WebSVN - NaviCtrl - Diff - Rev 292 and 318


/*#######################################################################################*/
/* !!! 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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// +     with our written permission
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// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except 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
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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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:
                        LCD_printfxy(0,0,"Target Position");
                        if(NaviData.TargetPosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");
                                LCD_printfxy(0,3,"                     ");
                        }
                        else
                        {
                                if(NaviData.TargetPosition.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
                                i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.TargetPosition.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
                                i2 = abs(NaviData.TargetPosition.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.TargetPosition.Altitude)/1000L;
                                i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
                        }
                        break;
                case 9: // 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 10: // 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 11: // 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 12: // 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 13: // 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 14: // 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 15: // 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 16: // magnetic field
                        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",MagVector.X);
                                LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
                                LCD_printfxy(0,3,"Z:%5i",MagVector.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
                        break;
                default:
                        //MaxMenuItem = MenuItem - 1;
                        MenuItem = 0;
                        break;
    }
}
 

Rev 292	Rev 318
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	#include "ncmag.h"
69		69
70	u8 DispPtr = 0;	70	u8 DispPtr = 0;
71	s8 DisplayBuff[DISPLAYBUFFSIZE];	71	s8 DisplayBuff[DISPLAYBUFFSIZE];
72		72
73		73
74	u8 MenuItem = 0;	74	u8 MenuItem = 0;
75	u8 MaxMenuItem = 15;	75	u8 MaxMenuItem = 15;
76		76
77		77
78		78
79	void Menu_Putchar(char c)	79	void Menu_Putchar(char c)
80	{	80	{
81	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;	81	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
82	}	82	}
83		83
84	void Menu_Clear(void)	84	void Menu_Clear(void)
85	{	85	{
86	u8 i;	86	u8 i;
87	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';	87	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
88	}	88	}
89		89
90		90
91	// Display with 20 characters in 4 lines	91	// Display with 20 characters in 4 lines
92	void Menu_Update(u8 Keys)	92	void Menu_Update(u8 Keys)
93	{	93	{
94	s32 i1,i2;	94	s32 i1,i2;
95	u8 sign;	95	u8 sign;
96		96
97	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}	97	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
98	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}	98	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
99	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;	99	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
100	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;	100	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
101	Menu_Clear();	101	Menu_Clear();
102	// print menu item number in the upper right corner	102	// print menu item number in the upper right corner
103	if(MenuItem < 10)	103	if(MenuItem < 10)
104	{	104	{
105	LCD_printfxy(17,0,"[%i]",MenuItem);	105	LCD_printfxy(17,0,"[%i]",MenuItem);
106	}	106	}
107	else // Menuitem >= 10	107	else // Menuitem >= 10
108	{	108	{
109	LCD_printfxy(16,0,"[%i]",MenuItem);	109	LCD_printfxy(16,0,"[%i]",MenuItem);
110	}	110	}
111		111
112	switch(MenuItem)	112	switch(MenuItem)
113	{	113	{
114	// Version Info	114	// Version Info
115	case 0:	115	case 0:
116	LCD_printfxy(0,0,"++ Navi-Ctrl ++");	116	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
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	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);
118	if(ErrorCode)	118	if(ErrorCode)
119	{	119	{
120	LCD_printfxy(0,2,"Error: %d",ErrorCode);	120	LCD_printfxy(0,2,"Error: %d",ErrorCode);
121	LCD_printfxy(0,3,"%s",ErrorMSG);	121	LCD_printfxy(0,3,"%s",ErrorMSG);
122	}	122	}
123	else LCD_printfxy(0,3,"(c) Buss, Busker");	123	else LCD_printfxy(0,3,"(c) Buss, Busker");
124	break;	124	break;
125	case 1:	125	case 1:
126	if (GPSData.Status == INVALID)	126	if (GPSData.Status == INVALID)
127	{	127	{
128	LCD_printfxy(0,0,"No GPS data");	128	LCD_printfxy(0,0,"No GPS data");
129	LCD_printfxy(0,1,"Lon: ");	129	LCD_printfxy(0,1,"Lon: ");
130	LCD_printfxy(0,2,"Lat: ");	130	LCD_printfxy(0,2,"Lat: ");
131	LCD_printfxy(0,3,"Alt: ");	131	LCD_printfxy(0,3,"Alt: ");
132	}	132	}
133	else // newdata or processed	133	else // newdata or processed
134	{	134	{
135	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	135	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
136	switch (GPSData.SatFix)	136	switch (GPSData.SatFix)
137	{	137	{
138	case SATFIX_NONE:	138	case SATFIX_NONE:
139	LCD_printfxy(7,0,"NoFix");	139	LCD_printfxy(7,0,"NoFix");
140	break;	140	break;
141	case SATFIX_2D:	141	case SATFIX_2D:
142	LCD_printfxy(7,0,"2DFix");	142	LCD_printfxy(7,0,"2DFix");
143	break;	143	break;
144	case SATFIX_3D:	144	case SATFIX_3D:
145	LCD_printfxy(7,0,"3DFix");	145	LCD_printfxy(7,0,"3DFix");
146	break;	146	break;
147	default:	147	default:
148	LCD_printfxy(7,0,"??Fix");	148	LCD_printfxy(7,0,"??Fix");
149	break;	149	break;
150	}	150	}
151	if(GPSData.Flags & FLAG_DIFFSOLN)	151	if(GPSData.Flags & FLAG_DIFFSOLN)
152	{	152	{
153	LCD_printfxy(12,0,"/DGPS");	153	LCD_printfxy(12,0,"/DGPS");
154	}	154	}
155	else	155	else
156	{	156	{
157	LCD_printfxy(12,0," ");	157	LCD_printfxy(12,0," ");
158	}	158	}
159		159
160	if(GPSData.Position.Longitude < 0) sign = '-';	160	if(GPSData.Position.Longitude < 0) sign = '-';
161	else sign = '+';	161	else sign = '+';
162	i1 = abs(GPSData.Position.Longitude)/10000000L;	162	i1 = abs(GPSData.Position.Longitude)/10000000L;
163	i2 = abs(GPSData.Position.Longitude)%10000000L;	163	i2 = abs(GPSData.Position.Longitude)%10000000L;
164	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);
165	if(GPSData.Position.Latitude < 0) sign = '-';	165	if(GPSData.Position.Latitude < 0) sign = '-';
166	else sign = '+';	166	else sign = '+';
167	i1 = abs(GPSData.Position.Latitude)/10000000L;	167	i1 = abs(GPSData.Position.Latitude)/10000000L;
168	i2 = abs(GPSData.Position.Latitude)%10000000L;	168	i2 = abs(GPSData.Position.Latitude)%10000000L;
169	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);
170	if(GPSData.Position.Altitude < 0) sign = '-';	170	if(GPSData.Position.Altitude < 0) sign = '-';
171	else sign = '+';	171	else sign = '+';
172	i1 = abs(GPSData.Position.Altitude)/1000L;	172	i1 = abs(GPSData.Position.Altitude)/1000L;
173	i2 = abs(GPSData.Position.Altitude)%1000L;	173	i2 = abs(GPSData.Position.Altitude)%1000L;
174	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);
175	}	175	}
176	break;	176	break;
177	case 2:	177	case 2:
178	if (GPSData.Status == INVALID)	178	if (GPSData.Status == INVALID)
179	{	179	{
180	LCD_printfxy(0,0,"No GPS data");	180	LCD_printfxy(0,0,"No GPS data");
181	LCD_printfxy(0,1,"Speed N: ");	181	LCD_printfxy(0,1,"Speed N: ");
182	LCD_printfxy(0,2,"Speed E: ");	182	LCD_printfxy(0,2,"Speed E: ");
183	LCD_printfxy(0,3,"Speed T: ");	183	LCD_printfxy(0,3,"Speed T: ");
184	}	184	}
185	else // newdata or processed	185	else // newdata or processed
186	{	186	{
187	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	187	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
188	switch (GPSData.SatFix)	188	switch (GPSData.SatFix)
189	{	189	{
190	case SATFIX_NONE:	190	case SATFIX_NONE:
191	LCD_printfxy(7,0,"NoFix");	191	LCD_printfxy(7,0,"NoFix");
192	break;	192	break;
193	case SATFIX_2D:	193	case SATFIX_2D:
194	LCD_printfxy(7,0,"2DFix");	194	LCD_printfxy(7,0,"2DFix");
195	break;	195	break;
196	case SATFIX_3D:	196	case SATFIX_3D:
197	LCD_printfxy(7,0,"3DFix");	197	LCD_printfxy(7,0,"3DFix");
198	break;	198	break;
199	default:	199	default:
200	LCD_printfxy(7,0,"??Fix");	200	LCD_printfxy(7,0,"??Fix");
201	break;	201	break;
202	}	202	}
203	if(GPSData.Flags & FLAG_DIFFSOLN)	203	if(GPSData.Flags & FLAG_DIFFSOLN)
204	{	204	{
205	LCD_printfxy(12,0,"/DGPS");	205	LCD_printfxy(12,0,"/DGPS");
206	}	206	}
207	else	207	else
208	{	208	{
209	LCD_printfxy(12,0," ");	209	LCD_printfxy(12,0," ");
210	}	210	}
211		211
212	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);
213	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);
214	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);
215	}	215	}
216	break;	216	break;
217	case 3:	217	case 3:
218	LCD_printfxy(0,0,"GPS UTC Time");	218	LCD_printfxy(0,0,"GPS UTC Time");
219	if (!SystemTime.Valid)	219	if (!SystemTime.Valid)
220	{	220	{
221	LCD_printfxy(0,1," ");	221	LCD_printfxy(0,1," ");
222	LCD_printfxy(0,2," No time data! ");	222	LCD_printfxy(0,2," No time data! ");
223	LCD_printfxy(0,3," ");	223	LCD_printfxy(0,3," ");
224	}	224	}
225	else // newdata or processed	225	else // newdata or processed
226	{	226	{
227	LCD_printfxy(0,1," ");	227	LCD_printfxy(0,1," ");
228	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);
229	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);
230	}	230	}
231	break;	231	break;
232	case 4: // Navi Params 1 from FC	232	case 4: // Navi Params 1 from FC
233	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	233	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
234	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);
235	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);
236	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);
237	break;	237	break;
238	case 5: // Navi Params 2 from FC	238	case 5: // Navi Params 2 from FC
239	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	239	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
240	LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius);	240	LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius);
241	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	241	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
242	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);	242	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);
243	break;	243	break;
244	case 6: // Navi Params 3 from FC	244	case 6: // Navi Params 3 from FC
245	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	245	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
246	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	246	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
247	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	247	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
248	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	248	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
249	break;	249	break;
250	case 7:	250	case 7:
251	LCD_printfxy(0,0,"Home Position");	251	LCD_printfxy(0,0,"Home Position");
252	if(NaviData.HomePosition.Status == INVALID)	252	if(NaviData.HomePosition.Status == INVALID)
253	{	253	{
254	LCD_printfxy(0,1," ");	254	LCD_printfxy(0,1," ");
255	LCD_printfxy(0,2," Is not set. ");	255	LCD_printfxy(0,2," Is not set. ");
256	LCD_printfxy(0,3," ");	256	LCD_printfxy(0,3," ");
257	}	257	}
258	else	258	else
259	{	259	{
260	if(NaviData.HomePosition.Longitude < 0) sign = '-';	260	if(NaviData.HomePosition.Longitude < 0) sign = '-';
261	else sign = '+';	261	else sign = '+';
262	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;	262	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
263	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;	263	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
264	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);
265	if(NaviData.HomePosition.Latitude < 0) sign = '-';	265	if(NaviData.HomePosition.Latitude < 0) sign = '-';
266	else sign = '+';	266	else sign = '+';
267	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;	267	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
268	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;	268	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
269	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);
270	if(NaviData.HomePosition.Altitude < 0) sign = '-';	270	if(NaviData.HomePosition.Altitude < 0) sign = '-';
271	else sign = '+';	271	else sign = '+';
272	i1 = abs(NaviData.HomePosition.Altitude)/1000L;	272	i1 = abs(NaviData.HomePosition.Altitude)/1000L;
273	i2 = abs(NaviData.HomePosition.Altitude)%1000L;	273	i2 = abs(NaviData.HomePosition.Altitude)%1000L;
274	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);
275	}	275	}
276	break;	276	break;
-		277	case 8:
-		278	LCD_printfxy(0,0,"Target Position");
-		279	if(NaviData.TargetPosition.Status == INVALID)
-		280	{
-		281	LCD_printfxy(0,1," ");
-		282	LCD_printfxy(0,2," Is not set. ");
-		283	LCD_printfxy(0,3," ");
-		284	}
-		285	else
-		286	{
-		287	if(NaviData.TargetPosition.Longitude < 0) sign = '-';
-		288	else sign = '+';
-		289	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
-		290	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
-		291	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
-		292	if(NaviData.TargetPosition.Latitude < 0) sign = '-';
-		293	else sign = '+';
-		294	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
-		295	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;
-		296	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
-		297	if(NaviData.HomePosition.Altitude < 0) sign = '-';
-		298	else sign = '+';
-		299	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
-		300	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
-		301	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
-		302	}
-		303	break;
277	case 8: // RC stick controls from FC	304	case 9: // RC stick controls from FC
278	LCD_printfxy(0,0,"RC-Sticks" );	305	LCD_printfxy(0,0,"RC-Sticks" );
279	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	306	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
280	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	307	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
281	break;	308	break;
282	case 9: // RC poti controls from FC	309	case 10: // RC poti controls from FC
283	LCD_printfxy(0,0,"RC-Potis 1" );	310	LCD_printfxy(0,0,"RC-Potis 1" );
284	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);	311	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
285	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);	312	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
286	break;	313	break;
287	case 10: // RC poti controls from FC	314	case 11: // RC poti controls from FC
288	LCD_printfxy(0,0,"RC-Potis 2" );	315	LCD_printfxy(0,0,"RC-Potis 2" );
289	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);	316	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
290	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);	317	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
291	break;	318	break;
292	case 11: // attitude from FC	319	case 12: // attitude from FC
293	if(FromFlightCtrl.AngleNick < 0) sign = '-';	320	if(FromFlightCtrl.AngleNick < 0) sign = '-';
294	else sign = '+';	321	else sign = '+';
295	i1 = abs(FromFlightCtrl.AngleNick)/10;	322	i1 = abs(FromFlightCtrl.AngleNick)/10;
296	i2 = abs(FromFlightCtrl.AngleNick)%10;	323	i2 = abs(FromFlightCtrl.AngleNick)%10;
297	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);	324	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
298	if(FromFlightCtrl.AngleRoll < 0) sign = '-';	325	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
299	else sign = '+';	326	else sign = '+';
300	i1 = abs(FromFlightCtrl.AngleRoll)/10;	327	i1 = abs(FromFlightCtrl.AngleRoll)/10;
301	i2 = abs(FromFlightCtrl.AngleRoll)%10;	328	i2 = abs(FromFlightCtrl.AngleRoll)%10;
302	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);	329	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
303	if(FromFlightCtrl.AccNick < 0) sign = '-';	330	if(FromFlightCtrl.AccNick < 0) sign = '-';
304	else sign = '+';	331	else sign = '+';
305	i1 = abs(FromFlightCtrl.AccNick)/10;	332	i1 = abs(FromFlightCtrl.AccNick)/10;
306	i2 = abs(FromFlightCtrl.AccNick)%10;	333	i2 = abs(FromFlightCtrl.AccNick)%10;
307	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);	334	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
308	if(FromFlightCtrl.AccRoll < 0) sign = '-';	335	if(FromFlightCtrl.AccRoll < 0) sign = '-';
309	else sign = '+';	336	else sign = '+';
310	i1 = abs(FromFlightCtrl.AccRoll)/10;	337	i1 = abs(FromFlightCtrl.AccRoll)/10;
311	i2 = abs(FromFlightCtrl.AccRoll)%10;	338	i2 = abs(FromFlightCtrl.AccRoll)%10;
312	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);	339	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
313	break;	340	break;
314	case 12: // gyros from FC	341	case 13: // gyros from FC
315	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);	342	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
316	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);	343	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
317	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);	344	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
318	break;	345	break;
319	case 13: // Remote Control Level from FC	346	case 14: // Remote Control Level from FC
320	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);	347	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);
321	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);	348	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);
322	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);	349	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);
323	if(GeoMagDec < 0) sign = '-';	350	if(GeoMagDec < 0) sign = '-';
324	else sign = '+';	351	else sign = '+';
325	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	352	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
326	break;	353	break;
327	case 14: // User Parameter	354	case 15: // User Parameter
328	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);	355	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
329	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);	356	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
330	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);	357	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
331	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);	358	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
332	break;	359	break;
333	case 15: // magnetic field	360	case 16: // magnetic field
334	if(Compass_CalState)	361	if(Compass_CalState)
335	{	362	{
336	LCD_printfxy(0,0,"Calibration:");	363	LCD_printfxy(0,0,"Calibration:");
337	LCD_printfxy(0,1,"Step %d/", Compass_CalState);	364	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
338	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);	365	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
339	LCD_printfxy(9,3,"(ESC)(NEXT)");	366	LCD_printfxy(9,3,"(ESC)(NEXT)");
340	switch(Compass_CalState)	367	switch(Compass_CalState)
341	{	368	{
342	case 1:	369	case 1:
343	case 3:	370	case 3:
344	LCD_printfxy(7,1,"pause");	371	LCD_printfxy(7,1,"pause");
345	break;	372	break;
346		373
347	case 2:	374	case 2:
348	LCD_printfxy(7,1,"horizontal");	375	LCD_printfxy(7,1,"horizontal");
349	break;	376	break;
350		377
351	case 4:	378	case 4:
352	LCD_printfxy(7,1,"vertical");	379	LCD_printfxy(7,1,"vertical");
353	break;	380	break;
354		381
355	case 5:	382	case 5:
356	LCD_printfxy(7,1,"data saved");	383	LCD_printfxy(7,1,"data saved");
357	LCD_printfxy(8,3," (END) ");	384	LCD_printfxy(8,3," (END) ");
358	break;	385	break;
359		386
360	default:	387	default:
361	break;	388	break;
362	}	389	}
363	}	390	}
364	else	391	else
365	{	392	{
366	LCD_printfxy(0,0,"Magnetic Field");	393	LCD_printfxy(0,0,"Magnetic Field");
367	LCD_printfxy(0,1,"X:%5i",MagVector.X);	394	LCD_printfxy(0,1,"X:%5i",MagVector.X);
368	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);	395	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
369	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);	396	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
370	LCD_printfxy(15,3,"(CAL)");	397	LCD_printfxy(15,3,"(CAL)");
371	}	398	}
372	if(Keys & KEY4) // next step	399	if(Keys & KEY4) // next step
373	{	400	{
374	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);	401	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
375	else Compass_SetCalState(0);	402	else Compass_SetCalState(0);
376	}	403	}
377	if(Keys & KEY3)Compass_SetCalState(0); // cancel	404	if(Keys & KEY3)Compass_SetCalState(0); // cancel
378	break;	405	break;
379	default:	406	default:
380	//MaxMenuItem = MenuItem - 1;	407	//MaxMenuItem = MenuItem - 1;
381	MenuItem = 0;	408	MenuItem = 0;
382	break;	409	break;
383	}	410	}
384	}	411	}
385		412

Subversion Repositories NaviCtrl

(root)/tags/V0.28o/menu.c @ 751 - Rev 292 → 318