Rev 2628 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #include "main.h" |
||
| 1622 | killagreg | 3 | #include "eeprom.h" |
| 2496 | holgerb | 4 | #include "uart.h" |
| 304 | ingob | 5 | |
| 823 | ingob | 6 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
| 7 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
||
| 8 | struct str_ToNaviCtrl ToNaviCtrl; |
||
| 9 | struct str_FromNaviCtrl FromNaviCtrl; |
||
| 978 | hbuss | 10 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| 1448 | killagreg | 11 | struct str_SPI_VersionInfo NC_Version; |
| 1451 | killagreg | 12 | struct str_GPSInfo GPSInfo; |
| 2596 | holgerb | 13 | struct str_HugeBlockToNavi HugeBlockToNavi; |
| 14 | struct str_HugeBlockFromNavi HugeBlockFromNavi; |
||
| 708 | ingob | 15 | |
| 2008 | holgerb | 16 | unsigned char SPI_BufferIndex; |
| 17 | unsigned char SPI_RxBufferIndex; |
||
| 2596 | holgerb | 18 | unsigned char SPI_Datasize; |
| 1668 | holgerb | 19 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
| 2485 | holgerb | 20 | signed char FromNC_WP_EventChannel_New = 0; |
| 606 | ingob | 21 | |
| 2596 | holgerb | 22 | volatile unsigned char SPI_Buffer[sizeof(HugeBlockToNavi)]; |
| 823 | ingob | 23 | unsigned char *SPI_TX_Buffer; |
| 708 | ingob | 24 | |
| 617 | ingob | 25 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| 1690 | holgerb | 26 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| 720 | ingob | 27 | |
| 2499 | holgerb | 28 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW,SPI_FCCMD_BL_ACCU, |
| 2596 | holgerb | 29 | SPI_FCCMD_STICK2, SPI_FCCMD_MISC, SPI_FCCMD_BL_ACCU, |
| 2499 | holgerb | 30 | SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_BL_ACCU, |
| 2596 | holgerb | 31 | SPI_FCCMD_STICK2, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
| 2183 | holgerb | 32 | }; |
| 823 | ingob | 33 | unsigned char SPI_CommandCounter = 0; |
| 2619 | holgerb | 34 | unsigned char NC_ErrorCode = 0, Partner_ErrorCode = 0; |
| 1920 | holgerb | 35 | unsigned char NC_GPS_ModeCharacter = ' '; |
| 1972 | holgerb | 36 | unsigned char EarthMagneticField = 0; |
| 37 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
||
| 2009 | holgerb | 38 | unsigned char NC_To_FC_Flags = 0; |
| 2501 | holgerb | 39 | unsigned char NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
| 2447 | holgerb | 40 | //unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
| 1840 | holgerb | 41 | signed int POI_KameraNick = 0; // in 0,1° |
| 1852 | killagreg | 42 | vector16_t MagVec = {0,0,0}; |
| 2596 | holgerb | 43 | unsigned char *PtrToChksum; |
| 2604 | holgerb | 44 | unsigned char NC_RequestsConfig = 0; |
| 2624 | holgerb | 45 | unsigned char CamCtrlCharacter = ' '; |
| 823 | ingob | 46 | |
| 597 | ingob | 47 | #ifdef USE_SPI_COMMUNICATION |
| 691 | ingob | 48 | |
| 304 | ingob | 49 | //------------------------------------------------------ |
| 50 | void SPI_MasterInit(void) |
||
| 51 | { |
||
| 1051 | killagreg | 52 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 304 | ingob | 53 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| 1051 | killagreg | 54 | |
| 55 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
||
| 723 | hbuss | 56 | SPSR = 0;//(1<<SPI2X); |
| 1051 | killagreg | 57 | |
| 58 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
||
| 606 | ingob | 59 | SPITransferCompleted = 1; |
| 1051 | killagreg | 60 | |
| 708 | ingob | 61 | //SPDR = 0x00; // dummy write |
| 1051 | killagreg | 62 | |
| 2596 | holgerb | 63 | ToNaviCtrl.Sync1 = SPI_FCSYNCBYTE1; |
| 64 | ToNaviCtrl.Sync2 = SPI_FCSYNCBYTE2; |
||
| 1051 | killagreg | 65 | |
| 1448 | killagreg | 66 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
| 823 | ingob | 67 | ToNaviCtrl.IntegralNick = 0; |
| 68 | ToNaviCtrl.IntegralRoll = 0; |
||
| 1215 | hbuss | 69 | FromNaviCtrl_Value.SerialDataOkay = 0; |
| 1051 | killagreg | 70 | SPI_RxDataValid = 0; |
| 71 | |||
| 304 | ingob | 72 | } |
| 73 | |||
| 74 | //------------------------------------------------------ |
||
| 2386 | holgerb | 75 | unsigned char SPI_StartTransmitPacket(void) |
| 304 | ingob | 76 | { |
| 2386 | holgerb | 77 | if(!SPITransferCompleted) return(0); |
| 304 | ingob | 78 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 823 | ingob | 79 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| 2596 | holgerb | 80 | PtrToChksum = (unsigned char *) &ToNaviCtrl.Chksum; |
| 823 | ingob | 81 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 82 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
||
| 1051 | killagreg | 83 | |
| 606 | ingob | 84 | SPITransferCompleted = 0; |
| 2560 | holgerb | 85 | UpdateSPI_Buffer(); // update buffer |
| 304 | ingob | 86 | SPI_BufferIndex = 1; |
| 823 | ingob | 87 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| 2596 | holgerb | 88 | SPI_Datasize = sizeof(ToNaviCtrl); |
| 1051 | killagreg | 89 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
| 2386 | holgerb | 90 | return(1); |
| 304 | ingob | 91 | } |
| 92 | |||
| 93 | //------------------------------------------------------ |
||
| 2496 | holgerb | 94 | //SIaNAL(SIG_SPI) |
| 304 | ingob | 95 | void SPI_TransmitByte(void) |
| 96 | { |
||
| 708 | ingob | 97 | static unsigned char SPI_RXState = 0; |
| 1051 | killagreg | 98 | unsigned char rxdata; |
| 708 | ingob | 99 | static unsigned char rxchksum; |
| 1051 | killagreg | 100 | |
| 691 | ingob | 101 | if (SPITransferCompleted) return; |
| 304 | ingob | 102 | if (!(SPSR & (1 << SPIF))) return; |
| 2386 | holgerb | 103 | BytegapSPI = SPI_BYTEGAP; |
| 1051 | killagreg | 104 | // _delay_us(30); |
| 606 | ingob | 105 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 1051 | killagreg | 106 | |
| 708 | ingob | 107 | rxdata = SPDR; |
| 108 | switch ( SPI_RXState) |
||
| 109 | { |
||
| 1051 | killagreg | 110 | case 0: |
| 111 | SPI_RxBufferIndex = 0; |
||
| 112 | rxchksum = rxdata; |
||
| 2596 | holgerb | 113 | if (rxdata == SPI_NCSYNCBYTE1 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| 708 | ingob | 114 | break; |
| 115 | |||
| 1051 | killagreg | 116 | case 1: |
| 2596 | holgerb | 117 | rxchksum += rxdata; |
| 118 | if (rxdata == SPI_NCSYNCBYTE2) { SPI_RXState = 2; } // 2. Syncbyte ok |
||
| 119 | else |
||
| 120 | if (rxdata == SPI_NCSYNCBYTE_HB2) { SPI_RXState = 3; } // 2. Syncbyte ok |
||
| 121 | else SPI_RXState = 0; |
||
| 1051 | killagreg | 122 | break; |
| 123 | |||
| 2596 | holgerb | 124 | case 2: // get normal NC data packets |
| 708 | ingob | 125 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| 126 | //DebugOut.Analog[19]++; |
||
| 1051 | killagreg | 127 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| 128 | { |
||
| 708 | ingob | 129 | if (rxdata == rxchksum) |
| 130 | { |
||
| 823 | ingob | 131 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| 2596 | holgerb | 132 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(FromNaviCtrl)); |
| 1051 | killagreg | 133 | SPI_RxDataValid = 1; |
| 134 | } |
||
| 1856 | killagreg | 135 | else |
| 1855 | holgerb | 136 | { |
| 137 | SPI_RxDataValid = 0; |
||
| 2596 | holgerb | 138 | DebugOut.Analog[27]++; |
| 1856 | killagreg | 139 | } |
| 1051 | killagreg | 140 | SPI_RXState = 0; |
| 708 | ingob | 141 | } |
| 1051 | killagreg | 142 | else rxchksum += rxdata; |
| 143 | break; |
||
| 2596 | holgerb | 144 | case 3: // get huge data packet |
| 145 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
||
| 146 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromNavi)) |
||
| 147 | { |
||
| 148 | if(rxdata == rxchksum) |
||
| 149 | { |
||
| 150 | unsigned char *ptr = (unsigned char *)&HugeBlockFromNavi; |
||
| 151 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(HugeBlockFromNavi)); |
||
| 2626 | holgerb | 152 | //DebugOut.Analog[26] = HugeBlockFromNavi.Data[239]; |
| 2596 | holgerb | 153 | // SPI_RxDataValid = 1; |
| 154 | } |
||
| 155 | else |
||
| 156 | { |
||
| 157 | SPI_RxDataValid = 0; |
||
| 158 | DebugOut.Analog[27]++; |
||
| 159 | } |
||
| 160 | SPI_RXState = 0; |
||
| 161 | } |
||
| 162 | else rxchksum += rxdata; |
||
| 163 | break; |
||
| 1051 | killagreg | 164 | } |
| 165 | |||
| 2596 | holgerb | 166 | if (SPI_BufferIndex < SPI_Datasize) |
| 1051 | killagreg | 167 | { |
| 2596 | holgerb | 168 | unsigned char tmp; |
| 606 | ingob | 169 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 2596 | holgerb | 170 | tmp = SPI_TX_Buffer[SPI_BufferIndex]; |
| 171 | SPDR = tmp; |
||
| 172 | *PtrToChksum += tmp; |
||
| 2341 | holgerb | 173 | } |
| 1051 | killagreg | 174 | else SPITransferCompleted = 1; |
| 175 | |||
| 304 | ingob | 176 | SPI_BufferIndex++; |
| 177 | } |
||
| 178 | |||
| 2596 | holgerb | 179 | void TransmitHugeBlock(void) |
| 180 | { |
||
| 181 | // if(!SPITransferCompleted) return(0); |
||
| 2626 | holgerb | 182 | while(!SPITransferCompleted) { SPI_TransmitByte();_delay_us(100);}; // send the remaining data |
| 2596 | holgerb | 183 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 184 | SPI_TX_Buffer = (unsigned char *) &HugeBlockToNavi; // pointer to the huge Block |
||
| 185 | PtrToChksum = (unsigned char *) &HugeBlockToNavi.Chksum; |
||
| 186 | SPITransferCompleted = 0; |
||
| 187 | SPI_BufferIndex = 1; |
||
| 188 | HugeBlockToNavi.Sync1 = SPI_FCSYNCBYTE_HB1; |
||
| 189 | HugeBlockToNavi.Sync2 = SPI_FCSYNCBYTE_HB2; |
||
| 190 | HugeBlockToNavi.Chksum = SPI_FCSYNCBYTE_HB1; |
||
| 191 | SPI_Datasize = sizeof(HugeBlockToNavi); |
||
| 192 | SPDR = HugeBlockToNavi.Sync1; // Start transmission |
||
| 2628 | holgerb | 193 | // +++++++++++++++++++++++++++++++ |
| 194 | // finish I2CTransfer first |
||
| 195 | // if(I2C_TransferActive)_delay_ms(2); |
||
| 196 | // +++++++++++++++++++++++++++++++ |
||
| 2596 | holgerb | 197 | SPI_TransmitByte();_delay_us(200); SPI_TransmitByte();_delay_us(200); // leave the NC a bit time to fill the FIFO |
| 2626 | holgerb | 198 | while(!SPITransferCompleted) { _delay_us(80); SPI_TransmitByte();}; |
| 2596 | holgerb | 199 | } |
| 691 | ingob | 200 | |
| 2604 | holgerb | 201 | void SendSettingToNC(void) |
| 2596 | holgerb | 202 | { |
| 2604 | holgerb | 203 | HugeBlockToNavi.WhoAmI = 1; // 1 means: EE-Data |
| 204 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
| 205 | memcpy(HugeBlockToNavi.Data, (unsigned char *) &EE_Parameter, sizeof(EE_Parameter)); |
||
| 2596 | holgerb | 206 | TransmitHugeBlock(); |
| 2628 | holgerb | 207 | NC_RequestsConfig = 0; |
| 2596 | holgerb | 208 | } |
| 209 | |||
| 304 | ingob | 210 | //------------------------------------------------------ |
| 211 | void UpdateSPI_Buffer(void) |
||
| 212 | { |
||
| 2496 | holgerb | 213 | // signed int tmp; |
| 2499 | holgerb | 214 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0; |
| 2373 | holgerb | 215 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 216 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 1171 | hbuss | 217 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| 1664 | holgerb | 218 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| 819 | hbuss | 219 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| 823 | ingob | 220 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
| 221 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
||
| 1051 | killagreg | 222 | switch(ToNaviCtrl.Command) // |
| 823 | ingob | 223 | { |
| 1448 | killagreg | 224 | case SPI_FCCMD_USER: |
| 823 | ingob | 225 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| 226 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
||
| 227 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
||
| 228 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
||
| 229 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
||
| 230 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
||
| 231 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
||
| 921 | hbuss | 232 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| 1765 | killagreg | 233 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| 2518 | holgerb | 234 | ToNaviCtrl.Param.Byte[9] = FC_StatusFlags2; |
| 2309 | holgerb | 235 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
| 1765 | killagreg | 236 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| 2518 | holgerb | 237 | ToNaviCtrl.Param.Int[5] = UBat; // 10 & 11 |
| 2348 | holgerb | 238 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
| 2596 | holgerb | 239 | // 8 = 16,17 |
| 240 | // 9 = 18,19 |
||
| 921 | hbuss | 241 | break; |
| 2341 | holgerb | 242 | case SPI_FCCMD_BL_ACCU: |
| 1508 | killagreg | 243 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| 2527 | holgerb | 244 | ToNaviCtrl.Param.Byte[2] = motorindex | Out1ChangedFlag; // 0x80 this Flag marks a changed Out1 |
| 2443 | holgerb | 245 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
| 2596 | holgerb | 246 | ToNaviCtrl.Param.Byte[4] = Parameter_GPS_Switch; // GPS-Mode control |
| 2386 | holgerb | 247 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
| 2443 | holgerb | 248 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
| 2386 | holgerb | 249 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
| 2037 | holgerb | 250 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
| 251 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
||
| 1948 | holgerb | 252 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
| 2346 | holgerb | 253 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
| 2404 | holgerb | 254 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
| 255 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
||
| 2527 | holgerb | 256 | Out1ChangedFlag = 0; |
| 2596 | holgerb | 257 | ToNaviCtrl.Param.sInt[6] = Mittelwert_AccNick/4; // ToNaviCtrl.AccNick |
| 258 | ToNaviCtrl.Param.sInt[7] = Mittelwert_AccRoll/4; // ToNaviCtrl.AccRoll |
||
| 259 | // 8 = 16,17 |
||
| 260 | // 9 = 18,19 |
||
| 1508 | killagreg | 261 | break; |
| 2477 | holgerb | 262 | case SPI_FCCMD_SLOW: |
| 263 | switch(slow_command) |
||
| 264 | { |
||
| 265 | case 0: |
||
| 2499 | holgerb | 266 | ToNaviCtrl.Command = SPI_FCCMD_VERSION; |
| 267 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
||
| 268 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
||
| 269 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
||
| 270 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
||
| 271 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
||
| 272 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.LandingSpeed; |
||
| 273 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude; |
||
| 274 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes; |
||
| 275 | ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware; |
||
| 2518 | holgerb | 276 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
| 2499 | holgerb | 277 | ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11 |
| 2619 | holgerb | 278 | ToNaviCtrl.Param.Byte[12] = IamMaster; |
| 2499 | holgerb | 279 | slow_command++; |
| 280 | break; |
||
| 281 | case 1: |
||
| 282 | ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; |
||
| 2341 | holgerb | 283 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
| 284 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
||
| 1051 | killagreg | 285 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| 286 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
||
| 287 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
||
| 2344 | holgerb | 288 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
| 1051 | killagreg | 289 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| 290 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
||
| 2447 | holgerb | 291 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
| 993 | hbuss | 292 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| 1936 | holgerb | 293 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
| 1064 | hbuss | 294 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| 2604 | holgerb | 295 | |
| 2499 | holgerb | 296 | slow_command++; |
| 2477 | holgerb | 297 | break; |
| 2499 | holgerb | 298 | case 2: |
| 299 | ToNaviCtrl.Command = SPI_FCCMD_SLOW2; |
||
| 300 | ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1 |
||
| 301 | ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3 |
||
| 302 | ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5 |
||
| 303 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation; |
||
| 304 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
||
| 305 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
||
| 306 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
||
| 307 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
||
| 308 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
||
| 309 | slow_command++; |
||
| 310 | break; |
||
| 311 | case 3: |
||
| 312 | ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
||
| 313 | ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
||
| 314 | ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
||
| 315 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
||
| 316 | ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
||
| 2501 | holgerb | 317 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert; |
| 2518 | holgerb | 318 | ToNaviCtrl.Param.Byte[5] = LipoCells; |
| 319 | ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7 |
||
| 2541 | holgerb | 320 | ToNaviCtrl.Param.Byte[8] = LowVoltageLandingActive; |
| 2560 | holgerb | 321 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.FailSafeTime; |
| 2499 | holgerb | 322 | ToNaviCtrl.Param.Byte[10] = 0; |
| 323 | ToNaviCtrl.Param.Byte[11] = 0; |
||
| 2596 | holgerb | 324 | //ToNaviCtrl.Param.Byte[12] |
| 325 | //ToNaviCtrl.Param.Byte[13] |
||
| 326 | //ToNaviCtrl.Param.Byte[14] |
||
| 327 | //ToNaviCtrl.Param.Byte[15] |
||
| 328 | //ToNaviCtrl.Param.Byte[16] |
||
| 329 | //ToNaviCtrl.Param.Byte[17] |
||
| 330 | //ToNaviCtrl.Param.Byte[18] |
||
| 331 | //ToNaviCtrl.Param.Byte[19] |
||
| 2499 | holgerb | 332 | slow_command++; |
| 333 | break; |
||
| 2477 | holgerb | 334 | default: |
| 2499 | holgerb | 335 | ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; |
| 2477 | holgerb | 336 | ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
| 337 | ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
||
| 338 | ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
||
| 339 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
||
| 2499 | holgerb | 340 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime; |
| 341 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver; |
||
| 342 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit; |
||
| 343 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit; |
||
| 344 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit; |
||
| 345 | slow_command = 0; |
||
| 2596 | holgerb | 346 | //ToNaviCtrl.Param.Byte[12] |
| 347 | //ToNaviCtrl.Param.Byte[13] |
||
| 348 | //ToNaviCtrl.Param.Byte[14] |
||
| 349 | //ToNaviCtrl.Param.Byte[15] |
||
| 350 | //ToNaviCtrl.Param.Byte[16] |
||
| 351 | //ToNaviCtrl.Param.Byte[17] |
||
| 352 | //ToNaviCtrl.Param.Byte[18] |
||
| 353 | //ToNaviCtrl.Param.Byte[19] |
||
| 2477 | holgerb | 354 | break; |
| 355 | } |
||
| 823 | ingob | 356 | break; |
| 2183 | holgerb | 357 | case SPI_FCCMD_PARAMETER2: |
| 2440 | holgerb | 358 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
| 2190 | holgerb | 359 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2263 | holgerb | 360 | // create the ToNC_SpeakHoTT |
| 361 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
||
| 362 | { |
||
| 363 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
||
| 364 | else HoTT_Waring(); |
||
| 365 | } |
||
| 2190 | holgerb | 366 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
| 367 | #else |
||
| 368 | ToNaviCtrl.Param.Byte[1] = 0; |
||
| 369 | #endif |
||
| 2499 | holgerb | 370 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3 |
| 2408 | holgerb | 371 | ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
| 2418 | holgerb | 372 | ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
| 2438 | holgerb | 373 | ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
| 374 | ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
||
| 2418 | holgerb | 375 | ToNC_Load_WP_List = 0; |
| 2438 | holgerb | 376 | ToNC_Load_SingePoint = 0; |
| 377 | ToNC_Store_SingePoint = 0; |
||
| 2477 | holgerb | 378 | if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
| 379 | else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
||
| 2499 | holgerb | 380 | ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3; |
| 2440 | holgerb | 381 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
| 2596 | holgerb | 382 | //ToNaviCtrl.Param.Byte[12] |
| 383 | //ToNaviCtrl.Param.Byte[13] |
||
| 384 | //ToNaviCtrl.Param.Byte[14] |
||
| 385 | //ToNaviCtrl.Param.Byte[15] |
||
| 386 | //ToNaviCtrl.Param.Byte[16] |
||
| 387 | //ToNaviCtrl.Param.Byte[17] |
||
| 388 | //ToNaviCtrl.Param.Byte[18] |
||
| 389 | //ToNaviCtrl.Param.Byte[19] |
||
| 2183 | holgerb | 390 | break; |
| 1448 | killagreg | 391 | case SPI_FCCMD_STICK: |
| 2496 | holgerb | 392 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
| 393 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
||
| 394 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
||
| 395 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
||
| 1377 | hbuss | 396 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| 397 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
||
| 398 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
||
| 399 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
||
| 400 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
||
| 401 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
||
| 402 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
||
| 403 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
||
| 2596 | holgerb | 404 | //ToNaviCtrl.Param.Byte[12] |
| 405 | //ToNaviCtrl.Param.Byte[13] |
||
| 406 | //ToNaviCtrl.Param.Byte[14] |
||
| 407 | //ToNaviCtrl.Param.Byte[15] |
||
| 408 | //ToNaviCtrl.Param.Byte[16] |
||
| 409 | //ToNaviCtrl.Param.Byte[17] |
||
| 410 | //ToNaviCtrl.Param.Byte[18] |
||
| 411 | //ToNaviCtrl.Param.Byte[19] |
||
| 1241 | killagreg | 412 | break; |
| 2596 | holgerb | 413 | case SPI_FCCMD_STICK2: |
| 414 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
||
| 415 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
||
| 416 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
||
| 417 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
||
| 418 | ToNaviCtrl.Param.Byte[4] = (unsigned char) PPM_in[1]; |
||
| 419 | ToNaviCtrl.Param.Byte[5] = (unsigned char) PPM_in[2]; |
||
| 420 | ToNaviCtrl.Param.Byte[6] = (unsigned char) PPM_in[3]; |
||
| 421 | ToNaviCtrl.Param.Byte[7] = (unsigned char) PPM_in[4]; |
||
| 422 | ToNaviCtrl.Param.Byte[8] = (unsigned char) PPM_in[5]; |
||
| 423 | ToNaviCtrl.Param.Byte[9] = (unsigned char) PPM_in[6]; |
||
| 424 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[7]; |
||
| 425 | ToNaviCtrl.Param.Byte[11] = (unsigned char) PPM_in[8]; |
||
| 426 | ToNaviCtrl.Param.Byte[12] = (unsigned char) PPM_in[9]; |
||
| 427 | ToNaviCtrl.Param.Byte[13] = (unsigned char) PPM_in[10]; |
||
| 428 | ToNaviCtrl.Param.Byte[14] = (unsigned char) PPM_in[11]; |
||
| 429 | ToNaviCtrl.Param.Byte[15] = (unsigned char) PPM_in[12]; |
||
| 430 | ToNaviCtrl.Param.Byte[16] = (unsigned char) PPM_in[13]; |
||
| 431 | ToNaviCtrl.Param.Byte[17] = (unsigned char) PPM_in[14]; |
||
| 432 | ToNaviCtrl.Param.Byte[18] = (unsigned char) PPM_in[15]; |
||
| 433 | ToNaviCtrl.Param.Byte[19] = (unsigned char) PPM_in[16]; |
||
| 434 | break; |
||
| 1448 | killagreg | 435 | case SPI_FCCMD_MISC: |
| 2418 | holgerb | 436 | if(WinkelOut.CalcState >= 5) |
| 1241 | killagreg | 437 | { |
| 438 | WinkelOut.CalcState = 0; |
||
| 439 | ToNaviCtrl.Param.Byte[0] = 5; |
||
| 440 | } |
||
| 441 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
||
| 2499 | holgerb | 442 | ToNaviCtrl.Param.Byte[1] = HoverGas / 4; |
| 443 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3 |
||
| 444 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5 |
||
| 445 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0]; |
||
| 446 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1]; |
||
| 447 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
||
| 2610 | holgerb | 448 | VersionInfo.HardwareError[1] &= (FC_ERROR1_ACC_NOT_CAL | FC_ERROR1_MIXER); // delete the most error-flags now |
| 2499 | holgerb | 449 | ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter |
| 2596 | holgerb | 450 | ToNaviCtrl.Param.Byte[9] = (unsigned char) ReceiverOkay; |
| 2370 | holgerb | 451 | ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
| 1377 | hbuss | 452 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| 2596 | holgerb | 453 | //ToNaviCtrl.Param.Byte[12] |
| 454 | //ToNaviCtrl.Param.Byte[13] |
||
| 455 | //ToNaviCtrl.Param.Byte[14] |
||
| 456 | //ToNaviCtrl.Param.Byte[15] |
||
| 457 | //ToNaviCtrl.Param.Byte[16] |
||
| 458 | //ToNaviCtrl.Param.Byte[17] |
||
| 459 | //ToNaviCtrl.Param.Byte[18] |
||
| 460 | //ToNaviCtrl.Param.Byte[19] |
||
| 1241 | killagreg | 461 | break; |
| 462 | } |
||
| 2010 | holgerb | 463 | |
| 1215 | hbuss | 464 | if(SPI_RxDataValid) |
| 1051 | killagreg | 465 | { |
| 2148 | holgerb | 466 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
| 467 | oldcommand = FromNaviCtrl.Command; |
||
| 1852 | killagreg | 468 | CalculateCompassTimer = 1; |
| 469 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
||
| 470 | { |
||
| 471 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
||
| 472 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
||
| 473 | } |
||
| 1690 | holgerb | 474 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| 823 | ingob | 475 | switch (FromNaviCtrl.Command) |
| 476 | { |
||
| 1448 | killagreg | 477 | case SPI_NCCMD_KALMAN: |
| 1231 | killagreg | 478 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| 479 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
||
| 480 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
||
| 1944 | holgerb | 481 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
| 1664 | holgerb | 482 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| 483 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
||
| 1945 | holgerb | 484 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
| 2497 | holgerb | 485 | if(FromNaviCtrl.Param.sInt[4] >= 0) |
| 1840 | holgerb | 486 | { |
| 2497 | holgerb | 487 | NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| 1856 | killagreg | 488 | } |
| 1862 | holgerb | 489 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
| 2596 | holgerb | 490 | //++++++++++++++++++++++++++++++++++++++++++++ |
| 491 | if(FromNaviCtrl.Param.Byte[12] && !beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.Param.Byte[12] * 16; |
||
| 492 | //++++++++++++++++++++++++++++++++++++++++++++ |
||
| 2619 | holgerb | 493 | if(FromNaviCtrl.Param.Byte[4] & 0x01) NCForcesNewDirection = 1; |
| 494 | if(FromNaviCtrl.Param.Byte[4] & 0x02) // controls the Uart-Multiplexer on the FC3.0 |
||
| 495 | { |
||
| 496 | #ifdef REDUNDANT_FC_SLAVE |
||
| 497 | if(MotorenEin) // otherwise we wouldn't read the answer of the BLs if debugging on FC is active |
||
| 498 | { |
||
| 499 | UART_MUX_TO_BL; |
||
| 500 | SwitchMultiplexerToUpdate = 0; |
||
| 501 | } |
||
| 502 | else |
||
| 503 | #endif |
||
| 504 | { |
||
| 505 | if(UebertragungAbgeschlossen == 2) UART_MUX_TO_UPDATE; |
||
| 506 | SwitchMultiplexerToUpdate = 1; |
||
| 507 | } |
||
| 508 | } |
||
| 509 | else |
||
| 510 | { |
||
| 511 | UART_MUX_TO_BL; |
||
| 512 | SwitchMultiplexerToUpdate = 0; |
||
| 513 | } |
||
| 514 | |||
| 2596 | holgerb | 515 | if(FromNaviCtrl.Param.Byte[4] & 0x10) // External Control |
| 516 | { |
||
| 517 | memcpy((unsigned char *)&ExternalControl, (unsigned char *)&FromNaviCtrl.Param.Byte[13], 7); // 7 Bytes ExternalControl |
||
| 518 | if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0; |
||
| 519 | else ExternalControlTimeout = 100; // 2 seconds timeout |
||
| 520 | } |
||
| 521 | //++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1231 | killagreg | 522 | break; |
| 1448 | killagreg | 523 | case SPI_NCCMD_VERSION: |
| 524 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
||
| 525 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
||
| 526 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
||
| 527 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
||
| 528 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
||
| 1702 | holgerb | 529 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| 530 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
||
| 1920 | holgerb | 531 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
| 532 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
||
| 1944 | holgerb | 533 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
| 2009 | holgerb | 534 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
| 2596 | holgerb | 535 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 536 | if(FromNaviCtrl.Param.Byte[11]) |
||
| 537 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[11]; |
||
| 538 | #endif |
||
| 2624 | holgerb | 539 | if(FromNaviCtrl.Param.Byte[12]) NC_RequestsConfig = FromNaviCtrl.Param.Byte[12]; |
| 2619 | holgerb | 540 | Partner_ErrorCode = FromNaviCtrl.Param.Byte[13]; |
| 541 | Partner_StatusFlags = FromNaviCtrl.Param.Byte[14]; |
||
| 542 | Partner_StatusFlags2 = FromNaviCtrl.Param.Byte[15]; |
||
| 543 | Partner_StatusFlags3 = FromNaviCtrl.Param.Byte[16]; |
||
| 1856 | killagreg | 544 | break; |
| 1451 | killagreg | 545 | case SPI_NCCMD_GPSINFO: |
| 546 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
||
| 547 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
||
| 548 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
||
| 1690 | holgerb | 549 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| 1852 | killagreg | 550 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| 1472 | killagreg | 551 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| 2540 | holgerb | 552 | if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
| 2340 | holgerb | 553 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
| 2488 | holgerb | 554 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| 1857 | holgerb | 555 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| 1451 | killagreg | 556 | break; |
| 1972 | holgerb | 557 | case SPI_MISC: |
| 558 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
||
| 559 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
||
| 560 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
||
| 2090 | holgerb | 561 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2426 | holgerb | 562 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
| 563 | #endif |
||
| 2179 | holgerb | 564 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
| 565 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
||
| 566 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
||
| 2420 | holgerb | 567 | NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
| 2437 | holgerb | 568 | CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
| 2624 | holgerb | 569 | CamCtrlCharacter = FromNaviCtrl.Param.Byte[12]; |
| 2090 | holgerb | 570 | break; |
| 1940 | holgerb | 571 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 572 | case SPI_NCCMD_HOTT_DATA: |
||
| 2377 | holgerb | 573 | //if(EE_Parameter.Receiver == RECEIVER_HOTT) |
| 574 | NC_Fills_HoTT_Telemety(); |
||
| 1940 | holgerb | 575 | break; |
| 2596 | holgerb | 576 | case SPI_SERIAL_CH: // kommt nur, wenn NC den Datensatz empfangen hat |
| 577 | { |
||
| 578 | unsigned char tempchar1; |
||
| 2627 | holgerb | 579 | for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) FromNaviCtrl.Param.Byte[tempchar1]; |
| 580 | SerialChannelDataOkay = 30; |
||
| 2596 | holgerb | 581 | } |
| 582 | break; |
||
| 1940 | holgerb | 583 | #endif |
| 584 | |||
| 1855 | holgerb | 585 | // 0 = 0,1 |
| 586 | // 1 = 2,3 |
||
| 587 | // 2 = 4,5 |
||
| 588 | // 3 = 6,7 |
||
| 589 | // 4 = 8,9 |
||
| 590 | // 5 = 10,11 |
||
| 2596 | holgerb | 591 | // 6 = 12,13 |
| 592 | // 7 = 14,15 |
||
| 593 | // 8 = 16,17 |
||
| 594 | // 9 = 18,19 |
||
| 823 | ingob | 595 | default: |
| 1451 | killagreg | 596 | break; |
| 823 | ingob | 597 | } |
| 720 | ingob | 598 | } |
| 599 | else |
||
| 600 | { |
||
| 819 | hbuss | 601 | // KompassValue = 0; |
| 602 | // KompassRichtung = 0; |
||
| 720 | ingob | 603 | GPS_Nick = 0; |
| 604 | GPS_Roll = 0; |
||
| 605 | } |
||
| 304 | ingob | 606 | } |
| 607 | |||
| 597 | ingob | 608 | #endif |
| 304 | ingob | 609 | |
| 610 |