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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" |
548 | holgerb | 71 | #include "sdc.h" |
677 | holgerb | 72 | #include "analog.h" |
1 | ingob | 73 | |
74 | u8 DispPtr = 0; |
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201 | killagreg | 75 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
1 | ingob | 76 | |
201 | killagreg | 77 | |
41 | ingob | 78 | u8 MenuItem = 0; |
688 | holgerb | 79 | u8 MaxMenuItem = 28; |
41 | ingob | 80 | |
203 | killagreg | 81 | void Menu_Putchar(char c) |
82 | { |
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516 | holgerb | 83 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
203 | killagreg | 84 | } |
85 | |||
201 | killagreg | 86 | void Menu_Clear(void) |
1 | ingob | 87 | { |
201 | killagreg | 88 | u8 i; |
89 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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1 | ingob | 90 | } |
91 | |||
41 | ingob | 92 | // Display with 20 characters in 4 lines |
201 | killagreg | 93 | void Menu_Update(u8 Keys) |
41 | ingob | 94 | { |
516 | holgerb | 95 | s32 i1,i2; |
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 |
516 | holgerb | 104 | if(MenuItem < 10) |
105 | { |
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41 | ingob | 106 | LCD_printfxy(17,0,"[%i]",MenuItem); |
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 | |||
516 | holgerb | 113 | switch(MenuItem) |
114 | { |
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41 | ingob | 115 | // Version Info |
116 | case 0: |
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117 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
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530 | holgerb | 118 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
617 | holgerb | 119 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) LCD_printfxy(19,1,"R"); |
516 | holgerb | 120 | if(ErrorCode) |
264 | killagreg | 121 | { |
122 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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516 | holgerb | 123 | LCD_printfxy(0,3,"%s",ErrorMSG); |
264 | killagreg | 124 | } |
489 | killagreg | 125 | else |
126 | { |
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574 | holgerb | 127 | LCD_printfxy(0,2,"%s",ErrorMSG); |
516 | holgerb | 128 | LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
321 | holgerb | 129 | } |
574 | holgerb | 130 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
41 | ingob | 131 | break; |
132 | case 1: |
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133 | if (GPSData.Status == INVALID) |
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134 | { |
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135 | LCD_printfxy(0,0,"No GPS data"); |
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136 | LCD_printfxy(0,1,"Lon: "); |
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137 | LCD_printfxy(0,2,"Lat: "); |
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138 | LCD_printfxy(0,3,"Alt: "); |
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139 | } |
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140 | else // newdata or processed |
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141 | { |
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122 | killagreg | 142 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 143 | switch (GPSData.SatFix) |
144 | { |
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145 | case SATFIX_NONE: |
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127 | killagreg | 146 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 147 | break; |
148 | case SATFIX_2D: |
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127 | killagreg | 149 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 150 | break; |
151 | case SATFIX_3D: |
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127 | killagreg | 152 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 153 | break; |
154 | default: |
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127 | killagreg | 155 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 156 | break; |
157 | } |
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121 | killagreg | 158 | if(GPSData.Flags & FLAG_DIFFSOLN) |
159 | { |
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127 | killagreg | 160 | LCD_printfxy(12,0,"/DGPS"); |
121 | killagreg | 161 | } |
162 | else |
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163 | { |
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127 | killagreg | 164 | LCD_printfxy(12,0," "); |
121 | killagreg | 165 | } |
166 | |||
51 | killagreg | 167 | if(GPSData.Position.Longitude < 0) sign = '-'; |
168 | else sign = '+'; |
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53 | killagreg | 169 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
170 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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54 | killagreg | 171 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 172 | if(GPSData.Position.Latitude < 0) sign = '-'; |
173 | else sign = '+'; |
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53 | killagreg | 174 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
175 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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54 | killagreg | 176 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 177 | if(GPSData.Position.Altitude < 0) sign = '-'; |
178 | else sign = '+'; |
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53 | killagreg | 179 | i1 = abs(GPSData.Position.Altitude)/1000L; |
180 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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54 | killagreg | 181 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
41 | ingob | 182 | } |
183 | break; |
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184 | case 2: |
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185 | if (GPSData.Status == INVALID) |
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186 | { |
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187 | LCD_printfxy(0,0,"No GPS data"); |
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188 | LCD_printfxy(0,1,"Speed N: "); |
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189 | LCD_printfxy(0,2,"Speed E: "); |
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190 | LCD_printfxy(0,3,"Speed T: "); |
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191 | } |
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192 | else // newdata or processed |
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193 | { |
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124 | killagreg | 194 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 195 | switch (GPSData.SatFix) |
196 | { |
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197 | case SATFIX_NONE: |
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127 | killagreg | 198 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 199 | break; |
200 | case SATFIX_2D: |
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127 | killagreg | 201 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 202 | break; |
203 | case SATFIX_3D: |
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127 | killagreg | 204 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 205 | break; |
206 | default: |
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127 | killagreg | 207 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 208 | break; |
209 | } |
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124 | killagreg | 210 | if(GPSData.Flags & FLAG_DIFFSOLN) |
211 | { |
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127 | killagreg | 212 | LCD_printfxy(12,0,"/DGPS"); |
124 | killagreg | 213 | } |
214 | else |
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215 | { |
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127 | killagreg | 216 | LCD_printfxy(12,0," "); |
124 | killagreg | 217 | } |
218 | |||
41 | ingob | 219 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
220 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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221 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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222 | } |
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223 | break; |
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224 | case 3: |
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225 | LCD_printfxy(0,0,"GPS UTC Time"); |
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226 | if (!SystemTime.Valid) |
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227 | { |
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228 | LCD_printfxy(0,1," "); |
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229 | LCD_printfxy(0,2," No time data! "); |
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230 | LCD_printfxy(0,3," "); |
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231 | } |
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232 | else // newdata or processed |
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233 | { |
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234 | LCD_printfxy(0,1," "); |
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235 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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236 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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237 | } |
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238 | break; |
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59 | killagreg | 239 | case 4: // Navi Params 1 from FC |
41 | ingob | 240 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
516 | holgerb | 241 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
242 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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243 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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41 | ingob | 244 | break; |
516 | holgerb | 245 | case 5: // Navi Params 2 from FC |
59 | killagreg | 246 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
532 | holgerb | 247 | LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m); |
516 | holgerb | 248 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
249 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
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59 | killagreg | 250 | break; |
251 | case 6: // Navi Params 3 from FC |
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252 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
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516 | holgerb | 253 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
254 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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255 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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59 | killagreg | 256 | break; |
351 | holgerb | 257 | case 7: // Max Ranges |
258 | LCD_printfxy(0,0,"Maximum flying "); |
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532 | holgerb | 259 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m); |
260 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m); |
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516 | holgerb | 261 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
532 | holgerb | 262 | if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled"); |
263 | if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled"); |
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355 | holgerb | 264 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
351 | holgerb | 265 | break; |
266 | case 8: |
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41 | ingob | 267 | LCD_printfxy(0,0,"Home Position"); |
215 | killagreg | 268 | if(NaviData.HomePosition.Status == INVALID) |
41 | ingob | 269 | { |
270 | LCD_printfxy(0,1," "); |
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271 | LCD_printfxy(0,2," Is not set. "); |
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272 | LCD_printfxy(0,3," "); |
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273 | } |
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274 | else |
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275 | { |
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215 | killagreg | 276 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
51 | killagreg | 277 | else sign = '+'; |
215 | killagreg | 278 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
279 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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55 | killagreg | 280 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 281 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
51 | killagreg | 282 | else sign = '+'; |
215 | killagreg | 283 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
284 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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55 | killagreg | 285 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 286 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
51 | killagreg | 287 | else sign = '+'; |
215 | killagreg | 288 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
289 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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589 | holgerb | 290 | LCD_printfxy(0,3,"Alt:%c%04ld.%1dm",sign, i1, i2/1000); |
588 | holgerb | 291 | switch(Parameter.HomeYawMode) |
292 | { |
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293 | case NO_CHANGE: LCD_printfxy(17,3,"(-)"); break; |
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294 | case FRONT_TO_HOME: LCD_printfxy(17,3,"(F)"); break; |
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295 | case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break; |
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296 | case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break; |
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297 | } |
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41 | ingob | 298 | } |
299 | break; |
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351 | holgerb | 300 | case 9: |
318 | holgerb | 301 | LCD_printfxy(0,0,"Target Position"); |
302 | if(NaviData.TargetPosition.Status == INVALID) |
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303 | { |
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304 | LCD_printfxy(0,1," "); |
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305 | LCD_printfxy(0,2," Is not set. "); |
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306 | LCD_printfxy(0,3," "); |
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307 | } |
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308 | else |
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309 | { |
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310 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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311 | else sign = '+'; |
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312 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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313 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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314 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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315 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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316 | else sign = '+'; |
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317 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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318 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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319 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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320 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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321 | else sign = '+'; |
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322 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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323 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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588 | holgerb | 324 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2); |
318 | holgerb | 325 | } |
326 | break; |
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351 | holgerb | 327 | case 10: // RC stick controls from FC |
41 | ingob | 328 | LCD_printfxy(0,0,"RC-Sticks" ); |
516 | holgerb | 329 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
330 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
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331 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
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41 | ingob | 332 | break; |
351 | holgerb | 333 | case 11: // RC poti controls from FC |
190 | killagreg | 334 | LCD_printfxy(0,0,"RC-Potis 1" ); |
516 | holgerb | 335 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
336 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
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41 | ingob | 337 | break; |
351 | holgerb | 338 | case 12: // RC poti controls from FC |
190 | killagreg | 339 | LCD_printfxy(0,0,"RC-Potis 2" ); |
516 | holgerb | 340 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
341 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
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190 | killagreg | 342 | break; |
351 | holgerb | 343 | case 13: // attitude from FC |
66 | killagreg | 344 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
345 | else sign = '+'; |
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346 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
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347 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
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201 | killagreg | 348 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
66 | killagreg | 349 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
350 | else sign = '+'; |
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351 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
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352 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
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516 | holgerb | 353 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
688 | holgerb | 354 | if(FromFlightCtrl_AccNick < 0) sign = '-'; |
67 | killagreg | 355 | else sign = '+'; |
688 | holgerb | 356 | i1 = abs(FromFlightCtrl_AccNick)/10; |
357 | i2 = abs(FromFlightCtrl_AccNick)%10; |
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201 | killagreg | 358 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
688 | holgerb | 359 | if(FromFlightCtrl_AccRoll < 0) sign = '-'; |
67 | killagreg | 360 | else sign = '+'; |
688 | holgerb | 361 | i1 = abs(FromFlightCtrl_AccRoll)/10; |
362 | i2 = abs(FromFlightCtrl_AccRoll)%10; |
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516 | holgerb | 363 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
41 | ingob | 364 | break; |
688 | holgerb | 365 | case 14: |
366 | LCD_printfxy(0,0,"Analog inputs"); |
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367 | LCD_printfxy(0,1,"A5:%3i ",AnalogData.Ch5); |
||
368 | LCD_printfxy(0,2,"A6:%3i ",AnalogData.Ch6); |
||
369 | LCD_printfxy(0,3,"A7:%3i ",AnalogData.Ch7); |
||
41 | ingob | 370 | break; |
489 | killagreg | 371 | case 15: |
475 | holgerb | 372 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
373 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
||
374 | if(FC.FromFC_DisableDeclination) |
||
516 | holgerb | 375 | { |
489 | killagreg | 376 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
475 | holgerb | 377 | } |
378 | else |
||
379 | { |
||
489 | killagreg | 380 | if(GeoMagDec < 0) sign = '-'; |
381 | else sign = '+'; |
||
382 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
475 | holgerb | 383 | } |
463 | holgerb | 384 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
516 | holgerb | 385 | break; |
351 | holgerb | 386 | case 16: // User Parameter |
153 | killagreg | 387 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
388 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
389 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
390 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
41 | ingob | 391 | break; |
380 | holgerb | 392 | case 17: // User Parameter |
426 | holgerb | 393 | LCD_printfxy(0,0,"SD-Card Logs"); |
548 | holgerb | 394 | if(SDCardInfo.Valid == 1) |
395 | { |
||
396 | LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
||
397 | LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
398 | } |
||
399 | else |
||
400 | LCD_printfxy(0,1,"no card in slot "); |
||
380 | holgerb | 401 | break; |
402 | case 18: // magnetic field |
||
292 | killagreg | 403 | if(Compass_CalState) |
254 | killagreg | 404 | { |
292 | killagreg | 405 | LCD_printfxy(0,0,"Calibration:"); |
406 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
516 | holgerb | 407 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
292 | killagreg | 408 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
409 | switch(Compass_CalState) |
||
254 | killagreg | 410 | { |
292 | killagreg | 411 | case 1: |
412 | case 3: |
||
413 | LCD_printfxy(7,1,"pause"); |
||
414 | break; |
||
415 | |||
416 | case 2: |
||
417 | LCD_printfxy(7,1,"horizontal"); |
||
418 | break; |
||
419 | |||
420 | case 4: |
||
421 | LCD_printfxy(7,1,"vertical"); |
||
422 | break; |
||
423 | |||
424 | case 5: |
||
425 | LCD_printfxy(7,1,"data saved"); |
||
426 | LCD_printfxy(8,3," (END) "); |
||
427 | break; |
||
489 | killagreg | 428 | |
292 | killagreg | 429 | default: |
430 | break; |
||
254 | killagreg | 431 | } |
432 | } |
||
292 | killagreg | 433 | else |
254 | killagreg | 434 | { |
330 | holgerb | 435 | if(GeoMagDec < 0) sign = '-'; |
436 | else sign = '+'; |
||
254 | killagreg | 437 | LCD_printfxy(0,0,"Magnetic Field"); |
516 | holgerb | 438 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
292 | killagreg | 439 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
440 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
330 | holgerb | 441 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
489 | killagreg | 442 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
443 | else LCD_printfxy(11,2,"Intern"); |
||
338 | holgerb | 444 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
445 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
292 | killagreg | 446 | LCD_printfxy(15,3,"(CAL)"); |
447 | } |
||
448 | if(Keys & KEY4) // next step |
||
449 | { |
||
450 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
451 | else Compass_SetCalState(0); |
||
452 | } |
||
453 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
41 | ingob | 454 | break; |
489 | killagreg | 455 | case 19: |
345 | holgerb | 456 | if(GeoMagDec < 0) sign = '-'; |
457 | else sign = '+'; |
||
338 | holgerb | 458 | LCD_printfxy(0,0,"Magnetic Field"); |
459 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
460 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
461 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
462 | break; |
||
489 | killagreg | 463 | case 20: |
426 | holgerb | 464 | LCD_printfxy(0,0,"SD-Setting "); |
465 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
466 | break; |
||
489 | killagreg | 467 | case 21: |
453 | holgerb | 468 | LCD_printfxy(0,0,"CPU Processing "); |
659 | holgerb | 469 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10); |
663 | holgerb | 470 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10); |
659 | holgerb | 471 | if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
663 | holgerb | 472 | if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
453 | holgerb | 473 | break; |
489 | killagreg | 474 | case 22: |
475 | LCD_printfxy(0,0,"BL Current" ); |
||
476 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
477 | for(i1 = 0; i1 < 3; i1++) |
||
478 | { |
||
502 | killagreg | 479 | 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)); |
480 | if(Motor[4 + i1 * 4].State == 0) break; |
||
489 | killagreg | 481 | } |
471 | holgerb | 482 | break; |
489 | killagreg | 483 | |
473 | holgerb | 484 | case 23: |
489 | killagreg | 485 | LCD_printfxy(0,0,"Ext. Compass" ); |
686 | holgerb | 486 | if(NCMAG_Compass_use_Orientation) |
489 | killagreg | 487 | { |
516 | holgerb | 488 | u8 tmp; |
489 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
490 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
491 | tmp = NCMAG_GetOrientationFromAcc(); |
||
492 | LCD_printfxy(0,3,"Orientat.: "); |
||
493 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
494 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
489 | killagreg | 495 | } |
496 | else |
||
497 | { |
||
498 | LCD_printfxy(0,1,"Not connected"); |
||
499 | } |
||
473 | holgerb | 500 | break; |
498 | killagreg | 501 | case 24: |
502 | { |
||
504 | holgerb | 503 | static u8 index = 1; |
498 | killagreg | 504 | if(Keys & KEY3) // next step |
505 | { |
||
503 | holgerb | 506 | if(index < ToFC_MaxWpListIndex) index++; |
498 | killagreg | 507 | else index = 1; |
508 | } |
||
503 | holgerb | 509 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
510 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
498 | killagreg | 511 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
512 | // 12345678901234567890 |
||
513 | LCD_printfxy(0,2,"Points Index "); |
||
514 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
516 | holgerb | 515 | } |
498 | killagreg | 516 | break; |
504 | holgerb | 517 | case 25: |
518 | { |
||
519 | static u8 index = 1; |
||
516 | holgerb | 520 | if(Keys & KEY3) |
504 | holgerb | 521 | { |
522 | if(index < ToFC_MaxWpListIndex) index++; |
||
523 | else index = 1; |
||
524 | } |
||
514 | holgerb | 525 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
504 | holgerb | 526 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
527 | // 12345678901234567890 |
||
528 | LCD_printfxy(0,2,"Points Index "); |
||
516 | holgerb | 529 | if(GPSData.SatFix == SATFIX_3D) |
530 | { |
||
531 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
532 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
533 | } |
||
534 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
514 | holgerb | 535 | |
516 | holgerb | 536 | } |
504 | holgerb | 537 | break; |
514 | holgerb | 538 | case 26: |
539 | { |
||
540 | static u8 index = 1; |
||
516 | holgerb | 541 | if(Keys & KEY3) |
514 | holgerb | 542 | { |
543 | if(index < ToFC_MaxWpListIndex) index++; |
||
544 | else index = 1; |
||
545 | } |
||
546 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
547 | LCD_printfxy(0,0,"Load Point" ); |
||
548 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
549 | // 12345678901234567890 |
||
550 | // LCD_printfxy(0,2,"Points Index "); |
||
551 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
516 | holgerb | 552 | } |
514 | holgerb | 553 | break; |
554 | case 27: |
||
555 | { |
||
556 | static u8 index = 1; |
||
557 | if(Keys & KEY3) |
||
558 | { |
||
559 | if(index < ToFC_MaxWpListIndex) index++; |
||
560 | else index = 1; |
||
561 | } |
||
562 | LCD_printfxy(0,0,"Save Point" ); |
||
563 | LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter/20); |
||
564 | // 12345678901234567890 |
||
565 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
516 | holgerb | 566 | if(GPSData.SatFix == SATFIX_3D) |
514 | holgerb | 567 | { |
568 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
569 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
570 | } |
||
571 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
516 | holgerb | 572 | } |
514 | holgerb | 573 | break; |
677 | holgerb | 574 | /* case 28: |
575 | LCD_printfxy(0,0,"Analog inputs"); |
||
576 | LCD_printfxy(0,0,"A0:%3i A1:%3i",AnalogData.Ch0,AnalogData.Ch1); |
||
577 | LCD_printfxy(0,1,"A2:%3i A3:%3i",AnalogData.Ch2,AnalogData.Ch3); |
||
578 | LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5); |
||
579 | LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7); |
||
580 | break; |
||
581 | */ |
||
688 | holgerb | 582 | |
583 | case 28: |
||
584 | // LCD_printfxy(0,0,"PPM Input"); |
||
585 | /* |
||
586 | LCD_printfxy(0,0,"%4i %4i %4i %4i",PPM_In[1],PPM_In[2],PPM_In[3],PPM_In[4]); |
||
587 | LCD_printfxy(0,1,"%4i %4i %4i %4i",PPM_In[5],PPM_In[6],PPM_In[7],PPM_In[8]); |
||
588 | LCD_printfxy(0,2,"%4i %4i %4i %4i",PPM_In[9],PPM_In[10],PPM_In[11],PPM_In[12]); |
||
589 | LCD_printfxy(0,3,"%4i %4i %4i %4i",PPM_In[13],PPM_In[14],PPM_In[15],PPM_In[16]); |
||
590 | */ |
||
591 | LCD_printfxy(0,0,"%4i %4i %4i %4i",PPM_In[17],PPM_In[18],PPM_In[19],PPM_In[20]); |
||
592 | LCD_printfxy(0,1,"%4i %4i %4i %4i",PPM_In[21],PPM_In[22],PPM_In[23],PPM_In[24]); |
||
593 | LCD_printfxy(0,2,"%4i %4i %4i %4i",PPM_In[25],PPM_In[26],PPM_In[27],PPM_In[28]); |
||
594 | LCD_printfxy(0,3,"%4i %4i %4i %4i",PPM_In[29],PPM_In[30],PPM_In[31],PPM_In[32]); |
||
595 | break; |
||
41 | ingob | 596 | default: |
201 | killagreg | 597 | //MaxMenuItem = MenuItem - 1; |
41 | ingob | 598 | MenuItem = 0; |
599 | break; |
||
516 | holgerb | 600 | } |
1 | ingob | 601 | } |