WebSVN - NaviCtrl - Blame - Rev 171

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
171	ingob	6	// + Nur f�r den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1	ingob	7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
1	ingob	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
1	ingob	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
		36	// + from this software without specific prior written permission.
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
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"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
41	ingob	55	// + POSSIBILITY OF SUCH DAMAGE.
1	ingob	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	57	#include <stdlib.h>
		58	#include "91x_lib.h"
		59	#include "printf_P.h"
1	ingob	60	#include "main.h"
41	ingob	61	#include "ubx.h"
		62	#include "GPS.h"
119	killagreg	63	#include "timer1.h"
41	ingob	64	#include "i2c.h"
		65	#include "spi_slave.h"
		66	#include "menu.h"
		67	#include "uart1.h"
1	ingob	68
41	ingob	69	s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
1	ingob	70	u8 DispPtr = 0;
		71
41	ingob	72	u8 MenuItem = 0;
59	killagreg	73	u8 MaxMenuItem = 14;
41	ingob	74	u8 RemoteKeys = 0;
		75
1	ingob	76	#define KEY1 0x01
		77	#define KEY2 0x02
		78	#define KEY3 0x04
		79	#define KEY4 0x08
		80	#define KEY5 0x10
		81
41	ingob	82	/************************************/
		83	/* Clear LCD Buffer */
		84	/************************************/
		85	void LCD_Clear(void)
1	ingob	86	{
41	ingob	87	u8 i;
		88	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
1	ingob	89	}
		90
24	StephanB	91
41	ingob	92	/************************************/
		93	/* Update Menu on LCD */
		94	/************************************/
		95	// Display with 20 characters in 4 lines
		96	void LCD_PrintMenu(void)
		97	{
		98	s32 i1,i2;
51	killagreg	99	u8 sign;
41	ingob	100	if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;}
		101	if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
		102	if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0;
		103
		104	LCD_Clear();
		105	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
		106	// print menu item number in the upper right corner
		107	if(MenuItem < 10)
		108	{
		109	LCD_printfxy(17,0,"[%i]",MenuItem);
		110	}
		111	else
		112	{
		113	LCD_printfxy(16,0,"[%i]",MenuItem);
		114	}
		115
		116	switch(MenuItem)
		117	{
		118	// Version Info
		119	case 0:
		120	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
		121	LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
		122	if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," ");
		123	LCD_printfxy(0,2,"%s",ErrorMSG);
		124	LCD_printfxy(0,3,"(c) Buss, Busker");
		125	break;
		126	case 1:
		127	if (GPSData.Status == INVALID)
		128	{
		129	LCD_printfxy(0,0,"No GPS data");
		130	LCD_printfxy(0,1,"Lon: ");
		131	LCD_printfxy(0,2,"Lat: ");
		132	LCD_printfxy(0,3,"Alt: ");
		133	}
		134	else // newdata or processed
		135	{
122	killagreg	136	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
41	ingob	137	switch (GPSData.SatFix)
		138	{
		139	case SATFIX_NONE:
127	killagreg	140	LCD_printfxy(7,0,"NoFix");
41	ingob	141	break;
		142	case SATFIX_2D:
127	killagreg	143	LCD_printfxy(7,0,"2DFix");
41	ingob	144	break;
		145	case SATFIX_3D:
127	killagreg	146	LCD_printfxy(7,0,"3DFix");
41	ingob	147	break;
		148	default:
127	killagreg	149	LCD_printfxy(7,0,"??Fix");
41	ingob	150	break;
		151	}
121	killagreg	152	if(GPSData.Flags & FLAG_DIFFSOLN)
		153	{
127	killagreg	154	LCD_printfxy(12,0,"/DGPS");
121	killagreg	155	}
		156	else
		157	{
127	killagreg	158	LCD_printfxy(12,0," ");
121	killagreg	159	}
		160
51	killagreg	161	if(GPSData.Position.Longitude < 0) sign = '-';
		162	else sign = '+';
53	killagreg	163	i1 = abs(GPSData.Position.Longitude)/10000000L;
		164	i2 = abs(GPSData.Position.Longitude)%10000000L;
54	killagreg	165	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
51	killagreg	166	if(GPSData.Position.Latitude < 0) sign = '-';
		167	else sign = '+';
53	killagreg	168	i1 = abs(GPSData.Position.Latitude)/10000000L;
		169	i2 = abs(GPSData.Position.Latitude)%10000000L;
54	killagreg	170	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
51	killagreg	171	if(GPSData.Position.Altitude < 0) sign = '-';
		172	else sign = '+';
53	killagreg	173	i1 = abs(GPSData.Position.Altitude)/1000L;
		174	i2 = abs(GPSData.Position.Altitude)%1000L;
54	killagreg	175	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
41	ingob	176	}
		177	break;
		178	case 2:
		179	if (GPSData.Status == INVALID)
		180	{
		181	LCD_printfxy(0,0,"No GPS data");
		182	LCD_printfxy(0,1,"Speed N: ");
		183	LCD_printfxy(0,2,"Speed E: ");
		184	LCD_printfxy(0,3,"Speed T: ");
		185	}
		186	else // newdata or processed
		187	{
124	killagreg	188	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
41	ingob	189	switch (GPSData.SatFix)
		190	{
		191	case SATFIX_NONE:
127	killagreg	192	LCD_printfxy(7,0,"NoFix");
41	ingob	193	break;
		194	case SATFIX_2D:
127	killagreg	195	LCD_printfxy(7,0,"2DFix");
41	ingob	196	break;
		197	case SATFIX_3D:
127	killagreg	198	LCD_printfxy(7,0,"3DFix");
41	ingob	199	break;
		200	default:
127	killagreg	201	LCD_printfxy(7,0,"??Fix");
41	ingob	202	break;
		203	}
124	killagreg	204	if(GPSData.Flags & FLAG_DIFFSOLN)
		205	{
127	killagreg	206	LCD_printfxy(12,0,"/DGPS");
124	killagreg	207	}
		208	else
		209	{
127	killagreg	210	LCD_printfxy(12,0," ");
124	killagreg	211	}
		212
41	ingob	213	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
		214	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
		215	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
		216	}
		217	break;
		218	case 3:
		219	LCD_printfxy(0,0,"GPS UTC Time");
		220	if (!SystemTime.Valid)
		221	{
		222	LCD_printfxy(0,0,"GPS UTC Time");
		223	LCD_printfxy(0,1," ");
		224	LCD_printfxy(0,2," No time data! ");
		225	LCD_printfxy(0,3," ");
		226	}
		227	else // newdata or processed
		228	{
		229	LCD_printfxy(0,1," ");
		230	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
		231	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
		232
		233	}
		234	break;
59	killagreg	235	case 4: // Navi Params 1 from FC
41	ingob	236	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
		237	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
		238	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
		239	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
		240	break;
59	killagreg	241	case 5: // Navi Params 2 from FC
		242	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
		243	LCD_printfxy(0,1,"MaxRadius: %3i m", Parameter.NaviOperatingRadius);
		244	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
		245	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);
		246	break;
		247	case 6: // Navi Params 3 from FC
		248	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
		249	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
		250	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
		251	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
		252	break;
		253	case 7:
41	ingob	254	LCD_printfxy(0,0,"Home Position");
		255	if(GPS_HomePosition.Status == INVALID)
		256	{
		257	LCD_printfxy(0,1," ");
		258	LCD_printfxy(0,2," Is not set. ");
		259	LCD_printfxy(0,3," ");
		260	}
		261	else
		262	{
51	killagreg	263	if(GPS_HomePosition.Longitude < 0) sign = '-';
		264	else sign = '+';
53	killagreg	265	i1 = abs(GPS_HomePosition.Longitude)/10000000L;
		266	i2 = abs(GPS_HomePosition.Longitude)%10000000L;
55	killagreg	267	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
51	killagreg	268	if(GPS_HomePosition.Latitude < 0) sign = '-';
		269	else sign = '+';
53	killagreg	270	i1 = abs(GPS_HomePosition.Latitude)/10000000L;
		271	i2 = abs(GPS_HomePosition.Latitude)%10000000L;
55	killagreg	272	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
51	killagreg	273	if(GPS_HomePosition.Altitude < 0) sign = '-';
		274	else sign = '+';
53	killagreg	275	i1 = abs(GPS_HomePosition.Altitude)/1000L;
		276	i2 = abs(GPS_HomePosition.Altitude)%1000L;
54	killagreg	277	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
41	ingob	278	}
		279	break;
59	killagreg	280	case 8: // RC stick controls from FC
41	ingob	281	LCD_printfxy(0,0,"RC-Sticks" );
		282	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
		283	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
		284	break;
59	killagreg	285	case 9: // RC poti controls from FC
41	ingob	286	LCD_printfxy(0,0,"RC-Potis" );
		287	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti1, FC.Poti2);
		288	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti3, FC.Poti4);
		289	break;
59	killagreg	290	case 10: // attitude from FC
66	killagreg	291	if(FromFlightCtrl.AngleNick < 0) sign = '-';
		292	else sign = '+';
		293	i1 = abs(FromFlightCtrl.AngleNick)/10;
		294	i2 = abs(FromFlightCtrl.AngleNick)%10;
67	killagreg	295	LCD_printfxy(0,0,"GyroNick:%c%03i.%01i", sign, i1, i2);
66	killagreg	296	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
		297	else sign = '+';
		298	i1 = abs(FromFlightCtrl.AngleRoll)/10;
		299	i2 = abs(FromFlightCtrl.AngleRoll)%10;
67	killagreg	300	LCD_printfxy(0,1,"GyroRoll:%c%03i.%01i", sign, i1, i2);
		301	if(FromFlightCtrl.AccNick < 0) sign = '-';
		302	else sign = '+';
		303	i1 = abs(FromFlightCtrl.AccNick)/10;
		304	i2 = abs(FromFlightCtrl.AccNick)%10;
		305	LCD_printfxy(0,2," AccNick:%c%03i.%01i", sign, i1, i2);
		306	if(FromFlightCtrl.AccRoll < 0) sign = '-';
		307	else sign = '+';
		308	i1 = abs(FromFlightCtrl.AccRoll)/10;
		309	i2 = abs(FromFlightCtrl.AccRoll)%10;
		310	LCD_printfxy(0,3," AccRoll:%c%03i.%01i", sign, i1, i2);
41	ingob	311	break;
59	killagreg	312	case 11: // gyros from FC
41	ingob	313	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
		314	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
		315	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
		316	break;
59	killagreg	317	case 12: // Remote Control Level from FC
41	ingob	318	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);
153	killagreg	319	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.UBat/10, FC.UBat%10);
41	ingob	320	LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading);
153	killagreg	321	if(GeoMagDec < 0) sign = '-';
		322	else sign = '+';
		323	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
41	ingob	324	break;
59	killagreg	325	case 13: // User Parameter
153	killagreg	326	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
		327	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
		328	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
		329	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
41	ingob	330	break;
59	killagreg	331	case 14: // MK3MAG
41	ingob	332	I2C1_SendCommand(I2C_CMD_READ_MAG);
		333	LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch);
153	killagreg	334	LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX);
41	ingob	335	LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY);
		336	LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ);
		337	break;
		338	default:
		339	MaxMenuItem = MenuItem - 1;
		340	MenuItem = 0;
		341	break;
1	ingob	342	}
41	ingob	343	RemoteKeys = 0;
1	ingob	344	}

Subversion Repositories NaviCtrl

(root)/tags/V0.17e/menu.c @ 188 - Rev 171