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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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708 | holgerb | 67 | #include "uart0.h" |
41 | ingob | 68 | #include "uart1.h" |
267 | holgerb | 69 | #include "ncmag.h" |
380 | holgerb | 70 | #include "logging.h" |
426 | holgerb | 71 | #include "settings.h" |
548 | holgerb | 72 | #include "sdc.h" |
677 | holgerb | 73 | #include "analog.h" |
697 | holgerb | 74 | #include "canbus.h" |
708 | holgerb | 75 | #include "triggerlog.h" |
724 | holgerb | 76 | #include "CamCtrl.h" |
780 | holgerb | 77 | #include "eeprom.h" |
1 | ingob | 78 | |
79 | u8 DispPtr = 0; |
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201 | killagreg | 80 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
1 | ingob | 81 | |
201 | killagreg | 82 | |
41 | ingob | 83 | u8 MenuItem = 0; |
792 | holgerb | 84 | u8 MaxMenuItem = 32; |
41 | ingob | 85 | |
203 | killagreg | 86 | void Menu_Putchar(char c) |
87 | { |
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516 | holgerb | 88 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
203 | killagreg | 89 | } |
90 | |||
201 | killagreg | 91 | void Menu_Clear(void) |
1 | ingob | 92 | { |
201 | killagreg | 93 | u8 i; |
94 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
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1 | ingob | 95 | } |
96 | |||
41 | ingob | 97 | // Display with 20 characters in 4 lines |
201 | killagreg | 98 | void Menu_Update(u8 Keys) |
41 | ingob | 99 | { |
516 | holgerb | 100 | s32 i1,i2; |
51 | killagreg | 101 | u8 sign; |
41 | ingob | 102 | |
201 | killagreg | 103 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
104 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
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105 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
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41 | ingob | 106 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
201 | killagreg | 107 | Menu_Clear(); |
41 | ingob | 108 | // print menu item number in the upper right corner |
516 | holgerb | 109 | if(MenuItem < 10) |
110 | { |
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41 | ingob | 111 | LCD_printfxy(17,0,"[%i]",MenuItem); |
112 | } |
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201 | killagreg | 113 | else // Menuitem >= 10 |
41 | ingob | 114 | { |
115 | LCD_printfxy(16,0,"[%i]",MenuItem); |
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116 | } |
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117 | |||
516 | holgerb | 118 | switch(MenuItem) |
119 | { |
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41 | ingob | 120 | // Version Info |
121 | case 0: |
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708 | holgerb | 122 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"+ Navi-Ctrl (S) +") |
123 | else |
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124 | if(IamMaster == MASTER)LCD_printfxy(0,0,"+ Navi-Ctrl (M) +") |
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125 | else LCD_printfxy(0,0,"++ Navi-Ctrl ++") |
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126 | |||
530 | holgerb | 127 | 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 | 128 | if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) LCD_printfxy(19,1,"R"); |
516 | holgerb | 129 | if(ErrorCode) |
264 | killagreg | 130 | { |
131 | LCD_printfxy(0,2,"Error: %d",ErrorCode); |
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516 | holgerb | 132 | LCD_printfxy(0,3,"%s",ErrorMSG); |
264 | killagreg | 133 | } |
489 | killagreg | 134 | else |
697 | holgerb | 135 | if(Partner.ErrorCode) |
489 | killagreg | 136 | { |
697 | holgerb | 137 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
138 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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139 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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140 | } |
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141 | else |
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142 | { |
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693 | holgerb | 143 | LCD_printfxy(0,2,"Set:%d %s", Parameter.ActiveSetting,EE_Parameter.Name); |
144 | LCD_printfxy(0,3,"%s",ErrorMSG); |
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145 | // LCD_printfxy(0,3,"(c) HiSystems GmbH"); |
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321 | holgerb | 146 | } |
574 | holgerb | 147 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
785 | holgerb | 148 | //if(NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) LCD_printfxy(16,2,"Off"); |
41 | ingob | 149 | break; |
150 | case 1: |
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697 | holgerb | 151 | if(IamMaster == SLAVE) LCD_printfxy(0,0,"++ Master - NC ++") |
152 | else LCD_printfxy(0,0,"++ Slave - NC ++"); |
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153 | |||
154 | if(CanRxMessage[CAN_ID_VERSION].D.Byte[3]) |
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155 | { |
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156 | LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", CanRxMessage[CAN_ID_VERSION].D.Byte[3]/10, CanRxMessage[CAN_ID_VERSION].D.Byte[3]%10, CanRxMessage[CAN_ID_VERSION].D.Byte[7], CanRxMessage[CAN_ID_VERSION].D.Byte[6], 'a'+ CanRxMessage[CAN_ID_VERSION].D.Byte[5]); |
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157 | if(Partner.ErrorCode) |
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158 | { |
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159 | if(IamMaster == SLAVE) LCD_printfxy(0,2,"Master Err: %d",Partner.ErrorCode) |
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160 | else LCD_printfxy(0,2,"Slave Err: %d",Partner.ErrorCode); |
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161 | } |
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162 | else |
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163 | { |
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164 | LCD_printfxy(0,2,"Set:%d", CanRxMessage[CAN_ID_VERSION].D.Byte[1]); |
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165 | } |
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166 | LCD_printfxy(0,3,"%s",PartnerErrorMSG); |
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167 | if(Partner.StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
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168 | } |
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169 | else |
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170 | LCD_printfxy(0,2,"not connected", CanTxMessage[CAN_ID_VERSION].D.Byte[1]); |
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171 | break; |
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172 | case 2: |
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41 | ingob | 173 | if (GPSData.Status == INVALID) |
174 | { |
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175 | LCD_printfxy(0,0,"No GPS data"); |
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176 | LCD_printfxy(0,1,"Lon: "); |
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177 | LCD_printfxy(0,2,"Lat: "); |
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178 | LCD_printfxy(0,3,"Alt: "); |
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179 | } |
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180 | else // newdata or processed |
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181 | { |
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122 | killagreg | 182 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 183 | switch (GPSData.SatFix) |
184 | { |
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185 | case SATFIX_NONE: |
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127 | killagreg | 186 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 187 | break; |
188 | case SATFIX_2D: |
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127 | killagreg | 189 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 190 | break; |
191 | case SATFIX_3D: |
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127 | killagreg | 192 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 193 | break; |
194 | default: |
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127 | killagreg | 195 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 196 | break; |
197 | } |
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121 | killagreg | 198 | if(GPSData.Flags & FLAG_DIFFSOLN) |
199 | { |
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127 | killagreg | 200 | LCD_printfxy(12,0,"/DGPS"); |
121 | killagreg | 201 | } |
202 | else |
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203 | { |
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127 | killagreg | 204 | LCD_printfxy(12,0," "); |
121 | killagreg | 205 | } |
206 | |||
51 | killagreg | 207 | if(GPSData.Position.Longitude < 0) sign = '-'; |
208 | else sign = '+'; |
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53 | killagreg | 209 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
210 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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54 | killagreg | 211 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 212 | if(GPSData.Position.Latitude < 0) sign = '-'; |
213 | else sign = '+'; |
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53 | killagreg | 214 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
215 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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54 | killagreg | 216 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
51 | killagreg | 217 | if(GPSData.Position.Altitude < 0) sign = '-'; |
218 | else sign = '+'; |
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53 | killagreg | 219 | i1 = abs(GPSData.Position.Altitude)/1000L; |
220 | i2 = abs(GPSData.Position.Altitude)%1000L; |
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708 | holgerb | 221 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm V%d", sign, i1, i2, GPS_Version/1000); |
41 | ingob | 222 | } |
223 | break; |
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697 | holgerb | 224 | case 3: |
41 | ingob | 225 | if (GPSData.Status == INVALID) |
226 | { |
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227 | LCD_printfxy(0,0,"No GPS data"); |
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228 | LCD_printfxy(0,1,"Speed N: "); |
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229 | LCD_printfxy(0,2,"Speed E: "); |
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230 | LCD_printfxy(0,3,"Speed T: "); |
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231 | } |
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232 | else // newdata or processed |
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233 | { |
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124 | killagreg | 234 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
41 | ingob | 235 | switch (GPSData.SatFix) |
236 | { |
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237 | case SATFIX_NONE: |
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127 | killagreg | 238 | LCD_printfxy(7,0,"NoFix"); |
41 | ingob | 239 | break; |
240 | case SATFIX_2D: |
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127 | killagreg | 241 | LCD_printfxy(7,0,"2DFix"); |
41 | ingob | 242 | break; |
243 | case SATFIX_3D: |
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127 | killagreg | 244 | LCD_printfxy(7,0,"3DFix"); |
41 | ingob | 245 | break; |
246 | default: |
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127 | killagreg | 247 | LCD_printfxy(7,0,"??Fix"); |
41 | ingob | 248 | break; |
249 | } |
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124 | killagreg | 250 | if(GPSData.Flags & FLAG_DIFFSOLN) |
251 | { |
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127 | killagreg | 252 | LCD_printfxy(12,0,"/DGPS"); |
124 | killagreg | 253 | } |
254 | else |
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255 | { |
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127 | killagreg | 256 | LCD_printfxy(12,0," "); |
124 | killagreg | 257 | } |
258 | |||
41 | ingob | 259 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
260 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
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261 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
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262 | } |
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263 | break; |
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697 | holgerb | 264 | case 4: |
41 | ingob | 265 | LCD_printfxy(0,0,"GPS UTC Time"); |
266 | if (!SystemTime.Valid) |
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267 | { |
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268 | LCD_printfxy(0,1," "); |
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269 | LCD_printfxy(0,2," No time data! "); |
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270 | LCD_printfxy(0,3," "); |
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271 | } |
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272 | else // newdata or processed |
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273 | { |
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274 | LCD_printfxy(0,1," "); |
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275 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
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276 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
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277 | } |
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278 | break; |
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697 | holgerb | 279 | case 5: // Navi Params 1 from FC |
41 | ingob | 280 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
516 | holgerb | 281 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
282 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
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283 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
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41 | ingob | 284 | break; |
697 | holgerb | 285 | case 6: // Navi Params 2 from FC |
59 | killagreg | 286 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
532 | holgerb | 287 | LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m); |
516 | holgerb | 288 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
289 | LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation); |
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59 | killagreg | 290 | break; |
697 | holgerb | 291 | case 7: // Navi Params 3 from FC |
59 | killagreg | 292 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
516 | holgerb | 293 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
294 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
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295 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
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59 | killagreg | 296 | break; |
697 | holgerb | 297 | case 8: // Max Ranges |
351 | holgerb | 298 | LCD_printfxy(0,0,"Maximum flying "); |
532 | holgerb | 299 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m); |
300 | LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m); |
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516 | holgerb | 301 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
532 | holgerb | 302 | if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled"); |
303 | if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled"); |
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355 | holgerb | 304 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
351 | holgerb | 305 | break; |
697 | holgerb | 306 | case 9: |
41 | ingob | 307 | LCD_printfxy(0,0,"Home Position"); |
215 | killagreg | 308 | if(NaviData.HomePosition.Status == INVALID) |
41 | ingob | 309 | { |
310 | LCD_printfxy(0,1," "); |
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311 | LCD_printfxy(0,2," Is not set. "); |
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312 | LCD_printfxy(0,3," "); |
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313 | } |
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314 | else |
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315 | { |
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215 | killagreg | 316 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
51 | killagreg | 317 | else sign = '+'; |
215 | killagreg | 318 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
319 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
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55 | killagreg | 320 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 321 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
51 | killagreg | 322 | else sign = '+'; |
215 | killagreg | 323 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
324 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
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55 | killagreg | 325 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
215 | killagreg | 326 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
51 | killagreg | 327 | else sign = '+'; |
215 | killagreg | 328 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
329 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
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589 | holgerb | 330 | LCD_printfxy(0,3,"Alt:%c%04ld.%1dm",sign, i1, i2/1000); |
588 | holgerb | 331 | switch(Parameter.HomeYawMode) |
332 | { |
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333 | case NO_CHANGE: LCD_printfxy(17,3,"(-)"); break; |
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334 | case FRONT_TO_HOME: LCD_printfxy(17,3,"(F)"); break; |
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335 | case REAR_TO_HOME: LCD_printfxy(17,3,"(R)"); break; |
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336 | case LIKE_AT_START: LCD_printfxy(17,3,"(S)"); break; |
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337 | } |
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41 | ingob | 338 | } |
339 | break; |
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697 | holgerb | 340 | case 10: |
318 | holgerb | 341 | LCD_printfxy(0,0,"Target Position"); |
342 | if(NaviData.TargetPosition.Status == INVALID) |
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343 | { |
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344 | LCD_printfxy(0,1," "); |
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345 | LCD_printfxy(0,2," Is not set. "); |
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346 | LCD_printfxy(0,3," "); |
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347 | } |
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348 | else |
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349 | { |
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350 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
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351 | else sign = '+'; |
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352 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
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353 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
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354 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
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355 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
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356 | else sign = '+'; |
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357 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
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358 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
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359 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
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360 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
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361 | else sign = '+'; |
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362 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
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363 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
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588 | holgerb | 364 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ldm",sign, i1, i2); |
318 | holgerb | 365 | } |
366 | break; |
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697 | holgerb | 367 | case 11: // RC stick controls from FC |
41 | ingob | 368 | LCD_printfxy(0,0,"RC-Sticks" ); |
516 | holgerb | 369 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
370 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
||
371 | LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC |
||
41 | ingob | 372 | break; |
697 | holgerb | 373 | case 12: // RC poti controls from FC |
190 | killagreg | 374 | LCD_printfxy(0,0,"RC-Potis 1" ); |
516 | holgerb | 375 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
376 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
||
41 | ingob | 377 | break; |
697 | holgerb | 378 | case 13: // RC poti controls from FC |
190 | killagreg | 379 | LCD_printfxy(0,0,"RC-Potis 2" ); |
516 | holgerb | 380 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
381 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
||
190 | killagreg | 382 | break; |
697 | holgerb | 383 | case 14: // attitude from FC |
66 | killagreg | 384 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
385 | else sign = '+'; |
||
386 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
||
387 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
||
201 | killagreg | 388 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
66 | killagreg | 389 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
390 | else sign = '+'; |
||
391 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
||
392 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
||
516 | holgerb | 393 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
688 | holgerb | 394 | if(FromFlightCtrl_AccNick < 0) sign = '-'; |
67 | killagreg | 395 | else sign = '+'; |
688 | holgerb | 396 | i1 = abs(FromFlightCtrl_AccNick)/10; |
397 | i2 = abs(FromFlightCtrl_AccNick)%10; |
||
201 | killagreg | 398 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
688 | holgerb | 399 | if(FromFlightCtrl_AccRoll < 0) sign = '-'; |
67 | killagreg | 400 | else sign = '+'; |
688 | holgerb | 401 | i1 = abs(FromFlightCtrl_AccRoll)/10; |
402 | i2 = abs(FromFlightCtrl_AccRoll)%10; |
||
516 | holgerb | 403 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
41 | ingob | 404 | break; |
697 | holgerb | 405 | case 15: |
688 | holgerb | 406 | LCD_printfxy(0,0,"Analog inputs"); |
407 | LCD_printfxy(0,1,"A5:%3i ",AnalogData.Ch5); |
||
408 | LCD_printfxy(0,2,"A6:%3i ",AnalogData.Ch6); |
||
409 | LCD_printfxy(0,3,"A7:%3i ",AnalogData.Ch7); |
||
41 | ingob | 410 | break; |
697 | holgerb | 411 | case 16: |
475 | holgerb | 412 | LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10); |
413 | LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10); |
||
414 | if(FC.FromFC_DisableDeclination) |
||
516 | holgerb | 415 | { |
489 | killagreg | 416 | LCD_printfxy(0,2,"Mag.Declinat.:disabl"); |
475 | holgerb | 417 | } |
418 | else |
||
419 | { |
||
489 | killagreg | 420 | if(GeoMagDec < 0) sign = '-'; |
421 | else sign = '+'; |
||
422 | LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
475 | holgerb | 423 | } |
463 | holgerb | 424 | LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10); |
516 | holgerb | 425 | break; |
697 | holgerb | 426 | case 17: // User Parameter |
153 | killagreg | 427 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
428 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
||
429 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
||
430 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
||
41 | ingob | 431 | break; |
697 | holgerb | 432 | case 18: // User Parameter |
426 | holgerb | 433 | LCD_printfxy(0,0,"SD-Card Logs"); |
548 | holgerb | 434 | if(SDCardInfo.Valid == 1) |
435 | { |
||
708 | holgerb | 436 | LCD_printfxy(0,1,"GPX: %4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval); |
437 | LCD_printfxy(0,2,"KML: %4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval); |
||
438 | LCD_printfxy(0,3,"Trig:%4i ",Logged_TRIG_Counter); |
||
548 | holgerb | 439 | } |
440 | else |
||
441 | LCD_printfxy(0,1,"no card in slot "); |
||
380 | holgerb | 442 | break; |
697 | holgerb | 443 | case 19: // magnetic field |
292 | killagreg | 444 | if(Compass_CalState) |
254 | killagreg | 445 | { |
292 | killagreg | 446 | LCD_printfxy(0,0,"Calibration:"); |
447 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
||
516 | holgerb | 448 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
292 | killagreg | 449 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
450 | switch(Compass_CalState) |
||
254 | killagreg | 451 | { |
292 | killagreg | 452 | case 1: |
453 | case 3: |
||
454 | LCD_printfxy(7,1,"pause"); |
||
455 | break; |
||
456 | |||
457 | case 2: |
||
458 | LCD_printfxy(7,1,"horizontal"); |
||
459 | break; |
||
460 | |||
461 | case 4: |
||
462 | LCD_printfxy(7,1,"vertical"); |
||
463 | break; |
||
464 | |||
465 | case 5: |
||
466 | LCD_printfxy(7,1,"data saved"); |
||
467 | LCD_printfxy(8,3," (END) "); |
||
468 | break; |
||
489 | killagreg | 469 | |
292 | killagreg | 470 | default: |
471 | break; |
||
254 | killagreg | 472 | } |
473 | } |
||
292 | killagreg | 474 | else |
254 | killagreg | 475 | { |
330 | holgerb | 476 | if(GeoMagDec < 0) sign = '-'; |
477 | else sign = '+'; |
||
254 | killagreg | 478 | LCD_printfxy(0,0,"Magnetic Field"); |
516 | holgerb | 479 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
292 | killagreg | 480 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
481 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
||
330 | holgerb | 482 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
489 | killagreg | 483 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
484 | else LCD_printfxy(11,2,"Intern"); |
||
338 | holgerb | 485 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
486 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
||
292 | killagreg | 487 | LCD_printfxy(15,3,"(CAL)"); |
488 | } |
||
489 | if(Keys & KEY4) // next step |
||
490 | { |
||
491 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
||
492 | else Compass_SetCalState(0); |
||
493 | } |
||
494 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
||
41 | ingob | 495 | break; |
697 | holgerb | 496 | case 20: |
345 | holgerb | 497 | if(GeoMagDec < 0) sign = '-'; |
498 | else sign = '+'; |
||
338 | holgerb | 499 | LCD_printfxy(0,0,"Magnetic Field"); |
500 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
||
501 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
502 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
||
503 | break; |
||
697 | holgerb | 504 | case 21: |
426 | holgerb | 505 | LCD_printfxy(0,0,"SD-Setting "); |
506 | LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration); |
||
507 | break; |
||
697 | holgerb | 508 | case 22: |
453 | holgerb | 509 | LCD_printfxy(0,0,"CPU Processing "); |
659 | holgerb | 510 | LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData/10, FreqNewGpsData%10); |
663 | holgerb | 511 | LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed/10, FreqGpsNavProcessed%10); |
659 | holgerb | 512 | if(FreqNewGpsData >= 48 && FreqNewGpsData <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!"); |
663 | holgerb | 513 | if(FreqGpsNavProcessed >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!"); |
453 | holgerb | 514 | break; |
697 | holgerb | 515 | case 23: |
489 | killagreg | 516 | LCD_printfxy(0,0,"BL Current" ); |
517 | LCD_printfxy(11,3,"(in 0.1A)" ); |
||
518 | for(i1 = 0; i1 < 3; i1++) |
||
519 | { |
||
502 | killagreg | 520 | 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)); |
521 | if(Motor[4 + i1 * 4].State == 0) break; |
||
489 | killagreg | 522 | } |
471 | holgerb | 523 | break; |
489 | killagreg | 524 | |
697 | holgerb | 525 | case 24: |
489 | killagreg | 526 | LCD_printfxy(0,0,"Ext. Compass" ); |
686 | holgerb | 527 | if(NCMAG_Compass_use_Orientation) |
489 | killagreg | 528 | { |
516 | holgerb | 529 | u8 tmp; |
530 | LCD_printfxy(0,1,"ACC X Y Z"); |
||
531 | LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
||
532 | tmp = NCMAG_GetOrientationFromAcc(); |
||
533 | LCD_printfxy(0,3,"Orientat.: "); |
||
534 | if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
||
535 | LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
||
489 | killagreg | 536 | } |
537 | else |
||
538 | { |
||
539 | LCD_printfxy(0,1,"Not connected"); |
||
540 | } |
||
473 | holgerb | 541 | break; |
697 | holgerb | 542 | case 25: |
498 | killagreg | 543 | { |
504 | holgerb | 544 | static u8 index = 1; |
498 | killagreg | 545 | if(Keys & KEY3) // next step |
546 | { |
||
503 | holgerb | 547 | if(index < ToFC_MaxWpListIndex) index++; |
498 | killagreg | 548 | else index = 1; |
549 | } |
||
503 | holgerb | 550 | if(Keys & KEY4) FromFC_LoadWP_List = index; |
551 | LCD_printfxy(0,0,"Load WPL (fix)" ); |
||
498 | killagreg | 552 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
553 | // 12345678901234567890 |
||
554 | LCD_printfxy(0,2,"Points Index "); |
||
555 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
516 | holgerb | 556 | } |
498 | killagreg | 557 | break; |
697 | holgerb | 558 | case 26: |
504 | holgerb | 559 | { |
560 | static u8 index = 1; |
||
516 | holgerb | 561 | if(Keys & KEY3) |
504 | holgerb | 562 | { |
563 | if(index < ToFC_MaxWpListIndex) index++; |
||
564 | else index = 1; |
||
565 | } |
||
514 | holgerb | 566 | LCD_printfxy(0,0,"Load WPL (Rel)" ); |
504 | holgerb | 567 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
568 | // 12345678901234567890 |
||
569 | LCD_printfxy(0,2,"Points Index "); |
||
516 | holgerb | 570 | if(GPSData.SatFix == SATFIX_3D) |
571 | { |
||
572 | LCD_printfxy(0,3," %3d %3d LOAD", PointList_GetCount(), index); |
||
573 | if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80; |
||
574 | } |
||
575 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
514 | holgerb | 576 | |
516 | holgerb | 577 | } |
504 | holgerb | 578 | break; |
697 | holgerb | 579 | case 27: |
514 | holgerb | 580 | { |
581 | static u8 index = 1; |
||
516 | holgerb | 582 | if(Keys & KEY3) |
514 | holgerb | 583 | { |
584 | if(index < ToFC_MaxWpListIndex) index++; |
||
585 | else index = 1; |
||
586 | } |
||
587 | if(Keys & KEY4) FromFC_Load_SinglePoint = index; |
||
588 | LCD_printfxy(0,0,"Load Point" ); |
||
589 | LCD_printfxy(0,1,"Name: %s", WPL_Store.Name); |
||
590 | // 12345678901234567890 |
||
591 | // LCD_printfxy(0,2,"Points Index "); |
||
592 | LCD_printfxy(0,3,"Number: %3d (LOAD)", index); |
||
516 | holgerb | 593 | } |
514 | holgerb | 594 | break; |
697 | holgerb | 595 | case 28: |
514 | holgerb | 596 | { |
597 | static u8 index = 1; |
||
598 | if(Keys & KEY3) |
||
599 | { |
||
600 | if(index < ToFC_MaxWpListIndex) index++; |
||
601 | else index = 1; |
||
602 | } |
||
603 | LCD_printfxy(0,0,"Save Point" ); |
||
740 | holgerb | 604 | LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter_5cm/20); |
514 | holgerb | 605 | // 12345678901234567890 |
606 | LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10); |
||
516 | holgerb | 607 | if(GPSData.SatFix == SATFIX_3D) |
514 | holgerb | 608 | { |
609 | LCD_printfxy(0,3,"Number: %3d (SAVE)", index); |
||
610 | if(Keys & KEY4) FromFC_Save_SinglePoint = index; |
||
611 | } |
||
612 | else LCD_printfxy(0,3," No Satfix ! ", index); |
||
516 | holgerb | 613 | } |
514 | holgerb | 614 | break; |
677 | holgerb | 615 | /* case 28: |
616 | LCD_printfxy(0,0,"Analog inputs"); |
||
617 | LCD_printfxy(0,0,"A0:%3i A1:%3i",AnalogData.Ch0,AnalogData.Ch1); |
||
618 | LCD_printfxy(0,1,"A2:%3i A3:%3i",AnalogData.Ch2,AnalogData.Ch3); |
||
619 | LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5); |
||
620 | LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7); |
||
621 | break; |
||
622 | */ |
||
688 | holgerb | 623 | |
697 | holgerb | 624 | case 29: |
708 | holgerb | 625 | LCD_printfxy(0,0,"Trigger Input"); |
626 | if(UART_VersionInfo.HWMajor >= 30) |
||
627 | { |
||
628 | if(BlitzSchuhConnected) LCD_printfxy(0,1,"External") |
||
629 | else LCD_printfxy(0,1,"Internal"); |
||
630 | LCD_printfxy(0,2,"Counter:%4d ",TrigLogging.Count); |
||
631 | LCD_printfxy(0,3,"Logfile:%4i ",Logged_TRIG_Counter); |
||
632 | } |
||
633 | else |
||
634 | { |
||
635 | LCD_printfxy(0,1,"Not Supported in "); |
||
636 | LCD_printfxy(0,2,"Hardware V%d ", UART_VersionInfo.HWMajor/10); |
||
637 | LCD_printfxy(0,3,"(V3 required)"); |
||
638 | } |
||
724 | holgerb | 639 | break; |
640 | case 30: |
||
641 | LCD_printfxy(0,0,"CamCtrl"); |
||
642 | if(!(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK)) |
||
643 | { |
||
644 | LCD_printfxy(0,2,"Not connected"); |
||
729 | holgerb | 645 | if(CamCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
724 | holgerb | 646 | if(Keys & KEY4) CamCtrlTimeout = 65000; |
647 | } |
||
648 | else |
||
649 | { |
||
729 | holgerb | 650 | LCD_printfxy(8,0,"V%i.%02i",1 + FromCamCtrl.Version / 100, FromCamCtrl.Version % 100); |
651 | |||
724 | holgerb | 652 | switch(FromCamCtrl.Type) |
653 | { |
||
729 | holgerb | 654 | case TYPE_LANC: LCD_printfxy(13,0,"L"); break; |
655 | case TYPE_IR: LCD_printfxy(13,0,"I"); break; |
||
656 | case TYPE_MULTI: LCD_printfxy(13,0,"M"); break; |
||
724 | holgerb | 657 | } |
658 | LCD_printfxy(0,0,"CamCtrl"); |
||
729 | holgerb | 659 | LCD_printfxy(0,1,"Stat:"); |
660 | if(FromCamCtrl.CamStatus & CAM_STATE_RDY) LCD_printfxy(5,1,"RDY") |
||
661 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) LCD_printfxy(10,1,"REC"); |
||
662 | if(FromCamCtrl.CamStatus & CAM_STATE_PHOTO_MODE) LCD_printfxy(14,1,"PHOTO"); |
||
663 | if(FromCamCtrl.CamStatus & CAM_STATE_ZOOM) LCD_printfxy(5,1,"ZOOM "); |
||
664 | if(!(FromCamCtrl.CamStatus & CAM_STATE_RDY)) LCD_printfxy(5,1," ---"); |
||
708 | holgerb | 665 | |
729 | holgerb | 666 | LCD_printfxy(17,1,"(%c)",CamCtrlCharacter); |
667 | |||
724 | holgerb | 668 | if(FromCamCtrl.CamStatus & CAM_STATE_CAM_DISCONN) LCD_printfxy(0,2,"Disconn.") |
669 | else |
||
670 | { |
||
729 | holgerb | 671 | if(FromCamCtrl.CamStatus & CAM_STATE_OFF) LCD_printfxy(1,2,"Cam:OFF") else LCD_printfxy(1,2,"Cam:ON"); |
724 | holgerb | 672 | } |
729 | holgerb | 673 | LCD_printfxy(11,2,"Pics:%3d ",FromCamCtrl.PhotoCount); |
674 | //LCD_printfxy(5,2,"x%2x ",FromCamCtrl.CamStatus); |
||
724 | holgerb | 675 | if(FromCamCtrl.PPM1Okay) LCD_printfxy(0,3,"Zoom:%3i",FromCamCtrl.PPM1Data); |
676 | if(!FromCamCtrl.PPM2Okay) // there is PPM Input connected to the CamCtrl |
||
677 | { |
||
678 | LCD_printfxy(14,3,"(TRIG)"); |
||
679 | if(EE_Parameter.CamCtrlModeChannel == 0) |
||
680 | { |
||
729 | holgerb | 681 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) LCD_printfxy(9,3,"(off)") |
682 | else LCD_printfxy(9,3,"(REC)"); // Control only possible if no switch is assigned |
||
724 | holgerb | 683 | } |
729 | holgerb | 684 | else LCD_printfxy(2,3,"CH:%3i",127+PPM_In[EE_Parameter.CamCtrlModeChannel]); |
724 | holgerb | 685 | |
686 | if(Keys & KEY3) |
||
687 | { |
||
688 | ToCamCtrl.CamCommand &= ~(CAM_CMD_REC_OFF|CAM_CMD_REC_ON); |
||
689 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) ToCamCtrl.CamCommand |= CAM_CMD_REC_OFF; |
||
690 | else ToCamCtrl.CamCommand |= CAM_CMD_REC_ON; |
||
691 | } |
||
692 | if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SHUTTER; |
||
693 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_RESET_CAM; |
||
694 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_ON; |
||
695 | //if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_OFF; |
||
696 | } |
||
697 | else |
||
698 | { |
||
699 | if(FromCamCtrl.PPM2Okay) LCD_printfxy(10,3,"PPM:%3i",FromCamCtrl.PPM2Data); |
||
700 | } |
||
701 | } |
||
688 | holgerb | 702 | break; |
792 | holgerb | 703 | case 31: |
704 | LCD_printfxy(0,0,"LaserCtrl"); |
||
705 | if(!(FromLaserCtrl.LaserStatus & LASER_I2C_OK)) |
||
706 | { |
||
707 | LCD_printfxy(0,2,"Not connected"); |
||
708 | if(CamCtrlTimeout < 10) LCD_printfxy(14,3,"(conn)"); // connect manually |
||
709 | if(Keys & KEY4) LaserCtrlTimeout = 65000; |
||
710 | } |
||
711 | else |
||
712 | { |
||
713 | LCD_printfxy(10,0,"V%i.%02i",1 + FromLaserCtrl.Version / 100, FromLaserCtrl.Version % 100); |
||
714 | LCD_printfxy(0,1,"Stat:"); |
||
715 | if(FromLaserCtrl.LaserStatus & LASER_DATA_OK) LCD_printfxy(8,1,"OK") else LCD_printfxy(5,1,"No Laser"); |
||
716 | LCD_printfxy(0,2,"Dist:%5dcm",FromLaserCtrl.Distance); |
||
717 | } |
||
718 | break; |
||
719 | case 32: // Temperaturecompensation of the Barosensor |
||
780 | holgerb | 720 | { |
721 | static s32 dT = 0, tAlt = 0, faktor = 0; |
||
722 | static s32 dP = 0, pAlt = 0; |
||
723 | static u8 stored = 0, heateroff_msg = 0; |
||
724 | holgerb | 724 | |
780 | holgerb | 725 | if(BaroCalState) |
726 | { |
||
727 | dP = NaviData.Altimeter_5cm/2 - pAlt; |
||
728 | dT = FC_Temperatur - tAlt; |
||
729 | faktor = (dP * 100) / dT; |
||
730 | |||
731 | if(abs(dT) < 130) LCD_printfxy(0,0,"Warm up slowly") |
||
732 | else |
||
733 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) LCD_printfxy(0,0,"Motors off! ") |
||
734 | else LCD_printfxy(0,0,"Wait... "); |
||
735 | |||
736 | if((abs(FC_Temperatur_raw/10 - tAlt) >= 250)) heateroff_msg = 1; |
||
737 | if((abs(FC_Temperatur_raw/10 - tAlt) <= 150)) heateroff_msg = 0; |
||
738 | if(heateroff_msg) LCD_printfxy(0,0,"Heater off! "); |
||
739 | |||
740 | LCD_printfxy(0,1,"T=%4dC dT=%3dC ",FC_Temperatur_raw/100,dT/10 ); |
||
741 | LCD_printfxy(0,2,"P=%4dm dP=%3dm ",NaviData.Altimeter_5cm/20,dP/10 ); |
||
742 | |||
743 | if(dT > 30) LCD_printfxy(0,3,"K=%4dcm/C ",faktor) |
||
744 | else LCD_printfxy(0,3," (cancel)",faktor); |
||
745 | |||
746 | if(abs(dT) > 120 && (abs(FC_Temperatur_raw/10 - FC_Temperatur) <= 5)) // kein Temperaturgradient und mehr als 12°C erwärmt |
||
747 | { |
||
748 | heateroff_msg = 0; |
||
749 | LCD_printfxy(12,3,"(save)"); |
||
750 | LCD_printfxy(0,0,"Okay "); |
||
751 | |||
752 | if(Keys & KEY4) // Store |
||
753 | { |
||
754 | LuftdruckTemperaturKompensation = faktor; |
||
755 | WriteBaroCalibrationToEEprom(); |
||
756 | BaroCalState = 0; |
||
757 | stored = 1; |
||
758 | } |
||
759 | } |
||
760 | else LCD_printfxy(15,3,"(--) "); |
||
761 | } |
||
762 | else |
||
763 | if(UART_VersionInfo.HWMajor >= 30) |
||
764 | { |
||
765 | LCD_printfxy(0,0,"Barometer"); |
||
766 | LCD_printfxy(0,1,"Temperat.= %4d.%1dC ",FC_Temperatur_raw/100,abs(FC_Temperatur_raw%100)/10); |
||
767 | LCD_printfxy(0,2,"Faktor = %4dcm/C ",LuftdruckTemperaturKompensation); |
||
768 | //LCD_printfxy(0,3,"Offset =%4dcm ",LuftdruckTemperaturOffset); |
||
769 | if(stored) LCD_printfxy(0,3,"Stored "); |
||
770 | |||
771 | if((abs(FC_Temperatur_raw/10 - FC_Temperatur) <= 5)) // kein Temperaturgradient |
||
772 | { |
||
773 | LCD_printfxy(15,3,"(CAL)"); |
||
774 | if(Keys & KEY4) // next step |
||
775 | { |
||
776 | pAlt = NaviData.Altimeter_5cm/2; |
||
777 | tAlt = FC_Temperatur_raw/10; |
||
778 | FC_Temperatur = FC_Temperatur_raw/10; |
||
779 | BaroCalState = 1; |
||
780 | stored = 0; |
||
781 | } |
||
782 | |||
783 | } |
||
784 | else LCD_printfxy(15,3,"(---)"); |
||
785 | } |
||
786 | else |
||
787 | { |
||
788 | LCD_printfxy(0,0,"Barometer"); |
||
789 | LCD_printfxy(0,1,"Temperat = ??C "); |
||
790 | LCD_printfxy(0,2,"Faktor = ?? cm/C"); |
||
791 | LCD_printfxy(0,3,"Not supported"); |
||
792 | } |
||
793 | |||
794 | if(Keys & KEY3) BaroCalState = 0; // cancel |
||
795 | } |
||
796 | break; |
||
797 | |||
798 | |||
799 | |||
41 | ingob | 800 | default: |
201 | killagreg | 801 | //MaxMenuItem = MenuItem - 1; |
41 | ingob | 802 | MenuItem = 0; |
803 | break; |
||
516 | holgerb | 804 | } |
1 | ingob | 805 | } |