WebSVN - NaviCtrl - Diff - Rev 190 and 201


/*#######################################################################################*/
/* !!! 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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// +     clearly linked as origin
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//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include "91x_lib.h"
 
#include "main.h"
#include "ubx.h"
#include "GPS.h"
#include "timer1.h"
#include "i2c.h"
#include "spi_slave.h"
#include "menu.h"
#include "uart1.h"
#include "printf_P.h"
 
 
u8 DispPtr = 0;
s8 DisplayBuff[DISPLAYBUFFSIZE];
 
 
u8 MenuItem = 0;
u8 MaxMenuItem = 15;
 
 
 
 
 
 
 
 
 
 
 
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," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
            if(ErrorCode) LCD_printfxy(11,1," Err:%d",(u16)ErrorCode) else LCD_printfxy(11,1,"       ");
            LCD_printfxy(0,2,"%s",ErrorMSG);
                        LCD_printfxy(0,3,"(c) Buss, Busker");
                        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", Parameter.NaviOperatingRadius);
            LCD_printfxy(0,2,"WindCorr:  %3i", Parameter.NaviWindCorrection);
                    LCD_printfxy(0,3,"SpeedComp: %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(GPS_HomePosition.Status == INVALID)
                        {
                                LCD_printfxy(0,1,"                     ");
                                LCD_printfxy(0,2,"    Is not set.      ");
                                LCD_printfxy(0,3,"                     ");
                        }
                        else
                        {
                                if(GPS_HomePosition.Longitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPS_HomePosition.Longitude)/10000000L;
                                i2 = abs(GPS_HomePosition.Longitude)%10000000L;
                                LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPS_HomePosition.Latitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPS_HomePosition.Latitude)/10000000L;
                                i2 = abs(GPS_HomePosition.Latitude)%10000000L;
                                LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
                                if(GPS_HomePosition.Altitude < 0) sign = '-';
                                else sign = '+';
                                i1 = abs(GPS_HomePosition.Altitude)/1000L;
                                i2 = abs(GPS_HomePosition.Altitude)%1000L;
                                LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
                        }
                        break;
                case 8: // 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 9: // 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 10: // 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 11: // 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 12: // 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 13: // Remote Control Level from FC
            LCD_printfxy(0,0,"RC-Level:    %3i", FC.RC_Quality);
                        LCD_printfxy(0,1,"Ubat:        %2i.%1i V", FC.UBat/10, FC.UBat%10);
                        LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading);
                        if(GeoMagDec < 0) sign = '-';
                        else sign = '+';
                        LCD_printfxy(0,3,"GeoMagDec:  %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
            break;
                case 14: // 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 15: // MK3MAG
                        I2C1_SendCommand(I2C_CMD_READ_MAG);
                        LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch);
                        LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX);
                        LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY);
                        LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ);
                        break;
                default:
                        //MaxMenuItem = MenuItem - 1;
                        MenuItem = 0;
                        break;
    }
 
}
 

Rev 190	Rev 201
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 "printf_P.h"	-
60	#include "main.h"	59	#include "main.h"
61	#include "ubx.h"	60	#include "ubx.h"
62	#include "GPS.h"	61	#include "GPS.h"
63	#include "timer1.h"	62	#include "timer1.h"
64	#include "i2c.h"	63	#include "i2c.h"
65	#include "spi_slave.h"	64	#include "spi_slave.h"
66	#include "menu.h"	65	#include "menu.h"
67	#include "uart1.h"	66	#include "uart1.h"
-		67	#include "printf_P.h"
68		-
69	s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World";	68
-		69	u8 DispPtr = 0;
-		70	s8 DisplayBuff[DISPLAYBUFFSIZE];
70	u8 DispPtr = 0;	71
71		72
72	u8 MenuItem = 0;	73	u8 MenuItem = 0;
73	u8 MaxMenuItem = 15;	74	u8 MaxMenuItem = 15;
74	u8 RemoteKeys = 0;	-
75		-
76	#define KEY1 0x01	-
77	#define KEY2 0x02	-
78	#define KEY3 0x04	-
79	#define KEY4 0x08	-
80	#define KEY5 0x10	-
81		-
82	/************************************/	-
83	/* Clear LCD Buffer */	-
84	/************************************/	75
85	void LCD_Clear(void)	76	void Menu_Clear(void)
86	{	77	{
87	u8 i;	78	u8 i;
88	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';	79	for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
89	}	80	}
90		81
91		-
92	/************************************/	-
93	/* Update Menu on LCD */	-
94	/************************************/	82
95	// Display with 20 characters in 4 lines	83	// Display with 20 characters in 4 lines
96	void LCD_PrintMenu(void)	84	void Menu_Update(u8 Keys)
97	{	85	{
98	s32 i1,i2;	86	s32 i1,i2;
99	u8 sign;	87	u8 sign;
100	if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;}	-
101	if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}	-
102	if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0;	-
-		88
-		89	if(Keys & KEY1) { if(MenuItem > 0) MenuItem--; else MenuItem = MaxMenuItem;}
103		90	if(Keys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;}
104	LCD_Clear();	91	if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0;
-		92	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;
105	if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem;	93	Menu_Clear();
106	// print menu item number in the upper right corner	94	// print menu item number in the upper right corner
107	if(MenuItem < 10)	95	if(MenuItem < 10)
108	{	96	{
109	LCD_printfxy(17,0,"[%i]",MenuItem);	97	LCD_printfxy(17,0,"[%i]",MenuItem);
110	}	98	}
111	else	99	else // Menuitem >= 10
112	{	100	{
113	LCD_printfxy(16,0,"[%i]",MenuItem);	101	LCD_printfxy(16,0,"[%i]",MenuItem);
114	}	102	}
115		103
116	switch(MenuItem)	104	switch(MenuItem)
117	{	105	{
118	// Version Info	106	// Version Info
119	case 0:	107	case 0:
120	LCD_printfxy(0,0,"++ Navi-Ctrl ++");	108	LCD_printfxy(0,0,"++ Navi-Ctrl ++");
121	LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	109	LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
122	if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," ");	110	if(ErrorCode) LCD_printfxy(11,1," Err:%d",(u16)ErrorCode) else LCD_printfxy(11,1," ");
123	LCD_printfxy(0,2,"%s",ErrorMSG);	111	LCD_printfxy(0,2,"%s",ErrorMSG);
124	LCD_printfxy(0,3,"(c) Buss, Busker");	112	LCD_printfxy(0,3,"(c) Buss, Busker");
125	break;	113	break;
126	case 1:	114	case 1:
127	if (GPSData.Status == INVALID)	115	if (GPSData.Status == INVALID)
128	{	116	{
129	LCD_printfxy(0,0,"No GPS data");	117	LCD_printfxy(0,0,"No GPS data");
130	LCD_printfxy(0,1,"Lon: ");	118	LCD_printfxy(0,1,"Lon: ");
131	LCD_printfxy(0,2,"Lat: ");	119	LCD_printfxy(0,2,"Lat: ");
132	LCD_printfxy(0,3,"Alt: ");	120	LCD_printfxy(0,3,"Alt: ");
133	}	121	}
134	else // newdata or processed	122	else // newdata or processed
135	{	123	{
136	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	124	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
137	switch (GPSData.SatFix)	125	switch (GPSData.SatFix)
138	{	126	{
139	case SATFIX_NONE:	127	case SATFIX_NONE:
140	LCD_printfxy(7,0,"NoFix");	128	LCD_printfxy(7,0,"NoFix");
141	break;	129	break;
142	case SATFIX_2D:	130	case SATFIX_2D:
143	LCD_printfxy(7,0,"2DFix");	131	LCD_printfxy(7,0,"2DFix");
144	break;	132	break;
145	case SATFIX_3D:	133	case SATFIX_3D:
146	LCD_printfxy(7,0,"3DFix");	134	LCD_printfxy(7,0,"3DFix");
147	break;	135	break;
148	default:	136	default:
149	LCD_printfxy(7,0,"??Fix");	137	LCD_printfxy(7,0,"??Fix");
150	break;	138	break;
151	}	139	}
152	if(GPSData.Flags & FLAG_DIFFSOLN)	140	if(GPSData.Flags & FLAG_DIFFSOLN)
153	{	141	{
154	LCD_printfxy(12,0,"/DGPS");	142	LCD_printfxy(12,0,"/DGPS");
155	}	143	}
156	else	144	else
157	{	145	{
158	LCD_printfxy(12,0," ");	146	LCD_printfxy(12,0," ");
159	}	147	}
160		148
161	if(GPSData.Position.Longitude < 0) sign = '-';	149	if(GPSData.Position.Longitude < 0) sign = '-';
162	else sign = '+';	150	else sign = '+';
163	i1 = abs(GPSData.Position.Longitude)/10000000L;	151	i1 = abs(GPSData.Position.Longitude)/10000000L;
164	i2 = abs(GPSData.Position.Longitude)%10000000L;	152	i2 = abs(GPSData.Position.Longitude)%10000000L;
165	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	153	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
166	if(GPSData.Position.Latitude < 0) sign = '-';	154	if(GPSData.Position.Latitude < 0) sign = '-';
167	else sign = '+';	155	else sign = '+';
168	i1 = abs(GPSData.Position.Latitude)/10000000L;	156	i1 = abs(GPSData.Position.Latitude)/10000000L;
169	i2 = abs(GPSData.Position.Latitude)%10000000L;	157	i2 = abs(GPSData.Position.Latitude)%10000000L;
170	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	158	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
171	if(GPSData.Position.Altitude < 0) sign = '-';	159	if(GPSData.Position.Altitude < 0) sign = '-';
172	else sign = '+';	160	else sign = '+';
173	i1 = abs(GPSData.Position.Altitude)/1000L;	161	i1 = abs(GPSData.Position.Altitude)/1000L;
174	i2 = abs(GPSData.Position.Altitude)%1000L;	162	i2 = abs(GPSData.Position.Altitude)%1000L;
175	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);	163	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m", sign, i1, i2);
176	}	164	}
177	break;	165	break;
178	case 2:	166	case 2:
179	if (GPSData.Status == INVALID)	167	if (GPSData.Status == INVALID)
180	{	168	{
181	LCD_printfxy(0,0,"No GPS data");	169	LCD_printfxy(0,0,"No GPS data");
182	LCD_printfxy(0,1,"Speed N: ");	170	LCD_printfxy(0,1,"Speed N: ");
183	LCD_printfxy(0,2,"Speed E: ");	171	LCD_printfxy(0,2,"Speed E: ");
184	LCD_printfxy(0,3,"Speed T: ");	172	LCD_printfxy(0,3,"Speed T: ");
185	}	173	}
186	else // newdata or processed	174	else // newdata or processed
187	{	175	{
188	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);	176	LCD_printfxy(0,0,"Sat:%02d ", GPSData.NumOfSats);
189	switch (GPSData.SatFix)	177	switch (GPSData.SatFix)
190	{	178	{
191	case SATFIX_NONE:	179	case SATFIX_NONE:
192	LCD_printfxy(7,0,"NoFix");	180	LCD_printfxy(7,0,"NoFix");
193	break;	181	break;
194	case SATFIX_2D:	182	case SATFIX_2D:
195	LCD_printfxy(7,0,"2DFix");	183	LCD_printfxy(7,0,"2DFix");
196	break;	184	break;
197	case SATFIX_3D:	185	case SATFIX_3D:
198	LCD_printfxy(7,0,"3DFix");	186	LCD_printfxy(7,0,"3DFix");
199	break;	187	break;
200	default:	188	default:
201	LCD_printfxy(7,0,"??Fix");	189	LCD_printfxy(7,0,"??Fix");
202	break;	190	break;
203	}	191	}
204	if(GPSData.Flags & FLAG_DIFFSOLN)	192	if(GPSData.Flags & FLAG_DIFFSOLN)
205	{	193	{
206	LCD_printfxy(12,0,"/DGPS");	194	LCD_printfxy(12,0,"/DGPS");
207	}	195	}
208	else	196	else
209	{	197	{
210	LCD_printfxy(12,0," ");	198	LCD_printfxy(12,0," ");
211	}	199	}
212		200
213	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);	201	LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North);
214	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);	202	LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East);
215	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);	203	LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top);
216	}	204	}
217	break;	205	break;
218	case 3:	206	case 3:
219	LCD_printfxy(0,0,"GPS UTC Time");	207	LCD_printfxy(0,0,"GPS UTC Time");
220	if (!SystemTime.Valid)	208	if (!SystemTime.Valid)
221	{	209	{
222	LCD_printfxy(0,0,"GPS UTC Time");	-
223	LCD_printfxy(0,1," ");	210	LCD_printfxy(0,1," ");
224	LCD_printfxy(0,2," No time data! ");	211	LCD_printfxy(0,2," No time data! ");
225	LCD_printfxy(0,3," ");	212	LCD_printfxy(0,3," ");
226	}	213	}
227	else // newdata or processed	214	else // newdata or processed
228	{	215	{
229	LCD_printfxy(0,1," ");	216	LCD_printfxy(0,1," ");
230	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);	217	LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year);
231	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);	218	LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
232		-
233	}	219	}
234	break;	220	break;
235	case 4: // Navi Params 1 from FC	221	case 4: // Navi Params 1 from FC
236	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);	222	LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl);
237	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);	223	LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP);
238	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);	224	LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD);
239	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);	225	LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat);
240	break;	226	break;
241	case 5: // Navi Params 2 from FC	227	case 5: // Navi Params 2 from FC
242	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);	228	LCD_printfxy(0,0,"Stick TS: %3i", Parameter.NaviStickThreshold);
243	LCD_printfxy(0,1,"MaxRadius: %3i m", Parameter.NaviOperatingRadius);	229	LCD_printfxy(0,1,"MaxRadius: %3i m", Parameter.NaviOperatingRadius);
244	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);	230	LCD_printfxy(0,2,"WindCorr: %3i", Parameter.NaviWindCorrection);
245	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);	231	LCD_printfxy(0,3,"SpeedComp: %3i", Parameter.NaviSpeedCompensation);
246	break;	232	break;
247	case 6: // Navi Params 3 from FC	233	case 6: // Navi Params 3 from FC
248	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);	234	LCD_printfxy(0,0,"Angle-Limit: %3i", Parameter.NaviAngleLimitation);
249	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);	235	LCD_printfxy(0,1," P-Limit: %3i", Parameter.NaviGpsPLimit);
250	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);	236	LCD_printfxy(0,2," I-Limit: %3i", Parameter.NaviGpsILimit);
251	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);	237	LCD_printfxy(0,3," D-Limit: %3i", Parameter.NaviGpsDLimit);
252	break;	238	break;
253	case 7:	239	case 7:
254	LCD_printfxy(0,0,"Home Position");	240	LCD_printfxy(0,0,"Home Position");
255	if(GPS_HomePosition.Status == INVALID)	241	if(GPS_HomePosition.Status == INVALID)
256	{	242	{
257	LCD_printfxy(0,1," ");	243	LCD_printfxy(0,1," ");
258	LCD_printfxy(0,2," Is not set. ");	244	LCD_printfxy(0,2," Is not set. ");
259	LCD_printfxy(0,3," ");	245	LCD_printfxy(0,3," ");
260	}	246	}
261	else	247	else
262	{	248	{
263	if(GPS_HomePosition.Longitude < 0) sign = '-';	249	if(GPS_HomePosition.Longitude < 0) sign = '-';
264	else sign = '+';	250	else sign = '+';
265	i1 = abs(GPS_HomePosition.Longitude)/10000000L;	251	i1 = abs(GPS_HomePosition.Longitude)/10000000L;
266	i2 = abs(GPS_HomePosition.Longitude)%10000000L;	252	i2 = abs(GPS_HomePosition.Longitude)%10000000L;
267	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);	253	LCD_printfxy(0,1,"Lon:%c%03ld.%07ld deg",sign, i1, i2);
268	if(GPS_HomePosition.Latitude < 0) sign = '-';	254	if(GPS_HomePosition.Latitude < 0) sign = '-';
269	else sign = '+';	255	else sign = '+';
270	i1 = abs(GPS_HomePosition.Latitude)/10000000L;	256	i1 = abs(GPS_HomePosition.Latitude)/10000000L;
271	i2 = abs(GPS_HomePosition.Latitude)%10000000L;	257	i2 = abs(GPS_HomePosition.Latitude)%10000000L;
272	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);	258	LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
273	if(GPS_HomePosition.Altitude < 0) sign = '-';	259	if(GPS_HomePosition.Altitude < 0) sign = '-';
274	else sign = '+';	260	else sign = '+';
275	i1 = abs(GPS_HomePosition.Altitude)/1000L;	261	i1 = abs(GPS_HomePosition.Altitude)/1000L;
276	i2 = abs(GPS_HomePosition.Altitude)%1000L;	262	i2 = abs(GPS_HomePosition.Altitude)%1000L;
277	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);	263	LCD_printfxy(0,3,"Alt:%c%04ld.%03ld m",sign, i1, i2);
278	}	264	}
279	break;	265	break;
280	case 8: // RC stick controls from FC	266	case 8: // RC stick controls from FC
281	LCD_printfxy(0,0,"RC-Sticks" );	267	LCD_printfxy(0,0,"RC-Sticks" );
282	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);	268	LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll);
283	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);	269	LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw);
284	break;	270	break;
285	case 9: // RC poti controls from FC	271	case 9: // RC poti controls from FC
286	LCD_printfxy(0,0,"RC-Potis 1" );	272	LCD_printfxy(0,0,"RC-Potis 1" );
287	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);	273	LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti[0], FC.Poti[1]);
288	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);	274	LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti[2], FC.Poti[3]);
289	break;	275	break;
290	case 10: // RC poti controls from FC	276	case 10: // RC poti controls from FC
291	LCD_printfxy(0,0,"RC-Potis 2" );	277	LCD_printfxy(0,0,"RC-Potis 2" );
292	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);	278	LCD_printfxy(0,1,"Po5:%3i Po6:%3i ",FC.Poti[4], FC.Poti[5]);
293	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);	279	LCD_printfxy(0,2,"Po7:%3i Po8:%3i ",FC.Poti[6], FC.Poti[7]);
294	break;	280	break;
295	case 11: // attitude from FC	281	case 11: // attitude from FC
296	if(FromFlightCtrl.AngleNick < 0) sign = '-';	282	if(FromFlightCtrl.AngleNick < 0) sign = '-';
297	else sign = '+';	283	else sign = '+';
298	i1 = abs(FromFlightCtrl.AngleNick)/10;	284	i1 = abs(FromFlightCtrl.AngleNick)/10;
299	i2 = abs(FromFlightCtrl.AngleNick)%10;	285	i2 = abs(FromFlightCtrl.AngleNick)%10;
300	LCD_printfxy(0,0,"GyroNick:%c%03i.%01i", sign, i1, i2);	286	LCD_printfxy(0,0,"GyroNick:%c%03ld.%01ld", sign, i1, i2);
301	if(FromFlightCtrl.AngleRoll < 0) sign = '-';	287	if(FromFlightCtrl.AngleRoll < 0) sign = '-';
302	else sign = '+';	288	else sign = '+';
303	i1 = abs(FromFlightCtrl.AngleRoll)/10;	289	i1 = abs(FromFlightCtrl.AngleRoll)/10;
304	i2 = abs(FromFlightCtrl.AngleRoll)%10;	290	i2 = abs(FromFlightCtrl.AngleRoll)%10;
305	LCD_printfxy(0,1,"GyroRoll:%c%03i.%01i", sign, i1, i2);	291	LCD_printfxy(0,1,"GyroRoll:%c%03ld.%01ld", sign, i1, i2);
306	if(FromFlightCtrl.AccNick < 0) sign = '-';	292	if(FromFlightCtrl.AccNick < 0) sign = '-';
307	else sign = '+';	293	else sign = '+';
308	i1 = abs(FromFlightCtrl.AccNick)/10;	294	i1 = abs(FromFlightCtrl.AccNick)/10;
309	i2 = abs(FromFlightCtrl.AccNick)%10;	295	i2 = abs(FromFlightCtrl.AccNick)%10;
310	LCD_printfxy(0,2," AccNick:%c%03i.%01i", sign, i1, i2);	296	LCD_printfxy(0,2," AccNick:%c%03ld.%01ld", sign, i1, i2);
311	if(FromFlightCtrl.AccRoll < 0) sign = '-';	297	if(FromFlightCtrl.AccRoll < 0) sign = '-';
312	else sign = '+';	298	else sign = '+';
313	i1 = abs(FromFlightCtrl.AccRoll)/10;	299	i1 = abs(FromFlightCtrl.AccRoll)/10;
314	i2 = abs(FromFlightCtrl.AccRoll)%10;	300	i2 = abs(FromFlightCtrl.AccRoll)%10;
315	LCD_printfxy(0,3," AccRoll:%c%03i.%01i", sign, i1, i2);	301	LCD_printfxy(0,3," AccRoll:%c%03ld.%01ld", sign, i1, i2);
316	break;	302	break;
317	case 12: // gyros from FC	303	case 12: // gyros from FC
318	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);	304	LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
319	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);	305	LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
320	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);	306	LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
321	break;	307	break;
322	case 13: // Remote Control Level from FC	308	case 13: // Remote Control Level from FC
323	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);	309	LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality);
324	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.UBat/10, FC.UBat%10);	310	LCD_printfxy(0,1,"Ubat: %2i.%1i V", FC.UBat/10, FC.UBat%10);
325	LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading);	311	LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading);
326	if(GeoMagDec < 0) sign = '-';	312	if(GeoMagDec < 0) sign = '-';
327	else sign = '+';	313	else sign = '+';
328	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);	314	LCD_printfxy(0,3,"GeoMagDec: %c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
329	break;	315	break;
330	case 14: // User Parameter	316	case 14: // User Parameter
331	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);	317	LCD_printfxy(0,0,"UP1:%3i UP2:%3i",Parameter.User1,Parameter.User2);
332	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);	318	LCD_printfxy(0,1,"UP3:%3i UP4:%3i",Parameter.User3,Parameter.User4);
333	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);	319	LCD_printfxy(0,2,"UP5:%3i UP6:%3i",Parameter.User5,Parameter.User6);
334	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);	320	LCD_printfxy(0,3,"UP7:%3i UP8:%3i",Parameter.User7,Parameter.User8);
335	break;	321	break;
336	case 15: // MK3MAG	322	case 15: // MK3MAG
337	I2C1_SendCommand(I2C_CMD_READ_MAG);	323	I2C1_SendCommand(I2C_CMD_READ_MAG);
338	LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch);	324	LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch);
339	LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX);	325	LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX);
340	LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY);	326	LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY);
341	LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ);	327	LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ);
342	break;	328	break;
343	default:	329	default:
344	MaxMenuItem = MenuItem - 1;	330	//MaxMenuItem = MenuItem - 1;
345	MenuItem = 0;	331	MenuItem = 0;
346	break;	332	break;
347	}	333	}
348	RemoteKeys = 0;	-
349	}	334	}
350		335

Subversion Repositories NaviCtrl

(root)/tags/V2.18a/menu.c @ 812 - Rev 190 → 201