | 514 | } |
515 | } |