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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 = 18; |
75 | u8 MaxMenuItem = 18; |
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: %3im", DebugOut.Analog[4]); |
243 | LCD_printfxy(0,1,"MaxRadius: %3im", DebugOut.Analog[4]); |
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: // Max Ranges |
253 | case 7: // Max Ranges |
254 | LCD_printfxy(0,0,"Maximum flying "); |
254 | LCD_printfxy(0,0,"Maximum flying "); |
255 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange); |
255 | LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange); |
256 | LCD_printfxy(0,2,"Descend:%4im ", AutoDescendRange); |
256 | LCD_printfxy(0,2,"Descend :%4im ", AutoDescendRange); |
- | 257 | LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude); |
|
257 | if(!AbsoluteFlyingRange) LCD_printfxy(8,1,"disabled"); |
258 | if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled"); |
258 | if(!AutoDescendRange) LCD_printfxy(8,2,"disabled"); |
259 | if(!AutoDescendRange) LCD_printfxy(9,2,"disabled"); |
- | 260 | if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled"); |
|
259 | break; |
261 | break; |
260 | case 8: |
262 | case 8: |
261 | LCD_printfxy(0,0,"Home Position"); |
263 | LCD_printfxy(0,0,"Home Position"); |
262 | if(NaviData.HomePosition.Status == INVALID) |
264 | if(NaviData.HomePosition.Status == INVALID) |
263 | { |
265 | { |
264 | LCD_printfxy(0,1," "); |
266 | LCD_printfxy(0,1," "); |
265 | LCD_printfxy(0,2," Is not set. "); |
267 | LCD_printfxy(0,2," Is not set. "); |
266 | LCD_printfxy(0,3," "); |
268 | LCD_printfxy(0,3," "); |
267 | } |
269 | } |
268 | else |
270 | else |
269 | { |
271 | { |
270 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
272 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
271 | else sign = '+'; |
273 | else sign = '+'; |
272 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
274 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
273 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
275 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
274 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
276 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
275 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
277 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
276 | else sign = '+'; |
278 | else sign = '+'; |
277 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
279 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
278 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
280 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
279 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
281 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
280 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
282 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
281 | else sign = '+'; |
283 | else sign = '+'; |
282 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
284 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
283 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
285 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
284 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
286 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
285 | } |
287 | } |
286 | break; |
288 | break; |
287 | case 9: |
289 | case 9: |
288 | LCD_printfxy(0,0,"Target Position"); |
290 | LCD_printfxy(0,0,"Target Position"); |
289 | if(NaviData.TargetPosition.Status == INVALID) |
291 | if(NaviData.TargetPosition.Status == INVALID) |
290 | { |
292 | { |
291 | LCD_printfxy(0,1," "); |
293 | LCD_printfxy(0,1," "); |
292 | LCD_printfxy(0,2," Is not set. "); |
294 | LCD_printfxy(0,2," Is not set. "); |
293 | LCD_printfxy(0,3," "); |
295 | LCD_printfxy(0,3," "); |
294 | } |
296 | } |
295 | else |
297 | else |
296 | { |
298 | { |
297 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
299 | if(NaviData.TargetPosition.Longitude < 0) sign = '-'; |
298 | else sign = '+'; |
300 | else sign = '+'; |
299 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
301 | i1 = abs(NaviData.TargetPosition.Longitude)/10000000L; |
300 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
302 | i2 = abs(NaviData.TargetPosition.Longitude)%10000000L; |
301 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
303 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
302 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
304 | if(NaviData.TargetPosition.Latitude < 0) sign = '-'; |
303 | else sign = '+'; |
305 | else sign = '+'; |
304 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
306 | i1 = abs(NaviData.TargetPosition.Latitude)/10000000L; |
305 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
307 | i2 = abs(NaviData.TargetPosition.Latitude)%10000000L; |
306 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
308 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
307 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
309 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
308 | else sign = '+'; |
310 | else sign = '+'; |
309 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
311 | i1 = abs(NaviData.TargetPosition.Altitude)/1000L; |
310 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
312 | i2 = abs(NaviData.TargetPosition.Altitude)%1000L; |
311 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
313 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
312 | } |
314 | } |
313 | break; |
315 | break; |
314 | case 10: // RC stick controls from FC |
316 | case 10: // RC stick controls from FC |
315 | LCD_printfxy(0,0,"RC-Sticks" ); |
317 | LCD_printfxy(0,0,"RC-Sticks" ); |
316 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
318 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
317 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
319 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
318 | break; |
320 | break; |
319 | case 11: // RC poti controls from FC |
321 | case 11: // RC poti controls from FC |
320 | LCD_printfxy(0,0,"RC-Potis 1" ); |
322 | LCD_printfxy(0,0,"RC-Potis 1" ); |
321 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
323 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
322 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
324 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
323 | break; |
325 | break; |
324 | case 12: // RC poti controls from FC |
326 | case 12: // RC poti controls from FC |
325 | LCD_printfxy(0,0,"RC-Potis 2" ); |
327 | LCD_printfxy(0,0,"RC-Potis 2" ); |
326 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
328 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
327 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
329 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
328 | break; |
330 | break; |
329 | case 13: // attitude from FC |
331 | case 13: // attitude from FC |
330 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
332 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
331 | else sign = '+'; |
333 | else sign = '+'; |
332 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
334 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
333 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
335 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
334 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
336 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
335 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
337 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
336 | else sign = '+'; |
338 | else sign = '+'; |
337 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
339 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
338 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
340 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
339 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
341 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
340 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
342 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
341 | else sign = '+'; |
343 | else sign = '+'; |
342 | i1 = abs(FromFlightCtrl.AccNick)/10; |
344 | i1 = abs(FromFlightCtrl.AccNick)/10; |
343 | i2 = abs(FromFlightCtrl.AccNick)%10; |
345 | i2 = abs(FromFlightCtrl.AccNick)%10; |
344 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
346 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
345 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
347 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
346 | else sign = '+'; |
348 | else sign = '+'; |
347 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
349 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
348 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
350 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
349 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
351 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
350 | break; |
352 | break; |
351 | case 14: // gyros from FC |
353 | case 14: // gyros from FC |
352 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
354 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
353 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
355 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
354 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
356 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
355 | break; |
357 | break; |
356 | case 15: // Remote Control Level from FC |
358 | case 15: // Remote Control Level from FC |
357 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
359 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
358 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
360 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
359 | LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading); |
361 | LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading); |
360 | if(GeoMagDec < 0) sign = '-'; |
362 | if(GeoMagDec < 0) sign = '-'; |
361 | else sign = '+'; |
363 | else sign = '+'; |
362 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
364 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
363 | break; |
365 | break; |
364 | case 16: // User Parameter |
366 | case 16: // User Parameter |
365 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
367 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
366 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
368 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
367 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
369 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
368 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
370 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
369 | break; |
371 | break; |
370 | case 17: // magnetic field |
372 | case 17: // magnetic field |
371 | if(Compass_CalState) |
373 | if(Compass_CalState) |
372 | { |
374 | { |
373 | LCD_printfxy(0,0,"Calibration:"); |
375 | LCD_printfxy(0,0,"Calibration:"); |
374 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
376 | LCD_printfxy(0,1,"Step %d/", Compass_CalState); |
375 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
377 | LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z); |
376 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
378 | LCD_printfxy(9,3,"(ESC)(NEXT)"); |
377 | switch(Compass_CalState) |
379 | switch(Compass_CalState) |
378 | { |
380 | { |
379 | case 1: |
381 | case 1: |
380 | case 3: |
382 | case 3: |
381 | LCD_printfxy(7,1,"pause"); |
383 | LCD_printfxy(7,1,"pause"); |
382 | break; |
384 | break; |
383 | 385 | ||
384 | case 2: |
386 | case 2: |
385 | LCD_printfxy(7,1,"horizontal"); |
387 | LCD_printfxy(7,1,"horizontal"); |
386 | break; |
388 | break; |
387 | 389 | ||
388 | case 4: |
390 | case 4: |
389 | LCD_printfxy(7,1,"vertical"); |
391 | LCD_printfxy(7,1,"vertical"); |
390 | break; |
392 | break; |
391 | 393 | ||
392 | case 5: |
394 | case 5: |
393 | LCD_printfxy(7,1,"data saved"); |
395 | LCD_printfxy(7,1,"data saved"); |
394 | LCD_printfxy(8,3," (END) "); |
396 | LCD_printfxy(8,3," (END) "); |
395 | break; |
397 | break; |
396 | 398 | ||
397 | default: |
399 | default: |
398 | break; |
400 | break; |
399 | } |
401 | } |
400 | } |
402 | } |
401 | else |
403 | else |
402 | { |
404 | { |
403 | if(GeoMagDec < 0) sign = '-'; |
405 | if(GeoMagDec < 0) sign = '-'; |
404 | else sign = '+'; |
406 | else sign = '+'; |
405 | LCD_printfxy(0,0,"Magnetic Field"); |
407 | LCD_printfxy(0,0,"Magnetic Field"); |
406 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
408 | LCD_printfxy(0,1,"X:%5i",MagVector.X); |
407 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
409 | LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
408 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
410 | LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
409 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
411 | LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
410 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
412 | // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
411 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
413 | // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
412 | LCD_printfxy(15,3,"(CAL)"); |
414 | LCD_printfxy(15,3,"(CAL)"); |
413 | } |
415 | } |
414 | if(Keys & KEY4) // next step |
416 | if(Keys & KEY4) // next step |
415 | { |
417 | { |
416 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
418 | if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1); |
417 | else Compass_SetCalState(0); |
419 | else Compass_SetCalState(0); |
418 | } |
420 | } |
419 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
421 | if(Keys & KEY3)Compass_SetCalState(0); // cancel |
420 | break; |
422 | break; |
421 | case 18: |
423 | case 18: |
422 | if(GeoMagDec < 0) sign = '-'; |
424 | if(GeoMagDec < 0) sign = '-'; |
423 | else sign = '+'; |
425 | else sign = '+'; |
424 | LCD_printfxy(0,0,"Magnetic Field"); |
426 | LCD_printfxy(0,0,"Magnetic Field"); |
425 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
427 | LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5); |
426 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
428 | LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
427 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
429 | LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic); |
428 | break; |
430 | break; |
429 | default: |
431 | default: |
430 | //MaxMenuItem = MenuItem - 1; |
432 | //MaxMenuItem = MenuItem - 1; |
431 | MenuItem = 0; |
433 | MenuItem = 0; |
432 | break; |
434 | break; |
433 | } |
435 | } |
434 | } |
436 | } |
435 | 437 |