WebSVN - FlightCtrl - Diff - Rev 2041 and 2048 - /branches/dongfang_FC

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
 // + Nur f�r den privaten Gebrauch
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
 // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
 // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
 // + bzgl. der Nutzungsbedingungen aufzunehmen.
 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zul�ssig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
 // +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 // +     from this software without specific prior written permission.
 // +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
 // +     for non-commercial use (directly or indirectly)
 // +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 // +     with our written permission
 // +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
 // +     clearly linked as origin
 // +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 // +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 // +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include <stdlib.h>
 #include <inttypes.h>
 #include "eeprom.h"
 #include "timer2.h"
 #include "rc.h"
 #include "externalControl.h"
 #include "uart0.h"
 #include "printf_P.h"
 #include "analog.h"
 #include "twimaster.h"
 #include "attitude.h"
 #if (!defined (USE_NAVICTRL))
 uint8_t maxMenuItem = 13;
 #else
 #ifdef USE_NAVICTRL
 #include "gps.c"
 uint8_t maxMenuItem = 14;
 #endif
 #endif
 uint8_t menuItem = 0;
 uint8_t remoteKeys = 0;
 #define KEY1    0x01
 #define KEY2    0x02
 #define KEY3    0x04
 #define KEY4    0x08
 #define KEY5    0x10
 #define DISPLAYBUFFSIZE 80
 int8_t displayBuff[DISPLAYBUFFSIZE] = "Hello World";
 uint8_t dispPtr = 0;
 /************************************/
 /*        Clear LCD Buffer          */
 /************************************/
 void LCD_clear(void) {
-        uint8_t i;
+  uint8_t i;
-        for (i = 0; i < DISPLAYBUFFSIZE; i++)
+  for (i = 0; i < DISPLAYBUFFSIZE; i++)
-                displayBuff[i] = ' ';
+    displayBuff[i] = ' ';
+}
 /************************************/
 /*        Update Menu on LCD        */
 /************************************/
 // Display with 20 characters in 4 lines
 void LCD_printMenu(void) {
-        if (remoteKeys & KEY1) {
+  if (remoteKeys & KEY1) {
-                if (menuItem)
+    if (menuItem)
-                        menuItem--;
+      menuItem--;
-                else
+    else
-                        menuItem = maxMenuItem;
+      menuItem = maxMenuItem;
+  }
-        if (remoteKeys & KEY2) {
+  if (remoteKeys & KEY2) {
-                if (menuItem == maxMenuItem)
+    if (menuItem == maxMenuItem)
-                        menuItem = 0;
+      menuItem = 0;
-                else
+    else
-                        menuItem++;
+      menuItem++;
+  }
-        if ((remoteKeys & KEY1) && (remoteKeys & KEY2))
+  if ((remoteKeys & KEY1) && (remoteKeys & KEY2))
-                menuItem = 0;
+    menuItem = 0;
-        LCD_clear();
+  LCD_clear();
-        if (menuItem > maxMenuItem)
+  if (menuItem > maxMenuItem)
-                menuItem = maxMenuItem;
+    menuItem = maxMenuItem;
-        // print menu item number in the upper right corner
+  // print menu item number in the upper right corner
-        if (menuItem < 10) {
+  if (menuItem < 10) {
-                LCD_printfxy(17,0,"[%i]", menuItem);
+    LCD_printfxy(17, 0, "[%i]", menuItem);
-        } else {
+  } else {
-                LCD_printfxy(16,0,"[%i]", menuItem);
+    LCD_printfxy(16, 0, "[%i]", menuItem);
+  }
-        switch (menuItem) {
+  switch (menuItem) {
-        case 0:// Version Info Menu Item
+  case 0: // Version Info Menu Item
-                LCD_printfxy(0,0,"+ MikroKopter +")
+    LCD_printfxy(0, 0, "+ MikroKopter +");
+    LCD_printfxy(
+,
-                ;
+,
+        "HW:V%d.%d SW:%d.%d%c",
-                LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",boardRelease/10,boardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a')
+        boardRelease/10, boardRelease%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');
-                ;
-                LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), mixerMatrix.name)
+    LCD_printfxy(0, 2, "Setting: %d %s", getActiveParamSet(), mixerMatrix.name);
-                ;
-                if (I2CTimeout < 6) {
+    if (I2CTimeout < 6) {
-                        LCD_printfxy(0,3,"I2C Error!!!");
+      LCD_printfxy(0, 3, "I2C Error!!!");
-                } else if (missingMotor) {
+    } else if (missingMotor) {
-                        LCD_printfxy(0,3,"Missing BL-Ctrl:%d", missingMotor);
+      LCD_printfxy(0, 3, "Missing BL-Ctrl:%d", missingMotor);
+    } else
-                } else LCD_printfxy(0,3,"(c) Holger Buss");
+      LCD_printfxy(0, 3, "(c) Holger Buss");
-                break;
+    break;
-                /*
+    /*
-                 case 1:// Height Control Menu Item
+     case 1:// Height Control Menu Item
-                 if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) {
+     if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) {
-                 LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
+     LCD_printfxy(0,0,"Height:    %5i",ReadingHeight);
-                 LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
+     LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight);
-                 LCD_printfxy(0,2,"Air Press.:%5i",0);
+     LCD_printfxy(0,2,"Air Press.:%5i",0);
-                 LCD_printfxy(0,3,"Offset    :%5i",0);
+     LCD_printfxy(0,3,"Offset    :%5i",0);
+     }
-                 else
+     else
+     {
-                 LCD_printfxy(0,1,"No ");
+     LCD_printfxy(0,1,"No ");
-                 LCD_printfxy(0,2,"Height Control");
+     LCD_printfxy(0,2,"Height Control");
+     }
-                 break;
+     break;
-                 */
+     */
-        case 2:// Attitude Menu Item
+  case 2: // Attitude Menu Item
-                LCD_printfxy(0,0,"Attitude");
+    LCD_printfxy(0, 0, "Attitude");
+    LCD_printfxy(0, 1, "Nick:      %5i",
-                LCD_printfxy(0,1,"Nick:      %5i", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL);
+        attitude[PITCH] / GYRO_DEG_FACTOR_PITCHROLL);
+    LCD_printfxy(0, 2, "Roll:      %5i",
-                LCD_printfxy(0,2,"Roll:      %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL);
+        attitude[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL);
-                LCD_printfxy(0,3,"Heading(M):%5i", magneticHeading);
+    LCD_printfxy(0, 3, "Heading(M):%5i", magneticHeading);
-                break;
+    break;
-        case 3:// Remote Control Channel Menu Item
+  case 3: // Remote Control Channel Menu Item
-                LCD_printfxy(0,0,"C1:%4i  C2:%4i ",PPM_in[1],PPM_in[2]);
+    LCD_printfxy(0, 0, "C1:%4i  C2:%4i ", PPM_in[1], PPM_in[2]);
-                LCD_printfxy(0,1,"C3:%4i  C4:%4i ",PPM_in[3],PPM_in[4]);
+    LCD_printfxy(0, 1, "C3:%4i  C4:%4i ", PPM_in[3], PPM_in[4]);
-                LCD_printfxy(0,2,"C5:%4i  C6:%4i ",PPM_in[5],PPM_in[6]);
+    LCD_printfxy(0, 2, "C5:%4i  C6:%4i ", PPM_in[5], PPM_in[6]);
-                LCD_printfxy(0,3,"C7:%4i  C8:%4i ",PPM_in[7],PPM_in[8]);
+    LCD_printfxy(0, 3, "C7:%4i  C8:%4i ", PPM_in[7], PPM_in[8]);
-                break;
+    break;
-        case 4:// Remote Control Mapping Menu Item
+  case 4: // Remote Control Mapping Menu Item
+    LCD_printfxy(
+,
+,
+        "Ni:%4i  Ro:%4i ",
-                LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[channelMap.channels[CH_PITCH]],   PPM_in[channelMap.channels[CH_ROLL]]);
+        PPM_in[channelMap.channels[CH_PITCH]], PPM_in[channelMap.channels[CH_ROLL]]);
+    LCD_printfxy(
+,
+,
+        "Gs:%4i  Ya:%4i ",
-                LCD_printfxy(0,1,"Gs:%4i  Ya:%4i ",PPM_in[channelMap.channels[CH_THROTTLE]],PPM_in[channelMap.channels[CH_YAW]]);
+        PPM_in[channelMap.channels[CH_THROTTLE]], PPM_in[channelMap.channels[CH_YAW]]);
+    LCD_printfxy(
+,
+,
+        "P1:%4i  P2:%4i ",
-                LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[channelMap.channels[CH_POTS]],    PPM_in[channelMap.channels[CH_POTS+1]]);
+        PPM_in[channelMap.channels[CH_POTS]], PPM_in[channelMap.channels[CH_POTS+1]]);
+    LCD_printfxy(
+,
+,
+        "P3:%4i  P4:%4i ",
-                LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[channelMap.channels[CH_POTS+2]],  PPM_in[channelMap.channels[CH_POTS+3]]);
+        PPM_in[channelMap.channels[CH_POTS+2]], PPM_in[channelMap.channels[CH_POTS+3]]);
-                break;
+    break;
-                /*
+    /*
-                 case 5:// Gyro Sensor Menu Item
+     case 5:// Gyro Sensor Menu Item
-                 LCD_printfxy(0,0,"Gyro - Sensor");
+     LCD_printfxy(0,0,"Gyro - Sensor");
-                 switch(BoardRelease) {
+     switch(BoardRelease) {
-                 case 10:
+     case 10:
-                 LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY);
+     LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY);
-                 LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY);
+     LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY);
-                 LCD_printfxy(0,3,"Yaw  %4i (%3i)", AdValueGyroYaw , YawOffset);
+     LCD_printfxy(0,3,"Yaw  %4i (%3i)", AdValueGyroYaw , YawOffset);
-                 break;
+     break;
-                 case 11:
+     case 11:
-                 case 12:
+     case 12:
-                 case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
+     case 20: // divice Offests by 2 becuse 2 samples are added in adc isr
-                 LCD_printfxy(0,1,"Nick %4i (%3i.%i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
+     LCD_printfxy(0,1,"Nick %4i (%3i.%i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
-                 LCD_printfxy(0,2,"Roll %4i (%3i.%i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
+     LCD_printfxy(0,2,"Roll %4i (%3i.%i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7)
-                 LCD_printfxy(0,3,"Yaw  %4i (%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2);
+     LCD_printfxy(0,3,"Yaw  %4i (%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2);
-                 break;
+     break;
-                 case 13:
+     case 13:
-                 default: // divice Offests by 2 becuse 2 samples are added in adc isr
+     default: // divice Offests by 2 becuse 2 samples are added in adc isr
-                 LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7)
+     LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7)
-                 LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7)
+     LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7)
-                 LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2, 0);
+     LCD_printfxy(0,3,"Yaw  %4i (%3i)(%3i)",YawOffset  - AdValueGyroYaw , YawOffset/2, 0);
-                 break;
+     break;
+     }
-                 break;
+     break;
-                 case 6:// Acceleration Sensor Menu Item
+     case 6:// Acceleration Sensor Menu Item
-                 LCD_printfxy(0,0,"ACC - Sensor");
+     LCD_printfxy(0,0,"ACC - Sensor");
-                 LCD_printfxy(0,1,"Nick   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
+     LCD_printfxy(0,1,"Nick   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
-                 LCD_printfxy(0,2,"Roll   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
+     LCD_printfxy(0,2,"Roll   %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR
-                 LCD_printfxy(0,3,"Height %4i (%3i)",0,0);
+     LCD_printfxy(0,3,"Height %4i (%3i)",0,0);
-                 break;
+     break;
-                 */
+     */
-        case 7:// Battery Voltage / Remote Control Level
+  case 7: // Battery Voltage / Remote Control Level
-                LCD_printfxy(0,1,"Voltage:  %3i.%1iV",UBat/10, UBat%10);
+    LCD_printfxy(0, 1, "Voltage:  %3i.%1iV", UBat/10, UBat%10);
-                LCD_printfxy(0,2,"RC-Level: %5i",RCQuality);
+    LCD_printfxy(0, 2, "RC-Level: %5i", RCQuality);
-                break;
+    break;
-        case 8:// Compass Menu Item
+  case 8: // Compass Menu Item
-                LCD_printfxy(0,0,"Compass       ");
+    LCD_printfxy(0, 0, "Compass       ");
-                LCD_printfxy(0,1,"Course:    %5i", compassCourse);
+    LCD_printfxy(0, 0, "TODO: Impl.   ");
-                LCD_printfxy(0,2,"Heading:   %5i", magneticHeading);
-                LCD_printfxy(0,3,"OffCourse: %5i", ((540 + magneticHeading - compassCourse) % 360) - 180);
-                break;
+    break;
-        case 9:// Poti Menu Item
+  case 9: // Poti Menu Item
-                LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion
+    LCD_printfxy(0, 0, "Variables     ");
-                LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion
+    LCD_printfxy(0, 0, "TODO: Impl.   ");
-                LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion
-                LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion
-                break;
+    break;
-                /*
-                 case 10:// Servo Menu Item
+  case 10: // Servo Menu Item
-                 LCD_printfxy(0,0,"Servo  " );
+    LCD_printfxy(0, 0, "Servos        ");
-                 LCD_printfxy(0,1,"Setpoint  %3i",dynamicParams.ServoNickControl);
-                 LCD_printfxy(0,2,"Position: %3i",ServoNickValue);
+    LCD_printfxy(0, 0, "TODO: Impl.   ");
-                 LCD_printfxy(0,3,"Range:%3i-%3i",staticParams.ServoNickMin, staticParams.ServoNickMax);
-                 break;
+    break;
-                 */
-        case 11://Extern Control
+  case 11: //Extern Control
-                LCD_printfxy(0,0,"ExternControl  " );
+    LCD_printfxy(0, 0, "ExternControl  ");
+    LCD_printfxy(0, 1, "Ni:%4i  Ro:%4i ",
-                LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ", externalControl.pitch, externalControl.roll);
+        externalControl.pitch, externalControl.roll);
+    LCD_printfxy(0, 2, "Gs:%4i  Ya:%4i ",
-                LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ", externalControl.throttle, externalControl.yaw);
+        externalControl.throttle, externalControl.yaw);
+    LCD_printfxy(0, 3, "Hi:%4i  Cf:%4i ",
-                LCD_printfxy(0,3,"Hi:%4i  Cf:%4i ", externalControl.height, externalControl.config);
+        externalControl.height, externalControl.config);
-                break;
+    break;
-        case 12://BL Communication errors
+  case 12: //BL Communication errors
-                LCD_printfxy(0,0,"BL-Ctrl Errors " );
+    LCD_printfxy(0, 0, "BL-Ctrl Errors ");
+    LCD_printfxy(0, 1, " %3d  %3d  %3d  %3d ",
-                LCD_printfxy(0,1," %3d  %3d  %3d  %3d ",motor[0].error,motor[1].error,motor[2].error,motor[3].error);
+        motor[0].error, motor[1].error, motor[2].error, motor[3].error);
+    LCD_printfxy(0, 2, " %3d  %3d  %3d  %3d ",
-                LCD_printfxy(0,2," %3d  %3d  %3d  %3d ",motor[4].error,motor[5].error,motor[6].error,motor[7].error);
+        motor[4].error, motor[5].error, motor[6].error, motor[7].error);
+    LCD_printfxy(0, 3, " %3d  %3d  %3d  %3d ",
-                LCD_printfxy(0,3," %3d  %3d  %3d  %3d ",motor[8].error,motor[9].error,motor[10].error,motor[11].error);
+        motor[8].error, motor[9].error, motor[10].error, motor[11].error);
-                break;
+    break;
-        case 13://BL Overview
+  case 13: //BL Overview
-                LCD_printfxy(0,0,"BL-Ctrl found " );
+    LCD_printfxy(0, 0, "BL-Ctrl found ");
+    LCD_printfxy(
+,
+,
+        " %c   %c   %c   %c ",
-                LCD_printfxy(0,1," %c   %c   %c   %c ",motor[0].present + '-',motor[1].present + '-',motor[2].present + '-',motor[3].present + '-');
+        motor[0].present + '-', motor[1].present + '-', motor[2].present + '-', motor[3].present + '-');
+    LCD_printfxy(
+,
+,
+        " %c   %c   %c   %c ",
-                LCD_printfxy(0,2," %c   %c   %c   %c ",motor[4].present + '-',motor[5].present + '-',motor[6].present + '-',motor[7].present + '-');
+        motor[4].present + '-', motor[5].present + '-', motor[6].present + '-', motor[7].present + '-');
-                LCD_printfxy(0,3," %c   -   -   - ",motor[8].present + '-');
+    LCD_printfxy(0, 3, " %c   -   -   - ", motor[8].present + '-');
-                if (motor[9].present)
+    if (motor[9].present)
-                        LCD_printfxy(4,3,"10");
+      LCD_printfxy(4, 3, "10");
-                if (motor[10].present)
+    if (motor[10].present)
-                        LCD_printfxy(8,3,"11");
+      LCD_printfxy(8, 3, "11");
-                if (motor[11].present)
+    if (motor[11].present)
-                        LCD_printfxy(12,3,"12");
+      LCD_printfxy(12, 3, "12");
-                break;
+    break;
 #if (defined (USE_NAVICTRL))
-                case 14://GPS Lat/Lon coords
+    case 14: //GPS Lat/Lon coords
-                if (GPSInfo.status == INVALID) {
+    if (GPSInfo.status == INVALID) {
-                        LCD_printfxy(0,0,"No GPS data!");
+      LCD_printfxy(0,0,"No GPS data!");
-                } else {
+    } else {
-                        switch (GPSInfo.satfix)
+      switch (GPSInfo.satfix)
+      {
-                                case SATFIX_NONE:
+        case SATFIX_NONE:
-                                LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
+        LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum);
-                                break;
+        break;
-                                case SATFIX_2D:
+        case SATFIX_2D:
-                                LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
+        LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum);
-                                break;
+        break;
-                                case SATFIX_3D:
+        case SATFIX_3D:
-                                LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
+        LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum);
-                                break;
+        break;
-                                default:
+        default:
-                                LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
+        LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum);
-                                break;
+        break;
+      }
-                        int16_t i1,i2,i3;
+      int16_t i1,i2,i3;
-                        i1 = (int16_t)(GPSInfo.longitude/10000000L);
+      i1 = (int16_t)(GPSInfo.longitude/10000000L);
-                        i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
+      i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L));
-                        i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
+      i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L));
-                        LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3);
+      LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3);
-                        i1 = (int16_t)(GPSInfo.latitude/10000000L);
+      i1 = (int16_t)(GPSInfo.latitude/10000000L);
-                        i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
+      i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L));
-                        i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
+      i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L));
-                        LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3);
+      LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3);
-                        i1 = (int16_t)(GPSInfo.altitude/1000L);
+      i1 = (int16_t)(GPSInfo.altitude/1000L);
-                        i2 = abs((int16_t)(GPSInfo.altitude%1000L));
+      i2 = abs((int16_t)(GPSInfo.altitude%1000L));
-                        LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2);
+      LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2);
+    }
-                break;
+    break;
 #endif
-        default:
+  default:
-                maxMenuItem = menuItem - 1;
+    maxMenuItem = menuItem - 1;
-                menuItem = 0;
+    menuItem = 0;
-                break;
+    break;
+  }
-        remoteKeys = 0;
+  remoteKeys = 0;
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/menu.c - Rev 2041 → 2048