WebSVN - NaviCtrl - Diff - Rev 330 and 338


/*#######################################################################################*/
/* !!! 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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//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include "91x_lib.h"
#include "main.h"
#include "led.h"
#include "ubx.h"
#include "GPS.h"
#include "timer1.h"
#include "compass.h"
#include "spi_slave.h"
#include "menu.h"
#include "uart1.h"
#include "ncmag.h"
 
u8 DispPtr = 0;
s8 DisplayBuff[DISPLAYBUFFSIZE];
 
 
u8 MenuItem = 0;
u8 MaxMenuItem = 17;
 
 
 
void Menu_Putchar(char c)
{
   if(DispPtr < DISPLAYBUFFSIZE) DisplayBuff[DispPtr++] = c; ;
}
 
void Menu_Clear(void)
{
        u8 i;
        for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
}
 
 
// Display with 20 characters in 4 lines
void Menu_Update(u8 Keys)
{
        s32 i1,i2;
        u8 sign;
 
        if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
        if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
        if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
        if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
        Menu_Clear();
        // print menu item number in the upper right corner
        if(MenuItem < 10)
        {
                LCD_printfxy(17,0,"[%i]",MenuItem);
        }
        else // Menuitem >= 10
        {
                LCD_printfxy(16,0,"[%i]",MenuItem);
        }
 
        switch(MenuItem)
        {
                // Version Info
                case 0:
                        LCD_printfxy(0,0,"++  Navi-Ctrl  ++");
                        LCD_printfxy(0,1,"HW V%d.%d SW V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
 
            if(ErrorCode)
                        {
                                LCD_printfxy(0,2,"Error: %d",ErrorCode);
                LCD_printfxy(0,3,"%s",ErrorMSG);
                        }
                        else
                        {
                         LCD_printfxy(0,3,"(c) Buss, Busker");
                         LCD_printfxy(0,2,"%s",ErrorMSG);
                        }
                        break;
                case 1:
                        if (GPSData.Status == INVALID)
                        {
                                LCD_printfxy(0,0,"No GPS data");
                                LCD_printfxy(0,1,"Lon:                ");
                                LCD_printfxy(0,2,"Lat:                ");
                                LCD_printfxy(0,3,"Alt:                ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
                                switch (GPSData.SatFix)
                                {
                                case SATFIX_NONE:
                                        LCD_printfxy(7,0,"NoFix");
                                        break;
                                case SATFIX_2D:
                                        LCD_printfxy(7,0,"2DFix");
                                        break;
                                case SATFIX_3D:
                                        LCD_printfxy(7,0,"3DFix");
                                        break;
                                default:
                                        LCD_printfxy(7,0,"??Fix");
                                        break;
                                }
                                if(GPSData.Flags & FLAG_DIFFSOLN)
                                {
                                        LCD_printfxy(12,0,"/DGPS");
                                }
                                else
                                {
                                        LCD_printfxy(12,0,"     ");
                                }
 
                                if(GPSData.Position.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Longitude)/10000000L;
                                i2 = abs(GPSData.Position.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPSData.Position.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Latitude)/10000000L;
                                i2 = abs(GPSData.Position.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPSData.Position.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPSData.Position.Altitude)/1000L;
                                i2 = abs(GPSData.Position.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
                        }
                        break;
                case 2:
                        if (GPSData.Status == INVALID)
                        {
                                LCD_printfxy(0,0,"No GPS data");
                                LCD_printfxy(0,1,"Speed N:            ");
                                LCD_printfxy(0,2,"Speed E:            ");
                                LCD_printfxy(0,3,"Speed T:            ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
                                switch (GPSData.SatFix)
                                {
                                case SATFIX_NONE:
                                        LCD_printfxy(7,0,"NoFix");
                                        break;
                                case SATFIX_2D:
                                        LCD_printfxy(7,0,"2DFix");
                                        break;
                                case SATFIX_3D:
                                        LCD_printfxy(7,0,"3DFix");
                                        break;
                                default:
                                        LCD_printfxy(7,0,"??Fix");
                                        break;
                                }
                                if(GPSData.Flags & FLAG_DIFFSOLN)
                                {
                                        LCD_printfxy(12,0,"/DGPS");
                                }
                                else
                                {
                                        LCD_printfxy(12,0,"     ");
                                }
 
                                LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
                                LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
                                LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
                        }
                        break;
                case 3:
                        LCD_printfxy(0,0,"GPS UTC Time");
                        if (!SystemTime.Valid)
                        {
                                LCD_printfxy(0,1,"                    ");
                                LCD_printfxy(0,2,"  No time data!     ");
                                LCD_printfxy(0,3,"                    ");
                        }
                        else // newdata or processed
                        {
                                LCD_printfxy(0,1,"                    ");
                                LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
                                LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
                        }
                        break;
                case 4: // Navi Params 1 from FC
                        LCD_printfxy(0,0,"NaviMode: %3i" ,  Parameter.NaviGpsModeControl);
            LCD_printfxy(0,1,"G  :%3i P  :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
            LCD_printfxy(0,2,"I  :%3i D  :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
                    LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
                        break;
                case 5: // Navi Params 2 from FC
                        LCD_printfxy(0,0,"Stick TS:  %3i", Parameter.NaviStickThreshold);
            LCD_printfxy(0,1,"MaxRadius: %3i m", NaviData.OperatingRadius);
            LCD_printfxy(0,2,"WindCorr:  %3i", Parameter.NaviWindCorrection);
                    LCD_printfxy(0,3,"AccComp:   %3i", Parameter.NaviSpeedCompensation);
                        break;
                case 6: // Navi Params 3 from FC
                        LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
            LCD_printfxy(0,1,"    P-Limit: %3i", Parameter.NaviGpsPLimit);
            LCD_printfxy(0,2,"    I-Limit: %3i", Parameter.NaviGpsILimit);
                    LCD_printfxy(0,3,"    D-Limit: %3i", Parameter.NaviGpsDLimit);
                        break;
                case 7:
                        LCD_printfxy(0,0,"Home Position");
                        if(NaviData.HomePosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");
                                LCD_printfxy(0,3,"                     ");
                        }
                        else
                        {
                                if(NaviData.HomePosition.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Longitude)/10000000L;
                                i2 = abs(NaviData.HomePosition.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.HomePosition.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
                                i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.HomePosition.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.HomePosition.Altitude)/1000L;
                                i2 = abs(NaviData.HomePosition.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
                        }
                        break;
                case 8:
                        LCD_printfxy(0,0,"Target Position");
                        if(NaviData.TargetPosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");
                                LCD_printfxy(0,3,"                     ");
                        }
                        else
                        {
                                if(NaviData.TargetPosition.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.TargetPosition.Longitude)/10000000L;
                                i2 = abs(NaviData.TargetPosition.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.TargetPosition.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.TargetPosition.Latitude)/10000000L;
                                i2 = abs(NaviData.TargetPosition.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(NaviData.HomePosition.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(NaviData.TargetPosition.Altitude)/1000L;
                                i2 = abs(NaviData.TargetPosition.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
                        }
                        break;
                case 9: // RC stick controls from FC
                        LCD_printfxy(0,0,"RC-Sticks" );
            LCD_printfxy(0,1,"Ni:%4i  Ro:%4i ",FC.StickNick, FC.StickRoll);
            LCD_printfxy(0,2,"Gs:%4i  Ya:%4i ",FC.StickGas, FC.StickYaw);
                        break;
                case 10: // RC poti controls from FC
                        LCD_printfxy(0,0,"RC-Potis 1" );
            LCD_printfxy(0,1,"Po1:%3i  Po2:%3i ",FC.Poti[0], FC.Poti[1]);
            LCD_printfxy(0,2,"Po3:%3i  Po4:%3i ",FC.Poti[2], FC.Poti[3]);
                        break;
                case 11: // RC poti controls from FC
                        LCD_printfxy(0,0,"RC-Potis 2" );
            LCD_printfxy(0,1,"Po5:%3i  Po6:%3i ",FC.Poti[4], FC.Poti[5]);
            LCD_printfxy(0,2,"Po7:%3i  Po8:%3i ",FC.Poti[6], FC.Poti[7]);
                        break;
                case 12: // attitude from FC
                        if(FromFlightCtrl.AngleNick < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AngleNick)/10;
                        i2 = abs(FromFlightCtrl.AngleNick)%10;
                        LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
                        if(FromFlightCtrl.AngleRoll < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AngleRoll)/10;
                        i2 = abs(FromFlightCtrl.AngleRoll)%10;
            LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
                        if(FromFlightCtrl.AccNick < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AccNick)/10;
                        i2 = abs(FromFlightCtrl.AccNick)%10;
                        LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
                        if(FromFlightCtrl.AccRoll < 0) sign = '-';
                        else sign = '+';
                        i1 = abs(FromFlightCtrl.AccRoll)/10;
                        i2 = abs(FromFlightCtrl.AccRoll)%10;
            LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
                        break;
                case 13: // gyros from FC
                        LCD_printfxy(0,0,"GyroNick:  %4i", FromFlightCtrl.GyroNick);
            LCD_printfxy(0,1,"GyroRoll:  %4i", FromFlightCtrl.GyroRoll);
                        LCD_printfxy(0,2,"GyroYaw:   %4i", FromFlightCtrl.GyroYaw);
                        break;
                case 14: // Remote Control Level from FC
            LCD_printfxy(0,0,"RC-Level:    %3i", FC.RC_Quality);
                        LCD_printfxy(0,1,"Ubat:        %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);
                        LCD_printfxy(0,2,"CompHeading: %3i", Compass_Heading);
                        if(GeoMagDec < 0) sign = '-';
                        else sign = '+';
                        LCD_printfxy(0,3,"GeoMagDec:  %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
            break;
                case 15: // User Parameter
                        LCD_printfxy(0,0,"UP1:%3i  UP2:%3i",Parameter.User1,Parameter.User2);
                        LCD_printfxy(0,1,"UP3:%3i  UP4:%3i",Parameter.User3,Parameter.User4);
                        LCD_printfxy(0,2,"UP5:%3i  UP6:%3i",Parameter.User5,Parameter.User6);
                        LCD_printfxy(0,3,"UP7:%3i  UP8:%3i",Parameter.User7,Parameter.User8);
                        break;
                case 16: // magnetic field
                        if(Compass_CalState)
                        {
                                LCD_printfxy(0,0,"Calibration:");
                                LCD_printfxy(0,1,"Step %d/", Compass_CalState);
                                LCD_printfxy(0,2,"X %4i Y %4i Z %4i",MagVector.X,MagVector.Y,MagVector.Z);
                                LCD_printfxy(9,3,"(ESC)(NEXT)");
                                switch(Compass_CalState)
                                {
                                        case 1:
                                        case 3:
                                                LCD_printfxy(7,1,"pause");
                                                break;
 
                                        case 2:
                                                LCD_printfxy(7,1,"horizontal");
                                                break;
 
                                        case 4:
                                                LCD_printfxy(7,1,"vertical");
                                                break;
 
                                        case 5:
                                                LCD_printfxy(7,1,"data saved");
                                                LCD_printfxy(8,3,"      (END) ");
                                                break;
                                       
                                        default:
                                                break;
                                }
                        }
                        else
                        {
                                if(GeoMagDec < 0) sign = '-';
                                else sign = '+';
                                LCD_printfxy(0,0,"Magnetic Field");
                                LCD_printfxy(0,1,"X:%5i",MagVector.X);
                                LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
                                LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
                                LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);
//                              LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
//                              LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
                                LCD_printfxy(15,3,"(CAL)");
                        }
                        if(Keys & KEY4) //  next step
                        {
                                if(Compass_CalState <5) Compass_SetCalState(Compass_CalState+1);
                                else Compass_SetCalState(0);
                        }
                        if(Keys & KEY3)Compass_SetCalState(0);  // cancel
                        break;
                case 17:
                                LCD_printfxy(0,0,"Magnetic Field");
                                LCD_printfxy(0,1,"Field:%3i (Percent)",EarthMagneticField/5);
                                LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
                                LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination,     EarthMagneticInclinationTheoretic);
                        break;
                default:
                        //MaxMenuItem = MenuItem - 1;
                        MenuItem = 0;
                        break;
    }
}
 

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

Subversion Repositories NaviCtrl

(root)/tags/V2.16a/menu.c @ 874 - Rev 330 → 338