WebSVN - NaviCtrl - Diff - Rev 548 and 571


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
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//
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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"
#include "sdc.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", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
                        if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE) LCD_printfxy(19,1,"R");
            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,"WP_Radius: %3im",MaxWP_Radius_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_m);
            LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m);
            LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
                        if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled");
                        if(!AutoDescendRange_m)    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");
                        if(SDCardInfo.Valid == 1)
                         {
                          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);
                         }
                         else
                          LCD_printfxy(0,1,"no card in slot ");
                        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 548	Rev 571
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	#include "sdc.h"	71	#include "sdc.h"
72		72
73	u8 DispPtr = 0;	73	u8 DispPtr = 0;
74	s8 DisplayBuff[DISPLAYBUFFSIZE];	74	s8 DisplayBuff[DISPLAYBUFFSIZE];
75		75
76		76
77	u8 MenuItem = 0;	77	u8 MenuItem = 0;
78	u8 MaxMenuItem = 27;	78	u8 MaxMenuItem = 27;
79		79
80	void Menu_Putchar(char c)	80	void Menu_Putchar(char c)
81	{	81	{
82	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;	82	if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
83	}	83	}
84		84
85	void Menu_Clear(void)	85	void Menu_Clear(void)
86	{	86	{
87	u8 i;	87	u8 i;
88	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';	88	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
89	}	89	}
90		90
91	// Display with 20 characters in 4 lines	91	// Display with 20 characters in 4 lines
92	void Menu_Update(u8 Keys)	92	void Menu_Update(u8 Keys)
93	{	93	{
94	s32 i1,i2;	94	s32 i1,i2;
95	u8 sign;	95	u8 sign;
96		96
97	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}	97	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
98	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}	98	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
99	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;	99	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
100	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;	100	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
101	Menu_Clear();	101	Menu_Clear();
102	// print menu item number in the upper right corner	102	// print menu item number in the upper right corner
103	if(MenuItem < 10)	103	if(MenuItem < 10)
104	{	104	{
105	LCD_printfxy(17,0,"[%i]",MenuItem);	105	LCD_printfxy(17,0,"[%i]",MenuItem);
106	}	106	}
107	else // Menuitem >= 10	107	else // Menuitem >= 10
108	{	108	{
109	LCD_printfxy(16,0,"[%i]",MenuItem);	109	LCD_printfxy(16,0,"[%i]",MenuItem);
110	}	110	}
111		111
112	switch(MenuItem)	112	switch(MenuItem)
113	{	113	{
114	// Version Info	114	// Version Info
115	case 0:	115	case 0:
116	LCD_printfxy(0,0,"++ Navi-Ctrl ++");	116	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
117	LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	117	LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
118	if(FC.RedundanceBlOperation) LCD_printfxy(19,1,"R");	118	if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE) LCD_printfxy(19,1,"R");
119	if(ErrorCode)	119	if(ErrorCode)
120	{	120	{
121	LCD_printfxy(0,2,"Error: %d",ErrorCode);	121	LCD_printfxy(0,2,"Error: %d",ErrorCode);
122	LCD_printfxy(0,3,"%s",ErrorMSG);	122	LCD_printfxy(0,3,"%s",ErrorMSG);
123	}	123	}
124	else	124	else
125	{	125	{
126	LCD_printfxy(0,3,"(c) HiSystems GmbH");	126	LCD_printfxy(0,3,"(c) HiSystems GmbH");
127	LCD_printfxy(0,2,"%s",ErrorMSG);	127	LCD_printfxy(0,2,"%s",ErrorMSG);
128	}	128	}
129	break;	129	break;
130	case 1:	130	case 1:
131	if (GPSData.Status == INVALID)	131	if (GPSData.Status == INVALID)
132	{	132	{
133	LCD_printfxy(0,0,"No GPS data");	133	LCD_printfxy(0,0,"No GPS data");
134	LCD_printfxy(0,1,"Lon: ");	134	LCD_printfxy(0,1,"Lon: ");
135	LCD_printfxy(0,2,"Lat: ");	135	LCD_printfxy(0,2,"Lat: ");
136	LCD_printfxy(0,3,"Alt: ");	136	LCD_printfxy(0,3,"Alt: ");
137	}	137	}
138	else // newdata or processed	138	else // newdata or processed
139	{	139	{
140	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	140	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
141	switch (GPSData.SatFix)	141	switch (GPSData.SatFix)
142	{	142	{
143	case SATFIX_NONE:	143	case SATFIX_NONE:
144	LCD_printfxy(7,0,"NoFix");	144	LCD_printfxy(7,0,"NoFix");
145	break;	145	break;
146	case SATFIX_2D:	146	case SATFIX_2D:
147	LCD_printfxy(7,0,"2DFix");	147	LCD_printfxy(7,0,"2DFix");
148	break;	148	break;
149	case SATFIX_3D:	149	case SATFIX_3D:
150	LCD_printfxy(7,0,"3DFix");	150	LCD_printfxy(7,0,"3DFix");
151	break;	151	break;
152	default:	152	default:
153	LCD_printfxy(7,0,"??Fix");	153	LCD_printfxy(7,0,"??Fix");
154	break;	154	break;
155	}	155	}
156	if(GPSData.Flags & FLAG_DIFFSOLN)	156	if(GPSData.Flags & FLAG_DIFFSOLN)
157	{	157	{
158	LCD_printfxy(12,0,"/DGPS");	158	LCD_printfxy(12,0,"/DGPS");
159	}	159	}
160	else	160	else
161	{	161	{
162	LCD_printfxy(12,0," ");	162	LCD_printfxy(12,0," ");
163	}	163	}
164		164
165	if(GPSData.Position.Longitude < 0) sign = '-';	165	if(GPSData.Position.Longitude < 0) sign = '-';
166	else sign = '+';	166	else sign = '+';
167	i1 = abs(GPSData.Position.Longitude)/10000000L;	167	i1 = abs(GPSData.Position.Longitude)/10000000L;
168	i2 = abs(GPSData.Position.Longitude)%10000000L;	168	i2 = abs(GPSData.Position.Longitude)%10000000L;
169	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	169	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
170	if(GPSData.Position.Latitude < 0) sign = '-';	170	if(GPSData.Position.Latitude < 0) sign = '-';
171	else sign = '+';	171	else sign = '+';
172	i1 = abs(GPSData.Position.Latitude)/10000000L;	172	i1 = abs(GPSData.Position.Latitude)/10000000L;
173	i2 = abs(GPSData.Position.Latitude)%10000000L;	173	i2 = abs(GPSData.Position.Latitude)%10000000L;
174	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	174	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
175	if(GPSData.Position.Altitude < 0) sign = '-';	175	if(GPSData.Position.Altitude < 0) sign = '-';
176	else sign = '+';	176	else sign = '+';
177	i1 = abs(GPSData.Position.Altitude)/1000L;	177	i1 = abs(GPSData.Position.Altitude)/1000L;
178	i2 = abs(GPSData.Position.Altitude)%1000L;	178	i2 = abs(GPSData.Position.Altitude)%1000L;
179	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);	179	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
180	}	180	}
181	break;	181	break;
182	case 2:	182	case 2:
183	if (GPSData.Status == INVALID)	183	if (GPSData.Status == INVALID)
184	{	184	{
185	LCD_printfxy(0,0,"No GPS data");	185	LCD_printfxy(0,0,"No GPS data");
186	LCD_printfxy(0,1,"Speed N: ");	186	LCD_printfxy(0,1,"Speed N: ");
187	LCD_printfxy(0,2,"Speed E: ");	187	LCD_printfxy(0,2,"Speed E: ");
188	LCD_printfxy(0,3,"Speed T: ");	188	LCD_printfxy(0,3,"Speed T: ");
189	}	189	}
190	else // newdata or processed	190	else // newdata or processed
191	{	191	{
192	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	192	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
193	switch (GPSData.SatFix)	193	switch (GPSData.SatFix)
194	{	194	{
195	case SATFIX_NONE:	195	case SATFIX_NONE:
196	LCD_printfxy(7,0,"NoFix");	196	LCD_printfxy(7,0,"NoFix");
197	break;	197	break;
198	case SATFIX_2D:	198	case SATFIX_2D:
199	LCD_printfxy(7,0,"2DFix");	199	LCD_printfxy(7,0,"2DFix");
200	break;	200	break;
201	case SATFIX_3D:	201	case SATFIX_3D:
202	LCD_printfxy(7,0,"3DFix");	202	LCD_printfxy(7,0,"3DFix");
203	break;	203	break;
204	default:	204	default:
205	LCD_printfxy(7,0,"??Fix");	205	LCD_printfxy(7,0,"??Fix");
206	break;	206	break;
207	}	207	}
208	if(GPSData.Flags & FLAG_DIFFSOLN)	208	if(GPSData.Flags & FLAG_DIFFSOLN)
209	{	209	{
210	LCD_printfxy(12,0,"/DGPS");	210	LCD_printfxy(12,0,"/DGPS");
211	}	211	}
212	else	212	else
213	{	213	{
214	LCD_printfxy(12,0," ");	214	LCD_printfxy(12,0," ");
215	}	215	}
216		216
217	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);	217	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
218	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);	218	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
219	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);	219	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
220	}	220	}
221	break;	221	break;
222	case 3:	222	case 3:
223	LCD_printfxy(0,0,"GPS UTC Time");	223	LCD_printfxy(0,0,"GPS UTC Time");
224	if (!SystemTime.Valid)	224	if (!SystemTime.Valid)
225	{	225	{
226	LCD_printfxy(0,1," ");	226	LCD_printfxy(0,1," ");
227	LCD_printfxy(0,2," No time data! ");	227	LCD_printfxy(0,2," No time data! ");
228	LCD_printfxy(0,3," ");	228	LCD_printfxy(0,3," ");
229	}	229	}
230	else // newdata or processed	230	else // newdata or processed
231	{	231	{
232	LCD_printfxy(0,1," ");	232	LCD_printfxy(0,1," ");
233	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);	233	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
234	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);	234	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
235	}	235	}
236	break;	236	break;
237	case 4: // Navi Params 1 from FC	237	case 4: // Navi Params 1 from FC
238	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	238	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
239	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);	239	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
240	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);	240	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
241	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);	241	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
242	break;	242	break;
243	case 5: // Navi Params 2 from FC	243	case 5: // Navi Params 2 from FC
244	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	244	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
245	LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m);	245	LCD_printfxy(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m);
246	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	246	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
247	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);	247	LCD_printfxy(0,3,"AccComp: %3i", Parameter.NaviSpeedCompensation);
248	break;	248	break;
249	case 6: // Navi Params 3 from FC	249	case 6: // Navi Params 3 from FC
250	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	250	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
251	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	251	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
252	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	252	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
253	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	253	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
254	break;	254	break;
255	case 7: // Max Ranges	255	case 7: // Max Ranges
256	LCD_printfxy(0,0,"Maximum flying ");	256	LCD_printfxy(0,0,"Maximum flying ");
257	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m);	257	LCD_printfxy(0,1,"Range: %4im ", AbsoluteFlyingRange_m);
258	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m);	258	LCD_printfxy(0,2,"Descend: %4im ", AutoDescendRange_m);
259	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);	259	LCD_printfxy(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude);
260	if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled");	260	if(!AbsoluteFlyingRange_m) LCD_printfxy(9,1,"disabled");
261	if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled");	261	if(!AutoDescendRange_m) LCD_printfxy(9,2,"disabled");
262	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");	262	if(!AbsoluteFlyingAltitude) LCD_printfxy(9,3,"disabled");
263	break;	263	break;
264	case 8:	264	case 8:
265	LCD_printfxy(0,0,"Home Position");	265	LCD_printfxy(0,0,"Home Position");
266	if(NaviData.HomePosition.Status == INVALID)	266	if(NaviData.HomePosition.Status == INVALID)
267	{	267	{
268	LCD_printfxy(0,1," ");	268	LCD_printfxy(0,1," ");
269	LCD_printfxy(0,2," Is not set. ");	269	LCD_printfxy(0,2," Is not set. ");
270	LCD_printfxy(0,3," ");	270	LCD_printfxy(0,3," ");
271	}	271	}
272	else	272	else
273	{	273	{
274	if(NaviData.HomePosition.Longitude < 0) sign = '-';	274	if(NaviData.HomePosition.Longitude < 0) sign = '-';
275	else sign = '+';	275	else sign = '+';
276	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;	276	i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
277	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;	277	i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
278	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	278	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
279	if(NaviData.HomePosition.Latitude < 0) sign = '-';	279	if(NaviData.HomePosition.Latitude < 0) sign = '-';
280	else sign = '+';	280	else sign = '+';
281	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;	281	i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
282	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;	282	i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
283	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	283	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
284	if(NaviData.HomePosition.Altitude < 0) sign = '-';	284	if(NaviData.HomePosition.Altitude < 0) sign = '-';
285	else sign = '+';	285	else sign = '+';
286	i1 = abs(NaviData.HomePosition.Altitude)/1000L;	286	i1 = abs(NaviData.HomePosition.Altitude)/1000L;
287	i2 = abs(NaviData.HomePosition.Altitude)%1000L;	287	i2 = abs(NaviData.HomePosition.Altitude)%1000L;
288	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	288	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
289	}	289	}
290	break;	290	break;
291	case 9:	291	case 9:
292	LCD_printfxy(0,0,"Target Position");	292	LCD_printfxy(0,0,"Target Position");
293	if(NaviData.TargetPosition.Status == INVALID)	293	if(NaviData.TargetPosition.Status == INVALID)
294	{	294	{
295	LCD_printfxy(0,1," ");	295	LCD_printfxy(0,1," ");
296	LCD_printfxy(0,2," Is not set. ");	296	LCD_printfxy(0,2," Is not set. ");
297	LCD_printfxy(0,3," ");	297	LCD_printfxy(0,3," ");
298	}	298	}
299	else	299	else
300	{	300	{
301	if(NaviData.TargetPosition.Longitude < 0) sign = '-';	301	if(NaviData.TargetPosition.Longitude < 0) sign = '-';
302	else sign = '+';	302	else sign = '+';
303	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;	303	i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
304	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;	304	i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
305	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	305	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
306	if(NaviData.TargetPosition.Latitude < 0) sign = '-';	306	if(NaviData.TargetPosition.Latitude < 0) sign = '-';
307	else sign = '+';	307	else sign = '+';
308	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;	308	i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
309	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;	309	i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;
310	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	310	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
311	if(NaviData.HomePosition.Altitude < 0) sign = '-';	311	if(NaviData.HomePosition.Altitude < 0) sign = '-';
312	else sign = '+';	312	else sign = '+';
313	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;	313	i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
314	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;	314	i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
315	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	315	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
316	}	316	}
317	break;	317	break;
318	case 10: // RC stick controls from FC	318	case 10: // RC stick controls from FC
319	LCD_printfxy(0,0,"RC-Sticks" );	319	LCD_printfxy(0,0,"RC-Sticks" );
320	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	320	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
321	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	321	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
322	LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC	322	LCD_printfxy(0,3,"RC-Level: %3i", FC.RC_Quality); // Remote Control Level from FC
323	break;	323	break;
324	case 11: // RC poti controls from FC	324	case 11: // RC poti controls from FC
325	LCD_printfxy(0,0,"RC-Potis 1" );	325	LCD_printfxy(0,0,"RC-Potis 1" );
326	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);	326	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
327	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);	327	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
328	break;	328	break;
329	case 12: // RC poti controls from FC	329	case 12: // RC poti controls from FC
330	LCD_printfxy(0,0,"RC-Potis 2" );	330	LCD_printfxy(0,0,"RC-Potis 2" );
331	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);	331	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
332	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);	332	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
333	break;	333	break;
334	case 13: // attitude from FC	334	case 13: // attitude from FC
335	if(FromFlightCtrl.AngleNick < 0) sign = '-';	335	if(FromFlightCtrl.AngleNick < 0) sign = '-';
336	else sign = '+';	336	else sign = '+';
337	i1 = abs(FromFlightCtrl.AngleNick)/10;	337	i1 = abs(FromFlightCtrl.AngleNick)/10;
338	i2 = abs(FromFlightCtrl.AngleNick)%10;	338	i2 = abs(FromFlightCtrl.AngleNick)%10;
339	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);	339	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
340	if(FromFlightCtrl.AngleRoll < 0) sign = '-';	340	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
341	else sign = '+';	341	else sign = '+';
342	i1 = abs(FromFlightCtrl.AngleRoll)/10;	342	i1 = abs(FromFlightCtrl.AngleRoll)/10;
343	i2 = abs(FromFlightCtrl.AngleRoll)%10;	343	i2 = abs(FromFlightCtrl.AngleRoll)%10;
344	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);	344	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
345	if(FromFlightCtrl.AccNick < 0) sign = '-';	345	if(FromFlightCtrl.AccNick < 0) sign = '-';
346	else sign = '+';	346	else sign = '+';
347	i1 = abs(FromFlightCtrl.AccNick)/10;	347	i1 = abs(FromFlightCtrl.AccNick)/10;
348	i2 = abs(FromFlightCtrl.AccNick)%10;	348	i2 = abs(FromFlightCtrl.AccNick)%10;
349	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);	349	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
350	if(FromFlightCtrl.AccRoll < 0) sign = '-';	350	if(FromFlightCtrl.AccRoll < 0) sign = '-';
351	else sign = '+';	351	else sign = '+';
352	i1 = abs(FromFlightCtrl.AccRoll)/10;	352	i1 = abs(FromFlightCtrl.AccRoll)/10;
353	i2 = abs(FromFlightCtrl.AccRoll)%10;	353	i2 = abs(FromFlightCtrl.AccRoll)%10;
354	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);	354	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
355	break;	355	break;
356	case 14: // gyros from FC	356	case 14: // gyros from FC
357	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);	357	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
358	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);	358	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
359	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);	359	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
360	if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ")	360	if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ")
361	else LCD_printfxy(0,3,"not calibrated");	361	else LCD_printfxy(0,3,"not calibrated");
362	break;	362	break;
363	case 15:	363	case 15:
364	LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10);	364	LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10);
365	LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);	365	LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);
366	if(FC.FromFC_DisableDeclination)	366	if(FC.FromFC_DisableDeclination)
367	{	367	{
368	LCD_printfxy(0,2,"Mag.Declinat.:disabl");	368	LCD_printfxy(0,2,"Mag.Declinat.:disabl");
369	}	369	}
370	else	370	else
371	{	371	{
372	if(GeoMagDec < 0) sign = '-';	372	if(GeoMagDec < 0) sign = '-';
373	else sign = '+';	373	else sign = '+';
374	LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	374	LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
375	}	375	}
376	LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);	376	LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);
377	break;	377	break;
378	case 16: // User Parameter	378	case 16: // User Parameter
379	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);	379	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
380	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);	380	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
381	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);	381	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
382	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);	382	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
383	break;	383	break;
384	case 17: // User Parameter	384	case 17: // User Parameter
385	LCD_printfxy(0,0,"SD-Card Logs");	385	LCD_printfxy(0,0,"SD-Card Logs");
386	if(SDCardInfo.Valid == 1)	386	if(SDCardInfo.Valid == 1)
387	{	387	{
388	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);	388	LCD_printfxy(0,1,"GPX:%4i (%3ims) ",Logged_GPX_Counter,LogCfg.GPX_Interval);
389	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);	389	LCD_printfxy(0,2,"KML:%4i (%3ims) ",Logged_KML_Counter,LogCfg.KML_Interval);
390	}	390	}
391	else	391	else
392	LCD_printfxy(0,1,"no card in slot ");	392	LCD_printfxy(0,1,"no card in slot ");
393	break;	393	break;
394	case 18: // magnetic field	394	case 18: // magnetic field
395	if(Compass_CalState)	395	if(Compass_CalState)
396	{	396	{
397	LCD_printfxy(0,0,"Calibration:");	397	LCD_printfxy(0,0,"Calibration:");
398	LCD_printfxy(0,1,"Step %d/", Compass_CalState);	398	LCD_printfxy(0,1,"Step %d/", Compass_CalState);
399	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);	399	LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
400	LCD_printfxy(9,3,"(ESC)(NEXT)");	400	LCD_printfxy(9,3,"(ESC)(NEXT)");
401	switch(Compass_CalState)	401	switch(Compass_CalState)
402	{	402	{
403	case 1:	403	case 1:
404	case 3:	404	case 3:
405	LCD_printfxy(7,1,"pause");	405	LCD_printfxy(7,1,"pause");
406	break;	406	break;
407		407
408	case 2:	408	case 2:
409	LCD_printfxy(7,1,"horizontal");	409	LCD_printfxy(7,1,"horizontal");
410	break;	410	break;
411		411
412	case 4:	412	case 4:
413	LCD_printfxy(7,1,"vertical");	413	LCD_printfxy(7,1,"vertical");
414	break;	414	break;
415		415
416	case 5:	416	case 5:
417	LCD_printfxy(7,1,"data saved");	417	LCD_printfxy(7,1,"data saved");
418	LCD_printfxy(8,3," (END) ");	418	LCD_printfxy(8,3," (END) ");
419	break;	419	break;
420		420
421	default:	421	default:
422	break;	422	break;
423	}	423	}
424	}	424	}
425	else	425	else
426	{	426	{
427	if(GeoMagDec < 0) sign = '-';	427	if(GeoMagDec < 0) sign = '-';
428	else sign = '+';	428	else sign = '+';
429	LCD_printfxy(0,0,"Magnetic Field");	429	LCD_printfxy(0,0,"Magnetic Field");
430	LCD_printfxy(0,1,"X:%5i",MagVector.X);	430	LCD_printfxy(0,1,"X:%5i",MagVector.X);
431	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);	431	LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
432	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);	432	LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
433	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);	433	LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);
434	if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern")	434	if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern")
435	else LCD_printfxy(11,2,"Intern");	435	else LCD_printfxy(11,2,"Intern");
436	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	436	// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
437	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);	437	// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
438	LCD_printfxy(15,3,"(CAL)");	438	LCD_printfxy(15,3,"(CAL)");
439	}	439	}
440	if(Keys & KEY4) // next step	440	if(Keys & KEY4) // next step
441	{	441	{
442	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);	442	if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
443	else Compass_SetCalState(0);	443	else Compass_SetCalState(0);
444	}	444	}
445	if(Keys & KEY3)Compass_SetCalState(0); // cancel	445	if(Keys & KEY3)Compass_SetCalState(0); // cancel
446	break;	446	break;
447	case 19:	447	case 19:
448	if(GeoMagDec < 0) sign = '-';	448	if(GeoMagDec < 0) sign = '-';
449	else sign = '+';	449	else sign = '+';
450	LCD_printfxy(0,0,"Magnetic Field");	450	LCD_printfxy(0,0,"Magnetic Field");
451	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);	451	LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
452	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	452	LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
453	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);	453	LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);
454	break;	454	break;
455	case 20:	455	case 20:
456	LCD_printfxy(0,0,"SD-Setting ");	456	LCD_printfxy(0,0,"SD-Setting ");
457	LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);	457	LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
458	break;	458	break;
459	case 21:	459	case 21:
460	LCD_printfxy(0,0,"CPU Processing ");	460	LCD_printfxy(0,0,"CPU Processing ");
461	LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10);	461	LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10);
462	LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10);	462	LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10);
463	if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");	463	if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");
464	if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");	464	if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");
465	break;	465	break;
466	case 22:	466	case 22:
467	LCD_printfxy(0,0,"BL Current" );	467	LCD_printfxy(0,0,"BL Current" );
468	LCD_printfxy(11,3,"(in 0.1A)" );	468	LCD_printfxy(11,3,"(in 0.1A)" );
469	for(i1 = 0; i1 < 3; i1++)	469	for(i1 = 0; i1 < 3; i1++)
470	{	470	{
471	LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i14),BL3_Current(i14+1),BL3_Current(i14+2),BL3_Current(i14+3));	471	LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i14),BL3_Current(i14+1),BL3_Current(i14+2),BL3_Current(i14+3));
472	if(Motor[4 + i1 * 4].State == 0) break;	472	if(Motor[4 + i1 * 4].State == 0) break;
473	}	473	}
474	break;	474	break;
475		475
476	case 23:	476	case 23:
477	LCD_printfxy(0,0,"Ext. Compass" );	477	LCD_printfxy(0,0,"Ext. Compass" );
478	if(Compass_I2CPort == NCMAG_PORT_EXTERN)	478	if(Compass_I2CPort == NCMAG_PORT_EXTERN)
479	{	479	{
480	u8 tmp;	480	u8 tmp;
481	LCD_printfxy(0,1,"ACC X Y Z");	481	LCD_printfxy(0,1,"ACC X Y Z");
482	LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40);	482	LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40);
483	tmp = NCMAG_GetOrientationFromAcc();	483	tmp = NCMAG_GetOrientationFromAcc();
484	LCD_printfxy(0,3,"Orientat.: ");	484	LCD_printfxy(0,3,"Orientat.: ");
485	if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp);	485	if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp);
486	LCD_printfxy(15,3,"(%d)",NCMAG_Orientation);	486	LCD_printfxy(15,3,"(%d)",NCMAG_Orientation);
487	}	487	}
488	else	488	else
489	{	489	{
490	LCD_printfxy(0,1,"Not connected");	490	LCD_printfxy(0,1,"Not connected");
491	}	491	}
492	break;	492	break;
493		493
494	case 24:	494	case 24:
495	{	495	{
496	static u8 index = 1;	496	static u8 index = 1;
497	if(Keys & KEY3) // next step	497	if(Keys & KEY3) // next step
498	{	498	{
499	if(index < ToFC_MaxWpListIndex) index++;	499	if(index < ToFC_MaxWpListIndex) index++;
500	else index = 1;	500	else index = 1;

Subversion Repositories NaviCtrl

(root)/tags/V2.14e/menu.c @ 811 - Rev 548 → 571