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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #include "main.h" |
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| 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; |
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| 8 | struct str_ToNaviCtrl ToNaviCtrl; |
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| 9 | struct str_FromNaviCtrl FromNaviCtrl; |
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| 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; |
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| 708 | ingob | 15 | |
| 2008 | holgerb | 16 | unsigned char SPI_BufferIndex; |
| 17 | unsigned char SPI_RxBufferIndex; |
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| 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; |
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| 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 = ' '; |
| 2642 | holgerb | 46 | unsigned char NCParachute = 0; |
| 2676 | holgerb | 47 | unsigned char BaroCalState = 0; |
| 823 | ingob | 48 | |
| 597 | ingob | 49 | #ifdef USE_SPI_COMMUNICATION |
| 691 | ingob | 50 | |
| 304 | ingob | 51 | //------------------------------------------------------ |
| 52 | void SPI_MasterInit(void) |
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| 53 | { |
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| 1051 | killagreg | 54 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 304 | ingob | 55 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| 1051 | killagreg | 56 | |
| 57 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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| 723 | hbuss | 58 | SPSR = 0;//(1<<SPI2X); |
| 1051 | killagreg | 59 | |
| 60 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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| 606 | ingob | 61 | SPITransferCompleted = 1; |
| 1051 | killagreg | 62 | |
| 708 | ingob | 63 | //SPDR = 0x00; // dummy write |
| 1051 | killagreg | 64 | |
| 2596 | holgerb | 65 | ToNaviCtrl.Sync1 = SPI_FCSYNCBYTE1; |
| 66 | ToNaviCtrl.Sync2 = SPI_FCSYNCBYTE2; |
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| 1051 | killagreg | 67 | |
| 1448 | killagreg | 68 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
| 823 | ingob | 69 | ToNaviCtrl.IntegralNick = 0; |
| 70 | ToNaviCtrl.IntegralRoll = 0; |
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| 1215 | hbuss | 71 | FromNaviCtrl_Value.SerialDataOkay = 0; |
| 1051 | killagreg | 72 | SPI_RxDataValid = 0; |
| 73 | |||
| 304 | ingob | 74 | } |
| 75 | |||
| 76 | //------------------------------------------------------ |
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| 2386 | holgerb | 77 | unsigned char SPI_StartTransmitPacket(void) |
| 304 | ingob | 78 | { |
| 2386 | holgerb | 79 | if(!SPITransferCompleted) return(0); |
| 304 | ingob | 80 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 823 | ingob | 81 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| 2596 | holgerb | 82 | PtrToChksum = (unsigned char *) &ToNaviCtrl.Chksum; |
| 823 | ingob | 83 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 84 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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| 1051 | killagreg | 85 | |
| 606 | ingob | 86 | SPITransferCompleted = 0; |
| 2560 | holgerb | 87 | UpdateSPI_Buffer(); // update buffer |
| 304 | ingob | 88 | SPI_BufferIndex = 1; |
| 823 | ingob | 89 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| 2596 | holgerb | 90 | SPI_Datasize = sizeof(ToNaviCtrl); |
| 1051 | killagreg | 91 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
| 2386 | holgerb | 92 | return(1); |
| 304 | ingob | 93 | } |
| 94 | |||
| 95 | //------------------------------------------------------ |
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| 2496 | holgerb | 96 | //SIaNAL(SIG_SPI) |
| 304 | ingob | 97 | void SPI_TransmitByte(void) |
| 98 | { |
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| 708 | ingob | 99 | static unsigned char SPI_RXState = 0; |
| 1051 | killagreg | 100 | unsigned char rxdata; |
| 708 | ingob | 101 | static unsigned char rxchksum; |
| 1051 | killagreg | 102 | |
| 691 | ingob | 103 | if (SPITransferCompleted) return; |
| 304 | ingob | 104 | if (!(SPSR & (1 << SPIF))) return; |
| 2386 | holgerb | 105 | BytegapSPI = SPI_BYTEGAP; |
| 1051 | killagreg | 106 | // _delay_us(30); |
| 606 | ingob | 107 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 1051 | killagreg | 108 | |
| 708 | ingob | 109 | rxdata = SPDR; |
| 110 | switch ( SPI_RXState) |
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| 111 | { |
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| 1051 | killagreg | 112 | case 0: |
| 113 | SPI_RxBufferIndex = 0; |
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| 114 | rxchksum = rxdata; |
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| 2596 | holgerb | 115 | if (rxdata == SPI_NCSYNCBYTE1 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| 708 | ingob | 116 | break; |
| 117 | |||
| 1051 | killagreg | 118 | case 1: |
| 2596 | holgerb | 119 | rxchksum += rxdata; |
| 120 | if (rxdata == SPI_NCSYNCBYTE2) { SPI_RXState = 2; } // 2. Syncbyte ok |
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| 121 | else |
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| 122 | if (rxdata == SPI_NCSYNCBYTE_HB2) { SPI_RXState = 3; } // 2. Syncbyte ok |
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| 123 | else SPI_RXState = 0; |
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| 1051 | killagreg | 124 | break; |
| 125 | |||
| 2596 | holgerb | 126 | case 2: // get normal NC data packets |
| 708 | ingob | 127 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| 128 | //DebugOut.Analog[19]++; |
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| 1051 | killagreg | 129 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| 130 | { |
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| 708 | ingob | 131 | if (rxdata == rxchksum) |
| 132 | { |
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| 823 | ingob | 133 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| 2596 | holgerb | 134 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(FromNaviCtrl)); |
| 1051 | killagreg | 135 | SPI_RxDataValid = 1; |
| 136 | } |
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| 1856 | killagreg | 137 | else |
| 1855 | holgerb | 138 | { |
| 139 | SPI_RxDataValid = 0; |
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| 2596 | holgerb | 140 | DebugOut.Analog[27]++; |
| 1856 | killagreg | 141 | } |
| 1051 | killagreg | 142 | SPI_RXState = 0; |
| 708 | ingob | 143 | } |
| 1051 | killagreg | 144 | else rxchksum += rxdata; |
| 145 | break; |
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| 2596 | holgerb | 146 | case 3: // get huge data packet |
| 147 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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| 148 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromNavi)) |
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| 149 | { |
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| 150 | if(rxdata == rxchksum) |
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| 151 | { |
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| 152 | unsigned char *ptr = (unsigned char *)&HugeBlockFromNavi; |
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| 153 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(HugeBlockFromNavi)); |
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| 2662 | holgerb | 154 | // DebugOut.Analog[] = HugeBlockFromNavi.Data[239]; |
| 2596 | holgerb | 155 | // SPI_RxDataValid = 1; |
| 156 | } |
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| 157 | else |
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| 158 | { |
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| 159 | SPI_RxDataValid = 0; |
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| 160 | DebugOut.Analog[27]++; |
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| 161 | } |
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| 162 | SPI_RXState = 0; |
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| 163 | } |
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| 164 | else rxchksum += rxdata; |
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| 165 | break; |
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| 1051 | killagreg | 166 | } |
| 167 | |||
| 2596 | holgerb | 168 | if (SPI_BufferIndex < SPI_Datasize) |
| 1051 | killagreg | 169 | { |
| 2596 | holgerb | 170 | unsigned char tmp; |
| 606 | ingob | 171 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 2596 | holgerb | 172 | tmp = SPI_TX_Buffer[SPI_BufferIndex]; |
| 173 | SPDR = tmp; |
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| 174 | *PtrToChksum += tmp; |
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| 2341 | holgerb | 175 | } |
| 1051 | killagreg | 176 | else SPITransferCompleted = 1; |
| 177 | |||
| 304 | ingob | 178 | SPI_BufferIndex++; |
| 179 | } |
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| 180 | |||
| 2596 | holgerb | 181 | void TransmitHugeBlock(void) |
| 182 | { |
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| 183 | // if(!SPITransferCompleted) return(0); |
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| 2626 | holgerb | 184 | while(!SPITransferCompleted) { SPI_TransmitByte();_delay_us(100);}; // send the remaining data |
| 2596 | holgerb | 185 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 186 | SPI_TX_Buffer = (unsigned char *) &HugeBlockToNavi; // pointer to the huge Block |
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| 187 | PtrToChksum = (unsigned char *) &HugeBlockToNavi.Chksum; |
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| 188 | SPITransferCompleted = 0; |
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| 189 | SPI_BufferIndex = 1; |
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| 190 | HugeBlockToNavi.Sync1 = SPI_FCSYNCBYTE_HB1; |
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| 191 | HugeBlockToNavi.Sync2 = SPI_FCSYNCBYTE_HB2; |
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| 192 | HugeBlockToNavi.Chksum = SPI_FCSYNCBYTE_HB1; |
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| 193 | SPI_Datasize = sizeof(HugeBlockToNavi); |
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| 194 | SPDR = HugeBlockToNavi.Sync1; // Start transmission |
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| 2628 | holgerb | 195 | // +++++++++++++++++++++++++++++++ |
| 196 | // finish I2CTransfer first |
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| 197 | // if(I2C_TransferActive)_delay_ms(2); |
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| 198 | // +++++++++++++++++++++++++++++++ |
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| 2596 | holgerb | 199 | SPI_TransmitByte();_delay_us(200); SPI_TransmitByte();_delay_us(200); // leave the NC a bit time to fill the FIFO |
| 2626 | holgerb | 200 | while(!SPITransferCompleted) { _delay_us(80); SPI_TransmitByte();}; |
| 2596 | holgerb | 201 | } |
| 691 | ingob | 202 | |
| 2604 | holgerb | 203 | void SendSettingToNC(void) |
| 2596 | holgerb | 204 | { |
| 2604 | holgerb | 205 | HugeBlockToNavi.WhoAmI = 1; // 1 means: EE-Data |
| 206 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 207 | memcpy(HugeBlockToNavi.Data, (unsigned char *) &EE_Parameter, sizeof(EE_Parameter)); |
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| 2596 | holgerb | 208 | TransmitHugeBlock(); |
| 2628 | holgerb | 209 | NC_RequestsConfig = 0; |
| 2596 | holgerb | 210 | } |
| 211 | |||
| 304 | ingob | 212 | //------------------------------------------------------ |
| 213 | void UpdateSPI_Buffer(void) |
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| 214 | { |
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| 2496 | holgerb | 215 | // signed int tmp; |
| 2499 | holgerb | 216 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0; |
| 2373 | holgerb | 217 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 218 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
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| 1171 | hbuss | 219 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| 1664 | holgerb | 220 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| 819 | hbuss | 221 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| 823 | ingob | 222 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
| 223 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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| 1051 | killagreg | 224 | switch(ToNaviCtrl.Command) // |
| 823 | ingob | 225 | { |
| 1448 | killagreg | 226 | case SPI_FCCMD_USER: |
| 823 | ingob | 227 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| 228 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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| 229 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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| 230 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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| 231 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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| 232 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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| 233 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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| 921 | hbuss | 234 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| 1765 | killagreg | 235 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| 2518 | holgerb | 236 | ToNaviCtrl.Param.Byte[9] = FC_StatusFlags2; |
| 2309 | holgerb | 237 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
| 1765 | killagreg | 238 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| 2518 | holgerb | 239 | ToNaviCtrl.Param.Int[5] = UBat; // 10 & 11 |
| 2348 | holgerb | 240 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
| 2596 | holgerb | 241 | // 8 = 16,17 |
| 242 | // 9 = 18,19 |
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| 921 | hbuss | 243 | break; |
| 2341 | holgerb | 244 | case SPI_FCCMD_BL_ACCU: |
| 1508 | killagreg | 245 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| 2527 | holgerb | 246 | ToNaviCtrl.Param.Byte[2] = motorindex | Out1ChangedFlag; // 0x80 this Flag marks a changed Out1 |
| 2443 | holgerb | 247 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
| 2596 | holgerb | 248 | ToNaviCtrl.Param.Byte[4] = Parameter_GPS_Switch; // GPS-Mode control |
| 2386 | holgerb | 249 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
| 2443 | holgerb | 250 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
| 2386 | holgerb | 251 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
| 2037 | holgerb | 252 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
| 253 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
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| 1948 | holgerb | 254 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
| 2346 | holgerb | 255 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
| 2404 | holgerb | 256 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
| 257 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
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| 2527 | holgerb | 258 | Out1ChangedFlag = 0; |
| 2668 | holgerb | 259 | ToNaviCtrl.Param.sInt[6] = Mittelwert_AccNick/4; // ToNaviCtrl.AccNick |
| 260 | ToNaviCtrl.Param.sInt[7] = Mittelwert_AccRoll/4; // ToNaviCtrl.AccRoll |
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| 261 | |||
| 262 | //ToNaviCtrl.Param.sInt[8] = DebugOut.Analog[16]; |
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| 263 | //ToNaviCtrl.Param.sInt[9] = DebugOut.Analog[17]; |
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| 2596 | holgerb | 264 | // 8 = 16,17 |
| 265 | // 9 = 18,19 |
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| 1508 | killagreg | 266 | break; |
| 2477 | holgerb | 267 | case SPI_FCCMD_SLOW: |
| 268 | switch(slow_command) |
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| 269 | { |
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| 270 | case 0: |
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| 2499 | holgerb | 271 | ToNaviCtrl.Command = SPI_FCCMD_VERSION; |
| 272 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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| 273 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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| 274 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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| 275 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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| 276 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
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| 277 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.LandingSpeed; |
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| 278 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude; |
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| 279 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes; |
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| 280 | ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware; |
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| 2518 | holgerb | 281 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
| 2499 | holgerb | 282 | ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11 |
| 2619 | holgerb | 283 | ToNaviCtrl.Param.Byte[12] = IamMaster; |
| 2499 | holgerb | 284 | slow_command++; |
| 285 | break; |
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| 286 | case 1: |
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| 287 | ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; |
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| 2341 | holgerb | 288 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
| 289 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
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| 1051 | killagreg | 290 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| 291 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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| 292 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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| 2344 | holgerb | 293 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
| 1051 | killagreg | 294 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| 295 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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| 2447 | holgerb | 296 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
| 993 | hbuss | 297 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| 1936 | holgerb | 298 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
| 1064 | hbuss | 299 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| 2604 | holgerb | 300 | |
| 2499 | holgerb | 301 | slow_command++; |
| 2477 | holgerb | 302 | break; |
| 2499 | holgerb | 303 | case 2: |
| 304 | ToNaviCtrl.Command = SPI_FCCMD_SLOW2; |
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| 305 | ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1 |
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| 306 | ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3 |
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| 307 | ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5 |
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| 308 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation; |
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| 309 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
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| 310 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
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| 311 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
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| 312 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
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| 313 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
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| 314 | slow_command++; |
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| 315 | break; |
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| 316 | case 3: |
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| 317 | ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
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| 318 | ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
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| 319 | ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
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| 320 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
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| 321 | ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
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| 2501 | holgerb | 322 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert; |
| 2518 | holgerb | 323 | ToNaviCtrl.Param.Byte[5] = LipoCells; |
| 324 | ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7 |
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| 2541 | holgerb | 325 | ToNaviCtrl.Param.Byte[8] = LowVoltageLandingActive; |
| 2560 | holgerb | 326 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.FailSafeTime; |
| 2499 | holgerb | 327 | ToNaviCtrl.Param.Byte[10] = 0; |
| 328 | ToNaviCtrl.Param.Byte[11] = 0; |
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| 2596 | holgerb | 329 | //ToNaviCtrl.Param.Byte[12] |
| 330 | //ToNaviCtrl.Param.Byte[13] |
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| 331 | //ToNaviCtrl.Param.Byte[14] |
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| 332 | //ToNaviCtrl.Param.Byte[15] |
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| 333 | //ToNaviCtrl.Param.Byte[16] |
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| 334 | //ToNaviCtrl.Param.Byte[17] |
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| 335 | //ToNaviCtrl.Param.Byte[18] |
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| 336 | //ToNaviCtrl.Param.Byte[19] |
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| 2499 | holgerb | 337 | slow_command++; |
| 338 | break; |
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| 2477 | holgerb | 339 | default: |
| 2499 | holgerb | 340 | ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; |
| 2477 | holgerb | 341 | ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
| 342 | ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
||
| 343 | ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
||
| 344 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
||
| 2499 | holgerb | 345 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime; |
| 346 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver; |
||
| 347 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit; |
||
| 348 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit; |
||
| 349 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit; |
||
| 350 | slow_command = 0; |
||
| 2596 | holgerb | 351 | //ToNaviCtrl.Param.Byte[12] |
| 352 | //ToNaviCtrl.Param.Byte[13] |
||
| 353 | //ToNaviCtrl.Param.Byte[14] |
||
| 354 | //ToNaviCtrl.Param.Byte[15] |
||
| 355 | //ToNaviCtrl.Param.Byte[16] |
||
| 356 | //ToNaviCtrl.Param.Byte[17] |
||
| 357 | //ToNaviCtrl.Param.Byte[18] |
||
| 358 | //ToNaviCtrl.Param.Byte[19] |
||
| 2477 | holgerb | 359 | break; |
| 360 | } |
||
| 823 | ingob | 361 | break; |
| 2183 | holgerb | 362 | case SPI_FCCMD_PARAMETER2: |
| 2440 | holgerb | 363 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
| 2190 | holgerb | 364 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2263 | holgerb | 365 | // create the ToNC_SpeakHoTT |
| 366 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
||
| 367 | { |
||
| 368 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
||
| 369 | else HoTT_Waring(); |
||
| 370 | } |
||
| 2190 | holgerb | 371 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
| 372 | #else |
||
| 373 | ToNaviCtrl.Param.Byte[1] = 0; |
||
| 374 | #endif |
||
| 2499 | holgerb | 375 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3 |
| 2408 | holgerb | 376 | ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
| 2418 | holgerb | 377 | ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
| 2438 | holgerb | 378 | ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
| 379 | ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
||
| 2418 | holgerb | 380 | ToNC_Load_WP_List = 0; |
| 2438 | holgerb | 381 | ToNC_Load_SingePoint = 0; |
| 382 | ToNC_Store_SingePoint = 0; |
||
| 2477 | holgerb | 383 | if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
| 384 | else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
||
| 2499 | holgerb | 385 | ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3; |
| 2440 | holgerb | 386 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
| 2596 | holgerb | 387 | //ToNaviCtrl.Param.Byte[12] |
| 388 | //ToNaviCtrl.Param.Byte[13] |
||
| 389 | //ToNaviCtrl.Param.Byte[14] |
||
| 390 | //ToNaviCtrl.Param.Byte[15] |
||
| 391 | //ToNaviCtrl.Param.Byte[16] |
||
| 392 | //ToNaviCtrl.Param.Byte[17] |
||
| 393 | //ToNaviCtrl.Param.Byte[18] |
||
| 394 | //ToNaviCtrl.Param.Byte[19] |
||
| 2183 | holgerb | 395 | break; |
| 1448 | killagreg | 396 | case SPI_FCCMD_STICK: |
| 2496 | holgerb | 397 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
| 398 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
||
| 399 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
||
| 400 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
||
| 1377 | hbuss | 401 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| 402 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
||
| 403 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
||
| 404 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
||
| 405 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
||
| 406 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
||
| 407 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
||
| 408 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
||
| 2596 | holgerb | 409 | //ToNaviCtrl.Param.Byte[12] |
| 410 | //ToNaviCtrl.Param.Byte[13] |
||
| 411 | //ToNaviCtrl.Param.Byte[14] |
||
| 412 | //ToNaviCtrl.Param.Byte[15] |
||
| 413 | //ToNaviCtrl.Param.Byte[16] |
||
| 414 | //ToNaviCtrl.Param.Byte[17] |
||
| 415 | //ToNaviCtrl.Param.Byte[18] |
||
| 416 | //ToNaviCtrl.Param.Byte[19] |
||
| 1241 | killagreg | 417 | break; |
| 2596 | holgerb | 418 | case SPI_FCCMD_STICK2: |
| 419 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
||
| 420 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
||
| 421 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
||
| 422 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
||
| 423 | ToNaviCtrl.Param.Byte[4] = (unsigned char) PPM_in[1]; |
||
| 424 | ToNaviCtrl.Param.Byte[5] = (unsigned char) PPM_in[2]; |
||
| 425 | ToNaviCtrl.Param.Byte[6] = (unsigned char) PPM_in[3]; |
||
| 426 | ToNaviCtrl.Param.Byte[7] = (unsigned char) PPM_in[4]; |
||
| 427 | ToNaviCtrl.Param.Byte[8] = (unsigned char) PPM_in[5]; |
||
| 428 | ToNaviCtrl.Param.Byte[9] = (unsigned char) PPM_in[6]; |
||
| 429 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[7]; |
||
| 430 | ToNaviCtrl.Param.Byte[11] = (unsigned char) PPM_in[8]; |
||
| 431 | ToNaviCtrl.Param.Byte[12] = (unsigned char) PPM_in[9]; |
||
| 432 | ToNaviCtrl.Param.Byte[13] = (unsigned char) PPM_in[10]; |
||
| 433 | ToNaviCtrl.Param.Byte[14] = (unsigned char) PPM_in[11]; |
||
| 434 | ToNaviCtrl.Param.Byte[15] = (unsigned char) PPM_in[12]; |
||
| 435 | ToNaviCtrl.Param.Byte[16] = (unsigned char) PPM_in[13]; |
||
| 436 | ToNaviCtrl.Param.Byte[17] = (unsigned char) PPM_in[14]; |
||
| 437 | ToNaviCtrl.Param.Byte[18] = (unsigned char) PPM_in[15]; |
||
| 438 | ToNaviCtrl.Param.Byte[19] = (unsigned char) PPM_in[16]; |
||
| 439 | break; |
||
| 1448 | killagreg | 440 | case SPI_FCCMD_MISC: |
| 2418 | holgerb | 441 | if(WinkelOut.CalcState >= 5) |
| 1241 | killagreg | 442 | { |
| 443 | WinkelOut.CalcState = 0; |
||
| 444 | ToNaviCtrl.Param.Byte[0] = 5; |
||
| 445 | } |
||
| 446 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
||
| 2499 | holgerb | 447 | ToNaviCtrl.Param.Byte[1] = HoverGas / 4; |
| 448 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3 |
||
| 449 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5 |
||
| 450 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0]; |
||
| 451 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1]; |
||
| 452 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
||
| 2610 | holgerb | 453 | VersionInfo.HardwareError[1] &= (FC_ERROR1_ACC_NOT_CAL | FC_ERROR1_MIXER); // delete the most error-flags now |
| 2499 | holgerb | 454 | ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter |
| 2596 | holgerb | 455 | ToNaviCtrl.Param.Byte[9] = (unsigned char) ReceiverOkay; |
| 2370 | holgerb | 456 | ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
| 1377 | hbuss | 457 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| 2596 | holgerb | 458 | //ToNaviCtrl.Param.Byte[12] |
| 459 | //ToNaviCtrl.Param.Byte[13] |
||
| 460 | //ToNaviCtrl.Param.Byte[14] |
||
| 461 | //ToNaviCtrl.Param.Byte[15] |
||
| 462 | //ToNaviCtrl.Param.Byte[16] |
||
| 463 | //ToNaviCtrl.Param.Byte[17] |
||
| 464 | //ToNaviCtrl.Param.Byte[18] |
||
| 465 | //ToNaviCtrl.Param.Byte[19] |
||
| 1241 | killagreg | 466 | break; |
| 467 | } |
||
| 2010 | holgerb | 468 | |
| 1215 | hbuss | 469 | if(SPI_RxDataValid) |
| 1051 | killagreg | 470 | { |
| 2148 | holgerb | 471 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
| 472 | oldcommand = FromNaviCtrl.Command; |
||
| 1852 | killagreg | 473 | CalculateCompassTimer = 1; |
| 474 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
||
| 475 | { |
||
| 476 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
||
| 477 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
||
| 478 | } |
||
| 1690 | holgerb | 479 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| 823 | ingob | 480 | switch (FromNaviCtrl.Command) |
| 481 | { |
||
| 1448 | killagreg | 482 | case SPI_NCCMD_KALMAN: |
| 2642 | holgerb | 483 | #define KM_BIT_YAW 0x01 |
| 484 | #define KM_BIT_UART 0x02 |
||
| 485 | #define KM_BIT_SLOW 0x04 // Fast switch off |
||
| 486 | #define KM_BIT_OFF 0x08 // Fast switch off |
||
| 487 | #define KM_BIT_EXTCNTRL 0x10 |
||
| 1231 | killagreg | 488 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| 489 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
||
| 490 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
||
| 1944 | holgerb | 491 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
| 1664 | holgerb | 492 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| 493 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
||
| 1945 | holgerb | 494 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
| 2497 | holgerb | 495 | if(FromNaviCtrl.Param.sInt[4] >= 0) |
| 1840 | holgerb | 496 | { |
| 2497 | holgerb | 497 | NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| 1856 | killagreg | 498 | } |
| 1862 | holgerb | 499 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
| 2596 | holgerb | 500 | //++++++++++++++++++++++++++++++++++++++++++++ |
| 501 | if(FromNaviCtrl.Param.Byte[12] && !beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.Param.Byte[12] * 16; |
||
| 502 | //++++++++++++++++++++++++++++++++++++++++++++ |
||
| 2642 | holgerb | 503 | if(FromNaviCtrl.Param.Byte[4] & KM_BIT_YAW) NCForcesNewDirection = 1; |
| 504 | NCParachute = FromNaviCtrl.Param.Byte[4] & (KM_BIT_SLOW | KM_BIT_OFF); |
||
| 505 | if(FromNaviCtrl.Param.Byte[4] & KM_BIT_UART) // controls the Uart-Multiplexer on the FC3.0 |
||
| 2619 | holgerb | 506 | { |
| 507 | #ifdef REDUNDANT_FC_SLAVE |
||
| 508 | if(MotorenEin) // otherwise we wouldn't read the answer of the BLs if debugging on FC is active |
||
| 509 | { |
||
| 510 | UART_MUX_TO_BL; |
||
| 511 | SwitchMultiplexerToUpdate = 0; |
||
| 512 | } |
||
| 513 | else |
||
| 514 | #endif |
||
| 515 | { |
||
| 516 | if(UebertragungAbgeschlossen == 2) UART_MUX_TO_UPDATE; |
||
| 517 | SwitchMultiplexerToUpdate = 1; |
||
| 518 | } |
||
| 519 | } |
||
| 520 | else |
||
| 521 | { |
||
| 522 | UART_MUX_TO_BL; |
||
| 523 | SwitchMultiplexerToUpdate = 0; |
||
| 524 | } |
||
| 525 | |||
| 2642 | holgerb | 526 | if(FromNaviCtrl.Param.Byte[4] & KM_BIT_EXTCNTRL) // External Control |
| 2596 | holgerb | 527 | { |
| 528 | memcpy((unsigned char *)&ExternalControl, (unsigned char *)&FromNaviCtrl.Param.Byte[13], 7); // 7 Bytes ExternalControl |
||
| 529 | if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0; |
||
| 530 | else ExternalControlTimeout = 100; // 2 seconds timeout |
||
| 531 | } |
||
| 532 | //++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1231 | killagreg | 533 | break; |
| 1448 | killagreg | 534 | case SPI_NCCMD_VERSION: |
| 535 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
||
| 536 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
||
| 537 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
||
| 538 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
||
| 539 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
||
| 1702 | holgerb | 540 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| 541 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
||
| 1920 | holgerb | 542 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
| 543 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
||
| 1944 | holgerb | 544 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
| 2009 | holgerb | 545 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
| 2596 | holgerb | 546 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 547 | if(FromNaviCtrl.Param.Byte[11]) |
||
| 548 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[11]; |
||
| 549 | #endif |
||
| 2624 | holgerb | 550 | if(FromNaviCtrl.Param.Byte[12]) NC_RequestsConfig = FromNaviCtrl.Param.Byte[12]; |
| 2619 | holgerb | 551 | Partner_ErrorCode = FromNaviCtrl.Param.Byte[13]; |
| 552 | Partner_StatusFlags = FromNaviCtrl.Param.Byte[14]; |
||
| 553 | Partner_StatusFlags2 = FromNaviCtrl.Param.Byte[15]; |
||
| 554 | Partner_StatusFlags3 = FromNaviCtrl.Param.Byte[16]; |
||
| 1856 | killagreg | 555 | break; |
| 1451 | killagreg | 556 | case SPI_NCCMD_GPSINFO: |
| 557 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
||
| 558 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
||
| 559 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
||
| 1690 | holgerb | 560 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| 1852 | killagreg | 561 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| 1472 | killagreg | 562 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| 2540 | holgerb | 563 | if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
| 2340 | holgerb | 564 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
| 2488 | holgerb | 565 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| 1857 | holgerb | 566 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| 1451 | killagreg | 567 | break; |
| 1972 | holgerb | 568 | case SPI_MISC: |
| 569 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
||
| 570 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
||
| 571 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
||
| 2090 | holgerb | 572 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2426 | holgerb | 573 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
| 574 | #endif |
||
| 2179 | holgerb | 575 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
| 576 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
||
| 577 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
||
| 2420 | holgerb | 578 | NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
| 2437 | holgerb | 579 | CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
| 2624 | holgerb | 580 | CamCtrlCharacter = FromNaviCtrl.Param.Byte[12]; |
| 2676 | holgerb | 581 | BaroCalState = FromNaviCtrl.Param.Byte[13]; |
| 582 | LuftdruckTemperaturOffset = FromNaviCtrl.Param.sInt[7]; // Bytes 14 & 15 |
||
| 2090 | holgerb | 583 | break; |
| 1940 | holgerb | 584 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 585 | case SPI_NCCMD_HOTT_DATA: |
||
| 2377 | holgerb | 586 | //if(EE_Parameter.Receiver == RECEIVER_HOTT) |
| 587 | NC_Fills_HoTT_Telemety(); |
||
| 1940 | holgerb | 588 | break; |
| 2596 | holgerb | 589 | case SPI_SERIAL_CH: // kommt nur, wenn NC den Datensatz empfangen hat |
| 590 | { |
||
| 591 | unsigned char tempchar1; |
||
| 2627 | holgerb | 592 | for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) FromNaviCtrl.Param.Byte[tempchar1]; |
| 593 | SerialChannelDataOkay = 30; |
||
| 2596 | holgerb | 594 | } |
| 595 | break; |
||
| 2662 | holgerb | 596 | case SPI_OEM_NAME: |
| 597 | { |
||
| 598 | unsigned char i; |
||
| 599 | for(i=0;i<16;i++) OEM_String[i] = FromNaviCtrl.Param.Byte[i]; |
||
| 600 | } |
||
| 601 | break; |
||
| 1940 | holgerb | 602 | #endif |
| 603 | |||
| 1855 | holgerb | 604 | // 0 = 0,1 |
| 605 | // 1 = 2,3 |
||
| 606 | // 2 = 4,5 |
||
| 607 | // 3 = 6,7 |
||
| 608 | // 4 = 8,9 |
||
| 609 | // 5 = 10,11 |
||
| 2596 | holgerb | 610 | // 6 = 12,13 |
| 611 | // 7 = 14,15 |
||
| 612 | // 8 = 16,17 |
||
| 613 | // 9 = 18,19 |
||
| 823 | ingob | 614 | default: |
| 1451 | killagreg | 615 | break; |
| 823 | ingob | 616 | } |
| 720 | ingob | 617 | } |
| 618 | else |
||
| 619 | { |
||
| 819 | hbuss | 620 | // KompassValue = 0; |
| 621 | // KompassRichtung = 0; |
||
| 720 | ingob | 622 | GPS_Nick = 0; |
| 623 | GPS_Roll = 0; |
||
| 624 | } |
||
| 304 | ingob | 625 | } |
| 626 | |||
| 597 | ingob | 627 | #endif |
| 304 | ingob | 628 | |
| 629 |