WebSVN - NaviCtrl - Diff - Rev 338 and 345


/*#######################################################################################*/
/* !!! 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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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting 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
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include "91x_lib.h"
#include "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 = 17;
 
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");
                         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: %3i m", NaviData.OperatingRadius);
            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:
                        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
                        {
                                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 17:
                        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;
                default:
                        //MaxMenuItem = MenuItem - 1;
                        MenuItem = 0;
                        break;
    }
}
 

Rev 338	Rev 345
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 = 17;	75	u8 MaxMenuItem = 17;
76		76
77	void Menu_Putchar(char c)	77	void Menu_Putchar(char c)
78	{	78	{
79	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;	79	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
80	}	80	}
81		81
82	void Menu_Clear(void)	82	void Menu_Clear(void)
83	{	83	{
84	u8 i;	84	u8 i;
85	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';	85	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
86	}	86	}
87		87
88		88
89	// Display with 20 characters in 4 lines	89	// Display with 20 characters in 4 lines
90	void Menu_Update(u8 Keys)	90	void Menu_Update(u8 Keys)
91	{	91	{
92	s32 i1,i2;	92	s32 i1,i2;
93	u8 sign;	93	u8 sign;
94		94
95	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}	95	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
96	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}	96	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
97	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;	97	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
98	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;	98	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
99	Menu_Clear();	99	Menu_Clear();
100	// print menu item number in the upper right corner	100	// print menu item number in the upper right corner
101	if(MenuItem < 10)	101	if(MenuItem < 10)
102	{	102	{
103	LCD_printfxy(17,0,"[%i]",MenuItem);	103	LCD_printfxy(17,0,"[%i]",MenuItem);
104	}	104	}
105	else // Menuitem >= 10	105	else // Menuitem >= 10
106	{	106	{
107	LCD_printfxy(16,0,"[%i]",MenuItem);	107	LCD_printfxy(16,0,"[%i]",MenuItem);
108	}	108	}
109		109
110	switch(MenuItem)	110	switch(MenuItem)
111	{	111	{
112	// Version Info	112	// Version Info
113	case 0:	113	case 0:
114	LCD_printfxy(0,0,"++ Navi-Ctrl ++");	114	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
115	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);	115	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);
116		116
117	if(ErrorCode)	117	if(ErrorCode)
118	{	118	{
119	LCD_printfxy(0,2,"Error: %d",ErrorCode);	119	LCD_printfxy(0,2,"Error: %d",ErrorCode);
120	LCD_printfxy(0,3,"%s",ErrorMSG);	120	LCD_printfxy(0,3,"%s",ErrorMSG);
121	}	121	}
122	else	122	else
123	{	123	{
124	LCD_printfxy(0,3,"(c) Buss, Busker");	124	LCD_printfxy(0,3,"(c) Buss, Busker");
125	LCD_printfxy(0,2,"%s",ErrorMSG);	125	LCD_printfxy(0,2,"%s",ErrorMSG);
126	}	126	}
127	break;	127	break;
128	case 1:	128	case 1:
129	if (GPSData.Status == INVALID)	129	if (GPSData.Status == INVALID)
130	{	130	{
131	LCD_printfxy(0,0,"No GPS data");	131	LCD_printfxy(0,0,"No GPS data");
132	LCD_printfxy(0,1,"Lon: ");	132	LCD_printfxy(0,1,"Lon: ");
133	LCD_printfxy(0,2,"Lat: ");	133	LCD_printfxy(0,2,"Lat: ");
134	LCD_printfxy(0,3,"Alt: ");	134	LCD_printfxy(0,3,"Alt: ");
135	}	135	}
136	else // newdata or processed	136	else // newdata or processed
137	{	137	{
138	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	138	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
139	switch (GPSData.SatFix)	139	switch (GPSData.SatFix)
140	{	140	{
141	case SATFIX_NONE:	141	case SATFIX_NONE:
142	LCD_printfxy(7,0,"NoFix");	142	LCD_printfxy(7,0,"NoFix");
143	break;	143	break;
144	case SATFIX_2D:	144	case SATFIX_2D:
145	LCD_printfxy(7,0,"2DFix");	145	LCD_printfxy(7,0,"2DFix");
146	break;	146	break;
147	case SATFIX_3D:	147	case SATFIX_3D:
148	LCD_printfxy(7,0,"3DFix");	148	LCD_printfxy(7,0,"3DFix");
149	break;	149	break;
150	default:	150	default:
151	LCD_printfxy(7,0,"??Fix");	151	LCD_printfxy(7,0,"??Fix");
152	break;	152	break;
153	}	153	}
154	if(GPSData.Flags & FLAG_DIFFSOLN)	154	if(GPSData.Flags & FLAG_DIFFSOLN)
155	{	155	{
156	LCD_printfxy(12,0,"/DGPS");	156	LCD_printfxy(12,0,"/DGPS");
157	}	157	}
158	else	158	else
159	{	159	{
160	LCD_printfxy(12,0," ");	160	LCD_printfxy(12,0," ");
161	}	161	}
162		162
163	if(GPSData.Position.Longitude < 0) sign = '-';	163	if(GPSData.Position.Longitude < 0) sign = '-';
164	else sign = '+';	164	else sign = '+';
165	i1 = abs(GPSData.Position.Longitude)/10000000L;	165	i1 = abs(GPSData.Position.Longitude)/10000000L;
166	i2 = abs(GPSData.Position.Longitude)%10000000L;	166	i2 = abs(GPSData.Position.Longitude)%10000000L;
167	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	167	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
168	if(GPSData.Position.Latitude < 0) sign = '-';	168	if(GPSData.Position.Latitude < 0) sign = '-';
169	else sign = '+';	169	else sign = '+';
170	i1 = abs(GPSData.Position.Latitude)/10000000L;	170	i1 = abs(GPSData.Position.Latitude)/10000000L;
171	i2 = abs(GPSData.Position.Latitude)%10000000L;	171	i2 = abs(GPSData.Position.Latitude)%10000000L;
172	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	172	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
173	if(GPSData.Position.Altitude < 0) sign = '-';	173	if(GPSData.Position.Altitude < 0) sign = '-';
174	else sign = '+';	174	else sign = '+';
175	i1 = abs(GPSData.Position.Altitude)/1000L;	175	i1 = abs(GPSData.Position.Altitude)/1000L;
176	i2 = abs(GPSData.Position.Altitude)%1000L;	176	i2 = abs(GPSData.Position.Altitude)%1000L;
177	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);	177	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
178	}	178	}
179	break;	179	break;
180	case 2:	180	case 2:
181	if (GPSData.Status == INVALID)	181	if (GPSData.Status == INVALID)
182	{	182	{
183	LCD_printfxy(0,0,"No GPS data");	183	LCD_printfxy(0,0,"No GPS data");
184	LCD_printfxy(0,1,"Speed N: ");	184	LCD_printfxy(0,1,"Speed N: ");
185	LCD_printfxy(0,2,"Speed E: ");	185	LCD_printfxy(0,2,"Speed E: ");
186	LCD_printfxy(0,3,"Speed T: ");	186	LCD_printfxy(0,3,"Speed T: ");
187	}	187	}
188	else // newdata or processed	188	else // newdata or processed
189	{	189	{
190	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	190	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
191	switch (GPSData.SatFix)	191	switch (GPSData.SatFix)
192	{	192	{
193	case SATFIX_NONE:	193	case SATFIX_NONE:
194	LCD_printfxy(7,0,"NoFix");	194	LCD_printfxy(7,0,"NoFix");
195	break;	195	break;
196	case SATFIX_2D:	196	case SATFIX_2D:
197	LCD_printfxy(7,0,"2DFix");	197	LCD_printfxy(7,0,"2DFix");
198	break;	198	break;
199	case SATFIX_3D:	199	case SATFIX_3D:
200	LCD_printfxy(7,0,"3DFix");	200	LCD_printfxy(7,0,"3DFix");
201	break;	201	break;
202	default:	202	default:
203	LCD_printfxy(7,0,"??Fix");	203	LCD_printfxy(7,0,"??Fix");
204	break;	204	break;
205	}	205	}
206	if(GPSData.Flags & FLAG_DIFFSOLN)	206	if(GPSData.Flags & FLAG_DIFFSOLN)
207	{	207	{
208	LCD_printfxy(12,0,"/DGPS");	208	LCD_printfxy(12,0,"/DGPS");
209	}	209	}
210	else	210	else
211	{	211	{
212	LCD_printfxy(12,0," ");	212	LCD_printfxy(12,0," ");
213	}	213	}
214		214
215	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);	215	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
216	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);	216	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
217	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);	217	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
218	}	218	}
219	break;	219	break;
220	case 3:	220	case 3:
221	LCD_printfxy(0,0,"GPS UTC Time");	221	LCD_printfxy(0,0,"GPS UTC Time");
222	if (!SystemTime.Valid)	222	if (!SystemTime.Valid)
223	{	223	{
224	LCD_printfxy(0,1," ");	224	LCD_printfxy(0,1," ");
225	LCD_printfxy(0,2," No time data! ");	225	LCD_printfxy(0,2," No time data! ");
226	LCD_printfxy(0,3," ");	226	LCD_printfxy(0,3," ");
227	}	227	}
228	else // newdata or processed	228	else // newdata or processed
229	{	229	{
230	LCD_printfxy(0,1," ");	230	LCD_printfxy(0,1," ");
231	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);	231	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
232	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);	232	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
233	}	233	}
234	break;	234	break;
235	case 4: // Navi Params 1 from FC	235	case 4: // Navi Params 1 from FC
236	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	236	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
237	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);	237	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
238	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);	238	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
239	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);	239	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
240	break;	240	break;
241	case 5: // Navi Params 2 from FC	241	case 5: // Navi Params 2 from FC
242	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	242	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
243	LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius);	243	LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius);
244	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	244	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
245	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);	245	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);
246	break;	246	break;
247	case 6: // Navi Params 3 from FC	247	case 6: // Navi Params 3 from FC
248	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	248	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
249	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	249	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
250	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	250	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
251	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	251	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
252	break;	252	break;
253	case 7:	253	case 7:
254	LCD_printfxy(0,0,"Home Position");	254	LCD_printfxy(0,0,"Home Position");
255	if(NaviData.HomePosition.Status == INVALID)	255	if(NaviData.HomePosition.Status == INVALID)
256	{	256	{
257	LCD_printfxy(0,1," ");	257	LCD_printfxy(0,1," ");
258	LCD_printfxy(0,2," Is not set. ");	258	LCD_printfxy(0,2," Is not set. ");
259	LCD_printfxy(0,3," ");	259	LCD_printfxy(0,3," ");
260	}	260	}
261	else	261	else
262	{	262	{
263	if(NaviData.HomePosition.Longitude < 0) sign = '-';	263	if(NaviData.HomePosition.Longitude < 0) sign = '-';
264	else sign = '+';	264	else sign = '+';
265	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;	265	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
266	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;	266	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
267	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	267	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
268	if(NaviData.HomePosition.Latitude < 0) sign = '-';	268	if(NaviData.HomePosition.Latitude < 0) sign = '-';
269	else sign = '+';	269	else sign = '+';
270	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;	270	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
271	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;	271	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
272	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	272	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
273	if(NaviData.HomePosition.Altitude < 0) sign = '-';	273	if(NaviData.HomePosition.Altitude < 0) sign = '-';
274	else sign = '+';	274	else sign = '+';
275	i1 = abs(NaviData.HomePosition.Altitude)/1000L;	275	i1 = abs(NaviData.HomePosition.Altitude)/1000L;
276	i2 = abs(NaviData.HomePosition.Altitude)%1000L;	276	i2 = abs(NaviData.HomePosition.Altitude)%1000L;
277	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	277	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
278	}	278	}
279	break;	279	break;
280	case 8:	280	case 8:
281	LCD_printfxy(0,0,"Target Position");	281	LCD_printfxy(0,0,"Target Position");
282	if(NaviData.TargetPosition.Status == INVALID)	282	if(NaviData.TargetPosition.Status == INVALID)
283	{	283	{
284	LCD_printfxy(0,1," ");	284	LCD_printfxy(0,1," ");
285	LCD_printfxy(0,2," Is not set. ");	285	LCD_printfxy(0,2," Is not set. ");
286	LCD_printfxy(0,3," ");	286	LCD_printfxy(0,3," ");
287	}	287	}
288	else	288	else
289	{	289	{
290	if(NaviData.TargetPosition.Longitude < 0) sign = '-';	290	if(NaviData.TargetPosition.Longitude < 0) sign = '-';
291	else sign = '+';	291	else sign = '+';
292	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;	292	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
293	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;	293	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
294	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	294	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
295	if(NaviData.TargetPosition.Latitude < 0) sign = '-';	295	if(NaviData.TargetPosition.Latitude < 0) sign = '-';
296	else sign = '+';	296	else sign = '+';
297	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;	297	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
298	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;	298	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;
299	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	299	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
300	if(NaviData.HomePosition.Altitude < 0) sign = '-';	300	if(NaviData.HomePosition.Altitude < 0) sign = '-';
301	else sign = '+';	301	else sign = '+';
302	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;	302	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
303	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;	303	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
304	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	304	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
305	}	305	}
306	break;	306	break;
307	case 9: // RC stick controls from FC	307	case 9: // RC stick controls from FC
308	LCD_printfxy(0,0,"RC-Sticks" );	308	LCD_printfxy(0,0,"RC-Sticks" );
309	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	309	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
310	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	310	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
311	break;	311	break;
312	case 10: // RC poti controls from FC	312	case 10: // RC poti controls from FC
313	LCD_printfxy(0,0,"RC-Potis 1" );	313	LCD_printfxy(0,0,"RC-Potis 1" );
314	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);	314	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
315	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);	315	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
316	break;	316	break;
317	case 11: // RC poti controls from FC	317	case 11: // RC poti controls from FC
318	LCD_printfxy(0,0,"RC-Potis 2" );	318	LCD_printfxy(0,0,"RC-Potis 2" );
319	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);	319	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
320	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);	320	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
321	break;	321	break;
322	case 12: // attitude from FC	322	case 12: // attitude from FC
323	if(FromFlightCtrl.AngleNick < 0) sign = '-';	323	if(FromFlightCtrl.AngleNick < 0) sign = '-';
324	else sign = '+';	324	else sign = '+';
325	i1 = abs(FromFlightCtrl.AngleNick)/10;	325	i1 = abs(FromFlightCtrl.AngleNick)/10;
326	i2 = abs(FromFlightCtrl.AngleNick)%10;	326	i2 = abs(FromFlightCtrl.AngleNick)%10;
327	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);	327	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
328	if(FromFlightCtrl.AngleRoll < 0) sign = '-';	328	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
329	else sign = '+';	329	else sign = '+';
330	i1 = abs(FromFlightCtrl.AngleRoll)/10;	330	i1 = abs(FromFlightCtrl.AngleRoll)/10;
331	i2 = abs(FromFlightCtrl.AngleRoll)%10;	331	i2 = abs(FromFlightCtrl.AngleRoll)%10;
332	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);	332	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
333	if(FromFlightCtrl.AccNick < 0) sign = '-';	333	if(FromFlightCtrl.AccNick < 0) sign = '-';
334	else sign = '+';	334	else sign = '+';
335	i1 = abs(FromFlightCtrl.AccNick)/10;	335	i1 = abs(FromFlightCtrl.AccNick)/10;
336	i2 = abs(FromFlightCtrl.AccNick)%10;	336	i2 = abs(FromFlightCtrl.AccNick)%10;
337	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);	337	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
338	if(FromFlightCtrl.AccRoll < 0) sign = '-';	338	if(FromFlightCtrl.AccRoll < 0) sign = '-';
339	else sign = '+';	339	else sign = '+';
340	i1 = abs(FromFlightCtrl.AccRoll)/10;	340	i1 = abs(FromFlightCtrl.AccRoll)/10;
341	i2 = abs(FromFlightCtrl.AccRoll)%10;	341	i2 = abs(FromFlightCtrl.AccRoll)%10;
342	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);	342	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
343	break;	343	break;
344	case 13: // gyros from FC	344	case 13: // gyros from FC
345	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);	345	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
346	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);	346	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
347	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);	347	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
348	break;	348	break;
349	case 14: // Remote Control Level from FC	349	case 14: // Remote Control Level from FC
350	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);	350	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);
351	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);	351	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);
352	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);	352	LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);
353	if(GeoMagDec < 0) sign = '-';	353	if(GeoMagDec < 0) sign = '-';
354	else sign = '+';	354	else sign = '+';
355	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	355	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
356	break;	356	break;
357	case 15: // User Parameter	357	case 15: // User Parameter
358	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);	358	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
359	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);	359	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
360	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);	360	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
361	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);	361	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
362	break;	362	break;
363	case 16: // magnetic field	363	case 16: // magnetic field
364	if(Compass_CalState)	364	if(Compass_CalState)
365	{	365	{
366	LCD_printfxy(0,0,"Calibration:");	366	LCD_printfxy(0,0,"Calibration:");
367	LCD_printfxy(0,1,"Step %d/", Compass_CalState);	367	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
368	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);	368	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
369	LCD_printfxy(9,3,"(ESC)(NEXT)");	369	LCD_printfxy(9,3,"(ESC)(NEXT)");
370	switch(Compass_CalState)	370	switch(Compass_CalState)
371	{	371	{
372	case 1:	372	case 1:
373	case 3:	373	case 3:
374	LCD_printfxy(7,1,"pause");	374	LCD_printfxy(7,1,"pause");
375	break;	375	break;
376		376
377	case 2:	377	case 2:
378	LCD_printfxy(7,1,"horizontal");	378	LCD_printfxy(7,1,"horizontal");
379	break;	379	break;
380		380
381	case 4:	381	case 4:
382	LCD_printfxy(7,1,"vertical");	382	LCD_printfxy(7,1,"vertical");
383	break;	383	break;
384		384
385	case 5:	385	case 5:
386	LCD_printfxy(7,1,"data saved");	386	LCD_printfxy(7,1,"data saved");
387	LCD_printfxy(8,3," (END) ");	387	LCD_printfxy(8,3," (END) ");
388	break;	388	break;
389		389
390	default:	390	default:
391	break;	391	break;
392	}	392	}
393	}	393	}
394	else	394	else
395	{	395	{
396	if(GeoMagDec < 0) sign = '-';	396	if(GeoMagDec < 0) sign = '-';
397	else sign = '+';	397	else sign = '+';
398	LCD_printfxy(0,0,"Magnetic Field");	398	LCD_printfxy(0,0,"Magnetic Field");
399	LCD_printfxy(0,1,"X:%5i",MagVector.X);	399	LCD_printfxy(0,1,"X:%5i",MagVector.X);
400	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);	400	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
401	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);	401	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
402	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);	402	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);
403	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	403	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
404	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);	404	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
405	LCD_printfxy(15,3,"(CAL)");	405	LCD_printfxy(15,3,"(CAL)");
406	}	406	}
407	if(Keys & KEY4) // next step	407	if(Keys & KEY4) // next step
408	{	408	{
409	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);	409	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
410	else Compass_SetCalState(0);	410	else Compass_SetCalState(0);
411	}	411	}
412	if(Keys & KEY3)Compass_SetCalState(0); // cancel	412	if(Keys & KEY3)Compass_SetCalState(0); // cancel
413	break;	413	break;
414	case 17:	414	case 17:
-		415	if(GeoMagDec < 0) sign = '-';
-		416	else sign = '+';
415	LCD_printfxy(0,0,"Magnetic Field");	417	LCD_printfxy(0,0,"Magnetic Field");
416	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);	418	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
417	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	419	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
418	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);	420	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);
419	break;	421	break;
420	default:	422	default:
421	//MaxMenuItem = MenuItem - 1;	423	//MaxMenuItem = MenuItem - 1;
422	MenuItem = 0;	424	MenuItem = 0;
423	break;	425	break;
424	}	426	}
425	}	427	}
426		428

Subversion Repositories NaviCtrl

(root)/tags/V2.06f/menu.c @ 645 - Rev 338 → 345