WebSVN - NaviCtrl - Diff - Rev 123 and 124


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig 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, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 permitted
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// +     Commercial use (for excample: 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 this software (or part of it) 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
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// +  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 "91x_lib.h"
#include "printf_P.h"
#include "main.h"
#include "ubx.h"
#include "GPS.h"
#include "timer1.h"
#include "i2c.h"
#include "spi_slave.h"
#include "menu.h"
#include "uart1.h"
 
s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
u8 DispPtr = 0;
 
u8 MenuItem = 0;
u8 MaxMenuItem = 14;
u8 RemoteKeys = 0;
 
#define KEY1    0x01
#define KEY2    0x02
#define KEY3    0x04
#define KEY4    0x08
#define KEY5    0x10
 
/************************************/
/*        Clear LCD Buffer          */
/************************************/
void LCD_Clear(void)
{
 u8 i;
 for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
}
 
 
/************************************/
/*        Update Menu on LCD        */
/************************************/
// Display with 20 characters in 4 lines
void LCD_PrintMenu(void)
{
        s32 i1,i2;
        u8 sign;
        if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;}
        if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
        if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0;
 
        LCD_Clear();
        if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
        // print menu item number in the upper right corner
        if(MenuItem < 10)
        {
                LCD_printfxy(17,0,"[%i]",MenuItem);
        }
        else
        {
                LCD_printfxy(16,0,"[%i]",MenuItem);
        }
 
        switch(MenuItem)
        {
                // Version Info
                case 0:
                        LCD_printfxy(0,0,"++  Navi-Ctrl  ++");
                        LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
            if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1,"       ");
            LCD_printfxy(0,2,"%s",ErrorMSG);
                        LCD_printfxy(0,3,"(c) Buss, Busker");
                        break;
                case 1:
                        if (GPSData.Status == INVALID)
                        {
                                LCD_printfxy(0,0,"No GPS data");
                                LCD_printfxy(0,1,"Lon:                ");
                                LCD_printfxy(0,2,"Lat:                ");
                                LCD_printfxy(0,3,"Alt:                ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
                                switch (GPSData.SatFix)
                                {
                                case SATFIX_NONE:
                                        LCD_printfxy(7,0,"Fix:No");
                                        break;
                                case SATFIX_2D:
                                        LCD_printfxy(7,0,"Fix:2D");
                                        break;
                                case SATFIX_3D:
                                        LCD_printfxy(7,0,"Fix:3D");
                                        break;
                                default:
                                        LCD_printfxy(7,0,"Fix:??");
                                        break;
                                }
                                if(GPSData.Flags & FLAG_DIFFSOLN)
                                {
                                        LCD_printfxy(13,0,"SBAS");
                                }
                                else
                                {
                                        LCD_printfxy(13,0,"    ");
                                }
 
                                if(GPSData.Position.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Longitude)/10000000L;
                                i2 = abs(GPSData.Position.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPSData.Position.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Latitude)/10000000L;
                                i2 = abs(GPSData.Position.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPSData.Position.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Altitude)/1000L;
                                i2 = abs(GPSData.Position.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
                        }
                        break;
                case 2:
                        if (GPSData.Status == INVALID)
                        {
                                LCD_printfxy(0,0,"No GPS data");
                                LCD_printfxy(0,1,"Speed N:            ");
                                LCD_printfxy(0,2,"Speed E:            ");
                                LCD_printfxy(0,3,"Speed T:            ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
                                switch (GPSData.SatFix)
                                {
                                case SATFIX_NONE:
                                        LCD_printfxy(7,0,"Fix:No");
                                        break;
                                case SATFIX_2D:
                                        LCD_printfxy(7,0,"Fix:2D");
                                        break;
                                case SATFIX_3D:
                                        LCD_printfxy(7,0,"Fix:3D");
                                        break;
                                default:
                                        LCD_printfxy(7,0,"Fix:??");
                                        break;
                                }
                                if(GPSData.Flags & FLAG_DIFFSOLN)
                                {
                                        LCD_printfxy(13,0,"SBAS");
                                }
                                else
                                {
                                        LCD_printfxy(13,0,"    ");
                                }
 
                                LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
                                LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
                                LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
                        }
                        break;
                case 3:
                        LCD_printfxy(0,0,"GPS UTC Time");
                        if (!SystemTime.Valid)
                        {
                                LCD_printfxy(0,0,"GPS UTC Time");
                                LCD_printfxy(0,1,"                    ");
                                LCD_printfxy(0,2,"  No time data!     ");
                                LCD_printfxy(0,3,"                    ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,1,"                    ");
                                LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
                                LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
 
                        }
                        break;
                case 4: // Navi Params 1 from FC
                        LCD_printfxy(0,0,"NaviMode: %3i" ,  Parameter.NaviGpsModeControl);
            LCD_printfxy(0,1,"G  :%3i P  :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
            LCD_printfxy(0,2,"I  :%3i D  :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
                    LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
                        break;
                case 5: // Navi Params 2 from FC
                        LCD_printfxy(0,0,"Stick TS:  %3i", Parameter.NaviStickThreshold);
            LCD_printfxy(0,1,"MaxRadius: %3i m", Parameter.NaviOperatingRadius);
            LCD_printfxy(0,2,"WindCorr:  %3i", Parameter.NaviWindCorrection);
                    LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);
                        break;
                case 6: // Navi Params 3 from FC
                        LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
            LCD_printfxy(0,1,"    P-Limit: %3i", Parameter.NaviGpsPLimit);
            LCD_printfxy(0,2,"    I-Limit: %3i", Parameter.NaviGpsILimit);
                    LCD_printfxy(0,3,"    D-Limit: %3i", Parameter.NaviGpsDLimit);
                        break;
                case 7:
                        LCD_printfxy(0,0,"Home Position");
                        if(GPS_HomePosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");
                                LCD_printfxy(0,3,"                     ");
                        }
                        else
                        {
                                if(GPS_HomePosition.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPS_HomePosition.Longitude)/10000000L;
                                i2 = abs(GPS_HomePosition.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPS_HomePosition.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPS_HomePosition.Latitude)/10000000L;
                                i2 = abs(GPS_HomePosition.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPS_HomePosition.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPS_HomePosition.Altitude)/1000L;
                                i2 = abs(GPS_HomePosition.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
                        }
                        break;
                case 8: // RC stick controls from FC
                        LCD_printfxy(0,0,"RC-Sticks" );
            LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",FC.StickNick, FC.StickRoll);
            LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",FC.StickGas, FC.StickYaw);
                        break;
                case 9: // RC poti controls from FC
                        LCD_printfxy(0,0,"RC-Potis" );
            LCD_printfxy(0,1,"Po1:%3i  Po2:%3i ",FC.Poti1, FC.Poti2);
            LCD_printfxy(0,2,"Po3:%3i  Po4:%3i ",FC.Poti3, FC.Poti4);
                        break;
                case 10: // attitude from FC
                        if(FromFlightCtrl.AngleNick < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AngleNick)/10;
                        i2 = abs(FromFlightCtrl.AngleNick)%10;
                        LCD_printfxy(0,0,"GyroNick:%c%03i.%01i", sign, i1, i2);
                        if(FromFlightCtrl.AngleRoll < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AngleRoll)/10;
                        i2 = abs(FromFlightCtrl.AngleRoll)%10;
            LCD_printfxy(0,1,"GyroRoll:%c%03i.%01i", sign, i1, i2);
                        if(FromFlightCtrl.AccNick < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AccNick)/10;
                        i2 = abs(FromFlightCtrl.AccNick)%10;
                        LCD_printfxy(0,2," AccNick:%c%03i.%01i", sign, i1, i2);
                        if(FromFlightCtrl.AccRoll < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AccRoll)/10;
                        i2 = abs(FromFlightCtrl.AccRoll)%10;
            LCD_printfxy(0,3," AccRoll:%c%03i.%01i", sign, i1, i2);
                        break;
                case 11: // gyros from FC
                        LCD_printfxy(0,0,"GyroNick:  %4i", FromFlightCtrl.GyroNick);
            LCD_printfxy(0,1,"GyroRoll:  %4i", FromFlightCtrl.GyroRoll);
                        LCD_printfxy(0,2,"GyroYaw:   %4i", FromFlightCtrl.GyroYaw);
                        break;
                case 12: // Remote Control Level from FC
            LCD_printfxy(0,0,"RC-Level:    %3i", FC.RC_Quality);
                        LCD_printfxy(0,1,"Ubat:        %3i.%1i V", FC.UBat/10, FC.UBat%10);
                        LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading);
                        LCD_printfxy(0,3,"GyroHeading: %3i", FromFlightCtrl.GyroHeading/10);
            break;
                case 13: // User Parameter
                        LCD_printfxy(0,0,"UP1:%3i  UP2:%3i ",Parameter.User1,Parameter.User2);
                        LCD_printfxy(0,1,"UP3:%3i  UP4:%3i ",Parameter.User3,Parameter.User4);
                        LCD_printfxy(0,2,"UP5:%3i  UP6:%3i ",Parameter.User5,Parameter.User6);
                        LCD_printfxy(0,3,"UP7:%3i  UP8:%3i ",Parameter.User7,Parameter.User8);
                        break;
                case 14: // MK3MAG
                        I2C1_SendCommand(I2C_CMD_READ_MAG);
                        LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch);
                        LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX);
                        LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY);
                        LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ);
                        break;
                default:
                        MaxMenuItem = MenuItem - 1;
                        MenuItem = 0;
                        break;
    }
        RemoteKeys = 0;
}
 

Rev 123	Rev 124
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch	6	// + Nur für den privaten Gebrauch
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	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.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	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	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.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	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	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	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	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	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	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <stdlib.h>	57	#include <stdlib.h>
58	#include "91x_lib.h"	58	#include "91x_lib.h"
59	#include "printf_P.h"	59	#include "printf_P.h"
60	#include "main.h"	60	#include "main.h"
61	#include "ubx.h"	61	#include "ubx.h"
62	#include "GPS.h"	62	#include "GPS.h"
63	#include "timer1.h"	63	#include "timer1.h"
64	#include "i2c.h"	64	#include "i2c.h"
65	#include "spi_slave.h"	65	#include "spi_slave.h"
66	#include "menu.h"	66	#include "menu.h"
67	#include "uart1.h"	67	#include "uart1.h"
68		68
69	s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";	69	s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";
70	u8 DispPtr = 0;	70	u8 DispPtr = 0;
71		71
72	u8 MenuItem = 0;	72	u8 MenuItem = 0;
73	u8 MaxMenuItem = 14;	73	u8 MaxMenuItem = 14;
74	u8 RemoteKeys = 0;	74	u8 RemoteKeys = 0;
75		75
76	#define KEY1 0x01	76	#define KEY1 0x01
77	#define KEY2 0x02	77	#define KEY2 0x02
78	#define KEY3 0x04	78	#define KEY3 0x04
79	#define KEY4 0x08	79	#define KEY4 0x08
80	#define KEY5 0x10	80	#define KEY5 0x10
81		81
82	/************************************/	82	/************************************/
83	/* Clear LCD Buffer */	83	/* Clear LCD Buffer */
84	/************************************/	84	/************************************/
85	void LCD_Clear(void)	85	void LCD_Clear(void)
86	{	86	{
87	u8 i;	87	u8 i;
88	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';	88	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
89	}	89	}
90		90
91		91
92	/************************************/	92	/************************************/
93	/* Update Menu on LCD */	93	/* Update Menu on LCD */
94	/************************************/	94	/************************************/
95	// Display with 20 characters in 4 lines	95	// Display with 20 characters in 4 lines
96	void LCD_PrintMenu(void)	96	void LCD_PrintMenu(void)
97	{	97	{
98	s32 i1,i2;	98	s32 i1,i2;
99	u8 sign;	99	u8 sign;
100	if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;}	100	if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;}
101	if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}	101	if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
102	if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0;	102	if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0;
103		103
104	LCD_Clear();	104	LCD_Clear();
105	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;	105	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
106	// print menu item number in the upper right corner	106	// print menu item number in the upper right corner
107	if(MenuItem < 10)	107	if(MenuItem < 10)
108	{	108	{
109	LCD_printfxy(17,0,"[%i]",MenuItem);	109	LCD_printfxy(17,0,"[%i]",MenuItem);
110	}	110	}
111	else	111	else
112	{	112	{
113	LCD_printfxy(16,0,"[%i]",MenuItem);	113	LCD_printfxy(16,0,"[%i]",MenuItem);
114	}	114	}
115		115
116	switch(MenuItem)	116	switch(MenuItem)
117	{	117	{
118	// Version Info	118	// Version Info
119	case 0:	119	case 0:
120	LCD_printfxy(0,0,"++ Navi-Ctrl ++");	120	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
121	LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	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," ");	122	if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," ");
123	LCD_printfxy(0,2,"%s",ErrorMSG);	123	LCD_printfxy(0,2,"%s",ErrorMSG);
124	LCD_printfxy(0,3,"(c) Buss, Busker");	124	LCD_printfxy(0,3,"(c) Buss, Busker");
125	break;	125	break;
126	case 1:	126	case 1:
127	if (GPSData.Status == INVALID)	127	if (GPSData.Status == INVALID)
128	{	128	{
129	LCD_printfxy(0,0,"No GPS data");	129	LCD_printfxy(0,0,"No GPS data");
130	LCD_printfxy(0,1,"Lon: ");	130	LCD_printfxy(0,1,"Lon: ");
131	LCD_printfxy(0,2,"Lat: ");	131	LCD_printfxy(0,2,"Lat: ");
132	LCD_printfxy(0,3,"Alt: ");	132	LCD_printfxy(0,3,"Alt: ");
133	}	133	}
134	else // newdata or processed	134	else // newdata or processed
135	{	135	{
136	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	136	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
137	switch (GPSData.SatFix)	137	switch (GPSData.SatFix)
138	{	138	{
139	case SATFIX_NONE:	139	case SATFIX_NONE:
140	LCD_printfxy(7,0,"Fix:No");	140	LCD_printfxy(7,0,"Fix:No");
141	break;	141	break;
142	case SATFIX_2D:	142	case SATFIX_2D:
143	LCD_printfxy(7,0,"Fix:2D");	143	LCD_printfxy(7,0,"Fix:2D");
144	break;	144	break;
145	case SATFIX_3D:	145	case SATFIX_3D:
146	LCD_printfxy(7,0,"Fix:3D");	146	LCD_printfxy(7,0,"Fix:3D");
147	break;	147	break;
148	default:	148	default:
149	LCD_printfxy(7,0,"Fix:??");	149	LCD_printfxy(7,0,"Fix:??");
150	break;	150	break;
151	}	151	}
152	if(GPSData.Flags & FLAG_DIFFSOLN)	152	if(GPSData.Flags & FLAG_DIFFSOLN)
153	{	153	{
154	LCD_printfxy(13,0,"SBAS");	154	LCD_printfxy(13,0,"SBAS");
155	}	155	}
156	else	156	else
157	{	157	{
158	LCD_printfxy(13,0," ");	158	LCD_printfxy(13,0," ");
159	}	159	}
160		160
161	if(GPSData.Position.Longitude < 0) sign = '-';	161	if(GPSData.Position.Longitude < 0) sign = '-';
162	else sign = '+';	162	else sign = '+';
163	i1 = abs(GPSData.Position.Longitude)/10000000L;	163	i1 = abs(GPSData.Position.Longitude)/10000000L;
164	i2 = abs(GPSData.Position.Longitude)%10000000L;	164	i2 = abs(GPSData.Position.Longitude)%10000000L;
165	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	165	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
166	if(GPSData.Position.Latitude < 0) sign = '-';	166	if(GPSData.Position.Latitude < 0) sign = '-';
167	else sign = '+';	167	else sign = '+';
168	i1 = abs(GPSData.Position.Latitude)/10000000L;	168	i1 = abs(GPSData.Position.Latitude)/10000000L;
169	i2 = abs(GPSData.Position.Latitude)%10000000L;	169	i2 = abs(GPSData.Position.Latitude)%10000000L;
170	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	170	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
171	if(GPSData.Position.Altitude < 0) sign = '-';	171	if(GPSData.Position.Altitude < 0) sign = '-';
172	else sign = '+';	172	else sign = '+';
173	i1 = abs(GPSData.Position.Altitude)/1000L;	173	i1 = abs(GPSData.Position.Altitude)/1000L;
174	i2 = abs(GPSData.Position.Altitude)%1000L;	174	i2 = abs(GPSData.Position.Altitude)%1000L;
175	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);	175	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
176	}	176	}
177	break;	177	break;
178	case 2:	178	case 2:
179	if (GPSData.Status == INVALID)	179	if (GPSData.Status == INVALID)
180	{	180	{
181	LCD_printfxy(0,0,"No GPS data");	181	LCD_printfxy(0,0,"No GPS data");
182	LCD_printfxy(0,1,"Speed N: ");	182	LCD_printfxy(0,1,"Speed N: ");
183	LCD_printfxy(0,2,"Speed E: ");	183	LCD_printfxy(0,2,"Speed E: ");
184	LCD_printfxy(0,3,"Speed T: ");	184	LCD_printfxy(0,3,"Speed T: ");
185	}	185	}
186	else // newdata or processed	186	else // newdata or processed
187	{	187	{
-		188	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
188	switch (GPSData.SatFix)	189	switch (GPSData.SatFix)
189	{	190	{
190	case SATFIX_NONE:	191	case SATFIX_NONE:
191	LCD_printfxy(0,0,"Sat:%02d Fix:No ", GPSData.NumOfSats);	192	LCD_printfxy(7,0,"Fix:No");
192	break;	193	break;
193	case SATFIX_2D:	194	case SATFIX_2D:
194	LCD_printfxy(0,0,"Sat:%02d Fix:2D ", GPSData.NumOfSats);	195	LCD_printfxy(7,0,"Fix:2D");
195	break;	196	break;
196	case SATFIX_3D:	197	case SATFIX_3D:
197	LCD_printfxy(0,0,"Sat:%02d Fix:3D ", GPSData.NumOfSats);	198	LCD_printfxy(7,0,"Fix:3D");
198	break;	199	break;
199	default:	200	default:
200	LCD_printfxy(0,0,"Sat:%02d Fix:?? ", GPSData.NumOfSats);	201	LCD_printfxy(7,0,"Fix:??");
201	break;	202	break;
202	}	203	}
-		204	if(GPSData.Flags & FLAG_DIFFSOLN)
-		205	{
-		206	LCD_printfxy(13,0,"SBAS");
-		207	}
-		208	else
-		209	{
-		210	LCD_printfxy(13,0," ");
-		211	}
-		212
203	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);	213	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
204	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);	214	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
205	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);	215	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
206	}	216	}
207	break;	217	break;
208	case 3:	218	case 3:
209	LCD_printfxy(0,0,"GPS UTC Time");	219	LCD_printfxy(0,0,"GPS UTC Time");
210	if (!SystemTime.Valid)	220	if (!SystemTime.Valid)
211	{	221	{
212	LCD_printfxy(0,0,"GPS UTC Time");	222	LCD_printfxy(0,0,"GPS UTC Time");
213	LCD_printfxy(0,1," ");	223	LCD_printfxy(0,1," ");
214	LCD_printfxy(0,2," No time data! ");	224	LCD_printfxy(0,2," No time data! ");
215	LCD_printfxy(0,3," ");	225	LCD_printfxy(0,3," ");
216	}	226	}
217	else // newdata or processed	227	else // newdata or processed
218	{	228	{
219	LCD_printfxy(0,1," ");	229	LCD_printfxy(0,1," ");
220	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);	230	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
221	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);	231	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
222		232
223	}	233	}
224	break;	234	break;
225	case 4: // Navi Params 1 from FC	235	case 4: // Navi Params 1 from FC
226	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	236	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
227	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);	237	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
228	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);	238	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
229	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);	239	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
230	break;	240	break;
231	case 5: // Navi Params 2 from FC	241	case 5: // Navi Params 2 from FC
232	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	242	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
233	LCD_printfxy(0,1,"MaxRadius: %3i m", Parameter.NaviOperatingRadius);	243	LCD_printfxy(0,1,"MaxRadius: %3i m", Parameter.NaviOperatingRadius);
234	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	244	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
235	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);	245	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);
236	break;	246	break;
237	case 6: // Navi Params 3 from FC	247	case 6: // Navi Params 3 from FC
238	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	248	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
239	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	249	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
240	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	250	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
241	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	251	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
242	break;	252	break;
243	case 7:	253	case 7:
244	LCD_printfxy(0,0,"Home Position");	254	LCD_printfxy(0,0,"Home Position");
245	if(GPS_HomePosition.Status == INVALID)	255	if(GPS_HomePosition.Status == INVALID)
246	{	256	{
247	LCD_printfxy(0,1," ");	257	LCD_printfxy(0,1," ");
248	LCD_printfxy(0,2," Is not set. ");	258	LCD_printfxy(0,2," Is not set. ");
249	LCD_printfxy(0,3," ");	259	LCD_printfxy(0,3," ");
250	}	260	}
251	else	261	else
252	{	262	{
253	if(GPS_HomePosition.Longitude < 0) sign = '-';	263	if(GPS_HomePosition.Longitude < 0) sign = '-';
254	else sign = '+';	264	else sign = '+';
255	i1 = abs(GPS_HomePosition.Longitude)/10000000L;	265	i1 = abs(GPS_HomePosition.Longitude)/10000000L;
256	i2 = abs(GPS_HomePosition.Longitude)%10000000L;	266	i2 = abs(GPS_HomePosition.Longitude)%10000000L;
257	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	267	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
258	if(GPS_HomePosition.Latitude < 0) sign = '-';	268	if(GPS_HomePosition.Latitude < 0) sign = '-';
259	else sign = '+';	269	else sign = '+';
260	i1 = abs(GPS_HomePosition.Latitude)/10000000L;	270	i1 = abs(GPS_HomePosition.Latitude)/10000000L;
261	i2 = abs(GPS_HomePosition.Latitude)%10000000L;	271	i2 = abs(GPS_HomePosition.Latitude)%10000000L;
262	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	272	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
263	if(GPS_HomePosition.Altitude < 0) sign = '-';	273	if(GPS_HomePosition.Altitude < 0) sign = '-';
264	else sign = '+';	274	else sign = '+';
265	i1 = abs(GPS_HomePosition.Altitude)/1000L;	275	i1 = abs(GPS_HomePosition.Altitude)/1000L;
266	i2 = abs(GPS_HomePosition.Altitude)%1000L;	276	i2 = abs(GPS_HomePosition.Altitude)%1000L;
267	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	277	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
268	}	278	}
269	break;	279	break;
270	case 8: // RC stick controls from FC	280	case 8: // RC stick controls from FC
271	LCD_printfxy(0,0,"RC-Sticks" );	281	LCD_printfxy(0,0,"RC-Sticks" );
272	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	282	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
273	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	283	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
274	break;	284	break;
275	case 9: // RC poti controls from FC	285	case 9: // RC poti controls from FC
276	LCD_printfxy(0,0,"RC-Potis" );	286	LCD_printfxy(0,0,"RC-Potis" );
277	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti1, FC.Poti2);	287	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti1, FC.Poti2);
278	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti3, FC.Poti4);	288	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti3, FC.Poti4);
279	break;	289	break;
280	case 10: // attitude from FC	290	case 10: // attitude from FC
281	if(FromFlightCtrl.AngleNick < 0) sign = '-';	291	if(FromFlightCtrl.AngleNick < 0) sign = '-';
282	else sign = '+';	292	else sign = '+';
283	i1 = abs(FromFlightCtrl.AngleNick)/10;	293	i1 = abs(FromFlightCtrl.AngleNick)/10;
284	i2 = abs(FromFlightCtrl.AngleNick)%10;	294	i2 = abs(FromFlightCtrl.AngleNick)%10;
285	LCD_printfxy(0,0,"GyroNick:%c%03i.%01i", sign, i1, i2);	295	LCD_printfxy(0,0,"GyroNick:%c%03i.%01i", sign, i1, i2);
286	if(FromFlightCtrl.AngleRoll < 0) sign = '-';	296	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
287	else sign = '+';	297	else sign = '+';
288	i1 = abs(FromFlightCtrl.AngleRoll)/10;	298	i1 = abs(FromFlightCtrl.AngleRoll)/10;
289	i2 = abs(FromFlightCtrl.AngleRoll)%10;	299	i2 = abs(FromFlightCtrl.AngleRoll)%10;
290	LCD_printfxy(0,1,"GyroRoll:%c%03i.%01i", sign, i1, i2);	300	LCD_printfxy(0,1,"GyroRoll:%c%03i.%01i", sign, i1, i2);
291	if(FromFlightCtrl.AccNick < 0) sign = '-';	301	if(FromFlightCtrl.AccNick < 0) sign = '-';
292	else sign = '+';	302	else sign = '+';
293	i1 = abs(FromFlightCtrl.AccNick)/10;	303	i1 = abs(FromFlightCtrl.AccNick)/10;
294	i2 = abs(FromFlightCtrl.AccNick)%10;	304	i2 = abs(FromFlightCtrl.AccNick)%10;
295	LCD_printfxy(0,2," AccNick:%c%03i.%01i", sign, i1, i2);	305	LCD_printfxy(0,2," AccNick:%c%03i.%01i", sign, i1, i2);
296	if(FromFlightCtrl.AccRoll < 0) sign = '-';	306	if(FromFlightCtrl.AccRoll < 0) sign = '-';
297	else sign = '+';	307	else sign = '+';
298	i1 = abs(FromFlightCtrl.AccRoll)/10;	308	i1 = abs(FromFlightCtrl.AccRoll)/10;
299	i2 = abs(FromFlightCtrl.AccRoll)%10;	309	i2 = abs(FromFlightCtrl.AccRoll)%10;
300	LCD_printfxy(0,3," AccRoll:%c%03i.%01i", sign, i1, i2);	310	LCD_printfxy(0,3," AccRoll:%c%03i.%01i", sign, i1, i2);
301	break;	311	break;
302	case 11: // gyros from FC	312	case 11: // gyros from FC
303	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);	313	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
304	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);	314	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
305	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);	315	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
306	break;	316	break;
307	case 12: // Remote Control Level from FC	317	case 12: // Remote Control Level from FC
308	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);	318	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);
309	LCD_printfxy(0,1,"Ubat: %3i.%1i V", FC.UBat/10, FC.UBat%10);	319	LCD_printfxy(0,1,"Ubat: %3i.%1i V", FC.UBat/10, FC.UBat%10);
310	LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading);	320	LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading);
311	LCD_printfxy(0,3,"GyroHeading: %3i", FromFlightCtrl.GyroHeading/10);	321	LCD_printfxy(0,3,"GyroHeading: %3i", FromFlightCtrl.GyroHeading/10);
312	break;	322	break;
313	case 13: // User Parameter	323	case 13: // User Parameter
314	LCD_printfxy(0,0,"UP1:%3i UP2:%3i ",Parameter.User1,Parameter.User2);	324	LCD_printfxy(0,0,"UP1:%3i UP2:%3i ",Parameter.User1,Parameter.User2);
315	LCD_printfxy(0,1,"UP3:%3i UP4:%3i ",Parameter.User3,Parameter.User4);	325	LCD_printfxy(0,1,"UP3:%3i UP4:%3i ",Parameter.User3,Parameter.User4);
316	LCD_printfxy(0,2,"UP5:%3i UP6:%3i ",Parameter.User5,Parameter.User6);	326	LCD_printfxy(0,2,"UP5:%3i UP6:%3i ",Parameter.User5,Parameter.User6);
317	LCD_printfxy(0,3,"UP7:%3i UP8:%3i ",Parameter.User7,Parameter.User8);	327	LCD_printfxy(0,3,"UP7:%3i UP8:%3i ",Parameter.User7,Parameter.User8);
318	break;	328	break;
319	case 14: // MK3MAG	329	case 14: // MK3MAG
320	I2C1_SendCommand(I2C_CMD_READ_MAG);	330	I2C1_SendCommand(I2C_CMD_READ_MAG);
321	LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch);	331	LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch);
322	LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX);	332	LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX);
323	LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY);	333	LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY);
324	LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ);	334	LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ);
325	break;	335	break;
326	default:	336	default:
327	MaxMenuItem = MenuItem - 1;	337	MaxMenuItem = MenuItem - 1;
328	MenuItem = 0;	338	MenuItem = 0;
329	break;	339	break;
330	}	340	}
331	RemoteKeys = 0;	341	RemoteKeys = 0;
332	}	342	}
333		343

Subversion Repositories NaviCtrl

(root)/tags/V0.18c/menu.c @ 662 - Rev 123 → 124