Rev 2488 | Rev 2492 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #include "main.h" |
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| 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; |
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| 7 | struct str_ToNaviCtrl ToNaviCtrl; |
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| 8 | struct str_FromNaviCtrl FromNaviCtrl; |
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| 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; |
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| 1668 | holgerb | 15 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
| 2485 | holgerb | 16 | signed char FromNC_WP_EventChannel_New = 0; |
| 606 | ingob | 17 | |
| 882 | hbuss | 18 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| 823 | ingob | 19 | unsigned char *SPI_TX_Buffer; |
| 708 | ingob | 20 | |
| 617 | ingob | 21 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| 1690 | holgerb | 22 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| 720 | ingob | 23 | |
| 2477 | holgerb | 24 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW, |
| 2341 | holgerb | 25 | SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU, |
| 2348 | holgerb | 26 | SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS, |
| 2341 | holgerb | 27 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
| 2183 | holgerb | 28 | }; |
| 823 | ingob | 29 | unsigned char SPI_CommandCounter = 0; |
| 1703 | holgerb | 30 | unsigned char NC_ErrorCode = 0; |
| 1920 | holgerb | 31 | unsigned char NC_GPS_ModeCharacter = ' '; |
| 1972 | holgerb | 32 | unsigned char EarthMagneticField = 0; |
| 33 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
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| 2009 | holgerb | 34 | unsigned char NC_To_FC_Flags = 0; |
| 2447 | holgerb | 35 | //unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
| 1840 | holgerb | 36 | signed int POI_KameraNick = 0; // in 0,1° |
| 1852 | killagreg | 37 | vector16_t MagVec = {0,0,0}; |
| 823 | ingob | 38 | |
| 597 | ingob | 39 | #ifdef USE_SPI_COMMUNICATION |
| 691 | ingob | 40 | |
| 304 | ingob | 41 | //------------------------------------------------------ |
| 42 | void SPI_MasterInit(void) |
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| 43 | { |
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| 1051 | killagreg | 44 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 304 | ingob | 45 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| 1051 | killagreg | 46 | |
| 47 | 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 | 48 | SPSR = 0;//(1<<SPI2X); |
| 1051 | killagreg | 49 | |
| 50 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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| 606 | ingob | 51 | SPITransferCompleted = 1; |
| 1051 | killagreg | 52 | |
| 708 | ingob | 53 | //SPDR = 0x00; // dummy write |
| 1051 | killagreg | 54 | |
| 823 | ingob | 55 | ToNaviCtrl.Sync1 = 0xAA; |
| 56 | ToNaviCtrl.Sync2 = 0x83; |
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| 1051 | killagreg | 57 | |
| 1448 | killagreg | 58 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
| 823 | ingob | 59 | ToNaviCtrl.IntegralNick = 0; |
| 60 | ToNaviCtrl.IntegralRoll = 0; |
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| 1215 | hbuss | 61 | FromNaviCtrl_Value.SerialDataOkay = 0; |
| 1051 | killagreg | 62 | SPI_RxDataValid = 0; |
| 63 | |||
| 304 | ingob | 64 | } |
| 65 | |||
| 66 | //------------------------------------------------------ |
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| 2386 | holgerb | 67 | unsigned char SPI_StartTransmitPacket(void) |
| 304 | ingob | 68 | { |
| 2386 | holgerb | 69 | if(!SPITransferCompleted) return(0); |
| 304 | ingob | 70 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 823 | ingob | 71 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| 1051 | killagreg | 72 | |
| 823 | ingob | 73 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 74 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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| 1051 | killagreg | 75 | |
| 606 | ingob | 76 | SPITransferCompleted = 0; |
| 304 | ingob | 77 | UpdateSPI_Buffer(); // update buffer |
| 78 | SPI_BufferIndex = 1; |
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| 823 | ingob | 79 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| 1051 | killagreg | 80 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
| 2386 | holgerb | 81 | return(1); |
| 304 | ingob | 82 | } |
| 83 | |||
| 84 | //------------------------------------------------------ |
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| 85 | //SIGNAL(SIG_SPI) |
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| 86 | void SPI_TransmitByte(void) |
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| 87 | { |
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| 708 | ingob | 88 | static unsigned char SPI_RXState = 0; |
| 1051 | killagreg | 89 | unsigned char rxdata; |
| 708 | ingob | 90 | static unsigned char rxchksum; |
| 1051 | killagreg | 91 | |
| 691 | ingob | 92 | if (SPITransferCompleted) return; |
| 304 | ingob | 93 | if (!(SPSR & (1 << SPIF))) return; |
| 2386 | holgerb | 94 | BytegapSPI = SPI_BYTEGAP; |
| 1051 | killagreg | 95 | // _delay_us(30); |
| 606 | ingob | 96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 1051 | killagreg | 97 | |
| 708 | ingob | 98 | rxdata = SPDR; |
| 99 | switch ( SPI_RXState) |
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| 100 | { |
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| 1051 | killagreg | 101 | case 0: |
| 102 | SPI_RxBufferIndex = 0; |
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| 103 | rxchksum = rxdata; |
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| 104 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
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| 105 | |||
| 708 | ingob | 106 | break; |
| 107 | |||
| 1051 | killagreg | 108 | case 1: |
| 109 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
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| 110 | else SPI_RXState = 0; |
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| 111 | break; |
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| 112 | |||
| 708 | ingob | 113 | case 2: |
| 114 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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| 115 | //DebugOut.Analog[19]++; |
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| 1051 | killagreg | 116 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| 117 | { |
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| 708 | ingob | 118 | if (rxdata == rxchksum) |
| 119 | { |
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| 823 | ingob | 120 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| 708 | ingob | 121 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| 1051 | killagreg | 122 | SPI_RxDataValid = 1; |
| 123 | } |
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| 1856 | killagreg | 124 | else |
| 1855 | holgerb | 125 | { |
| 126 | SPI_RxDataValid = 0; |
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| 1856 | killagreg | 127 | } |
| 1051 | killagreg | 128 | SPI_RXState = 0; |
| 708 | ingob | 129 | } |
| 1051 | killagreg | 130 | else rxchksum += rxdata; |
| 131 | break; |
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| 132 | |||
| 133 | } |
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| 134 | |||
| 135 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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| 136 | { |
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| 606 | ingob | 137 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 2341 | holgerb | 138 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 708 | ingob | 139 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
| 823 | ingob | 140 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
| 2341 | holgerb | 141 | } |
| 1051 | killagreg | 142 | else SPITransferCompleted = 1; |
| 143 | |||
| 304 | ingob | 144 | SPI_BufferIndex++; |
| 145 | } |
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| 146 | |||
| 691 | ingob | 147 | |
| 304 | ingob | 148 | //------------------------------------------------------ |
| 149 | void UpdateSPI_Buffer(void) |
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| 150 | { |
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| 846 | hbuss | 151 | signed int tmp; |
| 2477 | holgerb | 152 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command; |
| 2373 | holgerb | 153 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 154 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
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| 1171 | hbuss | 155 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| 1664 | holgerb | 156 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| 1171 | hbuss | 157 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
| 158 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
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| 819 | hbuss | 159 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| 823 | ingob | 160 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
| 161 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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| 1051 | killagreg | 162 | switch(ToNaviCtrl.Command) // |
| 823 | ingob | 163 | { |
| 1448 | killagreg | 164 | case SPI_FCCMD_USER: |
| 823 | ingob | 165 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| 166 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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| 167 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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| 168 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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| 169 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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| 170 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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| 171 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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| 921 | hbuss | 172 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| 1765 | killagreg | 173 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| 2309 | holgerb | 174 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
| 1765 | killagreg | 175 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| 2333 | holgerb | 176 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
| 2386 | holgerb | 177 | ToNaviCtrl.Param.Byte[10] = (unsigned char) UBat; // 0.1V |
| 1861 | holgerb | 178 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
| 2348 | holgerb | 179 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
| 921 | hbuss | 180 | break; |
| 2341 | holgerb | 181 | case SPI_FCCMD_BL_ACCU: |
| 1508 | killagreg | 182 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| 2443 | holgerb | 183 | ToNaviCtrl.Param.Byte[2] = motorindex; |
| 184 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
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| 2386 | holgerb | 185 | ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
| 186 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
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| 2443 | holgerb | 187 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
| 2386 | holgerb | 188 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
| 2037 | holgerb | 189 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
| 190 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
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| 1948 | holgerb | 191 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
| 2346 | holgerb | 192 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
| 2443 | holgerb | 193 | |
| 2404 | holgerb | 194 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
| 195 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
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| 1508 | killagreg | 196 | break; |
| 2477 | holgerb | 197 | case SPI_FCCMD_SLOW: |
| 198 | switch(slow_command) |
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| 199 | { |
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| 200 | case 0: |
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| 201 | ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; slow_command = 1; |
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| 2341 | holgerb | 202 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
| 203 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
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| 1051 | killagreg | 204 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| 205 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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| 206 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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| 2344 | holgerb | 207 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
| 1051 | killagreg | 208 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| 209 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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| 2447 | holgerb | 210 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
| 993 | hbuss | 211 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| 1936 | holgerb | 212 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
| 1064 | hbuss | 213 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| 2477 | holgerb | 214 | break; |
| 215 | default: |
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| 216 | ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; slow_command = 0; |
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| 217 | ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
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| 218 | ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
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| 219 | ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
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| 220 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
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| 2491 | holgerb | 221 | ToNaviCtrl.Param.Byte[7] = HoverGas / 4; |
| 2477 | holgerb | 222 | ToNaviCtrl.Param.Byte[8] = 0; |
| 223 | ToNaviCtrl.Param.Byte[9] = 0; |
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| 224 | ToNaviCtrl.Param.Byte[10] = 0; |
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| 225 | ToNaviCtrl.Param.Byte[11] = 0; |
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| 226 | break; |
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| 227 | } |
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| 823 | ingob | 228 | break; |
| 2183 | holgerb | 229 | case SPI_FCCMD_PARAMETER2: |
| 2440 | holgerb | 230 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
| 2190 | holgerb | 231 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2263 | holgerb | 232 | // create the ToNC_SpeakHoTT |
| 233 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
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| 234 | { |
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| 235 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
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| 236 | else HoTT_Waring(); |
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| 237 | } |
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| 2190 | holgerb | 238 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
| 239 | #else |
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| 240 | ToNaviCtrl.Param.Byte[1] = 0; |
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| 241 | #endif |
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| 2340 | holgerb | 242 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.LandingSpeed; |
| 2386 | holgerb | 243 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ComingHomeAltitude; |
| 2408 | holgerb | 244 | ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
| 2418 | holgerb | 245 | ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
| 2438 | holgerb | 246 | ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
| 247 | ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
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| 2418 | holgerb | 248 | ToNC_Load_WP_List = 0; |
| 2438 | holgerb | 249 | ToNC_Load_SingePoint = 0; |
| 250 | ToNC_Store_SingePoint = 0; |
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| 2477 | holgerb | 251 | if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
| 252 | else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
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| 2440 | holgerb | 253 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.AutoPhotoAtitudes; |
| 254 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
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| 2183 | holgerb | 255 | break; |
| 1448 | killagreg | 256 | case SPI_FCCMD_STICK: |
| 1320 | hbuss | 257 | cli(); |
| 871 | hbuss | 258 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 846 | hbuss | 259 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
| 871 | hbuss | 260 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 846 | hbuss | 261 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
| 871 | hbuss | 262 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 846 | hbuss | 263 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
| 871 | hbuss | 264 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 1320 | hbuss | 265 | sei(); |
| 846 | hbuss | 266 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| 1377 | hbuss | 267 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| 268 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
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| 269 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
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| 270 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
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| 271 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
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| 272 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
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| 273 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
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| 274 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
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| 1241 | killagreg | 275 | break; |
| 1448 | killagreg | 276 | case SPI_FCCMD_MISC: |
| 2418 | holgerb | 277 | if(WinkelOut.CalcState >= 5) |
| 1241 | killagreg | 278 | { |
| 279 | WinkelOut.CalcState = 0; |
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| 280 | ToNaviCtrl.Param.Byte[0] = 5; |
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| 281 | } |
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| 282 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
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| 1312 | hbuss | 283 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
| 1662 | killagreg | 284 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
| 1312 | hbuss | 285 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
| 286 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
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| 287 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
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| 288 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
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| 1377 | hbuss | 289 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
| 2370 | holgerb | 290 | ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
| 1377 | hbuss | 291 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| 1241 | killagreg | 292 | break; |
| 1448 | killagreg | 293 | case SPI_FCCMD_VERSION: |
| 294 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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| 295 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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| 296 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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| 297 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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| 1241 | killagreg | 298 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
| 1702 | holgerb | 299 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
| 300 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
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| 2269 | holgerb | 301 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
| 1938 | holgerb | 302 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
| 2390 | holgerb | 303 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
| 2037 | holgerb | 304 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
| 305 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
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| 1913 | holgerb | 306 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
| 2008 | holgerb | 307 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
| 1241 | killagreg | 308 | break; |
| 1448 | killagreg | 309 | case SPI_FCCMD_SERVOS: |
| 2443 | holgerb | 310 | ToNaviCtrl.Param.Int[0] = Capacity.UsedCapacity; // mAh |
| 1241 | killagreg | 311 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
| 2443 | holgerb | 312 | ToNaviCtrl.Param.Byte[3] = Parameter_ServoRollControl; |
| 313 | ToNaviCtrl.Param.Byte[4] = DebugOut.Analog[28]; // I2C-Error counter |
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| 2477 | holgerb | 314 | ToNaviCtrl.Param.Byte[5] = FC_StatusFlags3; |
| 2447 | holgerb | 315 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviDescendRange; // in 10m |
| 316 | ToNaviCtrl.Param.Byte[7] = Parameter_MaximumAltitude; |
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| 317 | ToNaviCtrl.Param.Int[4] = FlugMinutenGesamt; // 8 & 9 |
||
| 2453 | holgerb | 318 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.CamOrientation; |
| 2466 | holgerb | 319 | ToNaviCtrl.Param.Byte[11] = VersionInfo.BL_Firmware; |
| 1241 | killagreg | 320 | break; |
| 321 | } |
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| 2010 | holgerb | 322 | |
| 1215 | hbuss | 323 | if(SPI_RxDataValid) |
| 1051 | killagreg | 324 | { |
| 2148 | holgerb | 325 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
| 326 | oldcommand = FromNaviCtrl.Command; |
||
| 1852 | killagreg | 327 | CalculateCompassTimer = 1; |
| 328 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
||
| 329 | { |
||
| 330 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
||
| 331 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
||
| 332 | } |
||
| 1690 | holgerb | 333 | |
| 1852 | killagreg | 334 | // update compass readings |
| 1936 | holgerb | 335 | // MagVec.x = FromNaviCtrl.MagVecX; |
| 336 | // MagVec.y = FromNaviCtrl.MagVecY; |
||
| 337 | // MagVec.z = FromNaviCtrl.MagVecZ; |
||
| 1852 | killagreg | 338 | |
| 1690 | holgerb | 339 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| 1941 | holgerb | 340 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 1051 | killagreg | 341 | |
| 2029 | holgerb | 342 | if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
| 823 | ingob | 343 | switch (FromNaviCtrl.Command) |
| 344 | { |
||
| 1448 | killagreg | 345 | case SPI_NCCMD_KALMAN: |
| 1231 | killagreg | 346 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| 347 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
||
| 348 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
||
| 1944 | holgerb | 349 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
| 1283 | hbuss | 350 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
| 1664 | holgerb | 351 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| 352 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
||
| 1945 | holgerb | 353 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
| 1912 | holgerb | 354 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
| 1840 | holgerb | 355 | { |
| 356 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
||
| 2453 | holgerb | 357 | /* |
| 1876 | holgerb | 358 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
| 359 | { |
||
| 360 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
||
| 361 | KompassSollWert %= 360; |
||
| 362 | } |
||
| 2453 | holgerb | 363 | */ |
| 1856 | killagreg | 364 | } |
| 1862 | holgerb | 365 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
| 1231 | killagreg | 366 | break; |
| 1448 | killagreg | 367 | case SPI_NCCMD_VERSION: |
| 368 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
||
| 369 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
||
| 370 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
||
| 371 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
||
| 372 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
||
| 1702 | holgerb | 373 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| 374 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
||
| 1920 | holgerb | 375 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
| 376 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
||
| 1944 | holgerb | 377 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
| 2009 | holgerb | 378 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
| 2447 | holgerb | 379 | //NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
| 1856 | killagreg | 380 | break; |
| 1451 | killagreg | 381 | case SPI_NCCMD_GPSINFO: |
| 382 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
||
| 383 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
||
| 384 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
||
| 1690 | holgerb | 385 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| 1852 | killagreg | 386 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| 1472 | killagreg | 387 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| 2488 | holgerb | 388 | if((signed char) PPM_in[WP_EVENT_PPM_IN] == -127) // zuletzt war der WP-Event auf Null |
| 389 | { |
||
| 390 | if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
||
| 391 | } |
||
| 2340 | holgerb | 392 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
| 2488 | holgerb | 393 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| 1857 | holgerb | 394 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| 1451 | killagreg | 395 | break; |
| 1972 | holgerb | 396 | case SPI_MISC: |
| 397 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
||
| 398 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
||
| 399 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
||
| 2090 | holgerb | 400 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2179 | holgerb | 401 | if(FromNaviCtrl.Param.Byte[3]) |
| 2120 | holgerb | 402 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
| 2426 | holgerb | 403 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
| 404 | #endif |
||
| 2179 | holgerb | 405 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
| 406 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
||
| 407 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
||
| 2420 | holgerb | 408 | NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
| 2437 | holgerb | 409 | CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
| 2090 | holgerb | 410 | break; |
| 1972 | holgerb | 411 | |
| 1940 | holgerb | 412 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 413 | case SPI_NCCMD_HOTT_DATA: |
||
| 2377 | holgerb | 414 | //if(EE_Parameter.Receiver == RECEIVER_HOTT) |
| 415 | NC_Fills_HoTT_Telemety(); |
||
| 1940 | holgerb | 416 | break; |
| 417 | #endif |
||
| 418 | |||
| 1855 | holgerb | 419 | // 0 = 0,1 |
| 420 | // 1 = 2,3 |
||
| 421 | // 2 = 4,5 |
||
| 422 | // 3 = 6,7 |
||
| 423 | // 4 = 8,9 |
||
| 424 | // 5 = 10,11 |
||
| 823 | ingob | 425 | default: |
| 1451 | killagreg | 426 | break; |
| 823 | ingob | 427 | } |
| 720 | ingob | 428 | } |
| 429 | else |
||
| 430 | { |
||
| 819 | hbuss | 431 | // KompassValue = 0; |
| 432 | // KompassRichtung = 0; |
||
| 720 | ingob | 433 | GPS_Nick = 0; |
| 434 | GPS_Roll = 0; |
||
| 435 | } |
||
| 304 | ingob | 436 | } |
| 437 | |||
| 597 | ingob | 438 | #endif |
| 304 | ingob | 439 | |
| 440 |