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/*#######################################################################################*/
/* !!! 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
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// + 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
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + 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 "uart0.h"
#include "uart1.h"
#include "ncmag.h"
#include "logging.h"
#include "settings.h"
#include "sdc.h"
#include "analog.h"
#include "canbus.h"
#include "triggerlog.h"
#include "CamCtrl.h"
u8 DispPtr
= 0;
s8 DisplayBuff
[DISPLAYBUFFSIZE
];
u8 MenuItem
= 0;
u8 MaxMenuItem
= 30;
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:
if(IamMaster
== SLAVE
) LCD_printfxy
(0,0,"+ Navi-Ctrl (S) +")
else
if(IamMaster
== MASTER
)LCD_printfxy
(0,0,"+ Navi-Ctrl (M) +")
else LCD_printfxy
(0,0,"++ Navi-Ctrl ++")
LCD_printfxy
(0,1,"HW V%d.%d SW V%d.%02d%c", UART_VersionInfo.
HWMajor/10, UART_VersionInfo.
HWMajor%10, VERSION_MAJOR
, VERSION_MINOR
, 'a'+ VERSION_PATCH
);
if(FC.
StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE
) LCD_printfxy
(19,1,"R");
if(ErrorCode
)
{
LCD_printfxy
(0,2,"Error: %d",ErrorCode
);
LCD_printfxy
(0,3,"%s",ErrorMSG
);
}
else
if(Partner.
ErrorCode)
{
if(IamMaster
== SLAVE
) LCD_printfxy
(0,2,"Master Err: %d",Partner.
ErrorCode)
else LCD_printfxy
(0,2,"Slave Err: %d",Partner.
ErrorCode);
LCD_printfxy
(0,3,"%s",PartnerErrorMSG
);
}
else
{
LCD_printfxy
(0,2,"Set:%d %s", Parameter.
ActiveSetting,EE_Parameter.
Name);
LCD_printfxy
(0,3,"%s",ErrorMSG
);
// LCD_printfxy(0,3,"(c) HiSystems GmbH");
}
if(FC.
StatusFlags3 & FC_STATUS3_BOAT
) LCD_printfxy
(16,2,"BOAT");
break;
case 1:
if(IamMaster
== SLAVE
) LCD_printfxy
(0,0,"++ Master - NC ++")
else LCD_printfxy
(0,0,"++ Slave - NC ++");
if(CanRxMessage
[CAN_ID_VERSION
].
D.
Byte[3])
{
LCD_printfxy
(0,1,"HW V%d.%d SW V%d.%02d%c", CanRxMessage
[CAN_ID_VERSION
].
D.
Byte[3]/10, CanRxMessage
[CAN_ID_VERSION
].
D.
Byte[3]%10, CanRxMessage
[CAN_ID_VERSION
].
D.
Byte[7], CanRxMessage
[CAN_ID_VERSION
].
D.
Byte[6], 'a'+ CanRxMessage
[CAN_ID_VERSION
].
D.
Byte[5]);
if(Partner.
ErrorCode)
{
if(IamMaster
== SLAVE
) LCD_printfxy
(0,2,"Master Err: %d",Partner.
ErrorCode)
else LCD_printfxy
(0,2,"Slave Err: %d",Partner.
ErrorCode);
}
else
{
LCD_printfxy
(0,2,"Set:%d", CanRxMessage
[CAN_ID_VERSION
].
D.
Byte[1]);
}
LCD_printfxy
(0,3,"%s",PartnerErrorMSG
);
if(Partner.
StatusFlags3 & FC_STATUS3_BOAT
) LCD_printfxy
(16,2,"BOAT");
}
else
LCD_printfxy
(0,2,"not connected", CanTxMessage
[CAN_ID_VERSION
].
D.
Byte[1]);
break;
case 2:
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.%03ldm V%d", sign
, i1
, i2
, GPS_Version
/1000);
}
break;
case 3:
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 4:
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 5: // 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 6: // Navi Params 2 from FC
LCD_printfxy
(0,0,"Stick TS: %3i", Parameter.
NaviStickThreshold);
LCD_printfxy
(0,1,"WP_Radius: %3im",MaxWP_Radius_in_m
);
LCD_printfxy
(0,2,"WindCorr: %3i", Parameter.
NaviWindCorrection);
LCD_printfxy
(0,3,"AccComp: %3i", Parameter.
NaviSpeedCompensation);
break;
case 7: // 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 8: // Max Ranges
LCD_printfxy
(0,0,"Maximum flying ");
LCD_printfxy
(0,1,"Range: %4im ", AbsoluteFlyingRange_m
);
LCD_printfxy
(0,2,"Descend: %4im ", AutoDescendRange_m
);
LCD_printfxy
(0,3,"Altitude:%4im ", AbsoluteFlyingAltitude
);
if(!AbsoluteFlyingRange_m
) LCD_printfxy
(9,1,"disabled");
if(!AutoDescendRange_m
) LCD_printfxy
(9,2,"disabled");
if(!AbsoluteFlyingAltitude
) LCD_printfxy
(9,3,"disabled");
break;
case 9:
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.%1dm",sign
, i1
, i2
/1000);
switch(Parameter.
HomeYawMode)
{
case NO_CHANGE
: LCD_printfxy
(17,3,"(-)"); break;
case FRONT_TO_HOME
: LCD_printfxy
(17,3,"(F)"); break;
case REAR_TO_HOME
: LCD_printfxy
(17,3,"(R)"); break;
case LIKE_AT_START
: LCD_printfxy
(17,3,"(S)"); break;
}
}
break;
case 10:
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.%03ldm",sign
, i1
, i2
);
}
break;
case 11: // 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);
LCD_printfxy
(0,3,"RC-Level: %3i", FC.
RC_Quality); // Remote Control Level from FC
break;
case 12: // 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 13: // 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 14: // 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 15:
LCD_printfxy
(0,0,"Analog inputs");
LCD_printfxy
(0,1,"A5:%3i ",AnalogData.
Ch5);
LCD_printfxy
(0,2,"A6:%3i ",AnalogData.
Ch6);
LCD_printfxy
(0,3,"A7:%3i ",AnalogData.
Ch7);
break;
case 16:
LCD_printfxy
(0,0,"Compass: %3i", FromFlightCtrl.
GyroHeading / 10);
LCD_printfxy
(0,1,"Man.-Offset:%3i", FC.
FromFC_CompassOffset / 10);
if(FC.
FromFC_DisableDeclination)
{
LCD_printfxy
(0,2,"Mag.Declinat.:disabl");
}
else
{
if(GeoMagDec
< 0) sign
= '-';
else sign
= '+';
LCD_printfxy
(0,2,"Mag.Declinat.:%c%i.%1i", sign
, abs(GeoMagDec
)/10,abs(GeoMagDec
)%10);
}
LCD_printfxy
(0,3,"True Compass: %3i", GyroCompassCorrected
/10);
break;
case 17: // 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 18: // User Parameter
LCD_printfxy
(0,0,"SD-Card Logs");
if(SDCardInfo.
Valid == 1)
{
LCD_printfxy
(0,1,"GPX: %4i (%3ims) ",Logged_GPX_Counter
,LogCfg.
GPX_Interval);
LCD_printfxy
(0,2,"KML: %4i (%3ims) ",Logged_KML_Counter
,LogCfg.
KML_Interval);
LCD_printfxy
(0,3,"Trig:%4i ",Logged_TRIG_Counter
);
}
else
LCD_printfxy
(0,1,"no card in slot ");
break;
case 19: // 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);
if(Compass_I2CPort
== NCMAG_PORT_EXTERN
) LCD_printfxy
(11,2,"Extern")
else LCD_printfxy
(11,2,"Intern");
// 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 20:
if(GeoMagDec
< 0) sign
= '-';
else sign
= '+';
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;
case 21:
LCD_printfxy
(0,0,"SD-Setting ");
LCD_printfxy
(0,2,"WP-Dynamic:%4i ",WaypointAcceleration
);
break;
case 22:
LCD_printfxy
(0,0,"CPU Processing ");
LCD_printfxy
(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsData
/10, FreqNewGpsData
%10);
LCD_printfxy
(0,3,"GPS-Update:%2i.%iHz ",FreqGpsNavProcessed
/10, FreqGpsNavProcessed
%10);
if(FreqNewGpsData
>= 48 && FreqNewGpsData
<= 52) LCD_printfxy
(18,2,"OK") else LCD_printfxy
(18,2,"!!");
if(FreqGpsNavProcessed
>= 350) LCD_printfxy
(18,3,"OK") else LCD_printfxy
(18,3,"!!");
break;
case 23:
LCD_printfxy
(0,0,"BL Current" );
LCD_printfxy
(11,3,"(in 0.1A)" );
for(i1
= 0; i1
< 3; i1
++)
{
LCD_printfxy
(0,i1
+1,"%3d %3d %3d %3d ",BL3_Current
(i1
*4),BL3_Current
(i1
*4+1),BL3_Current
(i1
*4+2),BL3_Current
(i1
*4+3));
if(Motor
[4 + i1
* 4].
State == 0) break;
}
break;
case 24:
LCD_printfxy
(0,0,"Ext. Compass" );
if(NCMAG_Compass_use_Orientation
)
{
u8 tmp
;
LCD_printfxy
(0,1,"ACC X Y Z");
LCD_printfxy
(0,2," %5d %5d %5d", AccVector.
X/40, AccVector.
Y/40, AccVector.
Z/40);
tmp
= NCMAG_GetOrientationFromAcc
();
LCD_printfxy
(0,3,"Orientat.: ");
if(!tmp
) LCD_printfxy
(11,3,"??") else LCD_printfxy
(11,3,"%2d",tmp
);
LCD_printfxy
(15,3,"(%d)",NCMAG_Orientation
);
}
else
{
LCD_printfxy
(0,1,"Not connected");
}
break;
case 25:
{
static u8 index
= 1;
if(Keys
& KEY3
) // next step
{
if(index
< ToFC_MaxWpListIndex
) index
++;
else index
= 1;
}
if(Keys
& KEY4
) FromFC_LoadWP_List
= index
;
LCD_printfxy
(0,0,"Load WPL (fix)" );
LCD_printfxy
(0,1,"Name: %s", WPL_Store.
Name);
// 12345678901234567890
LCD_printfxy
(0,2,"Points Index ");
LCD_printfxy
(0,3," %3d %3d LOAD", PointList_GetCount
(), index
);
}
break;
case 26:
{
static u8 index
= 1;
if(Keys
& KEY3
)
{
if(index
< ToFC_MaxWpListIndex
) index
++;
else index
= 1;
}
LCD_printfxy
(0,0,"Load WPL (Rel)" );
LCD_printfxy
(0,1,"Name: %s", WPL_Store.
Name);
// 12345678901234567890
LCD_printfxy
(0,2,"Points Index ");
if(GPSData.
SatFix == SATFIX_3D
)
{
LCD_printfxy
(0,3," %3d %3d LOAD", PointList_GetCount
(), index
);
if(Keys
& KEY4
) FromFC_LoadWP_List
= index
| 0x80;
}
else LCD_printfxy
(0,3," No Satfix ! ", index
);
}
break;
case 27:
{
static u8 index
= 1;
if(Keys
& KEY3
)
{
if(index
< ToFC_MaxWpListIndex
) index
++;
else index
= 1;
}
if(Keys
& KEY4
) FromFC_Load_SinglePoint
= index
;
LCD_printfxy
(0,0,"Load Point" );
LCD_printfxy
(0,1,"Name: %s", WPL_Store.
Name);
// 12345678901234567890
// LCD_printfxy(0,2,"Points Index ");
LCD_printfxy
(0,3,"Number: %3d (LOAD)", index
);
}
break;
case 28:
{
static u8 index
= 1;
if(Keys
& KEY3
)
{
if(index
< ToFC_MaxWpListIndex
) index
++;
else index
= 1;
}
LCD_printfxy
(0,0,"Save Point" );
LCD_printfxy
(0,1,"Alt: %3dm", NaviData.
Altimeter_5cm/20);
// 12345678901234567890
LCD_printfxy
(0,2,"Dir: %3d ", CompassSetpointCorrected
/10);
if(GPSData.
SatFix == SATFIX_3D
)
{
LCD_printfxy
(0,3,"Number: %3d (SAVE)", index
);
if(Keys
& KEY4
) FromFC_Save_SinglePoint
= index
;
}
else LCD_printfxy
(0,3," No Satfix ! ", index
);
}
break;
/* case 28:
LCD_printfxy(0,0,"Analog inputs");
LCD_printfxy(0,0,"A0:%3i A1:%3i",AnalogData.Ch0,AnalogData.Ch1);
LCD_printfxy(0,1,"A2:%3i A3:%3i",AnalogData.Ch2,AnalogData.Ch3);
LCD_printfxy(0,2,"A4:%3i A5:%3i",AnalogData.Ch4,AnalogData.Ch5);
LCD_printfxy(0,3,"A6:%3i A7:%3i",AnalogData.Ch6,AnalogData.Ch7);
break;
*/
case 29:
LCD_printfxy
(0,0,"Trigger Input");
if(UART_VersionInfo.
HWMajor >= 30)
{
if(BlitzSchuhConnected
) LCD_printfxy
(0,1,"External")
else LCD_printfxy
(0,1,"Internal");
LCD_printfxy
(0,2,"Counter:%4d ",TrigLogging.
Count);
LCD_printfxy
(0,3,"Logfile:%4i ",Logged_TRIG_Counter
);
}
else
{
LCD_printfxy
(0,1,"Not Supported in ");
LCD_printfxy
(0,2,"Hardware V%d ", UART_VersionInfo.
HWMajor/10);
LCD_printfxy
(0,3,"(V3 required)");
}
break;
case 30:
LCD_printfxy
(0,0,"CamCtrl");
if(!(FromCamCtrl.
CamStatus & CAM_STATE_I2C_OK
))
{
LCD_printfxy
(0,2,"Not connected");
if(CamCtrlTimeout
< 10) LCD_printfxy
(14,3,"(conn)"); // connect manually
if(Keys
& KEY4
) CamCtrlTimeout
= 65000;
}
else
{
LCD_printfxy
(8,0,"V%i.%02i",1 + FromCamCtrl.
Version / 100, FromCamCtrl.
Version % 100);
switch(FromCamCtrl.
Type)
{
case TYPE_LANC
: LCD_printfxy
(13,0,"L"); break;
case TYPE_IR
: LCD_printfxy
(13,0,"I"); break;
case TYPE_MULTI
: LCD_printfxy
(13,0,"M"); break;
}
LCD_printfxy
(0,0,"CamCtrl");
LCD_printfxy
(0,1,"Stat:");
if(FromCamCtrl.
CamStatus & CAM_STATE_RDY
) LCD_printfxy
(5,1,"RDY")
if(FromCamCtrl.
CamStatus & CAM_STATE_REC_ACTIVE
) LCD_printfxy
(10,1,"REC");
if(FromCamCtrl.
CamStatus & CAM_STATE_PHOTO_MODE
) LCD_printfxy
(14,1,"PHOTO");
if(FromCamCtrl.
CamStatus & CAM_STATE_ZOOM
) LCD_printfxy
(5,1,"ZOOM ");
if(!(FromCamCtrl.
CamStatus & CAM_STATE_RDY
)) LCD_printfxy
(5,1," ---");
LCD_printfxy
(17,1,"(%c)",CamCtrlCharacter
);
if(FromCamCtrl.
CamStatus & CAM_STATE_CAM_DISCONN
) LCD_printfxy
(0,2,"Disconn.")
else
{
if(FromCamCtrl.
CamStatus & CAM_STATE_OFF
) LCD_printfxy
(1,2,"Cam:OFF") else LCD_printfxy
(1,2,"Cam:ON");
}
LCD_printfxy
(11,2,"Pics:%3d ",FromCamCtrl.
PhotoCount);
//LCD_printfxy(5,2,"x%2x ",FromCamCtrl.CamStatus);
if(FromCamCtrl.
PPM1Okay) LCD_printfxy
(0,3,"Zoom:%3i",FromCamCtrl.
PPM1Data);
if(!FromCamCtrl.
PPM2Okay) // there is PPM Input connected to the CamCtrl
{
LCD_printfxy
(14,3,"(TRIG)");
if(EE_Parameter.
CamCtrlModeChannel == 0)
{
if(FromCamCtrl.
CamStatus & CAM_STATE_REC_ACTIVE
) LCD_printfxy
(9,3,"(off)")
else LCD_printfxy
(9,3,"(REC)"); // Control only possible if no switch is assigned
}
else LCD_printfxy
(2,3,"CH:%3i",127+PPM_In
[EE_Parameter.
CamCtrlModeChannel]);
if(Keys
& KEY3
)
{
ToCamCtrl.
CamCommand &= ~
(CAM_CMD_REC_OFF
|CAM_CMD_REC_ON
);
if(FromCamCtrl.
CamStatus & CAM_STATE_REC_ACTIVE
) ToCamCtrl.
CamCommand |= CAM_CMD_REC_OFF
;
else ToCamCtrl.
CamCommand |= CAM_CMD_REC_ON
;
}
if(Keys
& KEY4
) ToCamCtrl.
CamCommand |= CAM_CMD_SHUTTER
;
//if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_RESET_CAM;
//if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_ON;
//if(Keys & KEY4) ToCamCtrl.CamCommand |= CAM_CMD_SWITCH_OFF;
}
else
{
if(FromCamCtrl.
PPM2Okay) LCD_printfxy
(10,3,"PPM:%3i",FromCamCtrl.
PPM2Data);
}
}
break;
default:
//MaxMenuItem = MenuItem - 1;
MenuItem
= 0;
break;
}
}