WebSVN - NaviCtrl - Diff - Rev 264 and 267


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + 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 oder Nutzung 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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// +     clearly linked as origin
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//
// +  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
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// +  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 "main.h"
#include "led.h"
#include "ubx.h"
#include "GPS.h"
#include "timer1.h"
#include "compass.h"
#include "spi_slave.h"
#include "menu.h"
#include "uart1.h"
#include "ncmag.h"
 
u8 DispPtr = 0;
s8 DisplayBuff[DISPLAYBUFFSIZE];
 
 
u8 MenuItem = 0;
u8 MaxMenuItem = 15;
 
 
 
void Menu_Putchar(char c)
{
   if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
}
 
void Menu_Clear(void)
{
        u8 i;
        for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
}
 
 
// Display with 20 characters in 4 lines
void Menu_Update(u8 Keys)
{
        s32 i1,i2;
        u8 sign;
 
        if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
        if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
        if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
        if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
        Menu_Clear();
        // print menu item number in the upper right corner
        if(MenuItem < 10)
        {
                LCD_printfxy(17,0,"[%i]",MenuItem);
        }
        else // Menuitem >= 10
        {
                LCD_printfxy(16,0,"[%i]",MenuItem);
        }
 
        switch(MenuItem)
        {
                // Version Info
                case 0:
                        LCD_printfxy(0,0,"++  Navi-Ctrl  ++");
                        LCD_printfxy(0,1,"HW V%d.%d SW V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
            if(ErrorCode)
                        {
                                LCD_printfxy(0,2,"Error: %d",ErrorCode);
                LCD_printfxy(0,3,"%s",ErrorMSG);
                        }
                        else 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,"NoFix");
                                        break;
                                case SATFIX_2D:
                                        LCD_printfxy(7,0,"2DFix");
                                        break;
                                case SATFIX_3D:
                                        LCD_printfxy(7,0,"3DFix");
                                        break;
                                default:
                                        LCD_printfxy(7,0,"??Fix");
                                        break;
                                }
                                if(GPSData.Flags & FLAG_DIFFSOLN)
                                {
                                        LCD_printfxy(12,0,"/DGPS");
                                }
                                else
                                {
                                        LCD_printfxy(12,0,"     ");
                                }
 
                                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,"NoFix");
                                        break;
                                case SATFIX_2D:
                                        LCD_printfxy(7,0,"2DFix");
                                        break;
                                case SATFIX_3D:
                                        LCD_printfxy(7,0,"3DFix");
                                        break;
                                default:
                                        LCD_printfxy(7,0,"??Fix");
                                        break;
                                }
                                if(GPSData.Flags & FLAG_DIFFSOLN)
                                {
                                        LCD_printfxy(12,0,"/DGPS");
                                }
                                else
                                {
                                        LCD_printfxy(12,0,"     ");
                                }
 
                                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(0,1,"                    ");
                                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", NaviData.OperatingRadius);
            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(NaviData.HomePosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");
                                LCD_printfxy(0,3,"                     ");
                        }
                        else
                        {
                                if(NaviData.HomePosition.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
                                i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.HomePosition.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
                                i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.HomePosition.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Altitude)/1000L;
                                i2 = abs(NaviData.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 1" );
            LCD_printfxy(0,1,"Po1:%3i  Po2:%3i ",FC.Poti[0], FC.Poti[1]);
            LCD_printfxy(0,2,"Po3:%3i  Po4:%3i ",FC.Poti[2], FC.Poti[3]);
                        break;
                case 10: // RC poti controls from FC
                        LCD_printfxy(0,0,"RC-Potis 2" );
            LCD_printfxy(0,1,"Po5:%3i  Po6:%3i ",FC.Poti[4], FC.Poti[5]);
            LCD_printfxy(0,2,"Po7:%3i  Po8:%3i ",FC.Poti[6], FC.Poti[7]);
                        break;
                case 11: // 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%03ld.%01ld", 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%03ld.%01ld", 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%03ld.%01ld", 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%03ld.%01ld", sign, i1, i2);
                        break;
                case 12: // 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 13: // Remote Control Level from FC
            LCD_printfxy(0,0,"RC-Level:    %3i", FC.RC_Quality);
                        LCD_printfxy(0,1,"Ubat:        %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);
                        LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);
                        if(GeoMagDec < 0) sign = '-';
                        else sign = '+';
                        LCD_printfxy(0,3,"GeoMagDec:  %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
            break;
                case 14: // 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 15: // magnetic field
                        if(Compass_Device == COMPASS_NCMAG)
                        {
                                if(Compass_CalState)
                                {
                                        LCD_printfxy(0,0,"Calibration:");
                                        LCD_printfxy(0,1,"Step %d/", Compass_CalState);
                                        LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
                                        LCD_printfxy(9,3,"(ESC)(NEXT)");
                                        switch(Compass_CalState)
                                        {
                                                case 1:
                                                case 3:
                                                        LCD_printfxy(7,1,"pause");
                                                        break;
       
                                                case 2:
                                                        LCD_printfxy(7,1,"horizontal");
                                                        break;
       
                                                case 4:
                                                        LCD_printfxy(7,1,"vertical");
                                                        break;
       
                                                case 5:
                                                        LCD_printfxy(7,1,"data saved");
                                                        LCD_printfxy(8,3,"      (END) ");
                                                        break;
                                               
                                                default:
                                                        break;
                                        }
                                }
                                else
                                {
                                        LCD_printfxy(0,0,"Magnetic Field");
                                        LCD_printfxy(0,1,"X:%5i (%4i) ",MagVector.X, MagRawVector.X);
                                        LCD_printfxy(0,2,"Y:%5i (%4i) ",MagVector.Y, MagRawVector.Y);
                                        LCD_printfxy(0,3,"Z:%5i (%4i) ",MagVector.Z, MagRawVector.Z);
                                        LCD_printfxy(15,3,"(CAL)");
                                }
                                if(Keys & KEY4) //  next step
                                {
                                        if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
                                        else Compass_SetCalState(0);
                                }
                                if(Keys & KEY3)Compass_SetCalState(0);  // cancel
                        }
                        else // other compass
                        {
                                Compass_UpdateMagVector();
                                LCD_printfxy(0,0,"Magnetic Field");
                                LCD_printfxy(0,1,"X: %4i",MagVector.X);
                                LCD_printfxy(0,2,"Y: %4i",MagVector.Y);
                                LCD_printfxy(0,3,"Z: %4i",MagVector.Z);
                        }      
                        break;
                default:
                        //MaxMenuItem = MenuItem - 1;
                        MenuItem = 0;
                        break;
    }
}
 

Rev 264	Rev 267
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 / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
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 oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung 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 the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	43	// + * porting the sources to other systems or using the software on other systems (except 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 "main.h"	59	#include "main.h"
60	#include "led.h"	60	#include "led.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 "compass.h"	64	#include "compass.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	#include "ncmag.h"
68		69
69	u8 DispPtr = 0;	70	u8 DispPtr = 0;
70	s8 DisplayBuff[DISPLAYBUFFSIZE];	71	s8 DisplayBuff[DISPLAYBUFFSIZE];
71		72
72		73
73	u8 MenuItem = 0;	74	u8 MenuItem = 0;
74	u8 MaxMenuItem = 15;	75	u8 MaxMenuItem = 15;
75		76
76		77
77		78
78	void Menu_Putchar(char c)	79	void Menu_Putchar(char c)
79	{	80	{
80	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;	81	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
81	}	82	}
82		83
83	void Menu_Clear(void)	84	void Menu_Clear(void)
84	{	85	{
85	u8 i;	86	u8 i;
86	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';	87	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
87	}	88	}
88		89
89		90
90	// Display with 20 characters in 4 lines	91	// Display with 20 characters in 4 lines
91	void Menu_Update(u8 Keys)	92	void Menu_Update(u8 Keys)
92	{	93	{
93	s32 i1,i2;	94	s32 i1,i2;
94	u8 sign;	95	u8 sign;
95		96
96	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}	97	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
97	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}	98	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
98	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;	99	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
99	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;	100	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
100	Menu_Clear();	101	Menu_Clear();
101	// print menu item number in the upper right corner	102	// print menu item number in the upper right corner
102	if(MenuItem < 10)	103	if(MenuItem < 10)
103	{	104	{
104	LCD_printfxy(17,0,"[%i]",MenuItem);	105	LCD_printfxy(17,0,"[%i]",MenuItem);
105	}	106	}
106	else // Menuitem >= 10	107	else // Menuitem >= 10
107	{	108	{
108	LCD_printfxy(16,0,"[%i]",MenuItem);	109	LCD_printfxy(16,0,"[%i]",MenuItem);
109	}	110	}
110		111
111	switch(MenuItem)	112	switch(MenuItem)
112	{	113	{
113	// Version Info	114	// Version Info
114	case 0:	115	case 0:
115	LCD_printfxy(0,0,"++ Navi-Ctrl ++");	116	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
116	LCD_printfxy(0,1,"HW V%d.%d SW V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	117	LCD_printfxy(0,1,"HW V%d.%d SW V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
117	if(ErrorCode)	118	if(ErrorCode)
118	{	119	{
119	LCD_printfxy(0,2,"Error: %d",ErrorCode);	120	LCD_printfxy(0,2,"Error: %d",ErrorCode);
120	LCD_printfxy(0,3,"%s",ErrorMSG);	121	LCD_printfxy(0,3,"%s",ErrorMSG);
121	}	122	}
122	else LCD_printfxy(0,3,"(c) Buss, Busker");	123	else LCD_printfxy(0,3,"(c) Buss, Busker");
123	break;	124	break;
124	case 1:	125	case 1:
125	if (GPSData.Status == INVALID)	126	if (GPSData.Status == INVALID)
126	{	127	{
127	LCD_printfxy(0,0,"No GPS data");	128	LCD_printfxy(0,0,"No GPS data");
128	LCD_printfxy(0,1,"Lon: ");	129	LCD_printfxy(0,1,"Lon: ");
129	LCD_printfxy(0,2,"Lat: ");	130	LCD_printfxy(0,2,"Lat: ");
130	LCD_printfxy(0,3,"Alt: ");	131	LCD_printfxy(0,3,"Alt: ");
131	}	132	}
132	else // newdata or processed	133	else // newdata or processed
133	{	134	{
134	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	135	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
135	switch (GPSData.SatFix)	136	switch (GPSData.SatFix)
136	{	137	{
137	case SATFIX_NONE:	138	case SATFIX_NONE:
138	LCD_printfxy(7,0,"NoFix");	139	LCD_printfxy(7,0,"NoFix");
139	break;	140	break;
140	case SATFIX_2D:	141	case SATFIX_2D:
141	LCD_printfxy(7,0,"2DFix");	142	LCD_printfxy(7,0,"2DFix");
142	break;	143	break;
143	case SATFIX_3D:	144	case SATFIX_3D:
144	LCD_printfxy(7,0,"3DFix");	145	LCD_printfxy(7,0,"3DFix");
145	break;	146	break;
146	default:	147	default:
147	LCD_printfxy(7,0,"??Fix");	148	LCD_printfxy(7,0,"??Fix");
148	break;	149	break;
149	}	150	}
150	if(GPSData.Flags & FLAG_DIFFSOLN)	151	if(GPSData.Flags & FLAG_DIFFSOLN)
151	{	152	{
152	LCD_printfxy(12,0,"/DGPS");	153	LCD_printfxy(12,0,"/DGPS");
153	}	154	}
154	else	155	else
155	{	156	{
156	LCD_printfxy(12,0," ");	157	LCD_printfxy(12,0," ");
157	}	158	}
158		159
159	if(GPSData.Position.Longitude < 0) sign = '-';	160	if(GPSData.Position.Longitude < 0) sign = '-';
160	else sign = '+';	161	else sign = '+';
161	i1 = abs(GPSData.Position.Longitude)/10000000L;	162	i1 = abs(GPSData.Position.Longitude)/10000000L;
162	i2 = abs(GPSData.Position.Longitude)%10000000L;	163	i2 = abs(GPSData.Position.Longitude)%10000000L;
163	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	164	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
164	if(GPSData.Position.Latitude < 0) sign = '-';	165	if(GPSData.Position.Latitude < 0) sign = '-';
165	else sign = '+';	166	else sign = '+';
166	i1 = abs(GPSData.Position.Latitude)/10000000L;	167	i1 = abs(GPSData.Position.Latitude)/10000000L;
167	i2 = abs(GPSData.Position.Latitude)%10000000L;	168	i2 = abs(GPSData.Position.Latitude)%10000000L;
168	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	169	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
169	if(GPSData.Position.Altitude < 0) sign = '-';	170	if(GPSData.Position.Altitude < 0) sign = '-';
170	else sign = '+';	171	else sign = '+';
171	i1 = abs(GPSData.Position.Altitude)/1000L;	172	i1 = abs(GPSData.Position.Altitude)/1000L;
172	i2 = abs(GPSData.Position.Altitude)%1000L;	173	i2 = abs(GPSData.Position.Altitude)%1000L;
173	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);	174	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
174	}	175	}
175	break;	176	break;
176	case 2:	177	case 2:
177	if (GPSData.Status == INVALID)	178	if (GPSData.Status == INVALID)
178	{	179	{
179	LCD_printfxy(0,0,"No GPS data");	180	LCD_printfxy(0,0,"No GPS data");
180	LCD_printfxy(0,1,"Speed N: ");	181	LCD_printfxy(0,1,"Speed N: ");
181	LCD_printfxy(0,2,"Speed E: ");	182	LCD_printfxy(0,2,"Speed E: ");
182	LCD_printfxy(0,3,"Speed T: ");	183	LCD_printfxy(0,3,"Speed T: ");
183	}	184	}
184	else // newdata or processed	185	else // newdata or processed
185	{	186	{
186	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	187	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
187	switch (GPSData.SatFix)	188	switch (GPSData.SatFix)
188	{	189	{
189	case SATFIX_NONE:	190	case SATFIX_NONE:
190	LCD_printfxy(7,0,"NoFix");	191	LCD_printfxy(7,0,"NoFix");
191	break;	192	break;
192	case SATFIX_2D:	193	case SATFIX_2D:
193	LCD_printfxy(7,0,"2DFix");	194	LCD_printfxy(7,0,"2DFix");
194	break;	195	break;
195	case SATFIX_3D:	196	case SATFIX_3D:
196	LCD_printfxy(7,0,"3DFix");	197	LCD_printfxy(7,0,"3DFix");
197	break;	198	break;
198	default:	199	default:
199	LCD_printfxy(7,0,"??Fix");	200	LCD_printfxy(7,0,"??Fix");
200	break;	201	break;
201	}	202	}
202	if(GPSData.Flags & FLAG_DIFFSOLN)	203	if(GPSData.Flags & FLAG_DIFFSOLN)
203	{	204	{
204	LCD_printfxy(12,0,"/DGPS");	205	LCD_printfxy(12,0,"/DGPS");
205	}	206	}
206	else	207	else
207	{	208	{
208	LCD_printfxy(12,0," ");	209	LCD_printfxy(12,0," ");
209	}	210	}
210		211
211	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);	212	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
212	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);	213	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
213	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);	214	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
214	}	215	}
215	break;	216	break;
216	case 3:	217	case 3:
217	LCD_printfxy(0,0,"GPS UTC Time");	218	LCD_printfxy(0,0,"GPS UTC Time");
218	if (!SystemTime.Valid)	219	if (!SystemTime.Valid)
219	{	220	{
220	LCD_printfxy(0,1," ");	221	LCD_printfxy(0,1," ");
221	LCD_printfxy(0,2," No time data! ");	222	LCD_printfxy(0,2," No time data! ");
222	LCD_printfxy(0,3," ");	223	LCD_printfxy(0,3," ");
223	}	224	}
224	else // newdata or processed	225	else // newdata or processed
225	{	226	{
226	LCD_printfxy(0,1," ");	227	LCD_printfxy(0,1," ");
227	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);	228	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
228	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);	229	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
229	}	230	}
230	break;	231	break;
231	case 4: // Navi Params 1 from FC	232	case 4: // Navi Params 1 from FC
232	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	233	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
233	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);	234	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
234	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);	235	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
235	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);	236	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
236	break;	237	break;
237	case 5: // Navi Params 2 from FC	238	case 5: // Navi Params 2 from FC
238	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	239	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
239	LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius);	240	LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius);
240	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	241	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
241	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);	242	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);
242	break;	243	break;
243	case 6: // Navi Params 3 from FC	244	case 6: // Navi Params 3 from FC
244	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	245	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
245	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	246	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
246	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	247	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
247	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	248	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
248	break;	249	break;
249	case 7:	250	case 7:
250	LCD_printfxy(0,0,"Home Position");	251	LCD_printfxy(0,0,"Home Position");
251	if(NaviData.HomePosition.Status == INVALID)	252	if(NaviData.HomePosition.Status == INVALID)
252	{	253	{
253	LCD_printfxy(0,1," ");	254	LCD_printfxy(0,1," ");
254	LCD_printfxy(0,2," Is not set. ");	255	LCD_printfxy(0,2," Is not set. ");
255	LCD_printfxy(0,3," ");	256	LCD_printfxy(0,3," ");
256	}	257	}
257	else	258	else
258	{	259	{
259	if(NaviData.HomePosition.Longitude < 0) sign = '-';	260	if(NaviData.HomePosition.Longitude < 0) sign = '-';
260	else sign = '+';	261	else sign = '+';
261	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;	262	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
262	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;	263	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
263	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	264	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
264	if(NaviData.HomePosition.Latitude < 0) sign = '-';	265	if(NaviData.HomePosition.Latitude < 0) sign = '-';
265	else sign = '+';	266	else sign = '+';
266	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;	267	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
267	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;	268	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
268	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	269	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
269	if(NaviData.HomePosition.Altitude < 0) sign = '-';	270	if(NaviData.HomePosition.Altitude < 0) sign = '-';
270	else sign = '+';	271	else sign = '+';
271	i1 = abs(NaviData.HomePosition.Altitude)/1000L;	272	i1 = abs(NaviData.HomePosition.Altitude)/1000L;
272	i2 = abs(NaviData.HomePosition.Altitude)%1000L;	273	i2 = abs(NaviData.HomePosition.Altitude)%1000L;
273	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	274	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
274	}	275	}
275	break;	276	break;
276	case 8: // RC stick controls from FC	277	case 8: // RC stick controls from FC
277	LCD_printfxy(0,0,"RC-Sticks" );	278	LCD_printfxy(0,0,"RC-Sticks" );
278	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	279	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
279	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	280	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
280	break;	281	break;
281	case 9: // RC poti controls from FC	282	case 9: // RC poti controls from FC
282	LCD_printfxy(0,0,"RC-Potis 1" );	283	LCD_printfxy(0,0,"RC-Potis 1" );
283	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);	284	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
284	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);	285	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
285	break;	286	break;
286	case 10: // RC poti controls from FC	287	case 10: // RC poti controls from FC
287	LCD_printfxy(0,0,"RC-Potis 2" );	288	LCD_printfxy(0,0,"RC-Potis 2" );
288	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);	289	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
289	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);	290	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
290	break;	291	break;
291	case 11: // attitude from FC	292	case 11: // attitude from FC
292	if(FromFlightCtrl.AngleNick < 0) sign = '-';	293	if(FromFlightCtrl.AngleNick < 0) sign = '-';
293	else sign = '+';	294	else sign = '+';
294	i1 = abs(FromFlightCtrl.AngleNick)/10;	295	i1 = abs(FromFlightCtrl.AngleNick)/10;
295	i2 = abs(FromFlightCtrl.AngleNick)%10;	296	i2 = abs(FromFlightCtrl.AngleNick)%10;
296	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);	297	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
297	if(FromFlightCtrl.AngleRoll < 0) sign = '-';	298	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
298	else sign = '+';	299	else sign = '+';
299	i1 = abs(FromFlightCtrl.AngleRoll)/10;	300	i1 = abs(FromFlightCtrl.AngleRoll)/10;
300	i2 = abs(FromFlightCtrl.AngleRoll)%10;	301	i2 = abs(FromFlightCtrl.AngleRoll)%10;
301	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);	302	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
302	if(FromFlightCtrl.AccNick < 0) sign = '-';	303	if(FromFlightCtrl.AccNick < 0) sign = '-';
303	else sign = '+';	304	else sign = '+';
304	i1 = abs(FromFlightCtrl.AccNick)/10;	305	i1 = abs(FromFlightCtrl.AccNick)/10;
305	i2 = abs(FromFlightCtrl.AccNick)%10;	306	i2 = abs(FromFlightCtrl.AccNick)%10;
306	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);	307	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
307	if(FromFlightCtrl.AccRoll < 0) sign = '-';	308	if(FromFlightCtrl.AccRoll < 0) sign = '-';
308	else sign = '+';	309	else sign = '+';
309	i1 = abs(FromFlightCtrl.AccRoll)/10;	310	i1 = abs(FromFlightCtrl.AccRoll)/10;
310	i2 = abs(FromFlightCtrl.AccRoll)%10;	311	i2 = abs(FromFlightCtrl.AccRoll)%10;
311	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);	312	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
312	break;	313	break;
313	case 12: // gyros from FC	314	case 12: // gyros from FC
314	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);	315	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
315	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);	316	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
316	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);	317	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
317	break;	318	break;
318	case 13: // Remote Control Level from FC	319	case 13: // Remote Control Level from FC
319	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);	320	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);
320	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);	321	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);
321	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);	322	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);
322	if(GeoMagDec < 0) sign = '-';	323	if(GeoMagDec < 0) sign = '-';
323	else sign = '+';	324	else sign = '+';
324	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	325	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
325	break;	326	break;
326	case 14: // User Parameter	327	case 14: // User Parameter
327	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);	328	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
328	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);	329	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
329	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);	330	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
330	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);	331	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
331	break;	332	break;
332	case 15: // magnetic field	333	case 15: // magnetic field
333	if(Compass_Device == COMPASS_NCMAG)	334	if(Compass_Device == COMPASS_NCMAG)
334	{	335	{
335	if(Compass_CalState)	336	if(Compass_CalState)
336	{	337	{
337	LCD_printfxy(0,0,"Calibration:");	338	LCD_printfxy(0,0,"Calibration:");
338	LCD_printfxy(0,1,"Step %d/", Compass_CalState);	339	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
339	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);	340	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
340	LCD_printfxy(9,3,"(ESC)(NEXT)");	341	LCD_printfxy(9,3,"(ESC)(NEXT)");
341	switch(Compass_CalState)	342	switch(Compass_CalState)
342	{	343	{
343	case 1:	344	case 1:
344	case 3:	345	case 3:
345	LCD_printfxy(7,1,"pause");	346	LCD_printfxy(7,1,"pause");
346	break;	347	break;
347		348
348	case 2:	349	case 2:
349	LCD_printfxy(7,1,"horizontal");	350	LCD_printfxy(7,1,"horizontal");
350	break;	351	break;
351		352
352	case 4:	353	case 4:
353	LCD_printfxy(7,1,"vertical");	354	LCD_printfxy(7,1,"vertical");
354	break;	355	break;
355		356
356	case 5:	357	case 5:
357	LCD_printfxy(7,1,"data saved");	358	LCD_printfxy(7,1,"data saved");
358	LCD_printfxy(8,3," (END) ");	359	LCD_printfxy(8,3," (END) ");
359	break;	360	break;
360		361
361	default:	362	default:
362	break;	363	break;
363	}	364	}
364	}	365	}
365	else	366	else
366	{	367	{
367	LCD_printfxy(0,0,"Magnetic Field");	368	LCD_printfxy(0,0,"Magnetic Field");
368	LCD_printfxy(0,1,"X: %4i",MagVector.X);	369	LCD_printfxy(0,1,"X:%5i (%4i) ",MagVector.X, MagRawVector.X);
369	LCD_printfxy(0,2,"Y: %4i",MagVector.Y);	370	LCD_printfxy(0,2,"Y:%5i (%4i) ",MagVector.Y, MagRawVector.Y);
370	LCD_printfxy(0,3,"Z: %4i",MagVector.Z);	371	LCD_printfxy(0,3,"Z:%5i (%4i) ",MagVector.Z, MagRawVector.Z);
371	LCD_printfxy(13,3,"(CALIB)");	372	LCD_printfxy(15,3,"(CAL)");
372	}	373	}
373	if(Keys & KEY4) // next step	374	if(Keys & KEY4) // next step
374	{	375	{
375	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);	376	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
376	else Compass_SetCalState(0);	377	else Compass_SetCalState(0);
377	}	378	}
378	if(Keys & KEY3)Compass_SetCalState(0); // cancel	379	if(Keys & KEY3)Compass_SetCalState(0); // cancel
379	}	380	}
380	else // other compass	381	else // other compass
381	{	382	{
382	Compass_UpdateMagVector();	383	Compass_UpdateMagVector();
383	LCD_printfxy(0,0,"Magnetic Field");	384	LCD_printfxy(0,0,"Magnetic Field");
384	LCD_printfxy(0,1,"X: %4i",MagVector.X);	385	LCD_printfxy(0,1,"X: %4i",MagVector.X);
385	LCD_printfxy(0,2,"Y: %4i",MagVector.Y);	386	LCD_printfxy(0,2,"Y: %4i",MagVector.Y);
386	LCD_printfxy(0,3,"Z: %4i",MagVector.Z);	387	LCD_printfxy(0,3,"Z: %4i",MagVector.Z);
387	}	388	}
388	break;	389	break;
389	default:	390	default:
390	//MaxMenuItem = MenuItem - 1;	391	//MaxMenuItem = MenuItem - 1;
391	MenuItem = 0;	392	MenuItem = 0;
392	break;	393	break;
393	}	394	}
394	}	395	}
395		396

Subversion Repositories NaviCtrl

(root)/tags/V0.28i/menu.c @ 595 - Rev 264 → 267