Subversion Repositories FlightCtrl

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Rev Author Line No. Line
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
 
2183 holgerb 23
unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1,
2341 holgerb 24
                                                                                SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU,
2348 holgerb 25
                                        SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS,
2341 holgerb 26
                                                                                SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU
2183 holgerb 27
                                                                                };
823 ingob 28
unsigned char SPI_CommandCounter = 0;
1703 holgerb 29
unsigned char NC_ErrorCode = 0;
1920 holgerb 30
unsigned char NC_GPS_ModeCharacter = ' ';
1972 holgerb 31
unsigned char EarthMagneticField = 0;
32
unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0;
2009 holgerb 33
unsigned char NC_To_FC_Flags = 0;
2034 holgerb 34
unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
1840 holgerb 35
signed int POI_KameraNick = 0; // in 0,1°
1852 killagreg 36
vector16_t MagVec = {0,0,0};
823 ingob 37
 
597 ingob 38
#ifdef USE_SPI_COMMUNICATION
691 ingob 39
 
304 ingob 40
//------------------------------------------------------
41
void SPI_MasterInit(void)
42
{
1051 killagreg 43
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
304 ingob 44
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
1051 killagreg 45
 
46
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
723 hbuss 47
  SPSR = 0;//(1<<SPI2X);
1051 killagreg 48
 
49
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
606 ingob 50
  SPITransferCompleted = 1;
1051 killagreg 51
 
708 ingob 52
  //SPDR = 0x00;  // dummy write
1051 killagreg 53
 
823 ingob 54
  ToNaviCtrl.Sync1 = 0xAA;
55
  ToNaviCtrl.Sync2 = 0x83;
1051 killagreg 56
 
1448 killagreg 57
  ToNaviCtrl.Command = SPI_FCCMD_USER;
823 ingob 58
  ToNaviCtrl.IntegralNick = 0;
59
  ToNaviCtrl.IntegralRoll = 0;
1215 hbuss 60
  FromNaviCtrl_Value.SerialDataOkay = 0;
1051 killagreg 61
  SPI_RxDataValid = 0;
62
 
304 ingob 63
}
64
 
65
//------------------------------------------------------
2386 holgerb 66
unsigned char SPI_StartTransmitPacket(void)
304 ingob 67
{
2386 holgerb 68
   if(!SPITransferCompleted) return(0);
304 ingob 69
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 70
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051 killagreg 71
 
823 ingob 72
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
73
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051 killagreg 74
 
606 ingob 75
   SPITransferCompleted = 0;
304 ingob 76
   UpdateSPI_Buffer();                              // update buffer
77
   SPI_BufferIndex = 1;
823 ingob 78
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051 killagreg 79
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
2386 holgerb 80
   return(1);
304 ingob 81
}
82
 
83
//------------------------------------------------------
84
//SIGNAL(SIG_SPI)
85
void SPI_TransmitByte(void)
86
{
708 ingob 87
   static unsigned char SPI_RXState = 0;
1051 killagreg 88
   unsigned char rxdata;
708 ingob 89
   static unsigned char rxchksum;
1051 killagreg 90
 
691 ingob 91
   if (SPITransferCompleted) return;
304 ingob 92
   if (!(SPSR & (1 << SPIF))) return;
2386 holgerb 93
  BytegapSPI = SPI_BYTEGAP;
1051 killagreg 94
//   _delay_us(30);
606 ingob 95
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 96
 
708 ingob 97
  rxdata = SPDR;
98
  switch ( SPI_RXState)
99
  {
1051 killagreg 100
  case 0:
101
                        SPI_RxBufferIndex = 0;
102
                        rxchksum = rxdata;
103
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
104
 
708 ingob 105
           break;
106
 
1051 killagreg 107
   case 1:
108
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
109
                 else SPI_RXState  = 0;
110
           break;
111
 
708 ingob 112
   case 2:
113
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
114
           //DebugOut.Analog[19]++;
1051 killagreg 115
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
116
                   {
708 ingob 117
                if (rxdata == rxchksum)
118
                        {
823 ingob 119
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
708 ingob 120
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
1051 killagreg 121
                          SPI_RxDataValid = 1;
122
                        }
1856 killagreg 123
                        else
1855 holgerb 124
                         {
125
                          SPI_RxDataValid = 0;
1856 killagreg 126
                         }
1051 killagreg 127
                        SPI_RXState  = 0;
708 ingob 128
                   }
1051 killagreg 129
                  else rxchksum += rxdata;
130
        break;
131
 
132
  }
133
 
134
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
135
     {
606 ingob 136
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
2341 holgerb 137
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
708 ingob 138
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 139
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
2341 holgerb 140
         }
1051 killagreg 141
         else SPITransferCompleted = 1;
142
 
304 ingob 143
         SPI_BufferIndex++;
144
}
145
 
691 ingob 146
 
304 ingob 147
//------------------------------------------------------
148
void UpdateSPI_Buffer(void)
149
{
846 hbuss 150
  signed int tmp;
2150 holgerb 151
  static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION;
2373 holgerb 152
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
153
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
1171 hbuss 154
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
1664 holgerb 155
  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
1171 hbuss 156
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
157
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819 hbuss 158
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 159
//  ToNaviCtrl.User8 = Parameter_UserParam8;
160
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
1051 killagreg 161
   switch(ToNaviCtrl.Command)  //
823 ingob 162
   {
1448 killagreg 163
         case SPI_FCCMD_USER:
823 ingob 164
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
165
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
166
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
167
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
168
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
169
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
170
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921 hbuss 171
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
1765 killagreg 172
                                ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
2309 holgerb 173
//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;
1765 killagreg 174
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
2333 holgerb 175
                    ToNaviCtrl.Param.Byte[9] = ActiveParamSet;
2386 holgerb 176
                        ToNaviCtrl.Param.Byte[10] = (unsigned char) UBat; // 0.1V
1861 holgerb 177
                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
2348 holgerb 178
                                if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE;       // Out1 (J16)
921 hbuss 179
        break;
2341 holgerb 180
     case SPI_FCCMD_BL_ACCU:
1508 killagreg 181
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
182
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
2386 holgerb 183
                                ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel);  // GPS-Mode control 
184
                                ToNaviCtrl.Param.Byte[5] = VarioCharacter;
185
                                ToNaviCtrl.Param.Byte[6] = motorindex;
186
                                ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version;
2037 holgerb 187
                                ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
188
                                ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
1948 holgerb 189
                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
2346 holgerb 190
                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current;
191
                                if(Mixer.Motor[++motorindex][0] == 0) // next motor is not used ?
192
                                  while(Mixer.Motor[motorindex][0] == 0 && motorindex) motorindex = (motorindex + 1) % 12;
1508 killagreg 193
        break;
1448 killagreg 194
         case SPI_FCCMD_PARAMETER1:
2341 holgerb 195
                                ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V
196
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;           // Parameters for the Naviboard
1051 killagreg 197
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
198
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
199
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
2344 holgerb 200
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA;
1051 killagreg 201
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
202
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 203
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
204
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
1936 holgerb 205
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
1064 hbuss 206
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
823 ingob 207
            break;
2183 holgerb 208
         case SPI_FCCMD_PARAMETER2:
209
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviOut1Parameter;     // Distance between Photo releases
2190 holgerb 210
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
2263 holgerb 211
                                // create the ToNC_SpeakHoTT
212
                                if(EE_Parameter.Receiver != RECEIVER_HOTT)
213
                                 {
214
                                  if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]);
215
                                  else HoTT_Waring();
216
                                 }
2190 holgerb 217
                                ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT;
218
#else
219
                                ToNaviCtrl.Param.Byte[1] = 0;
220
#endif
2340 holgerb 221
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.LandingSpeed;
2386 holgerb 222
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.ComingHomeAltitude;
2183 holgerb 223
            break;
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;
2341 holgerb 258
//            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; // ACT RSSI
2370 holgerb 259
                        ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED;
1377 hbuss 260
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241 killagreg 261
                        break;
1448 killagreg 262
                case SPI_FCCMD_VERSION:
263
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
264
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
265
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
266
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
1241 killagreg 267
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
1702 holgerb 268
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
269
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
2269 holgerb 270
                        VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; //                         VersionInfo.HardwareError[0] = 0;
1938 holgerb 271
                        VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
2390 holgerb 272
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset;
2037 holgerb 273
                        ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig;
274
                        ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig;
1913 holgerb 275
                        ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
2008 holgerb 276
                        ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
1241 killagreg 277
                break;
1448 killagreg 278
            case SPI_FCCMD_SERVOS:
1241 killagreg 279
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
280
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
281
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
282
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
283
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
284
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
285
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
286
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
287
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
288
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
1948 holgerb 289
                        ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
290
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
1241 killagreg 291
                break;
292
        }
2010 holgerb 293
 
1215 hbuss 294
  if(SPI_RxDataValid)
1051 killagreg 295
  {
2148 holgerb 296
        if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250;
297
        oldcommand = FromNaviCtrl.Command;
1852 killagreg 298
        CalculateCompassTimer = 1;
299
        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
300
        {
301
                GPS_Nick = FromNaviCtrl.GPS_Nick;
302
                GPS_Roll = FromNaviCtrl.GPS_Roll;
303
        }
1690 holgerb 304
 
1852 killagreg 305
        // update compass readings
1936 holgerb 306
//      MagVec.x = FromNaviCtrl.MagVecX;
307
//      MagVec.y = FromNaviCtrl.MagVecY;
308
//      MagVec.z = FromNaviCtrl.MagVecZ;
1852 killagreg 309
 
1690 holgerb 310
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
1941 holgerb 311
//    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
1051 killagreg 312
 
2029 holgerb 313
    if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
823 ingob 314
          switch (FromNaviCtrl.Command)
315
          {
1448 killagreg 316
            case SPI_NCCMD_KALMAN:
1231 killagreg 317
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
318
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
319
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
1944 holgerb 320
                        KompassFusion = FromNaviCtrl.Param.sByte[3];
1283 hbuss 321
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
1664 holgerb 322
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
323
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
1945 holgerb 324
                        GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
1912 holgerb 325
                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
1840 holgerb 326
                         {
327
                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
1876 holgerb 328
                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front
329
                           {
330
                            KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
331
                                KompassSollWert %= 360;
332
                           }   
1856 killagreg 333
                         }
1862 holgerb 334
                        POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
1231 killagreg 335
                        break;
1448 killagreg 336
                case SPI_NCCMD_VERSION:
337
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
338
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
339
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
340
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
341
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
1702 holgerb 342
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
343
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
1920 holgerb 344
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
345
                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
1944 holgerb 346
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
2009 holgerb 347
                        NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
2034 holgerb 348
                        NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11];
1856 killagreg 349
                        break;
1451 killagreg 350
                case SPI_NCCMD_GPSINFO:
351
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
352
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
353
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
1690 holgerb 354
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
1852 killagreg 355
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
1472 killagreg 356
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
2340 holgerb 357
                        PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel)
1855 holgerb 358
            FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
1857 holgerb 359
                FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10;  // in cm
1451 killagreg 360
                        break;
1972 holgerb 361
                case SPI_MISC:
362
                        EarthMagneticField = FromNaviCtrl.Param.Byte[0];
363
                        EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
364
                        EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
2090 holgerb 365
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
2179 holgerb 366
                        if(FromNaviCtrl.Param.Byte[3])
2120 holgerb 367
            if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3];
2179 holgerb 368
                        NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4];
369
                        NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5];
370
                        NaviData_TargetDistance = FromNaviCtrl.Param.Int[3];
371
                        NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8];
2090 holgerb 372
#endif
373
                        break;    
1972 holgerb 374
 
1940 holgerb 375
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
376
                case SPI_NCCMD_HOTT_DATA:
2377 holgerb 377
                        //if(EE_Parameter.Receiver == RECEIVER_HOTT) 
378
                        NC_Fills_HoTT_Telemety();
1940 holgerb 379
                        break;
380
#endif
381
 
1855 holgerb 382
// 0 = 0,1
383
// 1 = 2,3
384
// 2 = 4,5
385
// 3 = 6,7
386
// 4 = 8,9
387
// 5 = 10,11
823 ingob 388
                default:
1451 killagreg 389
                        break;
823 ingob 390
          }
720 ingob 391
  }
392
  else
393
  {
819 hbuss 394
//    KompassValue = 0;
395
//    KompassRichtung = 0;
720 ingob 396
        GPS_Nick = 0;
397
    GPS_Roll = 0;
398
  }
304 ingob 399
}
400
 
597 ingob 401
#endif
304 ingob 402
 
403