WebSVN - NaviCtrl - Diff - Rev 515 and 516


/*#######################################################################################*/
/* !!! 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,
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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#include <stdlib.h>
#include "91x_lib.h"
#include "main.h"
#include "led.h"
#include "ubx.h"
#include "GPS.h"
#include "timer1.h"
#include "compass.h"
#include "spi_slave.h"
#include "menu.h"
#include "uart1.h"
#include "ncmag.h"
#include "logging.h"
#include "settings.h"
 
u8 DispPtr = 0;
s8 DisplayBuff[DISPLAYBUFFSIZE];
 
 
u8 MenuItem = 0;
u8 MaxMenuItem = 27;
 
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.%02d%c", (Version_HW & 0x7F)/10, (Version_HW & 0x7F)%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
 
            if(ErrorCode)
                        {
                                LCD_printfxy(0,2,"Error: %d",ErrorCode);
                LCD_printfxy(0,3,"%s",ErrorMSG);
                        }
                        else
                        {
                         LCD_printfxy(0,3,"(c) HiSystems GmbH");
                         LCD_printfxy(0,2,"%s",ErrorMSG);
                        }
                        break;
                case 1:
                        if (GPSData.Status == INVALID)
                        {
                                LCD_printfxy(0,0,"No GPS data");
                                LCD_printfxy(0,1,"Lon:                ");
                                LCD_printfxy(0,2,"Lat:                ");
                                LCD_printfxy(0,3,"Alt:                ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
                                switch (GPSData.SatFix)
                                {
                                case SATFIX_NONE:
                                        LCD_printfxy(7,0,"NoFix");
                                        break;
                                case SATFIX_2D:
                                        LCD_printfxy(7,0,"2DFix");
                                        break;
                                case SATFIX_3D:
                                        LCD_printfxy(7,0,"3DFix");
                                        break;
                                default:
                                        LCD_printfxy(7,0,"??Fix");
                                        break;
                                }
                                if(GPSData.Flags & FLAG_DIFFSOLN)
                                {
                                        LCD_printfxy(12,0,"/DGPS");
                                }
                                else
                                {
                                        LCD_printfxy(12,0,"     ");
                                }
 
                                if(GPSData.Position.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Longitude)/10000000L;
                                i2 = abs(GPSData.Position.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPSData.Position.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Latitude)/10000000L;
                                i2 = abs(GPSData.Position.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPSData.Position.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Altitude)/1000L;
                                i2 = abs(GPSData.Position.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
                        }
                        break;
                case 2:
                        if (GPSData.Status == INVALID)
                        {
                                LCD_printfxy(0,0,"No GPS data");
                                LCD_printfxy(0,1,"Speed N:            ");
                                LCD_printfxy(0,2,"Speed E:            ");
                                LCD_printfxy(0,3,"Speed T:            ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
                                switch (GPSData.SatFix)
                                {
                                case SATFIX_NONE:
                                        LCD_printfxy(7,0,"NoFix");
                                        break;
                                case SATFIX_2D:
                                        LCD_printfxy(7,0,"2DFix");
                                        break;
                                case SATFIX_3D:
                                        LCD_printfxy(7,0,"3DFix");
                                        break;
                                default:
                                        LCD_printfxy(7,0,"??Fix");
                                        break;
                                }
                                if(GPSData.Flags & FLAG_DIFFSOLN)
                                {
                                        LCD_printfxy(12,0,"/DGPS");
                                }
                                else
                                {
                                        LCD_printfxy(12,0,"     ");
                                }
 
                                LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
                                LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
                                LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
                        }
                        break;
                case 3:
                        LCD_printfxy(0,0,"GPS UTC Time");
                        if (!SystemTime.Valid)
                        {
                                LCD_printfxy(0,1,"                    ");
                                LCD_printfxy(0,2,"  No time data!     ");
                                LCD_printfxy(0,3,"                    ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,1,"                    ");
                                LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
                                LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
                        }
                        break;
                case 4: // Navi Params 1 from FC
                        LCD_printfxy(0,0,"NaviMode: %3i" ,  Parameter.NaviGpsModeControl);
            LCD_printfxy(0,1,"G  :%3i P  :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
            LCD_printfxy(0,2,"I  :%3i D  :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
                    LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
                        break;
                case 5: // Navi Params 2 from FC
                        LCD_printfxy(0,0,"Stick TS:  %3i", Parameter.NaviStickThreshold);
            LCD_printfxy(0,1,"MaxRadius: %3im",MaxRadius_in_m);
            LCD_printfxy(0,2,"WindCorr:  %3i", Parameter.NaviWindCorrection);
                    LCD_printfxy(0,3,"AccComp:   %3i", Parameter.NaviSpeedCompensation);
                        break;
                case 6: // Navi Params 3 from FC
                        LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
            LCD_printfxy(0,1,"    P-Limit: %3i", Parameter.NaviGpsPLimit);
            LCD_printfxy(0,2,"    I-Limit: %3i", Parameter.NaviGpsILimit);
                    LCD_printfxy(0,3,"    D-Limit: %3i", Parameter.NaviGpsDLimit);
                        break;
                case 7: // Max Ranges
                        LCD_printfxy(0,0,"Maximum flying  ");
            LCD_printfxy(0,1,"Range:   %4im ", AbsoluteFlyingRange);
            LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange);
            LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
                        if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled");
                        if(!AutoDescendRange)    LCD_printfxy(9,2,"disabled");
                        if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");
                        break;
                case 8:
                        LCD_printfxy(0,0,"Home Position");
                        if(NaviData.HomePosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");
                                LCD_printfxy(0,3,"                     ");
                        }
                        else
                        {
                                if(NaviData.HomePosition.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
                                i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.HomePosition.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
                                i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.HomePosition.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Altitude)/1000L;
                                i2 = abs(NaviData.HomePosition.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
                        }
                        break;
                case 9:
                        LCD_printfxy(0,0,"Target Position");
                        if(NaviData.TargetPosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");
                                LCD_printfxy(0,3,"                     ");
                        }
                        else
                        {
                                if(NaviData.TargetPosition.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
                                i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.TargetPosition.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
                                i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.HomePosition.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
                                i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
                        }
                        break;
                case 10: // RC stick controls from FC
                        LCD_printfxy(0,0,"RC-Sticks" );
            LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",FC.StickNick, FC.StickRoll);
            LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",FC.StickGas, FC.StickYaw);
            LCD_printfxy(0,3,"RC-Level:    %3i", FC.RC_Quality); // Remote Control Level from FC
                        break;
                case 11: // RC poti controls from FC
                        LCD_printfxy(0,0,"RC-Potis 1" );
            LCD_printfxy(0,1,"Po1:%3i  Po2:%3i ",FC.Poti[0], FC.Poti[1]);
            LCD_printfxy(0,2,"Po3:%3i  Po4:%3i ",FC.Poti[2], FC.Poti[3]);
                        break;
                case 12: // RC poti controls from FC
                        LCD_printfxy(0,0,"RC-Potis 2" );
            LCD_printfxy(0,1,"Po5:%3i  Po6:%3i ",FC.Poti[4], FC.Poti[5]);
            LCD_printfxy(0,2,"Po7:%3i  Po8:%3i ",FC.Poti[6], FC.Poti[7]);
                        break;
                case 13: // attitude from FC
                        if(FromFlightCtrl.AngleNick < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AngleNick)/10;
                        i2 = abs(FromFlightCtrl.AngleNick)%10;
                        LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
                        if(FromFlightCtrl.AngleRoll < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AngleRoll)/10;
                        i2 = abs(FromFlightCtrl.AngleRoll)%10;
            LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
                        if(FromFlightCtrl.AccNick < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AccNick)/10;
                        i2 = abs(FromFlightCtrl.AccNick)%10;
                        LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
                        if(FromFlightCtrl.AccRoll < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AccRoll)/10;
                        i2 = abs(FromFlightCtrl.AccRoll)%10;
            LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
                        break;
                case 14: // gyros from FC
                        LCD_printfxy(0,0,"GyroNick:  %4i", FromFlightCtrl.GyroNick);
            LCD_printfxy(0,1,"GyroRoll:  %4i", FromFlightCtrl.GyroRoll);
                        LCD_printfxy(0,2,"GyroYaw:   %4i", FromFlightCtrl.GyroYaw);
                        if(FC_is_Calibrated)    LCD_printfxy(0,3,"Calibrated    ")
                        else                                    LCD_printfxy(0,3,"not calibrated");
                        break;
                case 15:
                        LCD_printfxy(0,0,"Compass:    %3i", FromFlightCtrl.GyroHeading / 10);
                        LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);
                        if(FC.FromFC_DisableDeclination)
                        {
                                LCD_printfxy(0,2,"Mag.Declinat.:disabl");
                        }
                        else
                        {
                                if(GeoMagDec < 0) sign = '-';
                                else sign = '+';
                                LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
                        }
                        LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);
            break;
                case 16: // User Parameter
                        LCD_printfxy(0,0,"UP1:%3i  UP2:%3i",Parameter.User1,Parameter.User2);
                        LCD_printfxy(0,1,"UP3:%3i  UP4:%3i",Parameter.User3,Parameter.User4);
                        LCD_printfxy(0,2,"UP5:%3i  UP6:%3i",Parameter.User5,Parameter.User6);
                        LCD_printfxy(0,3,"UP7:%3i  UP8:%3i",Parameter.User7,Parameter.User8);
                        break;
                case 17: // User Parameter
                        LCD_printfxy(0,0,"SD-Card Logs");
                        LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);
                        LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);
                        break;
                case 18: // magnetic field
                        if(Compass_CalState)
                        {
                                LCD_printfxy(0,0,"Calibration:");
                                LCD_printfxy(0,1,"Step %d/", Compass_CalState);
                                LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
                                LCD_printfxy(9,3,"(ESC)(NEXT)");
                                switch(Compass_CalState)
                                {
                                        case 1:
                                        case 3:
                                                LCD_printfxy(7,1,"pause");
                                                break;
 
                                        case 2:
                                                LCD_printfxy(7,1,"horizontal");
                                                break;
 
                                        case 4:
                                                LCD_printfxy(7,1,"vertical");
                                                break;
 
                                        case 5:
                                                LCD_printfxy(7,1,"data saved");
                                                LCD_printfxy(8,3,"      (END) ");
                                                break;
 
                                        default:
                                                break;
                                }
                        }
                        else
                        {
                                if(GeoMagDec < 0) sign = '-';
                                else sign = '+';
                                LCD_printfxy(0,0,"Magnetic Field");
                                LCD_printfxy(0,1,"X:%5i",MagVector.X);
                                LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
                                LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
                                LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);
                                if(Compass_I2CPort == NCMAG_PORT_EXTERN)        LCD_printfxy(11,2,"Extern")
                                else                                                                            LCD_printfxy(11,2,"Intern");
//                              LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
//                              LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
                                LCD_printfxy(15,3,"(CAL)");
                        }
                        if(Keys & KEY4) //  next step
                        {
                                if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
                                else Compass_SetCalState(0);
                        }
                        if(Keys & KEY3)Compass_SetCalState(0);  // cancel
                        break;
                case 19:
                        if(GeoMagDec < 0) sign = '-';
                        else sign = '+';
                                LCD_printfxy(0,0,"Magnetic Field");
                                LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
                                LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
                                LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination,     EarthMagneticInclinationTheoretic);
                        break;
                case 20:
                        LCD_printfxy(0,0,"SD-Setting      ");
                        LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
                        break;
                case 21:
                        LCD_printfxy(0,0,"CPU Processing  ");
                        LCD_printfxy(0,2,"GPS-Data:  %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10);
                        LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10);
                        if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");
                        if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");
                        break;
                case 22:
                        LCD_printfxy(0,0,"BL Current" );
                        LCD_printfxy(11,3,"(in 0.1A)" );
                        for(i1 = 0; i1 < 3; i1++)
                        {
                                LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i1*4),BL3_Current(i1*4+1),BL3_Current(i1*4+2),BL3_Current(i1*4+3));
                                if(Motor[4 + i1 * 4].State == 0) break;
                        }
                        break;
 
                case 23:
                        LCD_printfxy(0,0,"Ext. Compass" );
                        if(Compass_I2CPort == NCMAG_PORT_EXTERN)
                        {
                             u8 tmp;
                         LCD_printfxy(0,1,"ACC  X      Y      Z");
                         LCD_printfxy(0,2," %5d  %5d  %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40);
                                 tmp = NCMAG_GetOrientationFromAcc();
                                 LCD_printfxy(0,3,"Orientat.: ");
                                 if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp);
                                 LCD_printfxy(15,3,"(%d)",NCMAG_Orientation);
                        }
                        else
                        {
                                LCD_printfxy(0,1,"Not connected");
                        }
                        break;
 
                case 24:
                        {
                                static u8 index = 1;
                                if(Keys & KEY3) //  next step
                                {
                                        if(index < ToFC_MaxWpListIndex) index++;
                                        else index = 1;
                                }
                                if(Keys & KEY4) FromFC_LoadWP_List = index;
                                LCD_printfxy(0,0,"Load WPL (fix)" );
                                LCD_printfxy(0,1,"Name: %s", WPL_Store.Name);
                                //                12345678901234567890
                                LCD_printfxy(0,2,"Points    Index     ");
                                LCD_printfxy(0,3," %3d      %3d   LOAD", PointList_GetCount(), index);
                        }                                                
                        break;
                case 25:
                        {
                                static u8 index = 1;
                                if(Keys & KEY3)
                                {
                                        if(index < ToFC_MaxWpListIndex) index++;
                                        else index = 1;
                                }
                                LCD_printfxy(0,0,"Load WPL (Rel)" );
                                LCD_printfxy(0,1,"Name: %s", WPL_Store.Name);
                                //                12345678901234567890
                                LCD_printfxy(0,2,"Points    Index     ");
                                if(GPSData.SatFix == SATFIX_3D)
                                 {
                                   LCD_printfxy(0,3," %3d      %3d   LOAD", PointList_GetCount(), index);
                                   if(Keys & KEY4) FromFC_LoadWP_List = index | 0x80;
                                 }
                                 else LCD_printfxy(0,3," No Satfix !       ", index);
 
                        }                                                
                        break;
                case 26:
                        {
                                static u8 index = 1;
                                if(Keys & KEY3)
                                {
                                        if(index < ToFC_MaxWpListIndex) index++;
                                        else index = 1;
                                }
                                if(Keys & KEY4) FromFC_Load_SinglePoint = index;
                                LCD_printfxy(0,0,"Load Point" );
                                LCD_printfxy(0,1,"Name: %s", WPL_Store.Name);
                                //                12345678901234567890
//                              LCD_printfxy(0,2,"Points    Index     ");
                                LCD_printfxy(0,3,"Number:  %3d (LOAD)", index);
                        }                                                
                        break;
                case 27:
                        {
                                static u8 index = 1;
                                if(Keys & KEY3)
                                {
                                        if(index < ToFC_MaxWpListIndex) index++;
                                        else index = 1;
                                }
                                LCD_printfxy(0,0,"Save Point" );
                                LCD_printfxy(0,1,"Alt: %3dm", NaviData.Altimeter/20);
                                //                12345678901234567890
                                LCD_printfxy(0,2,"Dir: %3d ", CompassSetpointCorrected/10);
                                if(GPSData.SatFix == SATFIX_3D)
                                 {
                                   LCD_printfxy(0,3,"Number:   %3d (SAVE)", index);
                                   if(Keys & KEY4) FromFC_Save_SinglePoint = index;
                                 }
                                 else LCD_printfxy(0,3," No Satfix !       ", index);
                        }                                                
                        break;
 
                default:
                        //MaxMenuItem = MenuItem - 1;
                        MenuItem = 0;
                        break;
    }
}
 

Rev 515	Rev 516
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <stdlib.h>	57	#include <stdlib.h>
58	#include "91x_lib.h"	58	#include "91x_lib.h"
59	#include "main.h"	59	#include "main.h"
60	#include "led.h"	60	#include "led.h"
61	#include "ubx.h"	61	#include "ubx.h"
62	#include "GPS.h"	62	#include "GPS.h"
63	#include "timer1.h"	63	#include "timer1.h"
64	#include "compass.h"	64	#include "compass.h"
65	#include "spi_slave.h"	65	#include "spi_slave.h"
66	#include "menu.h"	66	#include "menu.h"
67	#include "uart1.h"	67	#include "uart1.h"
68	#include "ncmag.h"	68	#include "ncmag.h"
69	#include "logging.h"	69	#include "logging.h"
70	#include "settings.h"	70	#include "settings.h"
71		71
72	u8 DispPtr = 0;	72	u8 DispPtr = 0;
73	s8 DisplayBuff[DISPLAYBUFFSIZE];	73	s8 DisplayBuff[DISPLAYBUFFSIZE];
74		74
75		75
76	u8 MenuItem = 0;	76	u8 MenuItem = 0;
77	u8 MaxMenuItem = 27;	77	u8 MaxMenuItem = 27;
78		78
79	void Menu_Putchar(char c)	79	void Menu_Putchar(char c)
80	{	80	{
81	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;	81	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
82	}	82	}
83		83
84	void Menu_Clear(void)	84	void Menu_Clear(void)
85	{	85	{
86	u8 i;	86	u8 i;
87	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';	87	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
88	}	88	}
89		89
90	// Display with 20 characters in 4 lines	90	// Display with 20 characters in 4 lines
91	void Menu_Update(u8 Keys)	91	void Menu_Update(u8 Keys)
92	{	92	{
93	s32 i1,i2;	93	s32 i1,i2;
94	u8 sign;	94	u8 sign;
95		95
96	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}	96	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
97	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}	97	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
98	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;	98	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
99	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;	99	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
100	Menu_Clear();	100	Menu_Clear();
101	// print menu item number in the upper right corner	101	// print menu item number in the upper right corner
102	if(MenuItem < 10)	102	if(MenuItem < 10)
103	{	103	{
104	LCD_printfxy(17,0,"[%i]",MenuItem);	104	LCD_printfxy(17,0,"[%i]",MenuItem);
105	}	105	}
106	else // Menuitem >= 10	106	else // Menuitem >= 10
107	{	107	{
108	LCD_printfxy(16,0,"[%i]",MenuItem);	108	LCD_printfxy(16,0,"[%i]",MenuItem);
109	}	109	}
110		110
111	switch(MenuItem)	111	switch(MenuItem)
112	{	112	{
113	// Version Info	113	// Version Info
114	case 0:	114	case 0:
115	LCD_printfxy(0,0,"++ Navi-Ctrl ++");	115	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
116	LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", (Version_HW & 0x7F)/10, (Version_HW & 0x7F)%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	116	LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", (Version_HW & 0x7F)/10, (Version_HW & 0x7F)%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
117		117
118	if(ErrorCode)	118	if(ErrorCode)
119	{	119	{
120	LCD_printfxy(0,2,"Error: %d",ErrorCode);	120	LCD_printfxy(0,2,"Error: %d",ErrorCode);
121	LCD_printfxy(0,3,"%s",ErrorMSG);	121	LCD_printfxy(0,3,"%s",ErrorMSG);
122	}	122	}
123	else	123	else
124	{	124	{
125	LCD_printfxy(0,3,"(c) HiSystems GmbH");	125	LCD_printfxy(0,3,"(c) HiSystems GmbH");
126	LCD_printfxy(0,2,"%s",ErrorMSG);	126	LCD_printfxy(0,2,"%s",ErrorMSG);
127	}	127	}
128	break;	128	break;
129	case 1:	129	case 1:
130	if (GPSData.Status == INVALID)	130	if (GPSData.Status == INVALID)
131	{	131	{
132	LCD_printfxy(0,0,"No GPS data");	132	LCD_printfxy(0,0,"No GPS data");
133	LCD_printfxy(0,1,"Lon: ");	133	LCD_printfxy(0,1,"Lon: ");
134	LCD_printfxy(0,2,"Lat: ");	134	LCD_printfxy(0,2,"Lat: ");
135	LCD_printfxy(0,3,"Alt: ");	135	LCD_printfxy(0,3,"Alt: ");
136	}	136	}
137	else // newdata or processed	137	else // newdata or processed
138	{	138	{
139	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	139	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
140	switch (GPSData.SatFix)	140	switch (GPSData.SatFix)
141	{	141	{
142	case SATFIX_NONE:	142	case SATFIX_NONE:
143	LCD_printfxy(7,0,"NoFix");	143	LCD_printfxy(7,0,"NoFix");
144	break;	144	break;
145	case SATFIX_2D:	145	case SATFIX_2D:
146	LCD_printfxy(7,0,"2DFix");	146	LCD_printfxy(7,0,"2DFix");
147	break;	147	break;
148	case SATFIX_3D:	148	case SATFIX_3D:
149	LCD_printfxy(7,0,"3DFix");	149	LCD_printfxy(7,0,"3DFix");
150	break;	150	break;
151	default:	151	default:
152	LCD_printfxy(7,0,"??Fix");	152	LCD_printfxy(7,0,"??Fix");
153	break;	153	break;
154	}	154	}
155	if(GPSData.Flags & FLAG_DIFFSOLN)	155	if(GPSData.Flags & FLAG_DIFFSOLN)
156	{	156	{
157	LCD_printfxy(12,0,"/DGPS");	157	LCD_printfxy(12,0,"/DGPS");
158	}	158	}
159	else	159	else
160	{	160	{
161	LCD_printfxy(12,0," ");	161	LCD_printfxy(12,0," ");
162	}	162	}
163		163
164	if(GPSData.Position.Longitude < 0) sign = '-';	164	if(GPSData.Position.Longitude < 0) sign = '-';
165	else sign = '+';	165	else sign = '+';
166	i1 = abs(GPSData.Position.Longitude)/10000000L;	166	i1 = abs(GPSData.Position.Longitude)/10000000L;
167	i2 = abs(GPSData.Position.Longitude)%10000000L;	167	i2 = abs(GPSData.Position.Longitude)%10000000L;
168	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	168	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
169	if(GPSData.Position.Latitude < 0) sign = '-';	169	if(GPSData.Position.Latitude < 0) sign = '-';
170	else sign = '+';	170	else sign = '+';
171	i1 = abs(GPSData.Position.Latitude)/10000000L;	171	i1 = abs(GPSData.Position.Latitude)/10000000L;
172	i2 = abs(GPSData.Position.Latitude)%10000000L;	172	i2 = abs(GPSData.Position.Latitude)%10000000L;
173	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	173	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
174	if(GPSData.Position.Altitude < 0) sign = '-';	174	if(GPSData.Position.Altitude < 0) sign = '-';
175	else sign = '+';	175	else sign = '+';
176	i1 = abs(GPSData.Position.Altitude)/1000L;	176	i1 = abs(GPSData.Position.Altitude)/1000L;
177	i2 = abs(GPSData.Position.Altitude)%1000L;	177	i2 = abs(GPSData.Position.Altitude)%1000L;
178	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);	178	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
179	}	179	}
180	break;	180	break;
181	case 2:	181	case 2:
182	if (GPSData.Status == INVALID)	182	if (GPSData.Status == INVALID)
183	{	183	{
184	LCD_printfxy(0,0,"No GPS data");	184	LCD_printfxy(0,0,"No GPS data");
185	LCD_printfxy(0,1,"Speed N: ");	185	LCD_printfxy(0,1,"Speed N: ");
186	LCD_printfxy(0,2,"Speed E: ");	186	LCD_printfxy(0,2,"Speed E: ");
187	LCD_printfxy(0,3,"Speed T: ");	187	LCD_printfxy(0,3,"Speed T: ");
188	}	188	}
189	else // newdata or processed	189	else // newdata or processed
190	{	190	{
191	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	191	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
192	switch (GPSData.SatFix)	192	switch (GPSData.SatFix)
193	{	193	{
194	case SATFIX_NONE:	194	case SATFIX_NONE:
195	LCD_printfxy(7,0,"NoFix");	195	LCD_printfxy(7,0,"NoFix");
196	break;	196	break;
197	case SATFIX_2D:	197	case SATFIX_2D:
198	LCD_printfxy(7,0,"2DFix");	198	LCD_printfxy(7,0,"2DFix");
199	break;	199	break;
200	case SATFIX_3D:	200	case SATFIX_3D:
201	LCD_printfxy(7,0,"3DFix");	201	LCD_printfxy(7,0,"3DFix");
202	break;	202	break;
203	default:	203	default:
204	LCD_printfxy(7,0,"??Fix");	204	LCD_printfxy(7,0,"??Fix");
205	break;	205	break;
206	}	206	}
207	if(GPSData.Flags & FLAG_DIFFSOLN)	207	if(GPSData.Flags & FLAG_DIFFSOLN)
208	{	208	{
209	LCD_printfxy(12,0,"/DGPS");	209	LCD_printfxy(12,0,"/DGPS");
210	}	210	}
211	else	211	else
212	{	212	{
213	LCD_printfxy(12,0," ");	213	LCD_printfxy(12,0," ");
214	}	214	}
215		215
216	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);	216	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
217	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);	217	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
218	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);	218	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
219	}	219	}
220	break;	220	break;
221	case 3:	221	case 3:
222	LCD_printfxy(0,0,"GPS UTC Time");	222	LCD_printfxy(0,0,"GPS UTC Time");
223	if (!SystemTime.Valid)	223	if (!SystemTime.Valid)
224	{	224	{
225	LCD_printfxy(0,1," ");	225	LCD_printfxy(0,1," ");
226	LCD_printfxy(0,2," No time data! ");	226	LCD_printfxy(0,2," No time data! ");
227	LCD_printfxy(0,3," ");	227	LCD_printfxy(0,3," ");
228	}	228	}
229	else // newdata or processed	229	else // newdata or processed
230	{	230	{
231	LCD_printfxy(0,1," ");	231	LCD_printfxy(0,1," ");
232	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);	232	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
233	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);	233	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
234	}	234	}
235	break;	235	break;
236	case 4: // Navi Params 1 from FC	236	case 4: // Navi Params 1 from FC
237	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	237	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
238	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);	238	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
239	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);	239	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
240	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);	240	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
241	break;	241	break;
242	case 5: // Navi Params 2 from FC	242	case 5: // Navi Params 2 from FC
243	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	243	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
244	LCD_printfxy(0,1,"MaxRadius: %3im", DebugOut.Analog[4]);	244	LCD_printfxy(0,1,"MaxRadius: %3im",MaxRadius_in_m);
245	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	245	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
246	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);	246	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);
247	break;	247	break;
248	case 6: // Navi Params 3 from FC	248	case 6: // Navi Params 3 from FC
249	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	249	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
250	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	250	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
251	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	251	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
252	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	252	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
253	break;	253	break;
254	case 7: // Max Ranges	254	case 7: // Max Ranges
255	LCD_printfxy(0,0,"Maximum flying ");	255	LCD_printfxy(0,0,"Maximum flying ");
256	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange);	256	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange);
257	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange);	257	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange);
258	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);	258	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
259	if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled");	259	if(!AbsoluteFlyingRange) LCD_printfxy(9,1,"disabled");
260	if(!AutoDescendRange) LCD_printfxy(9,2,"disabled");	260	if(!AutoDescendRange) LCD_printfxy(9,2,"disabled");
261	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");	261	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");
262	break;	262	break;
263	case 8:	263	case 8:
264	LCD_printfxy(0,0,"Home Position");	264	LCD_printfxy(0,0,"Home Position");
265	if(NaviData.HomePosition.Status == INVALID)	265	if(NaviData.HomePosition.Status == INVALID)
266	{	266	{
267	LCD_printfxy(0,1," ");	267	LCD_printfxy(0,1," ");
268	LCD_printfxy(0,2," Is not set. ");	268	LCD_printfxy(0,2," Is not set. ");
269	LCD_printfxy(0,3," ");	269	LCD_printfxy(0,3," ");
270	}	270	}
271	else	271	else
272	{	272	{
273	if(NaviData.HomePosition.Longitude < 0) sign = '-';	273	if(NaviData.HomePosition.Longitude < 0) sign = '-';
274	else sign = '+';	274	else sign = '+';
275	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;	275	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
276	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;	276	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
277	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	277	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
278	if(NaviData.HomePosition.Latitude < 0) sign = '-';	278	if(NaviData.HomePosition.Latitude < 0) sign = '-';
279	else sign = '+';	279	else sign = '+';
280	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;	280	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
281	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;	281	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
282	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	282	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
283	if(NaviData.HomePosition.Altitude < 0) sign = '-';	283	if(NaviData.HomePosition.Altitude < 0) sign = '-';
284	else sign = '+';	284	else sign = '+';
285	i1 = abs(NaviData.HomePosition.Altitude)/1000L;	285	i1 = abs(NaviData.HomePosition.Altitude)/1000L;
286	i2 = abs(NaviData.HomePosition.Altitude)%1000L;	286	i2 = abs(NaviData.HomePosition.Altitude)%1000L;
287	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	287	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
288	}	288	}
289	break;	289	break;
290	case 9:	290	case 9:
291	LCD_printfxy(0,0,"Target Position");	291	LCD_printfxy(0,0,"Target Position");
292	if(NaviData.TargetPosition.Status == INVALID)	292	if(NaviData.TargetPosition.Status == INVALID)
293	{	293	{
294	LCD_printfxy(0,1," ");	294	LCD_printfxy(0,1," ");
295	LCD_printfxy(0,2," Is not set. ");	295	LCD_printfxy(0,2," Is not set. ");
296	LCD_printfxy(0,3," ");	296	LCD_printfxy(0,3," ");
297	}	297	}
298	else	298	else
299	{	299	{
300	if(NaviData.TargetPosition.Longitude < 0) sign = '-';	300	if(NaviData.TargetPosition.Longitude < 0) sign = '-';
301	else sign = '+';	301	else sign = '+';
302	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;	302	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
303	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;	303	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
304	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	304	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
305	if(NaviData.TargetPosition.Latitude < 0) sign = '-';	305	if(NaviData.TargetPosition.Latitude < 0) sign = '-';
306	else sign = '+';	306	else sign = '+';
307	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;	307	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
308	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;	308	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;
309	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	309	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
310	if(NaviData.HomePosition.Altitude < 0) sign = '-';	310	if(NaviData.HomePosition.Altitude < 0) sign = '-';
311	else sign = '+';	311	else sign = '+';
312	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;	312	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
313	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;	313	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
314	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	314	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
315	}	315	}
316	break;	316	break;
317	case 10: // RC stick controls from FC	317	case 10: // RC stick controls from FC
318	LCD_printfxy(0,0,"RC-Sticks" );	318	LCD_printfxy(0,0,"RC-Sticks" );
319	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	319	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
320	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	320	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
321	LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC	321	LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC
322	break;	322	break;
323	case 11: // RC poti controls from FC	323	case 11: // RC poti controls from FC
324	LCD_printfxy(0,0,"RC-Potis 1" );	324	LCD_printfxy(0,0,"RC-Potis 1" );
325	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);	325	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
326	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);	326	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
327	break;	327	break;
328	case 12: // RC poti controls from FC	328	case 12: // RC poti controls from FC
329	LCD_printfxy(0,0,"RC-Potis 2" );	329	LCD_printfxy(0,0,"RC-Potis 2" );
330	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);	330	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
331	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);	331	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
332	break;	332	break;
333	case 13: // attitude from FC	333	case 13: // attitude from FC
334	if(FromFlightCtrl.AngleNick < 0) sign = '-';	334	if(FromFlightCtrl.AngleNick < 0) sign = '-';
335	else sign = '+';	335	else sign = '+';
336	i1 = abs(FromFlightCtrl.AngleNick)/10;	336	i1 = abs(FromFlightCtrl.AngleNick)/10;
337	i2 = abs(FromFlightCtrl.AngleNick)%10;	337	i2 = abs(FromFlightCtrl.AngleNick)%10;
338	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);	338	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
339	if(FromFlightCtrl.AngleRoll < 0) sign = '-';	339	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
340	else sign = '+';	340	else sign = '+';
341	i1 = abs(FromFlightCtrl.AngleRoll)/10;	341	i1 = abs(FromFlightCtrl.AngleRoll)/10;
342	i2 = abs(FromFlightCtrl.AngleRoll)%10;	342	i2 = abs(FromFlightCtrl.AngleRoll)%10;
343	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);	343	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
344	if(FromFlightCtrl.AccNick < 0) sign = '-';	344	if(FromFlightCtrl.AccNick < 0) sign = '-';
345	else sign = '+';	345	else sign = '+';
346	i1 = abs(FromFlightCtrl.AccNick)/10;	346	i1 = abs(FromFlightCtrl.AccNick)/10;
347	i2 = abs(FromFlightCtrl.AccNick)%10;	347	i2 = abs(FromFlightCtrl.AccNick)%10;
348	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);	348	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
349	if(FromFlightCtrl.AccRoll < 0) sign = '-';	349	if(FromFlightCtrl.AccRoll < 0) sign = '-';
350	else sign = '+';	350	else sign = '+';
351	i1 = abs(FromFlightCtrl.AccRoll)/10;	351	i1 = abs(FromFlightCtrl.AccRoll)/10;
352	i2 = abs(FromFlightCtrl.AccRoll)%10;	352	i2 = abs(FromFlightCtrl.AccRoll)%10;
353	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);	353	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
354	break;	354	break;
355	case 14: // gyros from FC	355	case 14: // gyros from FC
356	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);	356	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
357	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);	357	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
358	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);	358	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
359	if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ")	359	if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ")
360	else LCD_printfxy(0,3,"not calibrated");	360	else LCD_printfxy(0,3,"not calibrated");
361	break;	361	break;
362	case 15:	362	case 15:
363	LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10);	363	LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10);
364	LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);	364	LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);
365	if(FC.FromFC_DisableDeclination)	365	if(FC.FromFC_DisableDeclination)
366	{	366	{
367	LCD_printfxy(0,2,"Mag.Declinat.:disabl");	367	LCD_printfxy(0,2,"Mag.Declinat.:disabl");
368	}	368	}
369	else	369	else
370	{	370	{
371	if(GeoMagDec < 0) sign = '-';	371	if(GeoMagDec < 0) sign = '-';
372	else sign = '+';	372	else sign = '+';
373	LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	373	LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
374	}	374	}
375	LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);	375	LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);
376	break;	376	break;
377	case 16: // User Parameter	377	case 16: // User Parameter
378	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);	378	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
379	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);	379	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
380	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);	380	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
381	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);	381	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
382	break;	382	break;
383	case 17: // User Parameter	383	case 17: // User Parameter
384	LCD_printfxy(0,0,"SD-Card Logs");	384	LCD_printfxy(0,0,"SD-Card Logs");
385	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);	385	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);
386	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);	386	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);
387	break;	387	break;
388	case 18: // magnetic field	388	case 18: // magnetic field
389	if(Compass_CalState)	389	if(Compass_CalState)
390	{	390	{
391	LCD_printfxy(0,0,"Calibration:");	391	LCD_printfxy(0,0,"Calibration:");
392	LCD_printfxy(0,1,"Step %d/", Compass_CalState);	392	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
393	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);	393	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
394	LCD_printfxy(9,3,"(ESC)(NEXT)");	394	LCD_printfxy(9,3,"(ESC)(NEXT)");
395	switch(Compass_CalState)	395	switch(Compass_CalState)
396	{	396	{
397	case 1:	397	case 1:
398	case 3:	398	case 3:
399	LCD_printfxy(7,1,"pause");	399	LCD_printfxy(7,1,"pause");
400	break;	400	break;
401		401
402	case 2:	402	case 2:
403	LCD_printfxy(7,1,"horizontal");	403	LCD_printfxy(7,1,"horizontal");
404	break;	404	break;
405		405
406	case 4:	406	case 4:
407	LCD_printfxy(7,1,"vertical");	407	LCD_printfxy(7,1,"vertical");
408	break;	408	break;
409		409
410	case 5:	410	case 5:
411	LCD_printfxy(7,1,"data saved");	411	LCD_printfxy(7,1,"data saved");
412	LCD_printfxy(8,3," (END) ");	412	LCD_printfxy(8,3," (END) ");
413	break;	413	break;
414		414
415	default:	415	default:
416	break;	416	break;
417	}	417	}
418	}	418	}
419	else	419	else
420	{	420	{
421	if(GeoMagDec < 0) sign = '-';	421	if(GeoMagDec < 0) sign = '-';
422	else sign = '+';	422	else sign = '+';
423	LCD_printfxy(0,0,"Magnetic Field");	423	LCD_printfxy(0,0,"Magnetic Field");
424	LCD_printfxy(0,1,"X:%5i",MagVector.X);	424	LCD_printfxy(0,1,"X:%5i",MagVector.X);
425	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);	425	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
426	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);	426	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
427	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);	427	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);
428	if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern")	428	if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern")
429	else LCD_printfxy(11,2,"Intern");	429	else LCD_printfxy(11,2,"Intern");
430	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	430	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
431	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);	431	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
432	LCD_printfxy(15,3,"(CAL)");	432	LCD_printfxy(15,3,"(CAL)");
433	}	433	}
434	if(Keys & KEY4) // next step	434	if(Keys & KEY4) // next step
435	{	435	{
436	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);	436	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
437	else Compass_SetCalState(0);	437	else Compass_SetCalState(0);
438	}	438	}
439	if(Keys & KEY3)Compass_SetCalState(0); // cancel	439	if(Keys & KEY3)Compass_SetCalState(0); // cancel
440	break;	440	break;
441	case 19:	441	case 19:
442	if(GeoMagDec < 0) sign = '-';	442	if(GeoMagDec < 0) sign = '-';
443	else sign = '+';	443	else sign = '+';
444	LCD_printfxy(0,0,"Magnetic Field");	444	LCD_printfxy(0,0,"Magnetic Field");
445	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);	445	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
446	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	446	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
447	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);	447	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);
448	break;	448	break;
449	case 20:	449	case 20:
450	LCD_printfxy(0,0,"SD-Setting ");	450	LCD_printfxy(0,0,"SD-Setting ");
451	LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);	451	LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
452	break;	452	break;
453	case 21:	453	case 21:
454	LCD_printfxy(0,0,"CPU Processing ");	454	LCD_printfxy(0,0,"CPU Processing ");
455	LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10);	455	LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10);
456	LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10);	456	LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10);
457	if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");	457	if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");
458	if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");	458	if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");
459	break;	459	break;
460	case 22:	460	case 22:
461	LCD_printfxy(0,0,"BL Current" );	461	LCD_printfxy(0,0,"BL Current" );
462	LCD_printfxy(11,3,"(in 0.1A)" );	462	LCD_printfxy(11,3,"(in 0.1A)" );
463	for(i1 = 0; i1 < 3; i1++)	463	for(i1 = 0; i1 < 3; i1++)
464	{	464	{
465	LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i14),BL3_Current(i14+1),BL3_Current(i14+2),BL3_Current(i14+3));	465	LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i14),BL3_Current(i14+1),BL3_Current(i14+2),BL3_Current(i14+3));
466	if(Motor[4 + i1 * 4].State == 0) break;	466	if(Motor[4 + i1 * 4].State == 0) break;
467	}	467	}
468	break;	468	break;
469		469
470	case 23:	470	case 23:
471	LCD_printfxy(0,0,"Ext. Compass" );	471	LCD_printfxy(0,0,"Ext. Compass" );
472	if(Compass_I2CPort == NCMAG_PORT_EXTERN)	472	if(Compass_I2CPort == NCMAG_PORT_EXTERN)
473	{	473	{
474	u8 tmp;	474	u8 tmp;
475	LCD_printfxy(0,1,"ACC X Y Z");	475	LCD_printfxy(0,1,"ACC X Y Z");
476	LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40);	476	LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40);
477	tmp = NCMAG_GetOrientationFromAcc();	477	tmp = NCMAG_GetOrientationFromAcc();
478	LCD_printfxy(0,3,"Orientat.: ");	478	LCD_printfxy(0,3,"Orientat.: ");
479	if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp);	479	if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp);
480	LCD_printfxy(15,3,"(%d)",NCMAG_Orientation);	480	LCD_printfxy(15,3,"(%d)",NCMAG_Orientation);
481	}	481	}
482	else	482	else
483	{	483	{
484	LCD_printfxy(0,1,"Not connected");	484	LCD_printfxy(0,1,"Not connected");
485	}	485	}
486	break;	486	break;
487		487
488	case 24:	488	case 24:
489	{	489	{
490	static u8 index = 1;	490	static u8 index = 1;
491	if(Keys & KEY3) // next step	491	if(Keys & KEY3) // next step
492	{	492	{
493	if(index < ToFC_MaxWpListIndex) index++;	493	if(index < ToFC_MaxWpListIndex) index++;
494	else index = 1;	494	else index = 1;
495	}	495	}
496	if(Keys & KEY4) FromFC_LoadWP_List = index;	496	if(Keys & KEY4) FromFC_LoadWP_List = index;
497	LCD_printfxy(0,0,"Load WPL (fix)" );	497	LCD_printfxy(0,0,"Load WPL (fix)" );
498	LCD_printfxy(0,1,"Name: %s", WPL_Store.Name);	498	LCD_printfxy(0,1,"Name: %s", WPL_Store.Name);
499	// 12345678901234567890	499	// 12345678901234567890
500	LCD_printfxy(0,2,"Points Index ");	500	LCD_printfxy(0,2,"Points Index ");

Subversion Repositories NaviCtrl

(root)/tags/V2.10e/menu.c @ 657 - Rev 515 → 516