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/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2011 Harald Bongartz *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
* *
* *
* Credits to: *
* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
* http://www.mikrokopter.de *
* Gregor "killagreg" Stobrawa for his version of the MK code *
* Thomas Kaiser "thkais" for the original project. See *
* http://www.ft-fanpage.de/mikrokopter/ *
* http://forum.mikrokopter.de/topic-4061-1.html *
* Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code *
* http://www.mylifesucks.de/oss/c-osd/ *
* Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility*
*****************************************************************************/
#include "cpu.h"
#include <avr/io.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include "main.h"
#include "osd.h"
#include "lcd.h"
#include "timer.h"
#include "usart.h"
#include "eeprom.h"
#include "messages.h"
#include "mk-data-structs.h"
#define COSD_WASFLYING 4
#define TIMEOUT 200 // 2 sec
// global definitions and global vars
NaviData_t *naviData;
// löschen und alle mit "naviData->Variometer" ersetzen
//int8_t Variometer = 0;
// Hier Höhenanzeigefehler Korrigieren
#define AltimeterAdjust 1.5
// stats for after flight
int16_t max_Altimeter = 0;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
uint8_t min_UBat = 255;
uint16_t max_FlyingTime = 0;
uint16_t max_Current = 0;
uint16_t max_Capacity = 0;
// cache old vars for blinking attribute, checkup is faster than full
// attribute write each time
volatile uint8_t last_UBat = 255;
volatile uint8_t last_RC_Quality = 255;
volatile uint16_t ftimer = 0;
// store stats description in progmem to save space
const char stats_item_0[] PROGMEM = "max Altitude:";
const char stats_item_1[] PROGMEM = "max Speed :";
const char stats_item_2[] PROGMEM = "max Distance:";
const char stats_item_3[] PROGMEM = "min Voltage :";
const char stats_item_4[] PROGMEM = "max Time :";
#if 1
const char stats_item_5[] PROGMEM = "max Current :";
const char stats_item_6[] PROGMEM = "UsedCapacity:";
#else
const char stats_item_5[] PROGMEM = "Long. :";
const char stats_item_6[] PROGMEM = "Lat. :";
#endif
const char *stats_item_pointers[] PROGMEM = {
stats_item_0,
stats_item_1,
stats_item_2,
stats_item_3,
stats_item_4,
stats_item_5,
stats_item_6
};
//char* rose = "-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W";
const char rose[48] PROGMEM = {
0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S',
0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O',
0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N',
0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W',
};
// the center is char 19 (north), we add the current heading in 8th
// which would be 22.5 degrees, but float would bloat up the code
// and *10 / 225 would take ages... so we take the uncorrect way
const char str_NE[] PROGMEM = "NE";
const char str_E[] PROGMEM = "E ";
const char str_SE[] PROGMEM = "SE";
const char str_S[] PROGMEM = "S ";
const char str_SW[] PROGMEM = "SW";
const char str_W[] PROGMEM = "W ";
const char str_NW[] PROGMEM = "NW";
const char str_N[] PROGMEM = "N ";
const char *directions_p[8] PROGMEM = {
str_NE,
str_E,
str_SE,
str_S,
str_SW,
str_W,
str_NW,
str_N
};
// Flags
uint8_t COSD_FLAGS2 = 0;
GPS_Pos_t last5pos[7];
uint8_t error = 0;
//--------------------------------------------------------------
// convert the <heading> gotton from NC into an index
uint8_t heading_conv (uint16_t heading)
{
if (heading > 23 && heading < 68)
return 0; //direction = "NE";
else if (heading > 67 && heading < 113)
return 1; //direction = "E ";
else if (heading > 112 && heading < 158)
return 2; //direction = "SE";
else if (heading > 157 && heading < 203)
return 3; //direction = "S ";
else if (heading > 202 && heading < 248)
return 4; //direction = "SW";
else if (heading > 247 && heading < 293)
return 5; //direction = "W ";
else if (heading > 292 && heading < 338)
return 6; //direction = "NW";
return 7; //direction = "N ";
}
//--------------------------------------------------------------
// draw a compass rose at <x>/<y> for <heading>
void draw_compass (uint8_t x, uint8_t y, uint16_t heading)
{
uint8_t front = 19 + (heading / 22);
for (uint8_t i = 0; i < 9; i++)
lcd_putc (x++, y, pgm_read_byte(&rose[front - 4 + i]), 0);
}
//--------------------------------------------------------------
// variometer
// draw variometer arrows at <x>/<y> according to <variometer>
//
void draw_variometer (uint8_t x, uint8_t y, uint8_t width, uint8_t hight, int16_t variometer)
{
lcd_rect (x, y - ((hight) / 2), width, hight, 1);
lcd_frect (x + 1, y - ((hight) / 2) + 1, width - 2, hight - 2, 0);
lcd_line (x, y, x + width, y, 1);
if (variometer > 0) // steigend
{
switch (variometer / 5)
{
case 0:
lcd_line (x + 4, y - 1, x + 6, y - 1, 1); // 1 > 4
break;
case 1:
lcd_line (x + 4, y - 1, x + 6, y - 1, 1); // 1 > 4
lcd_frect (x + 3, y - 3, 4, 1, 1); // 5 > 9
break;
case 2:
lcd_line (x + 4, y - 1, x + 6, y - 1, 1); // 1 > 4
lcd_frect (x + 3, y - 3, 4, 1, 1); // 5 > 9
lcd_frect (x + 2, y - 5, 6, 1, 1); // 10 > 14
break;
default:
lcd_line (x + 4, y - 1, x + 6, y - 1, 1); // 1 > 4
lcd_frect (x + 3, y - 3, 4, 1, 1); // 5 > 9
lcd_frect (x + 2, y - 5, 6, 1, 1); // 10 > 14
lcd_frect (x + 1, y - 6, 8, 1, 1); // 15 >
break;
}
}
else if (variometer < 0) // fallend
{
switch ((variometer) / -5)
{
case 0:
lcd_line (x + 4, y + 1, x + 6, y + 1, 1); // - 1 > - 4
break;
case 1:
lcd_line (x + 4, y + 1, x + 6, y + 1, 1); // - 1 > - 4
lcd_frect (x + 3, y + 2, 4, 1, 1); // - 5 > - 9
break;
case 2:
lcd_line (x + 4, y + 1, x + 6, y + 1, 1); // - 1 > - 4
lcd_frect (x + 3, y + 2, 4, 1, 1); // - 5 > - 9
lcd_frect (x + 2, y + 4, 6, 1, 1); // -10 > -14
break;
default:
lcd_line (x + 4, y + 1, x + 6, y + 1, 1); // - 1 > - 4
lcd_frect (x + 3, y + 2, 4, 1, 1); // - 5 > - 9
lcd_frect (x + 2, y + 4, 6, 1, 1); // -10 > -14
lcd_frect (x + 1, y + 5, 8, 1, 1); // -15 >
break;
}
}
}
//--------------------------------------------------------------
void print_statistics (void)
{
uint8_t line = 0;
lcd_cls ();
// lcd_printp_at (12, 7, PSTR("Ende"), 0);
lcd_puts_at(12, 7, strGet(ENDE), 0);
// max Altitude
lcd_printp_at (0, line, stats_item_pointers[0], 0);
write_ndigit_number_s (13, line, max_Altimeter / (30 / AltimeterAdjust), 4, 0);
lcd_putc (17, line, 'm', 0);
// max Speed
lcd_printp_at (0, ++line, stats_item_pointers[1], 0);
write_ndigit_number_u (14, line, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
lcd_printp_at(17, line, PSTR("km/h"), 0);
// max Distance
lcd_printp_at (0, ++line, stats_item_pointers[2], 0);
write_ndigit_number_u (14, line, max_Distance / 10, 3, 0);
lcd_putc (17, line, 'm', 0);
// max time
lcd_printp_at (0, ++line, stats_item_pointers[4], 0);
write_time (13, line, max_FlyingTime);
// min voltage
lcd_printp_at (0, ++line, stats_item_pointers[3], 0);
write_ndigit_number_u_10th (13, line, min_UBat, 3, 0);
lcd_putc (17, line, 'V', 0);
#if 1
// max Current
lcd_printp_at (0, ++line, stats_item_pointers[5], 0);
write_ndigit_number_u_10th (13, line, max_Current, 3, 0);
lcd_putc (17, line, 'A', 0);
// Used Capacity
lcd_printp_at (0, ++line, stats_item_pointers[6], 0);
write_ndigit_number_u (13, line, max_Capacity, 4, 0);
lcd_printp_at(17, line, PSTR("mAh"), 0);
#else
// longitude
lcd_printp_at (0, ++line, stats_item_pointers[5], 0);
write_gps_pos (8, line, naviData->CurrentPosition.Longitude);
// latitude
lcd_printp_at (0, ++line, stats_item_pointers[6], 0);
write_gps_pos (8, line, naviData->CurrentPosition.Latitude);
#endif
while (!get_key_press (1 << KEY_ESC))
timer = TIMEOUT;
COSD_FLAGS2 &= ~COSD_WASFLYING;
get_key_press(KEY_ALL);
lcd_cls();
}
//--------------------------------------------------------------
void print_position (void)
{
lcd_cls ();
// lcd_printp_at (0, 0, PSTR(" Breitengr Längengr "), 2);
lcd_puts_at(0, 0, strGet(START_LASTPOS1), 2);
// lcd_printp_at (12, 7, PSTR("Ende"), 0);
lcd_puts_at(12, 7, strGet(ENDE), 0);
uint8_t ij =0;
for(ij=0;ij<6;ij++)
{
uint32_t lon = last5pos[ij].Longitude;
write_ndigit_number_u (1, ij+1, (uint16_t)(lon/10000000), 2, 0);
lcd_printp_at (3, ij+1, PSTR("."), 0);
write_ndigit_number_u (4, ij+1, (uint16_t)((lon/1000) % 10000), 4, 1);
write_ndigit_number_u (8, ij+1, (uint16_t)((lon/10) % 100), 2, 1);
uint32_t lat = last5pos[ij].Latitude;
write_ndigit_number_u (12, ij+1, (uint16_t)(lat/10000000), 2, 0);
lcd_printp_at (14, ij+1, PSTR("."), 0);
write_ndigit_number_u (15, ij+1, (uint16_t)((lat/1000) % 10000), 4, 1);
write_ndigit_number_u (19, ij+1, (uint16_t)((lat/10) % 100), 2, 1);
}
while (!get_key_press (1 << KEY_ESC))
timer = TIMEOUT;
get_key_press(KEY_ALL);
lcd_cls();
}
//--------------------------------------------------------------
void osd (uint8_t ShowMode)
{
uint8_t flag;
uint8_t tmp_dat;
uint8_t OSD_Mode;
uint8_t info_3D = 0;
// Clear statistics
max_Altimeter = 0;
max_GroundSpeed = 0;
max_Distance = 0;
min_UBat = 255;
max_FlyingTime = 0;
// flags from last round to check for changes
uint8_t old_FCFlags = 0;
uint16_t old_hh = 0;
uint8_t old_AngleNick = 0;
uint8_t old_AngleRoll = 0;
OSD_Mode = ShowMode;
if(error == 0)
lcd_cls();
if (hardware == FC)
{
lcd_printp_at(0, 3, PSTR("Only with NC !"), 0);
timer = 100;
while (timer > 0);
return;
}
SwitchToNC();
mode = 'O';
// disable debug...
// RS232_request_mk_data (0, 'd', 0);
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
flag = 0;
timer = TIMEOUT;
abo_timer = ABO_TIMEOUT;
do
{
if (rxd_buffer_locked)
{
timer = TIMEOUT;
Decode64 ();
naviData = (NaviData_t *) pRxData;
if(error == 1)
lcd_cls();
error = 0;
GPS_Pos_t currpos;
currpos.Latitude = naviData->CurrentPosition.Latitude;
currpos.Longitude = naviData->CurrentPosition.Longitude;
if((currpos.Latitude != last5pos[0].Latitude)&&(currpos.Longitude != last5pos[0].Longitude))
{
last5pos[6] = last5pos[5];
last5pos[5] = last5pos[4];
last5pos[4] = last5pos[3];
last5pos[3] = last5pos[2];
last5pos[2] = last5pos[1];
last5pos[1] = last5pos[0];
last5pos[0] = currpos;
}
flag = 1;
if (OSD_Mode == 1)
{
if (naviData->FCFlags & FCFLAG_MOTOR_RUN)
{ // should be engines running
// motors are on, assume we were/are flying
COSD_FLAGS2 |= COSD_WASFLYING;
}
else
{ // stats
if ((COSD_FLAGS2 & COSD_WASFLYING) | (get_key_press (1 << KEY_ENTER)))
print_statistics ();
if (get_key_press (1 << KEY_PLUS))
print_position ();
}
lcd_ecircle(22, 35, 16, 1);
// Ground Speed
write_ndigit_number_u (1, 0, (uint16_t) (((uint32_t) naviData->GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
lcd_printp_at(4, 0, PSTR("km/h"), 0);
// Compass
write_ndigit_number_u (14, 0, naviData->CompassHeading, 3, 0);
lcd_putc (17, 0, 0x1E, 0); // degree symbol
lcd_printp_at (18, 0, (const char *) (pgm_read_word ( &(directions_p[heading_conv(naviData->CompassHeading)]))), 0);
draw_compass (12, 1, naviData->CompassHeading);
// Altitude
//note:lephisto:according to several sources it's /30
if (naviData->Altimeter > (300 / AltimeterAdjust) || naviData->Altimeter < (-300 / AltimeterAdjust)) // above 10m only write full meters
write_ndigit_number_s (0, 1, naviData->Altimeter / (30 / AltimeterAdjust), 4, 0);
else // up to 10m write meters.dm
write_ndigit_number_s_10th (0, 1, naviData->Altimeter / (3 / AltimeterAdjust), 3, 0);
lcd_putc (4, 1, 'm', 0);
draw_variometer (54, 7, 10, 14, naviData->Variometer);
// TODO: verify correctness
uint16_t heading_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
lcd_ecirc_line (22, 35, 15, old_hh, 0);
old_hh = heading_home;
lcd_ecirc_line (22, 35, 15, heading_home, 1);
write_ndigit_number_u (7, 3, heading_home, 3, 0);
lcd_putc (10, 3, 0x1e, 0); // degree symbol
write_ndigit_number_u (7, 2, naviData->HomePositionDeviation.Distance / 10, 3, 0);
lcd_putc (10, 2, 'm', 0);
// Sats in use
lcd_printp_at(11, 4, PSTR("Sats"), 0);
write_ndigit_number_u (8, 4, naviData->SatsInUse, 2, 0);
if (naviData->NCFlags & NC_FLAG_MANUAL_CONTROL)
lcd_putc (19, 4, 'M', 0); // rc transmitter
else
lcd_putc (19, 4, 'X', 0); // clear
if (naviData->NCFlags & NC_FLAG_CH)
lcd_printp_at (8, 5, PSTR("Coming Home"), 0);
else if (naviData->NCFlags & NC_FLAG_PH)
lcd_printp_at (8, 5, PSTR("Pos. Hold "), 0);
else // (naviData->NCFlags & NC_FLAG_FREE)
lcd_printp_at (8, 5, PSTR("Free "), 0);
// Flying time
write_time (7, 6, naviData->FlyingTime);
lcd_printp_at (12, 6, PSTR("h"), 0);
// RC
write_ndigit_number_u (15, 6, naviData->RC_Quality, 3, 0);
lcd_printp_at(18, 6, PSTR("\x1F"), 0); // RC-transmitter
if (naviData->NCFlags & NC_FLAG_NOSERIALLINK)
{
lcd_printpns_at(19, 6, PSTR(" "), 0); // clear
}
else
{
lcd_printpns_at(19, 6, PSTR("PC"), 0);
}
// Battery level
write_ndigit_number_u_10th (0, 7, naviData->UBat, 3, 0);
lcd_putc (4, 7, 'V', 0);
// Akku Warnung
if (naviData->UBat < MK_LowBat)
{ //Beeper ein
BeepTime = 3000;
BeepMuster = 0x0020;
}
//if (naviData->UBat > MK_LowBat+2) //bei kurzzeitigen Schwankungen Beeper erst wieder aus wenn UBat 0,2 V höher als Warnschwelle
//{ //Beeper aus
// BeepTime = 0;
// BeepMuster = 0xFFFF;
//}
// Akku Warnung Ende
// Current
write_ndigit_number_u_10th (7, 7, naviData->Current, 3, 0);
lcd_putc (11, 7, 'A', 0);
// Capacity
write_ndigit_number_u (14, 7, naviData->UsedCapacity, 4, 0);
lcd_printp_at(18, 7, PSTR("mAh"), 0);
// remember statistics (only when engines running)
if (naviData->FCFlags & FCFLAG_MOTOR_RUN)
{
if (naviData->Altimeter > max_Altimeter) max_Altimeter = naviData->Altimeter;
if (naviData->GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData->GroundSpeed;
if (naviData->HomePositionDeviation.Distance > max_Distance) max_Distance = naviData->HomePositionDeviation.Distance;
if (naviData->UBat < min_UBat) min_UBat = naviData->UBat;
if (naviData->FlyingTime > max_FlyingTime) max_FlyingTime = naviData->FlyingTime;
if (naviData->Current > max_Current) max_Current = naviData->Current;
if (naviData->UsedCapacity > max_Capacity) max_Capacity = naviData->UsedCapacity;
}
// remember last values
last_RC_Quality = naviData->RC_Quality;
last_UBat = naviData->UBat;
old_FCFlags = naviData->FCFlags;
rxd_buffer_locked = FALSE;
}
// 3D Lage anzeige beginnt hier -----------------------------------
else if (OSD_Mode == 3)
{
uint16_t head_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
lcd_cls ();
lcd_line(0,32,128,32,1); // horizontal //
lcd_line(64,0,64,64,1); // vertical //
lcd_printp_at(12, 7, PSTR("End Info"), 0);
// 45' Angel
lcd_line(62,11,66,11,1); // -- //
lcd_line(22,30,22,34,1); // | //
lcd_line(106,30,106,34,1); // | //
lcd_line(62,53,66,53,1); // -- //
if (info_3D == 1)
{
lcd_line(34,17,36,15,1); // / //
lcd_line(92,15,94,17,1); // \ //
lcd_line(34,47,36,49,1); // \ //
lcd_line(92,49,94,47,1); // / //
// lcd_printp_at(9, 0, PSTR("V"), 0);
// lcd_printp_at(0, 3, PSTR("L"), 0);
// lcd_printp_at(20, 3, PSTR("R"), 0);
// lcd_printp_at(9, 7, PSTR("H"), 0);
lcd_puts_at(9, 0, strGet(OSD_V), 0);
lcd_puts_at(0, 3, strGet(OSD_L), 0);
lcd_puts_at(20, 3, strGet(OSD_R), 0);
lcd_puts_at(9, 7, strGet(OSD_H), 0);
lcd_printp_at(0, 0, PSTR("N:"), 0);
write_ndigit_number_s (2, 0, naviData->AngleNick, 3, 0);
lcd_printp_at(0, 7, PSTR("R:"), 0);
write_ndigit_number_s (2, 7, naviData->AngleRoll, 3, 0);
lcd_printp_at(15, 0, PSTR("K:"), 0);
write_ndigit_number_s (18, 0,head_home, 3, 0);
}
if (get_key_press (1 << KEY_ENTER))
{
info_3D++;
if (info_3D > 1)
info_3D = 0;
}
uint8_t Nick = ((-naviData->AngleNick/2)+32);
uint8_t Roll = -naviData->AngleRoll+64;
lcd_ecircle(old_AngleRoll,old_AngleNick, 10, 0);
lcd_ecirc_line (old_AngleRoll, old_AngleNick, 9, old_hh, 0);
lcd_ecircle(Roll, Nick, 10, 1);
lcd_ecirc_line (Roll, Nick, 9, head_home, 1);
old_hh = head_home;
old_AngleNick = Nick;
old_AngleRoll = Roll;
// remember last values
last_RC_Quality = naviData->RC_Quality;
last_UBat = naviData->UBat;
old_FCFlags = naviData->FCFlags;
rxd_buffer_locked = FALSE;
}
if (!abo_timer)
{ // renew abo every 3 sec
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
abo_timer = ABO_TIMEOUT;
}
}
}
while (!get_key_press (1 << KEY_ESC) && timer);
get_key_press(KEY_ALL);
// disable OSD Data from NC
// RS232_request_mk_data (1, 'o', 0);
tmp_dat = 0;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
mode = 0;
rxd_buffer_locked = FALSE;
// Bei Verbindungsverlusst werden hier die letzten bekannten Koordinaten ausgegeben!!!
if (!timer)
{ // timeout occured
if (flag)
{
// Falls Spannungswarnung an war Beeper aus//
BeepTime = 0;
BeepMuster = 0xFFFF;
lcd_cls ();
WriteLastPosition(last5pos[0].Longitude,last5pos[0].Latitude); // im EEprom speichern
lcd_puts_at(0, 0, strGet(OSD_ERROR), 2);
// lcd_printp_at (0, 0, PSTR(" ERROR: Datenverlust "), 2);
// lcd_printp_at (0, 2, PSTR("Letzte bekannte"), 0);
// lcd_printp_at (0, 3, PSTR("Position gespeichert."), 0);
lcd_puts_at(0, 2, strGet(OSD_POS1), 0);
lcd_puts_at(0, 3, strGet(OSD_POS2), 0);
// lcd_printp_at (19, 7, PSTR("OK"), 0);
lcd_puts_at(19, 7, strGet(OK), 0);
// lcd_printp_at (0, 5, PSTR(" Breitengr Längengr "), 0);
lcd_puts_at(0, 5, strGet(START_LASTPOS1), 0);
lcd_puts_at(12, 7, strGet(ENDE), 0);
BeepTime = 1500;
BeepMuster = 0x0040;
error = 1;
uint32_t lon = last5pos[0].Longitude;
write_ndigit_number_u (1, 6, (uint16_t)(lon/10000000), 2, 0);
lcd_printp_at (3, 6, PSTR("."), 0);
write_ndigit_number_u (4, 6, (uint16_t)((lon/1000) % 10000), 4, 1);
write_ndigit_number_u (8, 6, (uint16_t)((lon/10) % 100), 2, 1);
uint32_t lat = last5pos[0].Latitude;
write_ndigit_number_u (12, 6, (uint16_t)(lat/10000000), 2, 0);
lcd_printp_at (14, 6, PSTR("."), 0);
write_ndigit_number_u (15, 6, (uint16_t)((lat/1000) % 10000), 4, 1);
write_ndigit_number_u (19, 6, (uint16_t)((lat/10) % 100), 2, 1);
while (!get_key_press (1 << KEY_ENTER));
timer = TIMEOUT;
lcd_cls();
return;
}
}
}