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| 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> |
|
| - | 58 | #include "91x_lib.h" |
|
| - | 59 | #include "printf_P.h" |
|
| 57 | #include "main.h" |
60 | #include "main.h" |
| - | 61 | #include "ubx.h" |
|
| - | 62 | #include "GPS.h" |
|
| - | 63 | #include "timer.h" |
|
| - | 64 | #include "i2c.h" |
|
| - | 65 | #include "spi_slave.h" |
|
| - | 66 | #include "menu.h" |
|
| - | 67 | #include "uart1.h" |
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| Line 58... | Line -... | ||
| 58 | - | ||
| 59 | u16 TestInt = 0; |
- | |
| 60 | #define ARRAYGROESSE 10 |
- | |
| 61 | u8 Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
68 | |
| 62 | s8 DisplayBuff[80] = "Hallo Welt"; |
69 | s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| - | 70 | u8 DispPtr = 0; |
|
| - | 71 | ||
| - | 72 | u8 MenuItem = 0; |
|
| 63 | u8 DispPtr = 0; |
73 | u8 MaxMenuItem = 12; |
| Line 64... | Line 74... | ||
| 64 | u8 RemoteTasten = 0; |
74 | u8 RemoteKeys = 0; |
| 65 | 75 | ||
| 66 | #define KEY1 0x01 |
76 | #define KEY1 0x01 |
| 67 | #define KEY2 0x02 |
77 | #define KEY2 0x02 |
| 68 | #define KEY3 0x04 |
78 | #define KEY3 0x04 |
| Line -... | Line 79... | ||
| - | 79 | #define KEY4 0x08 |
|
| - | 80 | #define KEY5 0x10 |
|
| - | 81 | ||
| 69 | #define KEY4 0x08 |
82 | /************************************/ |
| 70 | #define KEY5 0x10 |
83 | /* Clear LCD Buffer */ |
| 71 | 84 | /************************************/ |
|
| 72 | void LcdClear(void) |
85 | void LCD_Clear(void) |
| 73 | { |
86 | { |
| Line -... | Line 87... | ||
| - | 87 | u8 i; |
|
| - | 88 | for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
|
| - | 89 | } |
|
| - | 90 | ||
| - | 91 | ||
| 74 | u8 i; |
92 | /************************************/ |
| - | 93 | /* Update Menu on LCD */ |
|
| - | 94 | /************************************/ |
|
| - | 95 | // Display with 20 characters in 4 lines |
|
| - | 96 | void LCD_PrintMenu(void) |
|
| - | 97 | { |
|
| - | 98 | s32 i1,i2; |
|
| - | 99 | if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;} |
|
| - | 100 | if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
|
| - | 101 | if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
|
| - | 102 | ||
| - | 103 | LCD_Clear(); |
|
| - | 104 | if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
|
| - | 105 | // print menu item number in the upper right corner |
|
| - | 106 | if(MenuItem < 10) |
|
| 75 | for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
107 | { |
| 76 | } |
108 | LCD_printfxy(17,0,"[%i]",MenuItem); |
| 77 | 109 | } |
|
| Line 78... | Line -... | ||
| 78 | void Menu(void) |
- | |
| 79 | { |
- | |
| 80 | static u8 MaxMenue = 1,MenuePunkt=0; |
- | |
| 81 | u8 text[20]; |
- | |
| 82 | 110 | else |
|
| 83 | if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
111 | { |
| - | 112 | LCD_printfxy(16,0,"[%i]",MenuItem); |
|
| 84 | if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
113 | } |
| 85 | if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
114 | |
| 86 | LCD_printfxy(17,0,"[%i]",MenuePunkt); |
115 | switch(MenuItem) |
| 87 | switch(MenuePunkt) |
116 | { |
| 88 | { |
117 | // Version Info |
| 89 | case 0: |
- | |
| 90 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
118 | case 0: |
| 91 | LCD_printfxy(0,1,"SW:%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
119 | LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
| 92 | // LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
- | |
| 93 | LCD_printfxy(0,3,"(c) I.B. H.B. "); |
120 | LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| - | 121 | if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," "); |
|
| - | 122 | LCD_printfxy(0,2,"%s",ErrorMSG); |
|
| 94 | // if(RemoteTasten & KEY3) TestInt--; |
123 | LCD_printfxy(0,3,"(c) Buss, Busker"); |
| - | 124 | break; |
|
| 95 | // if(RemoteTasten & KEY4) TestInt++; |
125 | case 1: |
| 96 | break; |
126 | if (GPSData.Status == INVALID) |
| - | 127 | { |
|
| - | 128 | LCD_printfxy(0,0,"No GPS data"); |
|
| - | 129 | LCD_printfxy(0,1,"Lon: "); |
|
| - | 130 | LCD_printfxy(0,2,"Lat: "); |
|
| - | 131 | LCD_printfxy(0,3,"Alt: "); |
|
| - | 132 | } |
|
| - | 133 | else // newdata or processed |
|
| - | 134 | { |
|
| - | 135 | switch (GPSData.SatFix) |
|
| - | 136 | { |
|
| - | 137 | case SATFIX_NONE: |
|
| - | 138 | LCD_printfxy(0,0,"Sats:%02d Fix:None", GPSData.NumOfSats); |
|
| - | 139 | break; |
|
| - | 140 | case SATFIX_2D: |
|
| - | 141 | LCD_printfxy(0,0,"Sats:%02d Fix:2D ", GPSData.NumOfSats); |
|
| 97 | 142 | break; |
|
| - | 143 | case SATFIX_3D: |
|
| - | 144 | LCD_printfxy(0,0,"Sats:%02d Fix:3D ", GPSData.NumOfSats); |
|
| - | 145 | break; |
|
| - | 146 | default: |
|
| - | 147 | LCD_printfxy(0,0,"Sats:%02d Fix:?? ", GPSData.NumOfSats); |
|
| - | 148 | break; |
|
| - | 149 | } |
|
| - | 150 | i1 = GPSData.Position.Longitude/10000000L; |
|
| - | 151 | i2 = abs(GPSData.Position.Longitude%10000000L); |
|
| - | 152 | LCD_printfxy(0,1,"Lon:%+3ld.%07ld deg",i1, i2); |
|
| - | 153 | i1 = GPSData.Position.Latitude/10000000L; |
|
| - | 154 | i2 = abs(GPSData.Position.Latitude%10000000L); |
|
| - | 155 | LCD_printfxy(0,2,"Lat:%+3ld.%07ld deg",i1, i2); |
|
| - | 156 | i1 = GPSData.Position.Altitude/1000L; |
|
| - | 157 | i2 = abs(GPSData.Position.Altitude%1000L); |
|
| - | 158 | LCD_printfxy(0,3,"Alt:%4ld.%03ld m",i1, i2); |
|
| 98 | case 1: |
159 | } |
| - | 160 | break; |
|
| - | 161 | case 2: |
|
| - | 162 | if (GPSData.Status == INVALID) |
|
| - | 163 | { |
|
| - | 164 | LCD_printfxy(0,0,"No GPS data"); |
|
| - | 165 | LCD_printfxy(0,1,"Speed N: "); |
|
| - | 166 | LCD_printfxy(0,2,"Speed E: "); |
|
| - | 167 | LCD_printfxy(0,3,"Speed T: "); |
|
| - | 168 | } |
|
| 99 | LCD_printfxy(0,0,"++ GPS-Logging ++"); |
169 | else // newdata or processed |
| - | 170 | { |
|
| - | 171 | switch (GPSData.SatFix) |
|
| 100 | sprintf(text, "latitude: %u",GPS_Data.Latitude); |
172 | { |
| 101 | LCD_printfxy(0,1,text); |
173 | case SATFIX_NONE: |
| - | 174 | LCD_printfxy(0,0,"Sats:%02d Fix:None", GPSData.NumOfSats); |
|
| - | 175 | break; |
|
| - | 176 | case SATFIX_2D: |
|
| - | 177 | LCD_printfxy(0,0,"Sats:%02d Fix:2D ", GPSData.NumOfSats); |
|
| - | 178 | break; |
|
| - | 179 | case SATFIX_3D: |
|
| - | 180 | LCD_printfxy(0,0,"Sats:%02d Fix:3D ", GPSData.NumOfSats); |
|
| - | 181 | break; |
|
| - | 182 | default: |
|
| - | 183 | LCD_printfxy(0,0,"Sats:%02d Fix:?? ", GPSData.NumOfSats); |
|
| - | 184 | break; |
|
| - | 185 | } |
|
| - | 186 | LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
|
| - | 187 | LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
|
| - | 188 | LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
|
| - | 189 | } |
|
| - | 190 | break; |
|
| - | 191 | case 3: |
|
| - | 192 | LCD_printfxy(0,0,"GPS UTC Time"); |
|
| - | 193 | if (!SystemTime.Valid) |
|
| - | 194 | { |
|
| - | 195 | LCD_printfxy(0,0,"GPS UTC Time"); |
|
| - | 196 | LCD_printfxy(0,1," "); |
|
| - | 197 | LCD_printfxy(0,2," No time data! "); |
|
| - | 198 | LCD_printfxy(0,3," "); |
|
| - | 199 | } |
|
| Line -... | Line 200... | ||
| - | 200 | else // newdata or processed |
|
| - | 201 | { |
|
| - | 202 | LCD_printfxy(0,1," "); |
|
| - | 203 | LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
|
| - | 204 | LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
|
| - | 205 | ||
| - | 206 | } |
|
| - | 207 | break; |
|
| - | 208 | case 4: // Navi Params from FC |
|
| - | 209 | LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
|
| - | 210 | LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
|
| - | 211 | LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
|
| - | 212 | LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
|
| - | 213 | break; |
|
| - | 214 | case 5: |
|
| - | 215 | LCD_printfxy(0,0,"Home Position"); |
|
| - | 216 | if(GPS_HomePosition.Status == INVALID) |
|
| - | 217 | { |
|
| - | 218 | LCD_printfxy(0,1," "); |
|
| - | 219 | LCD_printfxy(0,2," Is not set. "); |
|
| - | 220 | LCD_printfxy(0,3," "); |
|
| - | 221 | } |
|
| - | 222 | else |
|
| - | 223 | { |
|
| - | 224 | i1 = GPS_HomePosition.Longitude/10000000L; |
|
| - | 225 | i2 = abs(GPS_HomePosition.Longitude%10000000L); |
|
| - | 226 | LCD_printfxy(0,1,"Lon: %3ld.%07ld deg",i1, i2); |
|
| - | 227 | i1 = GPS_HomePosition.Latitude/10000000L; |
|
| - | 228 | i2 = abs(GPS_HomePosition.Latitude%10000000L); |
|
| - | 229 | LCD_printfxy(0,2,"Lat: %3ld.%07ld deg",i1, i2); |
|
| - | 230 | i1 = GPS_HomePosition.Altitude/1000L; |
|
| - | 231 | i2 = abs(GPS_HomePosition.Altitude%1000L); |
|
| - | 232 | LCD_printfxy(0,3,"Alt:%4ld.%03ld m",i1, i2); |
|
| - | 233 | } |
|
| - | 234 | break; |
|
| - | 235 | case 6: // RC stick controls from FC |
|
| - | 236 | LCD_printfxy(0,0,"RC-Sticks" ); |
|
| - | 237 | LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
|
| - | 238 | LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
|
| - | 239 | break; |
|
| - | 240 | case 7: // RC poti controls from FC |
|
| - | 241 | LCD_printfxy(0,0,"RC-Potis" ); |
|
| - | 242 | LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti1, FC.Poti2); |
|
| - | 243 | LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti3, FC.Poti4); |
|
| - | 244 | break; |
|
| - | 245 | case 8: // attitude from FC |
|
| - | 246 | LCD_printfxy(0,0,"IntNick: %5i", FromFlightCtrl.IntegralNick); |
|
| - | 247 | LCD_printfxy(0,1,"IntRoll: %5i", FromFlightCtrl.IntegralRoll); |
|
| - | 248 | LCD_printfxy(0,2,"AccNick: %5i", FromFlightCtrl.AccNick); |
|
| - | 249 | LCD_printfxy(0,3,"AccRoll: %5i", FromFlightCtrl.AccRoll); |
|
| 102 | sprintf(text, "longitude:%u",GPS_Data.Longitude); |
250 | break; |
| - | 251 | case 9: // gyros from FC |
|
| - | 252 | LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
|
| - | 253 | LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
|
| - | 254 | LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
|
| 103 | LCD_printfxy(0,2,text); |
255 | break; |
| - | 256 | case 10: // Remote Control Level from FC |
|
| - | 257 | LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
|
| - | 258 | LCD_printfxy(0,1,"Ubat: %3i", FC.UBat); |
|
| - | 259 | LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading); |
|
| - | 260 | LCD_printfxy(0,3,"GyroHeading: %3i", FromFlightCtrl.GyroHeading); |
|
| - | 261 | break; |
|
| - | 262 | case 11: // User Parameter |
|
| - | 263 | LCD_printfxy(0,0,"UP1:%3i UP2:%3i ",Parameter.User1,Parameter.User2); |
|
| - | 264 | LCD_printfxy(0,1,"UP3:%3i UP4:%3i ",Parameter.User3,Parameter.User4); |
|
| - | 265 | LCD_printfxy(0,2,"UP5:%3i UP6:%3i ",Parameter.User5,Parameter.User6); |
|
| - | 266 | LCD_printfxy(0,3,"UP7:%3i UP8:%3i ",Parameter.User7,Parameter.User8); |
|
| - | 267 | break; |
|
| - | 268 | case 12: // MK3MAG |
|
| - | 269 | I2C1_SendCommand(I2C_CMD_READ_MAG); |
|
| - | 270 | LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch); |
|
| - | 271 | LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX); |
|
| 104 | sprintf(text, "used sat: %d",GPS_Data.Used_Sat); |
272 | LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY); |
| 105 | LCD_printfxy(0,3,text); |
273 | LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ); |
| 106 | break; |
274 | break; |
| 107 | 275 | default: |
|