WebSVN - NaviCtrl - Diff - Rev 392 and 426


/*#######################################################################################*/
/* !!! 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
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// + 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.
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//
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#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"
#include "logging.h"
#include "settings.h"
 
u8 DispPtr = 0;
s8 DisplayBuff[DISPLAYBUFFSIZE];
 
 
u8 MenuItem = 0;
u8 MaxMenuItem = 20;
 
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) HiSystems GmbH");
                         LCD_printfxy(0,2,"%s",ErrorMSG);
                        }
                        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: %3im", DebugOut.Analog[4]);
            LCD_printfxy(0,2,"WindCorr:  %3i", Parameter.NaviWindCorrection);
                    LCD_printfxy(0,3,"AccComp:   %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: // Max Ranges
                        LCD_printfxy(0,0,"Maximum flying  ");
            LCD_printfxy(0,1,"Range:   %4im ", AbsoluteFlyingRange);
            LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange);
            LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
                        if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled");
                        if(!AutoDescendRange)    LCD_printfxy(9,2,"disabled");
                        if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");
                        break;
                case 8:
                        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 9:
                        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 10: // 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 11: // 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 12: // 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 13: // 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 14: // 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 15: // 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 16: // 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 17: // User Parameter
                        LCD_printfxy(0,0,"SD-Card Logs");
                        LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);
                        LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);
                        break;
                case 18: // 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
                        {
                                if(GeoMagDec < 0) sign = '-';
                                else sign = '+';
                                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(8,1,"Field:%3i",EarthMagneticField/5);
//                              LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
//                              LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
                                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;
                case 19:
                        if(GeoMagDec < 0) sign = '-';
                        else sign = '+';
                                LCD_printfxy(0,0,"Magnetic Field");
                                LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
                                LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
                                LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination,     EarthMagneticInclinationTheoretic);
                        break;
                case 20: // User Parameter
                        LCD_printfxy(0,0,"SD-Setting      ");
                        LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
                        break;
                default:
                        //MaxMenuItem = MenuItem - 1;
                        MenuItem = 0;
                        break;
    }
}
 

Rev 392	Rev 426
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	#include "logging.h"	69	#include "logging.h"
-		70	#include "settings.h"
70		71
71	u8 DispPtr = 0;	72	u8 DispPtr = 0;
72	s8 DisplayBuff[DISPLAYBUFFSIZE];	73	s8 DisplayBuff[DISPLAYBUFFSIZE];
73		74
74		75
75	u8 MenuItem = 0;	76	u8 MenuItem = 0;
76	u8 MaxMenuItem = 19;	77	u8 MaxMenuItem = 20;
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		118
118	if(ErrorCode)	119	if(ErrorCode)
119	{	120	{
120	LCD_printfxy(0,2,"Error: %d",ErrorCode);	121	LCD_printfxy(0,2,"Error: %d",ErrorCode);
121	LCD_printfxy(0,3,"%s",ErrorMSG);	122	LCD_printfxy(0,3,"%s",ErrorMSG);
122	}	123	}
123	else	124	else
124	{	125	{
125	LCD_printfxy(0,3,"(c) HiSystems GmbH");	126	LCD_printfxy(0,3,"(c) HiSystems GmbH");
126	LCD_printfxy(0,2,"%s",ErrorMSG);	127	LCD_printfxy(0,2,"%s",ErrorMSG);
127	}	128	}
128	break;	129	break;
129	case 1:	130	case 1:
130	if (GPSData.Status == INVALID)	131	if (GPSData.Status == INVALID)
131	{	132	{
132	LCD_printfxy(0,0,"No GPS data");	133	LCD_printfxy(0,0,"No GPS data");
133	LCD_printfxy(0,1,"Lon: ");	134	LCD_printfxy(0,1,"Lon: ");
134	LCD_printfxy(0,2,"Lat: ");	135	LCD_printfxy(0,2,"Lat: ");
135	LCD_printfxy(0,3,"Alt: ");	136	LCD_printfxy(0,3,"Alt: ");
136	}	137	}
137	else // newdata or processed	138	else // newdata or processed
138	{	139	{
139	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	140	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
140	switch (GPSData.SatFix)	141	switch (GPSData.SatFix)
141	{	142	{
142	case SATFIX_NONE:	143	case SATFIX_NONE:
143	LCD_printfxy(7,0,"NoFix");	144	LCD_printfxy(7,0,"NoFix");
144	break;	145	break;
145	case SATFIX_2D:	146	case SATFIX_2D:
146	LCD_printfxy(7,0,"2DFix");	147	LCD_printfxy(7,0,"2DFix");
147	break;	148	break;
148	case SATFIX_3D:	149	case SATFIX_3D:
149	LCD_printfxy(7,0,"3DFix");	150	LCD_printfxy(7,0,"3DFix");
150	break;	151	break;
151	default:	152	default:
152	LCD_printfxy(7,0,"??Fix");	153	LCD_printfxy(7,0,"??Fix");
153	break;	154	break;
154	}	155	}
155	if(GPSData.Flags & FLAG_DIFFSOLN)	156	if(GPSData.Flags & FLAG_DIFFSOLN)
156	{	157	{
157	LCD_printfxy(12,0,"/DGPS");	158	LCD_printfxy(12,0,"/DGPS");
158	}	159	}
159	else	160	else
160	{	161	{
161	LCD_printfxy(12,0," ");	162	LCD_printfxy(12,0," ");
162	}	163	}
163		164
164	if(GPSData.Position.Longitude < 0) sign = '-';	165	if(GPSData.Position.Longitude < 0) sign = '-';
165	else sign = '+';	166	else sign = '+';
166	i1 = abs(GPSData.Position.Longitude)/10000000L;	167	i1 = abs(GPSData.Position.Longitude)/10000000L;
167	i2 = abs(GPSData.Position.Longitude)%10000000L;	168	i2 = abs(GPSData.Position.Longitude)%10000000L;
168	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	169	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
169	if(GPSData.Position.Latitude < 0) sign = '-';	170	if(GPSData.Position.Latitude < 0) sign = '-';
170	else sign = '+';	171	else sign = '+';
171	i1 = abs(GPSData.Position.Latitude)/10000000L;	172	i1 = abs(GPSData.Position.Latitude)/10000000L;
172	i2 = abs(GPSData.Position.Latitude)%10000000L;	173	i2 = abs(GPSData.Position.Latitude)%10000000L;
173	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	174	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
174	if(GPSData.Position.Altitude < 0) sign = '-';	175	if(GPSData.Position.Altitude < 0) sign = '-';
175	else sign = '+';	176	else sign = '+';
176	i1 = abs(GPSData.Position.Altitude)/1000L;	177	i1 = abs(GPSData.Position.Altitude)/1000L;
177	i2 = abs(GPSData.Position.Altitude)%1000L;	178	i2 = abs(GPSData.Position.Altitude)%1000L;
178	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);	179	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
179	}	180	}
180	break;	181	break;
181	case 2:	182	case 2:
182	if (GPSData.Status == INVALID)	183	if (GPSData.Status == INVALID)
183	{	184	{
184	LCD_printfxy(0,0,"No GPS data");	185	LCD_printfxy(0,0,"No GPS data");
185	LCD_printfxy(0,1,"Speed N: ");	186	LCD_printfxy(0,1,"Speed N: ");
186	LCD_printfxy(0,2,"Speed E: ");	187	LCD_printfxy(0,2,"Speed E: ");
187	LCD_printfxy(0,3,"Speed T: ");	188	LCD_printfxy(0,3,"Speed T: ");
188	}	189	}
189	else // newdata or processed	190	else // newdata or processed
190	{	191	{
191	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	192	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
192	switch (GPSData.SatFix)	193	switch (GPSData.SatFix)
193	{	194	{
194	case SATFIX_NONE:	195	case SATFIX_NONE:
195	LCD_printfxy(7,0,"NoFix");	196	LCD_printfxy(7,0,"NoFix");
196	break;	197	break;
197	case SATFIX_2D:	198	case SATFIX_2D:
198	LCD_printfxy(7,0,"2DFix");	199	LCD_printfxy(7,0,"2DFix");
199	break;	200	break;
200	case SATFIX_3D:	201	case SATFIX_3D:
201	LCD_printfxy(7,0,"3DFix");	202	LCD_printfxy(7,0,"3DFix");
202	break;	203	break;
203	default:	204	default:
204	LCD_printfxy(7,0,"??Fix");	205	LCD_printfxy(7,0,"??Fix");
205	break;	206	break;
206	}	207	}
207	if(GPSData.Flags & FLAG_DIFFSOLN)	208	if(GPSData.Flags & FLAG_DIFFSOLN)
208	{	209	{
209	LCD_printfxy(12,0,"/DGPS");	210	LCD_printfxy(12,0,"/DGPS");
210	}	211	}
211	else	212	else
212	{	213	{
213	LCD_printfxy(12,0," ");	214	LCD_printfxy(12,0," ");
214	}	215	}
215		216
216	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);	217	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
217	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);	218	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
218	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);	219	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
219	}	220	}
220	break;	221	break;
221	case 3:	222	case 3:
222	LCD_printfxy(0,0,"GPS UTC Time");	223	LCD_printfxy(0,0,"GPS UTC Time");
223	if (!SystemTime.Valid)	224	if (!SystemTime.Valid)
224	{	225	{
225	LCD_printfxy(0,1," ");	226	LCD_printfxy(0,1," ");
226	LCD_printfxy(0,2," No time data! ");	227	LCD_printfxy(0,2," No time data! ");
227	LCD_printfxy(0,3," ");	228	LCD_printfxy(0,3," ");
228	}	229	}
229	else // newdata or processed	230	else // newdata or processed
230	{	231	{
231	LCD_printfxy(0,1," ");	232	LCD_printfxy(0,1," ");
232	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);	233	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
233	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);	234	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
234	}	235	}
235	break;	236	break;
236	case 4: // Navi Params 1 from FC	237	case 4: // Navi Params 1 from FC
237	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	238	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
238	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);	239	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
239	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);	240	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
240	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);	241	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
241	break;	242	break;
242	case 5: // Navi Params 2 from FC	243	case 5: // Navi Params 2 from FC
243	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	244	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
244	LCD_printfxy(0,1,"MaxRadius: %3im", DebugOut.Analog[4]);	245	LCD_printfxy(0,1,"MaxRadius: %3im", DebugOut.Analog[4]);
245	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	246	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
246	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);	247	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);
247	break;	248	break;
248	case 6: // Navi Params 3 from FC	249	case 6: // Navi Params 3 from FC
249	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	250	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
250	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	251	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
251	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	252	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
252	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	253	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
253	break;	254	break;
254	case 7: // Max Ranges	255	case 7: // Max Ranges
255	LCD_printfxy(0,0,"Maximum flying ");	256	LCD_printfxy(0,0,"Maximum flying ");
256	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange);	257	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange);
257	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange);	258	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange);
258	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);	259	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
259	if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled");	260	if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled");
260	if(!AutoDescendRange) LCD_printfxy(9,2,"disabled");	261	if(!AutoDescendRange) LCD_printfxy(9,2,"disabled");
261	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");	262	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");
262	break;	263	break;
263	case 8:	264	case 8:
264	LCD_printfxy(0,0,"Home Position");	265	LCD_printfxy(0,0,"Home Position");
265	if(NaviData.HomePosition.Status == INVALID)	266	if(NaviData.HomePosition.Status == INVALID)
266	{	267	{
267	LCD_printfxy(0,1," ");	268	LCD_printfxy(0,1," ");
268	LCD_printfxy(0,2," Is not set. ");	269	LCD_printfxy(0,2," Is not set. ");
269	LCD_printfxy(0,3," ");	270	LCD_printfxy(0,3," ");
270	}	271	}
271	else	272	else
272	{	273	{
273	if(NaviData.HomePosition.Longitude < 0) sign = '-';	274	if(NaviData.HomePosition.Longitude < 0) sign = '-';
274	else sign = '+';	275	else sign = '+';
275	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;	276	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
276	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;	277	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
277	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	278	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
278	if(NaviData.HomePosition.Latitude < 0) sign = '-';	279	if(NaviData.HomePosition.Latitude < 0) sign = '-';
279	else sign = '+';	280	else sign = '+';
280	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;	281	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
281	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;	282	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
282	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	283	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
283	if(NaviData.HomePosition.Altitude < 0) sign = '-';	284	if(NaviData.HomePosition.Altitude < 0) sign = '-';
284	else sign = '+';	285	else sign = '+';
285	i1 = abs(NaviData.HomePosition.Altitude)/1000L;	286	i1 = abs(NaviData.HomePosition.Altitude)/1000L;
286	i2 = abs(NaviData.HomePosition.Altitude)%1000L;	287	i2 = abs(NaviData.HomePosition.Altitude)%1000L;
287	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	288	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
288	}	289	}
289	break;	290	break;
290	case 9:	291	case 9:
291	LCD_printfxy(0,0,"Target Position");	292	LCD_printfxy(0,0,"Target Position");
292	if(NaviData.TargetPosition.Status == INVALID)	293	if(NaviData.TargetPosition.Status == INVALID)
293	{	294	{
294	LCD_printfxy(0,1," ");	295	LCD_printfxy(0,1," ");
295	LCD_printfxy(0,2," Is not set. ");	296	LCD_printfxy(0,2," Is not set. ");
296	LCD_printfxy(0,3," ");	297	LCD_printfxy(0,3," ");
297	}	298	}
298	else	299	else
299	{	300	{
300	if(NaviData.TargetPosition.Longitude < 0) sign = '-';	301	if(NaviData.TargetPosition.Longitude < 0) sign = '-';
301	else sign = '+';	302	else sign = '+';
302	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;	303	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
303	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;	304	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
304	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	305	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
305	if(NaviData.TargetPosition.Latitude < 0) sign = '-';	306	if(NaviData.TargetPosition.Latitude < 0) sign = '-';
306	else sign = '+';	307	else sign = '+';
307	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;	308	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
308	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;	309	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;
309	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	310	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
310	if(NaviData.HomePosition.Altitude < 0) sign = '-';	311	if(NaviData.HomePosition.Altitude < 0) sign = '-';
311	else sign = '+';	312	else sign = '+';
312	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;	313	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
313	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;	314	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
314	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	315	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
315	}	316	}
316	break;	317	break;
317	case 10: // RC stick controls from FC	318	case 10: // RC stick controls from FC
318	LCD_printfxy(0,0,"RC-Sticks" );	319	LCD_printfxy(0,0,"RC-Sticks" );
319	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	320	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
320	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	321	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
321	break;	322	break;
322	case 11: // RC poti controls from FC	323	case 11: // RC poti controls from FC
323	LCD_printfxy(0,0,"RC-Potis 1" );	324	LCD_printfxy(0,0,"RC-Potis 1" );
324	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);	325	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
325	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);	326	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
326	break;	327	break;
327	case 12: // RC poti controls from FC	328	case 12: // RC poti controls from FC
328	LCD_printfxy(0,0,"RC-Potis 2" );	329	LCD_printfxy(0,0,"RC-Potis 2" );
329	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);	330	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
330	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);	331	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
331	break;	332	break;
332	case 13: // attitude from FC	333	case 13: // attitude from FC
333	if(FromFlightCtrl.AngleNick < 0) sign = '-';	334	if(FromFlightCtrl.AngleNick < 0) sign = '-';
334	else sign = '+';	335	else sign = '+';
335	i1 = abs(FromFlightCtrl.AngleNick)/10;	336	i1 = abs(FromFlightCtrl.AngleNick)/10;
336	i2 = abs(FromFlightCtrl.AngleNick)%10;	337	i2 = abs(FromFlightCtrl.AngleNick)%10;
337	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);	338	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
338	if(FromFlightCtrl.AngleRoll < 0) sign = '-';	339	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
339	else sign = '+';	340	else sign = '+';
340	i1 = abs(FromFlightCtrl.AngleRoll)/10;	341	i1 = abs(FromFlightCtrl.AngleRoll)/10;
341	i2 = abs(FromFlightCtrl.AngleRoll)%10;	342	i2 = abs(FromFlightCtrl.AngleRoll)%10;
342	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);	343	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
343	if(FromFlightCtrl.AccNick < 0) sign = '-';	344	if(FromFlightCtrl.AccNick < 0) sign = '-';
344	else sign = '+';	345	else sign = '+';
345	i1 = abs(FromFlightCtrl.AccNick)/10;	346	i1 = abs(FromFlightCtrl.AccNick)/10;
346	i2 = abs(FromFlightCtrl.AccNick)%10;	347	i2 = abs(FromFlightCtrl.AccNick)%10;
347	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);	348	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
348	if(FromFlightCtrl.AccRoll < 0) sign = '-';	349	if(FromFlightCtrl.AccRoll < 0) sign = '-';
349	else sign = '+';	350	else sign = '+';
350	i1 = abs(FromFlightCtrl.AccRoll)/10;	351	i1 = abs(FromFlightCtrl.AccRoll)/10;
351	i2 = abs(FromFlightCtrl.AccRoll)%10;	352	i2 = abs(FromFlightCtrl.AccRoll)%10;
352	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);	353	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
353	break;	354	break;
354	case 14: // gyros from FC	355	case 14: // gyros from FC
355	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);	356	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
356	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);	357	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
357	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);	358	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
358	break;	359	break;
359	case 15: // Remote Control Level from FC	360	case 15: // Remote Control Level from FC
360	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);	361	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);
361	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);	362	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);
362	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);	363	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);
363	if(GeoMagDec < 0) sign = '-';	364	if(GeoMagDec < 0) sign = '-';
364	else sign = '+';	365	else sign = '+';
365	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	366	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
366	break;	367	break;
367	case 16: // User Parameter	368	case 16: // User Parameter
368	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);	369	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
369	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);	370	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
370	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);	371	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
371	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);	372	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
372	break;	373	break;
373	case 17: // User Parameter	374	case 17: // User Parameter
374	LCD_printfxy(0,0,"SD-Card Logs",Parameter.User1,Parameter.User2);	375	LCD_printfxy(0,0,"SD-Card Logs");
375	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);	376	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);
376	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);	377	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);
377	break;	378	break;
378	case 18: // magnetic field	379	case 18: // magnetic field
379	if(Compass_CalState)	380	if(Compass_CalState)
380	{	381	{
381	LCD_printfxy(0,0,"Calibration:");	382	LCD_printfxy(0,0,"Calibration:");
382	LCD_printfxy(0,1,"Step %d/", Compass_CalState);	383	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
383	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);	384	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
384	LCD_printfxy(9,3,"(ESC)(NEXT)");	385	LCD_printfxy(9,3,"(ESC)(NEXT)");
385	switch(Compass_CalState)	386	switch(Compass_CalState)
386	{	387	{
387	case 1:	388	case 1:
388	case 3:	389	case 3:
389	LCD_printfxy(7,1,"pause");	390	LCD_printfxy(7,1,"pause");
390	break;	391	break;
391		392
392	case 2:	393	case 2:
393	LCD_printfxy(7,1,"horizontal");	394	LCD_printfxy(7,1,"horizontal");
394	break;	395	break;
395		396
396	case 4:	397	case 4:
397	LCD_printfxy(7,1,"vertical");	398	LCD_printfxy(7,1,"vertical");
398	break;	399	break;
399		400
400	case 5:	401	case 5:
401	LCD_printfxy(7,1,"data saved");	402	LCD_printfxy(7,1,"data saved");
402	LCD_printfxy(8,3," (END) ");	403	LCD_printfxy(8,3," (END) ");
403	break;	404	break;
404		405
405	default:	406	default:
406	break;	407	break;
407	}	408	}
408	}	409	}
409	else	410	else
410	{	411	{
411	if(GeoMagDec < 0) sign = '-';	412	if(GeoMagDec < 0) sign = '-';
412	else sign = '+';	413	else sign = '+';
413	LCD_printfxy(0,0,"Magnetic Field");	414	LCD_printfxy(0,0,"Magnetic Field");
414	LCD_printfxy(0,1,"X:%5i",MagVector.X);	415	LCD_printfxy(0,1,"X:%5i",MagVector.X);
415	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);	416	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
416	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);	417	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
417	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);	418	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);
418	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	419	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
419	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);	420	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
420	LCD_printfxy(15,3,"(CAL)");	421	LCD_printfxy(15,3,"(CAL)");
421	}	422	}
422	if(Keys & KEY4) // next step	423	if(Keys & KEY4) // next step
423	{	424	{
424	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);	425	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
425	else Compass_SetCalState(0);	426	else Compass_SetCalState(0);
426	}	427	}
427	if(Keys & KEY3)Compass_SetCalState(0); // cancel	428	if(Keys & KEY3)Compass_SetCalState(0); // cancel
428	break;	429	break;
429	case 19:	430	case 19:
430	if(GeoMagDec < 0) sign = '-';	431	if(GeoMagDec < 0) sign = '-';
431	else sign = '+';	432	else sign = '+';
432	LCD_printfxy(0,0,"Magnetic Field");	433	LCD_printfxy(0,0,"Magnetic Field");
433	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);	434	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
434	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	435	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
435	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);	436	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);
436	break;	437	break;
-		438	case 20: // User Parameter
-		439	LCD_printfxy(0,0,"SD-Setting ");
-		440	LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
-		441	break;
437	default:	442	default:
438	//MaxMenuItem = MenuItem - 1;	443	//MaxMenuItem = MenuItem - 1;
439	MenuItem = 0;	444	MenuItem = 0;
440	break;	445	break;
441	}	446	}
442	}	447	}
443		448

Subversion Repositories NaviCtrl

(root)/tags/V2.04a/menu.c @ 506 - Rev 392 → 426