Subversion Repositories FlightCtrl

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304 ingob 1
// ######################## SPI - FlightCtrl ###################
2
#include "main.h"
1622 killagreg 3
#include "eeprom.h"
304 ingob 4
 
823 ingob 5
//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
6
//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
7
struct str_ToNaviCtrl   ToNaviCtrl;
8
struct str_FromNaviCtrl   FromNaviCtrl;
978 hbuss 9
struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
1448 killagreg 10
struct str_SPI_VersionInfo NC_Version;
1451 killagreg 11
struct str_GPSInfo GPSInfo;
708 ingob 12
 
2008 holgerb 13
unsigned char SPI_BufferIndex;
14
unsigned char SPI_RxBufferIndex;
1668 holgerb 15
signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
606 ingob 16
 
882 hbuss 17
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
823 ingob 18
unsigned char *SPI_TX_Buffer;
708 ingob 19
 
617 ingob 20
unsigned char SPITransferCompleted, SPI_ChkSum;
1690 holgerb 21
unsigned char SPI_RxDataValid,NaviDataOkay = 250;
720 ingob 22
 
1509 killagreg 23
unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU};
823 ingob 24
unsigned char SPI_CommandCounter = 0;
1703 holgerb 25
unsigned char NC_ErrorCode = 0;
1920 holgerb 26
unsigned char NC_GPS_ModeCharacter = ' ';
1972 holgerb 27
unsigned char EarthMagneticField = 0;
28
unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0;
2009 holgerb 29
unsigned char NC_To_FC_Flags = 0;
2034 holgerb 30
unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
1840 holgerb 31
signed int POI_KameraNick = 0; // in 0,1°
1852 killagreg 32
vector16_t MagVec = {0,0,0};
823 ingob 33
 
597 ingob 34
#ifdef USE_SPI_COMMUNICATION
691 ingob 35
 
304 ingob 36
//------------------------------------------------------
37
void SPI_MasterInit(void)
38
{
1051 killagreg 39
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
304 ingob 40
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
1051 killagreg 41
 
42
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
723 hbuss 43
  SPSR = 0;//(1<<SPI2X);
1051 killagreg 44
 
45
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
606 ingob 46
  SPITransferCompleted = 1;
1051 killagreg 47
 
708 ingob 48
  //SPDR = 0x00;  // dummy write
1051 killagreg 49
 
823 ingob 50
  ToNaviCtrl.Sync1 = 0xAA;
51
  ToNaviCtrl.Sync2 = 0x83;
1051 killagreg 52
 
1448 killagreg 53
  ToNaviCtrl.Command = SPI_FCCMD_USER;
823 ingob 54
  ToNaviCtrl.IntegralNick = 0;
55
  ToNaviCtrl.IntegralRoll = 0;
1215 hbuss 56
  FromNaviCtrl_Value.SerialDataOkay = 0;
1051 killagreg 57
  SPI_RxDataValid = 0;
58
 
304 ingob 59
}
60
 
61
//------------------------------------------------------
823 ingob 62
void SPI_StartTransmitPacket(void)
304 ingob 63
{
606 ingob 64
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
65
   if (!SPITransferCompleted) return;
1051 killagreg 66
//   _delay_us(30);
67
 
304 ingob 68
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 69
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051 killagreg 70
 
823 ingob 71
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
72
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051 killagreg 73
 
606 ingob 74
   SPITransferCompleted = 0;
304 ingob 75
   UpdateSPI_Buffer();                              // update buffer
823 ingob 76
 
304 ingob 77
   SPI_BufferIndex = 1;
1051 killagreg 78
  //ebugOut.Analog[16]++;
304 ingob 79
   // -- Debug-Output ---
80
   //----
691 ingob 81
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
82
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
83
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
823 ingob 84
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051 killagreg 85
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
691 ingob 86
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
87
 
304 ingob 88
}
89
 
90
//------------------------------------------------------
91
//SIGNAL(SIG_SPI)
92
void SPI_TransmitByte(void)
93
{
708 ingob 94
   static unsigned char SPI_RXState = 0;
1051 killagreg 95
   unsigned char rxdata;
708 ingob 96
   static unsigned char rxchksum;
1051 killagreg 97
 
691 ingob 98
   if (SPITransferCompleted) return;
304 ingob 99
   if (!(SPSR & (1 << SPIF))) return;
1051 killagreg 100
  SendSPI = 4;
101
 
102
//   _delay_us(30);
606 ingob 103
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 104
 
708 ingob 105
  rxdata = SPDR;
106
  switch ( SPI_RXState)
107
  {
1051 killagreg 108
  case 0:
109
 
110
                        SPI_RxBufferIndex = 0;
111
                        rxchksum = rxdata;
112
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
113
 
708 ingob 114
           break;
115
 
1051 killagreg 116
   case 1:
117
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
118
                 else SPI_RXState  = 0;
119
           break;
120
 
708 ingob 121
   case 2:
122
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
123
           //DebugOut.Analog[19]++;
1051 killagreg 124
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
125
                   {
126
 
708 ingob 127
                if (rxdata == rxchksum)
128
                        {
823 ingob 129
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
708 ingob 130
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
1051 killagreg 131
                          SPI_RxDataValid = 1;
132
                        }
1856 killagreg 133
                        else
1855 holgerb 134
                         {
135
                          SPI_RxDataValid = 0;
1856 killagreg 136
                         }
1051 killagreg 137
 
1856 killagreg 138
 
1051 killagreg 139
                        SPI_RXState  = 0;
708 ingob 140
                   }
1051 killagreg 141
                  else rxchksum += rxdata;
142
        break;
143
 
144
  }
145
 
146
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
147
     {
606 ingob 148
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
2072 holgerb 149
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");  asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
150
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");  asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
151
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");       asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
1051 killagreg 152
 
708 ingob 153
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 154
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
691 ingob 155
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
156
 
606 ingob 157
         }
1051 killagreg 158
         else SPITransferCompleted = 1;
159
 
304 ingob 160
         SPI_BufferIndex++;
161
}
162
 
691 ingob 163
 
304 ingob 164
//------------------------------------------------------
165
void UpdateSPI_Buffer(void)
166
{
846 hbuss 167
  signed int tmp;
2150 holgerb 168
  static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION;
1171 hbuss 169
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
170
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
171
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
1664 holgerb 172
  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
1171 hbuss 173
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
174
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819 hbuss 175
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 176
//  ToNaviCtrl.User8 = Parameter_UserParam8;
177
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
1051 killagreg 178
   switch(ToNaviCtrl.Command)  //
823 ingob 179
   {
1448 killagreg 180
         case SPI_FCCMD_USER:
823 ingob 181
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
182
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
183
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
184
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
185
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
186
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
187
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921 hbuss 188
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
1765 killagreg 189
                                ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
190
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
1622 killagreg 191
                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
1915 holgerb 192
                                ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
1861 holgerb 193
                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
921 hbuss 194
        break;
1241 killagreg 195
 
1508 killagreg 196
     case SPI_FCCMD_ACCU:
197
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
198
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
199
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
200
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
1865 holgerb 201
                                ToNaviCtrl.Param.Byte[6] = VarioCharacter;
2037 holgerb 202
                                ToNaviCtrl.Param.Byte[7] = motorindex;
203
                                ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
204
                                ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
1948 holgerb 205
                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
206
                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current;
207
                                motorindex %= 12;
1508 killagreg 208
        break;
1448 killagreg 209
         case SPI_FCCMD_PARAMETER1:
993 hbuss 210
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 211
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
212
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
213
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
214
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
215
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
216
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
217
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 218
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
219
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
1936 holgerb 220
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
1064 hbuss 221
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
823 ingob 222
            break;
1241 killagreg 223
 
1448 killagreg 224
         case SPI_FCCMD_STICK:
1320 hbuss 225
              cli();
871 hbuss 226
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 227
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
871 hbuss 228
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 229
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
871 hbuss 230
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 231
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
871 hbuss 232
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
1320 hbuss 233
              sei();
846 hbuss 234
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
1377 hbuss 235
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
236
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
237
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
238
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
239
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
240
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
241
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
242
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241 killagreg 243
                        break;
1448 killagreg 244
                case SPI_FCCMD_MISC:
1241 killagreg 245
                        if(WinkelOut.CalcState > 5)
246
                        {
247
                                WinkelOut.CalcState = 0;
248
                                ToNaviCtrl.Param.Byte[0] = 5;
249
                        }
250
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
1312 hbuss 251
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
1662 killagreg 252
                        ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
1312 hbuss 253
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
254
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
255
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
256
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
1377 hbuss 257
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
1600 killagreg 258
            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
1377 hbuss 259
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241 killagreg 260
                        break;
1448 killagreg 261
                case SPI_FCCMD_VERSION:
262
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
263
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
264
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
265
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
1241 killagreg 266
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
1702 holgerb 267
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
268
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
1938 holgerb 269
                        VersionInfo.HardwareError[0] = 0;
270
                        VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
2037 holgerb 271
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused
272
                        ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig;
273
                        ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig;
1913 holgerb 274
                        ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
2008 holgerb 275
                        ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
1241 killagreg 276
                break;
1448 killagreg 277
            case SPI_FCCMD_SERVOS:
1241 killagreg 278
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
279
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
280
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
281
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
282
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
283
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
284
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
285
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
286
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
287
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
1948 holgerb 288
                        ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
289
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
1241 killagreg 290
                break;
291
        }
2010 holgerb 292
 
1215 hbuss 293
  if(SPI_RxDataValid)
1051 killagreg 294
  {
2148 holgerb 295
        if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250;
296
        oldcommand = FromNaviCtrl.Command;
1852 killagreg 297
        CalculateCompassTimer = 1;
298
        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
299
        {
300
                GPS_Nick = FromNaviCtrl.GPS_Nick;
301
                GPS_Roll = FromNaviCtrl.GPS_Roll;
302
        }
1690 holgerb 303
 
1852 killagreg 304
        // update compass readings
1936 holgerb 305
//      MagVec.x = FromNaviCtrl.MagVecX;
306
//      MagVec.y = FromNaviCtrl.MagVecY;
307
//      MagVec.z = FromNaviCtrl.MagVecZ;
1852 killagreg 308
 
1690 holgerb 309
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
1941 holgerb 310
//    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
1051 killagreg 311
 
2029 holgerb 312
    if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
823 ingob 313
          switch (FromNaviCtrl.Command)
314
          {
1448 killagreg 315
            case SPI_NCCMD_KALMAN:
1231 killagreg 316
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
317
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
318
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
1944 holgerb 319
                        KompassFusion = FromNaviCtrl.Param.sByte[3];
1283 hbuss 320
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
1664 holgerb 321
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
322
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
1945 holgerb 323
                        GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
1912 holgerb 324
                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
1840 holgerb 325
                         {
326
                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
1876 holgerb 327
                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front
328
                           {
329
                            KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
330
                                KompassSollWert %= 360;
331
                           }   
1856 killagreg 332
                         }
1862 holgerb 333
                        POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
1231 killagreg 334
                        break;
1448 killagreg 335
                case SPI_NCCMD_VERSION:
336
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
337
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
338
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
339
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
340
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
1702 holgerb 341
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
342
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
1920 holgerb 343
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
344
                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
1944 holgerb 345
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
2009 holgerb 346
                        NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
2034 holgerb 347
                        NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11];
1856 killagreg 348
                        break;
1451 killagreg 349
                case SPI_NCCMD_GPSINFO:
350
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
351
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
352
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
1690 holgerb 353
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
1852 killagreg 354
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
1472 killagreg 355
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
1790 holgerb 356
                        PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
1855 holgerb 357
            FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
1857 holgerb 358
                FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10;  // in cm
1451 killagreg 359
                        break;
1972 holgerb 360
                case SPI_MISC:
361
                        EarthMagneticField = FromNaviCtrl.Param.Byte[0];
362
                        EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
363
                        EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
2090 holgerb 364
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
2120 holgerb 365
                        if(FromNaviCtrl.Param.Byte[3])
366
            if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3];
2090 holgerb 367
#endif
368
                        break;    
1972 holgerb 369
 
1940 holgerb 370
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
371
                case SPI_NCCMD_HOTT_DATA:
372
                        if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety();
373
                        break;
374
#endif
375
 
1855 holgerb 376
// 0 = 0,1
377
// 1 = 2,3
378
// 2 = 4,5
379
// 3 = 6,7
380
// 4 = 8,9
381
// 5 = 10,11
823 ingob 382
                default:
1451 killagreg 383
                        break;
823 ingob 384
          }
720 ingob 385
  }
386
  else
387
  {
819 hbuss 388
//    KompassValue = 0;
389
//    KompassRichtung = 0;
720 ingob 390
        GPS_Nick = 0;
391
    GPS_Roll = 0;
392
  }
304 ingob 393
}
394
 
597 ingob 395
#endif
304 ingob 396
 
397