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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <stdlib.h> |
57 | #include <stdlib.h> |
58 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
59 | #include "main.h" |
59 | #include "main.h" |
60 | #include "ubx.h" |
60 | #include "ubx.h" |
61 | #include "GPS.h" |
61 | #include "GPS.h" |
62 | #include "timer1.h" |
62 | #include "timer1.h" |
63 | #include "compass.h" |
63 | #include "compass.h" |
64 | #include "spi_slave.h" |
64 | #include "spi_slave.h" |
65 | #include "menu.h" |
65 | #include "menu.h" |
66 | #include "uart1.h" |
66 | #include "uart1.h" |
- | 67 | ||
67 | 68 | ||
68 | u8 DispPtr = 0; |
69 | u8 DispPtr = 0; |
69 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
70 | s8 DisplayBuff[DISPLAYBUFFSIZE]; |
70 | 71 | ||
71 | 72 | ||
72 | u8 MenuItem = 0; |
73 | u8 MenuItem = 0; |
73 | u8 MaxMenuItem = 15; |
74 | u8 MaxMenuItem = 15; |
74 | 75 | ||
75 | 76 | ||
76 | 77 | ||
77 | void Menu_Putchar(char c) |
78 | void Menu_Putchar(char c) |
78 | { |
79 | { |
79 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
80 | if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ; |
80 | } |
81 | } |
81 | 82 | ||
82 | void Menu_Clear(void) |
83 | void Menu_Clear(void) |
83 | { |
84 | { |
84 | u8 i; |
85 | u8 i; |
85 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
86 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
86 | } |
87 | } |
87 | 88 | ||
88 | 89 | ||
89 | // Display with 20 characters in 4 lines |
90 | // Display with 20 characters in 4 lines |
90 | void Menu_Update(u8 Keys) |
91 | void Menu_Update(u8 Keys) |
91 | { |
92 | { |
92 | s32 i1,i2; |
93 | s32 i1,i2; |
93 | u8 sign; |
94 | u8 sign; |
94 | 95 | ||
95 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
96 | if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;} |
96 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
97 | if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
97 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
98 | if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
98 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
99 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
99 | Menu_Clear(); |
100 | Menu_Clear(); |
100 | // print menu item number in the upper right corner |
101 | // print menu item number in the upper right corner |
101 | if(MenuItem < 10) |
102 | if(MenuItem < 10) |
102 | { |
103 | { |
103 | LCD_printfxy(17,0,"[%i]",MenuItem); |
104 | LCD_printfxy(17,0,"[%i]",MenuItem); |
104 | } |
105 | } |
105 | else // Menuitem >= 10 |
106 | else // Menuitem >= 10 |
106 | { |
107 | { |
107 | LCD_printfxy(16,0,"[%i]",MenuItem); |
108 | LCD_printfxy(16,0,"[%i]",MenuItem); |
108 | } |
109 | } |
109 | 110 | ||
110 | switch(MenuItem) |
111 | switch(MenuItem) |
111 | { |
112 | { |
112 | // Version Info |
113 | // Version Info |
113 | case 0: |
114 | case 0: |
114 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
115 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
115 | LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
116 | LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
116 | if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," "); |
117 | if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," "); |
117 | LCD_printfxy(0,2,"%s",ErrorMSG); |
118 | LCD_printfxy(0,2,"%s",ErrorMSG); |
118 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
119 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
119 | break; |
120 | break; |
120 | case 1: |
121 | case 1: |
121 | if (GPSData.Status == INVALID) |
122 | if (GPSData.Status == INVALID) |
122 | { |
123 | { |
123 | LCD_printfxy(0,0,"No GPS data"); |
124 | LCD_printfxy(0,0,"No GPS data"); |
124 | LCD_printfxy(0,1,"Lon: "); |
125 | LCD_printfxy(0,1,"Lon: "); |
125 | LCD_printfxy(0,2,"Lat: "); |
126 | LCD_printfxy(0,2,"Lat: "); |
126 | LCD_printfxy(0,3,"Alt: "); |
127 | LCD_printfxy(0,3,"Alt: "); |
127 | } |
128 | } |
128 | else // newdata or processed |
129 | else // newdata or processed |
129 | { |
130 | { |
130 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
131 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
131 | switch (GPSData.SatFix) |
132 | switch (GPSData.SatFix) |
132 | { |
133 | { |
133 | case SATFIX_NONE: |
134 | case SATFIX_NONE: |
134 | LCD_printfxy(7,0,"NoFix"); |
135 | LCD_printfxy(7,0,"NoFix"); |
135 | break; |
136 | break; |
136 | case SATFIX_2D: |
137 | case SATFIX_2D: |
137 | LCD_printfxy(7,0,"2DFix"); |
138 | LCD_printfxy(7,0,"2DFix"); |
138 | break; |
139 | break; |
139 | case SATFIX_3D: |
140 | case SATFIX_3D: |
140 | LCD_printfxy(7,0,"3DFix"); |
141 | LCD_printfxy(7,0,"3DFix"); |
141 | break; |
142 | break; |
142 | default: |
143 | default: |
143 | LCD_printfxy(7,0,"??Fix"); |
144 | LCD_printfxy(7,0,"??Fix"); |
144 | break; |
145 | break; |
145 | } |
146 | } |
146 | if(GPSData.Flags & FLAG_DIFFSOLN) |
147 | if(GPSData.Flags & FLAG_DIFFSOLN) |
147 | { |
148 | { |
148 | LCD_printfxy(12,0,"/DGPS"); |
149 | LCD_printfxy(12,0,"/DGPS"); |
149 | } |
150 | } |
150 | else |
151 | else |
151 | { |
152 | { |
152 | LCD_printfxy(12,0," "); |
153 | LCD_printfxy(12,0," "); |
153 | } |
154 | } |
154 | 155 | ||
155 | if(GPSData.Position.Longitude < 0) sign = '-'; |
156 | if(GPSData.Position.Longitude < 0) sign = '-'; |
156 | else sign = '+'; |
157 | else sign = '+'; |
157 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
158 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
158 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
159 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
159 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
160 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
160 | if(GPSData.Position.Latitude < 0) sign = '-'; |
161 | if(GPSData.Position.Latitude < 0) sign = '-'; |
161 | else sign = '+'; |
162 | else sign = '+'; |
162 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
163 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
163 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
164 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
164 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
165 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
165 | if(GPSData.Position.Altitude < 0) sign = '-'; |
166 | if(GPSData.Position.Altitude < 0) sign = '-'; |
166 | else sign = '+'; |
167 | else sign = '+'; |
167 | i1 = abs(GPSData.Position.Altitude)/1000L; |
168 | i1 = abs(GPSData.Position.Altitude)/1000L; |
168 | i2 = abs(GPSData.Position.Altitude)%1000L; |
169 | i2 = abs(GPSData.Position.Altitude)%1000L; |
169 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
170 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2); |
170 | } |
171 | } |
171 | break; |
172 | break; |
172 | case 2: |
173 | case 2: |
173 | if (GPSData.Status == INVALID) |
174 | if (GPSData.Status == INVALID) |
174 | { |
175 | { |
175 | LCD_printfxy(0,0,"No GPS data"); |
176 | LCD_printfxy(0,0,"No GPS data"); |
176 | LCD_printfxy(0,1,"Speed N: "); |
177 | LCD_printfxy(0,1,"Speed N: "); |
177 | LCD_printfxy(0,2,"Speed E: "); |
178 | LCD_printfxy(0,2,"Speed E: "); |
178 | LCD_printfxy(0,3,"Speed T: "); |
179 | LCD_printfxy(0,3,"Speed T: "); |
179 | } |
180 | } |
180 | else // newdata or processed |
181 | else // newdata or processed |
181 | { |
182 | { |
182 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
183 | LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats); |
183 | switch (GPSData.SatFix) |
184 | switch (GPSData.SatFix) |
184 | { |
185 | { |
185 | case SATFIX_NONE: |
186 | case SATFIX_NONE: |
186 | LCD_printfxy(7,0,"NoFix"); |
187 | LCD_printfxy(7,0,"NoFix"); |
187 | break; |
188 | break; |
188 | case SATFIX_2D: |
189 | case SATFIX_2D: |
189 | LCD_printfxy(7,0,"2DFix"); |
190 | LCD_printfxy(7,0,"2DFix"); |
190 | break; |
191 | break; |
191 | case SATFIX_3D: |
192 | case SATFIX_3D: |
192 | LCD_printfxy(7,0,"3DFix"); |
193 | LCD_printfxy(7,0,"3DFix"); |
193 | break; |
194 | break; |
194 | default: |
195 | default: |
195 | LCD_printfxy(7,0,"??Fix"); |
196 | LCD_printfxy(7,0,"??Fix"); |
196 | break; |
197 | break; |
197 | } |
198 | } |
198 | if(GPSData.Flags & FLAG_DIFFSOLN) |
199 | if(GPSData.Flags & FLAG_DIFFSOLN) |
199 | { |
200 | { |
200 | LCD_printfxy(12,0,"/DGPS"); |
201 | LCD_printfxy(12,0,"/DGPS"); |
201 | } |
202 | } |
202 | else |
203 | else |
203 | { |
204 | { |
204 | LCD_printfxy(12,0," "); |
205 | LCD_printfxy(12,0," "); |
205 | } |
206 | } |
206 | 207 | ||
207 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
208 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
208 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
209 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
209 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
210 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
210 | } |
211 | } |
211 | break; |
212 | break; |
212 | case 3: |
213 | case 3: |
213 | LCD_printfxy(0,0,"GPS UTC Time"); |
214 | LCD_printfxy(0,0,"GPS UTC Time"); |
214 | if (!SystemTime.Valid) |
215 | if (!SystemTime.Valid) |
215 | { |
216 | { |
216 | LCD_printfxy(0,1," "); |
217 | LCD_printfxy(0,1," "); |
217 | LCD_printfxy(0,2," No time data! "); |
218 | LCD_printfxy(0,2," No time data! "); |
218 | LCD_printfxy(0,3," "); |
219 | LCD_printfxy(0,3," "); |
219 | } |
220 | } |
220 | else // newdata or processed |
221 | else // newdata or processed |
221 | { |
222 | { |
222 | LCD_printfxy(0,1," "); |
223 | LCD_printfxy(0,1," "); |
223 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
224 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
224 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
225 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
225 | } |
226 | } |
226 | break; |
227 | break; |
227 | case 4: // Navi Params 1 from FC |
228 | case 4: // Navi Params 1 from FC |
228 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
229 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
229 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
230 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
230 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
231 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
231 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
232 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
232 | break; |
233 | break; |
233 | case 5: // Navi Params 2 from FC |
234 | case 5: // Navi Params 2 from FC |
234 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
235 | LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold); |
235 | LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius); |
236 | LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius); |
236 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
237 | LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection); |
237 | LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation); |
238 | LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation); |
238 | break; |
239 | break; |
239 | case 6: // Navi Params 3 from FC |
240 | case 6: // Navi Params 3 from FC |
240 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
241 | LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation); |
241 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
242 | LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit); |
242 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
243 | LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit); |
243 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
244 | LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit); |
244 | break; |
245 | break; |
245 | case 7: |
246 | case 7: |
246 | LCD_printfxy(0,0,"Home Position"); |
247 | LCD_printfxy(0,0,"Home Position"); |
247 | if(NaviData.HomePosition.Status == INVALID) |
248 | if(NaviData.HomePosition.Status == INVALID) |
248 | { |
249 | { |
249 | LCD_printfxy(0,1," "); |
250 | LCD_printfxy(0,1," "); |
250 | LCD_printfxy(0,2," Is not set. "); |
251 | LCD_printfxy(0,2," Is not set. "); |
251 | LCD_printfxy(0,3," "); |
252 | LCD_printfxy(0,3," "); |
252 | } |
253 | } |
253 | else |
254 | else |
254 | { |
255 | { |
255 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
256 | if(NaviData.HomePosition.Longitude < 0) sign = '-'; |
256 | else sign = '+'; |
257 | else sign = '+'; |
257 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
258 | i1 = abs(NaviData.HomePosition.Longitude)/10000000L; |
258 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
259 | i2 = abs(NaviData.HomePosition.Longitude)%10000000L; |
259 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
260 | LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2); |
260 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
261 | if(NaviData.HomePosition.Latitude < 0) sign = '-'; |
261 | else sign = '+'; |
262 | else sign = '+'; |
262 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
263 | i1 = abs(NaviData.HomePosition.Latitude)/10000000L; |
263 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
264 | i2 = abs(NaviData.HomePosition.Latitude)%10000000L; |
264 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
265 | LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2); |
265 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
266 | if(NaviData.HomePosition.Altitude < 0) sign = '-'; |
266 | else sign = '+'; |
267 | else sign = '+'; |
267 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
268 | i1 = abs(NaviData.HomePosition.Altitude)/1000L; |
268 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
269 | i2 = abs(NaviData.HomePosition.Altitude)%1000L; |
269 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
270 | LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2); |
270 | } |
271 | } |
271 | break; |
272 | break; |
272 | case 8: // RC stick controls from FC |
273 | case 8: // RC stick controls from FC |
273 | LCD_printfxy(0,0,"RC-Sticks" ); |
274 | LCD_printfxy(0,0,"RC-Sticks" ); |
274 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
275 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
275 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
276 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
276 | break; |
277 | break; |
277 | case 9: // RC poti controls from FC |
278 | case 9: // RC poti controls from FC |
278 | LCD_printfxy(0,0,"RC-Potis 1" ); |
279 | LCD_printfxy(0,0,"RC-Potis 1" ); |
279 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
280 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]); |
280 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
281 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]); |
281 | break; |
282 | break; |
282 | case 10: // RC poti controls from FC |
283 | case 10: // RC poti controls from FC |
283 | LCD_printfxy(0,0,"RC-Potis 2" ); |
284 | LCD_printfxy(0,0,"RC-Potis 2" ); |
284 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
285 | LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]); |
285 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
286 | LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]); |
286 | break; |
287 | break; |
287 | case 11: // attitude from FC |
288 | case 11: // attitude from FC |
288 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
289 | if(FromFlightCtrl.AngleNick < 0) sign = '-'; |
289 | else sign = '+'; |
290 | else sign = '+'; |
290 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
291 | i1 = abs(FromFlightCtrl.AngleNick)/10; |
291 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
292 | i2 = abs(FromFlightCtrl.AngleNick)%10; |
292 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
293 | LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2); |
293 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
294 | if(FromFlightCtrl.AngleRoll < 0) sign = '-'; |
294 | else sign = '+'; |
295 | else sign = '+'; |
295 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
296 | i1 = abs(FromFlightCtrl.AngleRoll)/10; |
296 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
297 | i2 = abs(FromFlightCtrl.AngleRoll)%10; |
297 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
298 | LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2); |
298 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
299 | if(FromFlightCtrl.AccNick < 0) sign = '-'; |
299 | else sign = '+'; |
300 | else sign = '+'; |
300 | i1 = abs(FromFlightCtrl.AccNick)/10; |
301 | i1 = abs(FromFlightCtrl.AccNick)/10; |
301 | i2 = abs(FromFlightCtrl.AccNick)%10; |
302 | i2 = abs(FromFlightCtrl.AccNick)%10; |
302 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
303 | LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2); |
303 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
304 | if(FromFlightCtrl.AccRoll < 0) sign = '-'; |
304 | else sign = '+'; |
305 | else sign = '+'; |
305 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
306 | i1 = abs(FromFlightCtrl.AccRoll)/10; |
306 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
307 | i2 = abs(FromFlightCtrl.AccRoll)%10; |
307 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
308 | LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2); |
308 | break; |
309 | break; |
309 | case 12: // gyros from FC |
310 | case 12: // gyros from FC |
310 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
311 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
311 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
312 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
312 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
313 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
313 | break; |
314 | break; |
314 | case 13: // Remote Control Level from FC |
315 | case 13: // Remote Control Level from FC |
315 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
316 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
316 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
317 | LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
317 | LCD_printfxy(0,2,"CompHeading: %3i", CompassHeading); |
318 | LCD_printfxy(0,2,"CompHeading: %3i", CompassHeading); |
318 | if(GeoMagDec < 0) sign = '-'; |
319 | if(GeoMagDec < 0) sign = '-'; |
319 | else sign = '+'; |
320 | else sign = '+'; |
320 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
321 | LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
321 | break; |
322 | break; |
322 | case 14: // User Parameter |
323 | case 14: // User Parameter |
323 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
324 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2); |
324 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
325 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4); |
325 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
326 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6); |
326 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
327 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8); |
327 | break; |
328 | break; |
328 | case 15: // MK3MAG |
329 | case 15: // MK3MAG |
329 | Compass_UpdateMagVector(); |
330 | Compass_UpdateMagVector(); |
330 | LCD_printfxy(0,0,"Magnetic Field"); |
331 | LCD_printfxy(0,0,"Magnetic Field"); |
331 | LCD_printfxy(0,1,"MagX: %4i",MagVector.X); |
332 | LCD_printfxy(0,1,"MagX: %4i",MagVector.X); |
332 | LCD_printfxy(0,2,"MagY: %4i",MagVector.Y); |
333 | LCD_printfxy(0,2,"MagY: %4i",MagVector.Y); |
333 | LCD_printfxy(0,3,"MagZ: %4i",MagVector.Z); |
334 | LCD_printfxy(0,3,"MagZ: %4i",MagVector.Z); |
334 | - | ||
335 | break; |
335 | break; |
336 | default: |
336 | default: |
337 | //MaxMenuItem = MenuItem - 1; |
337 | //MaxMenuItem = MenuItem - 1; |
338 | MenuItem = 0; |
338 | MenuItem = 0; |
339 | break; |
339 | break; |
340 | } |
340 | } |
341 | } |
341 | } |
342 | 342 |