WebSVN - NaviCtrl - Blame - Rev 338 - /tags/V2.10c/spi

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
171	ingob	6	// + Nur f�r den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1	ingob	7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
1	ingob	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
1	ingob	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
171	ingob	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1	ingob	29	// + mit unserer Zustimmung zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1	ingob	34	// + this list of conditions and the following disclaimer.
		35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		36	// + from this software without specific prior written permission.
41	ingob	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
1	ingob	38	// + for non-commercial use (directly or indirectly)
41	ingob	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1	ingob	40	// + with our written permission
41	ingob	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		42	// + clearly linked as origin
171	ingob	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1	ingob	44	//
		45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
41	ingob	55	// + POSSIBILITY OF SUCH DAMAGE.
1	ingob	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	57
		58	#include <string.h>
331	holgerb	59	#include <math.h>
41	ingob	60	#include "91x_lib.h"
		61	#include "led.h"
215	killagreg	62	#include "gps.h"
41	ingob	63	#include "uart1.h"
		64	#include "spi_slave.h"
242	killagreg	65	#include "compass.h"
119	killagreg	66	#include "timer1.h"
		67	#include "timer2.h"
136	killagreg	68	#include "config.h"
1	ingob	69	#include "main.h"
284	killagreg	70	#include "compass.h"
294	holgerb	71	#include "params.h"
1	ingob	72
41	ingob	73	#define SPI_RXSYNCBYTE1 0xAA
		74	#define SPI_RXSYNCBYTE2 0x83
		75	#define SPI_TXSYNCBYTE1 0x81
		76	#define SPI_TXSYNCBYTE2 0x55
1	ingob	77
41	ingob	78	//communication packets
215	killagreg	79	FromFlightCtrl_t FromFlightCtrl;
		80	ToFlightCtrl_t ToFlightCtrl;
183	killagreg	81	#define SPI0_TIMEOUT 500 // 500ms
146	killagreg	82	volatile u32 SPI0_Timeout = 0;
338	holgerb	83	u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0;
1	ingob	84
41	ingob	85	// tx packet buffer
		86	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
		87	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN];
		88	volatile u8 SPI_TxBufferIndex = 0;
		89	u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
1	ingob	90
41	ingob	91	// rx packet buffer
		92	#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
		93	volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN];
		94	volatile u8 SPI_RxBufferIndex = 0;
		95	volatile u8 SPI_RxBuffer_Request = 0;
1	ingob	96	#define SPI_COMMAND_INDEX 0
		97
149	killagreg	98	s32 Kalman_K = 32;
41	ingob	99	s32 Kalman_MaxDrift = 5 * 16;
		100	s32 Kalman_MaxFusion = 64;
330	holgerb	101	s32 Kalman_Kompass = 32;
148	holgerb	102	s32 ToFcGpsZ = 0;
1	ingob	103
329	holgerb	104	u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN};
41	ingob	105	u8 SPI_CommandCounter = 0;
222	holgerb	106	s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;
		107	s32 HeadFreeStartAngle = 0;
277	killagreg	108	s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
286	killagreg	109	u32 ToFC_AltitudeRate = 0;
285	holgerb	110	s32 ToFC_AltitudeSetpoint = 0;
298	holgerb	111	u8 FromFC_VarioCharacter = ' ';
331	holgerb	112	u8 GPS_Aid_StickMultiplikator = 0;
323	holgerb	113	u8 NC_GPS_ModeCharacter = ' ';
329	holgerb	114	u8 FCCalibActive = 0;
330	holgerb	115	u8 FC_is_Calibrated = 0;
338	holgerb	116	u8 MotorCurrent[12];
		117	u8 MotorTemperature[12];
		118	u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
		119	u32 FC_I2C_ErrorConter;
41	ingob	120	SPI_Version_t FC_Version;
1	ingob	121
41	ingob	122	//--------------------------------------------------------------
		123	void SSP0_IRQHandler(void)
		124	{
		125	static u8 rxchksum = 0;
		126	u8 rxdata;
1	ingob	127
189	killagreg	128	#define SPI_SYNC1 0
		129	#define SPI_SYNC2 1
		130	#define SPI_DATA 2
		131	static u8 SPI_State = SPI_SYNC1;
		132
195	killagreg	133	IENABLE;
		134
161	killagreg	135	// clear pending bits
41	ingob	136	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	137	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	138
79	killagreg	139	// while RxFIFO not empty
		140	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		141	{
41	ingob	142	rxdata = SSP0->DR; // catch the received byte
		143	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	144	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	145	{
79	killagreg	146	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		147	{
41	ingob	148	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	149	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		150	SPI_TxBufferIndex++; // pointer to next byte
		151	}
		152	else // end of packet is reached reset and copy data to tx buffer
		153	{
		154	SPI_TxBufferIndex = 0; // reset buffer index
		155	ToFlightCtrl.Chksum = 0; // initialize checksum
		156	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		157	BeepTime = 0; // reset local beeptime
41	ingob	158	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	159	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		160	}
41	ingob	161	}
		162	switch (SPI_State)
		163	{
		164	case SPI_SYNC1:
		165	SPI_RxBufferIndex = 0; // reset buffer index
		166	rxchksum = rxdata; // init checksum
		167	if (rxdata == SPI_RXSYNCBYTE1)
		168	{ // 1st syncbyte ok
		169	SPI_State = SPI_SYNC2; // step to sync2
		170	}
		171	break;
79	killagreg	172	case SPI_SYNC2:
41	ingob	173	if (rxdata == SPI_RXSYNCBYTE2)
		174	{ // 2nd Syncbyte ok
		175	rxchksum += rxdata;
		176	SPI_State = SPI_DATA;
		177	} // 2nd Syncbyte does not match
		178	else
		179	{
		180	SPI_State = SPI_SYNC1; //jump back to sync1
		181	}
		182	break;
		183	case SPI_DATA:
		184	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		185	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		186	{
		187	if (rxdata == rxchksum) // verify checksum byte
		188	{
		189	// copy SPI_RxBuffer -> FromFlightCtrl
		190	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		191	{
		192	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		193	SPI_RxBuffer_Request = 1;
		194	}
146	killagreg	195	// reset timeout counter on good packet
		196	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	197	DebugOut.Analog[13]++;
		198	}
		199	else // bad checksum byte
		200	{
		201	DebugOut.Analog[12]++; // increase SPI chksum error counter
		202	}
		203	SPI_State = SPI_SYNC1; // reset state
		204	}
		205	else // end of packet not reached
		206	{
		207	rxchksum += rxdata; // update checksum
		208	}
		209	break;
		210	default:
		211	SPI_State = SPI_SYNC1;
		212	break;
		213	}
		214	}
195	killagreg	215
		216	IDISABLE;
1	ingob	217	}
		218
		219	//--------------------------------------------------------------
		220	void SPI0_Init(void)
		221	{
41	ingob	222	GPIO_InitTypeDef GPIO_InitStructure;
		223	SSP_InitTypeDef SSP_InitStructure;
1	ingob	224
110	killagreg	225	UART1_PutString("\r\n SPI init...");
1	ingob	226
41	ingob	227	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		228	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	229
41	ingob	230	GPIO_DeInit(GPIO2);
		231	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		232	GPIO_StructInit(&GPIO_InitStructure);
		233	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		234	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		235	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	236	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	237	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		238	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	239
41	ingob	240	// SSP0_MISO pin GPIO2.6
		241	GPIO_StructInit(&GPIO_InitStructure);
		242	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		243	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		244	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	245	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	246	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		247	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	248
41	ingob	249	SSP_DeInit(SSP0);
		250	SSP_StructInit(&SSP_InitStructure);
		251	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		252	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		253	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		254	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		255	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		256	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	257
41	ingob	258	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	259	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
202	killagreg	260
41	ingob	261	SSP_Cmd(SSP0, ENABLE);
		262	// initialize the syncbytes in the tx buffer
		263	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		264	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		265	// set the pointer to the checksum byte in the tx buffer
		266	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		267
215	killagreg	268	ToFlightCtrl.GPSStick.Nick = 0;
		269	ToFlightCtrl.GPSStick.Roll = 0;
		270	ToFlightCtrl.GPSStick.Yaw = 0;
		271
136	killagreg	272	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	273	VIC_ITCmd(SSP0_ITLine, ENABLE);
		274
146	killagreg	275	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		276
110	killagreg	277	UART1_PutString("ok");
1	ingob	278	}
41	ingob	279
222	holgerb	280
1	ingob	281	//------------------------------------------------------
41	ingob	282	void SPI0_UpdateBuffer(void)
1	ingob	283	{
180	killagreg	284	static u32 timeout = 0;
329	holgerb	285	static u8 counter = 50,hott_index = 0;
254	killagreg	286	static u8 CompassCalState = 0;
299	killagreg	287	s16 tmp;
329	holgerb	288	s32 i1,i2;
202	killagreg	289
41	ingob	290	if (SPI_RxBuffer_Request)
		291	{
		292	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		293	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
254	killagreg	294	ToFlightCtrl.CompassHeading = Compass_Heading;
189	killagreg	295	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
228	holgerb	296	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
327	holgerb	297	// ToFlightCtrl.MagVecX = MagVector.X;
		298	// ToFlightCtrl.MagVecY = MagVector.Y;
286	killagreg	299	ToFlightCtrl.MagVecZ = MagVector.Z;
284	killagreg	300	ToFlightCtrl.NCStatus = 0;
41	ingob	301	// cycle spi commands
		302	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	303	// restart command cycle at the end
41	ingob	304	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
319	holgerb	305	#define FLAG_GPS_AID 0x01
41	ingob	306	switch (ToFlightCtrl.Command)
		307	{
329	holgerb	308	case SPI_NCCMD_KALMAN: // wird am h�ufigsten bet�tigt
223	killagreg	309	CalcHeadFree();
149	killagreg	310	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	311	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		312	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
330	holgerb	313	ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass;
149	killagreg	314	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	315	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
223	killagreg	316	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
331	holgerb	317	ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator;
280	killagreg	318	if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH)
278	killagreg	319	{
		320	ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth;
280	killagreg	321	CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH;
278	killagreg	322	}
		323	else
280	killagreg	324	{
278	killagreg	325	ToFlightCtrl.Param.sInt[4] = -1;
		326	}
294	holgerb	327
299	killagreg	328	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command
295	killagreg	329	{
299	killagreg	330	ToFlightCtrl.Param.sInt[5] = tmp;
		331	}
		332	else
		333	{
295	killagreg	334	if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active
		335	else ToFlightCtrl.Param.sInt[5] = 0;
		336	}
161	killagreg	337	break;
58	killagreg	338
202	killagreg	339	case SPI_NCCMD_VERSION:
		340	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		341	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	342	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	343	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
264	killagreg	344	ToFlightCtrl.Param.Byte[4] = Version_HW;
338	holgerb	345	ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen;
		346	ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed;
233	holgerb	347	ToFlightCtrl.Param.Byte[7] = ErrorCode;
323	holgerb	348	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
330	holgerb	349	ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;
202	killagreg	350	break;
223	killagreg	351
204	killagreg	352	case SPI_NCCMD_GPSINFO:
		353	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		354	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		355	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
232	killagreg	356	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
258	holgerb	357	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
		358	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
306	holgerb	359	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;
		360	ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
299	killagreg	361	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
		362	{
		363	ToFlightCtrl.Param.Byte[9] = (u8)tmp;
295	killagreg	364	}
299	killagreg	365	else
		366	{
		367	ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate;
		368	}
		369	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp))
		370	{
		371	ToFlightCtrl.Param.sInt[5] = tmp;
		372	}
		373	else
		374	{
		375	ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint;
		376	}
204	killagreg	377	break;
329	holgerb	378	/*
		379	typedef struct
		380	{
		381	unsigned char StartByte; //0 // 0x7C
		382	unsigned char Packet_ID; //1 // 0x89 - Vario ID
		383	unsigned char WarnBeep; //2 // Anzahl der T�ne 0..36
		384	unsigned char Heading; //3 // 1 = 2�
		385	unsigned int Speed; //4+5 // in km/h
		386	unsigned char Lat_North; //6
		387	unsigned char Lat_G; //7
		388	unsigned char Lat_M; //8
		389	unsigned char Lat_Sek1; //9
		390	unsigned char Lat_Sek2; //10
		391	unsigned char Lon_East; //11
		392	unsigned char Lon_G; //12
		393	unsigned char Lon_M; //13
		394	unsigned char Lon_Sek1; //14
		395	unsigned char Lon_Sek2; //15
		396	unsigned int Distance; //16+17 // 9000 = 0m
		397	unsigned int Altitude; //18+19 // 500 = 0m
		398	unsigned int m_sec; //20+21 // 3000 = 0
		399	unsigned int m_3sec; //22+23 // 3000 = 0
		400	unsigned int m_10sec; //24+25 // 3000 = 0
		401	unsigned char NullByte; // 0x00
		402	unsigned char NullByte1; // 0x00
		403	unsigned char EndByte; // 0x7D
		404	} GPSPacket_t;
		405	*/
330	holgerb	406	/*
		407	typedef struct
		408	{
		409	unsigned char StartByte; //0 0x7C
		410	unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID
		411	unsigned char WarnBeep; //2 Anzahl der T�ne 0..36
		412	unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert)
		413	unsigned char VoltageCell2; //4
		414	unsigned char VoltageCell3; //5
		415	unsigned char VoltageCell4; //6
		416	unsigned char VoltageCell5; //7
		417	unsigned char VoltageCell6; //8
		418	unsigned int Battery1; //9 51 = 5,1V
		419	unsigned int Battery2; //11 51 = 5,1V
		420	unsigned char Temperature1; //13 44 = 24�C, 0 = -20�C
		421	unsigned char Temperature2; //14 44 = 24�C, 0 = -20�C
		422	unsigned char FuelPercent; //15
		423	signed int FuelCapacity; //16
		424	unsigned int Rpm;
		425	unsigned int Altitude;
		426	unsigned int m_sec; // 3000 = 0
		427	unsigned char m_3sec; // 120 = 0
		428	unsigned int Current; // 1 = 0.1A
		429	unsigned int InputVoltage; // 66 = 6,6V
		430	unsigned int Capacity; // 1 = 10mAh
		431	unsigned char NullByte1; // 0x00
		432	unsigned char NullByte2; // 0x00
		433	unsigned char EndByte; // 0x7D
		434	} HoTTGeneral_t;
		435	*/
		436	case SPI_NCCMD_HOTT_INFO:
		437	switch(hott_index++)
		438	{
329	holgerb	439	case 0:
		440	//Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden
		441	//53.285788 7.4847269 --> N53� 17.14728 E7� 29.08362 --> N53� 17' 8.837" E7� 29' 5.017"
		442	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
		443	ToFlightCtrl.Param.Byte[0] = 3; // index
		444	ToFlightCtrl.Param.Byte[1] = 9-1; // how many
		445	//-----------------------------
		446	ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2;
		447	i1 = GPSData.Speed_Ground; // in cm/sec
		448	i1 *= 36;
		449	i1 /= 1000;
		450	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		451	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		452	//-----------------------------
		453	if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S
		454	else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
		455	i1 = abs(GPSData.Position.Latitude)/10000000L;
		456	i2 = abs(GPSData.Position.Latitude)%10000000L;
		457	i1 *= 100;
		458	i1 += i2 / 100000;
		459	i2 = i2 % 100000;
		460	i2 /= 10;
		461	ToFlightCtrl.Param.Byte[6] = i1 % 256;
		462	ToFlightCtrl.Param.Byte[7] = i1 / 256;
		463	ToFlightCtrl.Param.Byte[8] = i2 % 256;
		464	ToFlightCtrl.Param.Byte[9] = i2 / 256;
		465	break;
		466	case 1:
		467	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
		468	ToFlightCtrl.Param.Byte[0] = 11; // index
		469	ToFlightCtrl.Param.Byte[1] = 8-1; // how many
		470	//-----------------------------
		471	if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
		472	else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
		473	i1 = abs(GPSData.Position.Longitude)/10000000L;
		474	i2 = abs(GPSData.Position.Longitude)%10000000L;
		475	i1 *= 100;
		476	i1 += i2 / 100000;
		477	i2 = i2 % 100000;
		478	i2 /= 10;
		479	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		480	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		481	ToFlightCtrl.Param.Byte[5] = i2 % 256;
		482	ToFlightCtrl.Param.Byte[6] = i2 / 256;
		483	//-----------------------------
		484	i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m
		485	ToFlightCtrl.Param.Byte[7] = i1 % 256;
		486	ToFlightCtrl.Param.Byte[8] = i1 / 256;
330	holgerb	487	break;
		488	case 2:
		489	ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID;
		490	ToFlightCtrl.Param.Byte[0] = 5; // index
		491	ToFlightCtrl.Param.Byte[1] = 2; // how many
		492	ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2);
		493	ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2;
329	holgerb	494	hott_index = 0;
		495	break;
330	holgerb	496	default:
		497	ToFlightCtrl.Param.Byte[0] = 255;
		498	hott_index = 0;
		499	break;
329	holgerb	500	}
		501	break;
41	ingob	502	default:
		503	break;
285	holgerb	504	// 0 = 0,1
		505	// 1 = 2,3
		506	// 2 = 4,5
		507	// 3 = 6,7
		508	// 4 = 8,9
		509	// 5 = 10,11
41	ingob	510	}
		511	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	512
41	ingob	513	switch(FromFlightCtrl.Command)
		514	{
202	killagreg	515	case SPI_FCCMD_USER:
41	ingob	516	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		517	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		518	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		519	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		520	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		521	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		522	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		523	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
255	killagreg	524	if(ClearFCStatusFlags)
41	ingob	525	{
255	killagreg	526	FC.StatusFlags = 0;
		527	ClearFCStatusFlags = 0;
41	ingob	528	}
255	killagreg	529	FC.StatusFlags \|= FromFlightCtrl.Param.Byte[8];
320	holgerb	530	if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive)
268	killagreg	531	{
326	holgerb	532	HeadFreeStartAngle = Compass_Heading * 10;
268	killagreg	533	Compass_Init();
330	holgerb	534	FCCalibActive = 10;
338	holgerb	535	FC_is_Calibrated = 0;
268	killagreg	536	}
		537	else
		538	{
330	holgerb	539	if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1;
268	killagreg	540	}
329	holgerb	541	if(FC.StatusFlags & FC_STATUS_START)
		542	{
		543	if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else
		544	HeadFreeStartAngle = FromFlightCtrl.GyroHeading;
		545	}
320	holgerb	546
329	holgerb	547	if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
		548	{
		549	if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
		550	{
		551	if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
		552	{
		553	HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1�
		554	}
		555	else // Ansonsten die aktuelle Richtung �bernehmen
		556	HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /+ Parameter.OrientationAngle 150*/) % 3600; // in 0.1�
		557	}
		558	}
320	holgerb	559
326	holgerb	560	//DebugOut.Analog[16] = HeadFreeStartAngle;
		561
223	killagreg	562	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
255	killagreg	563	DebugOut.Analog[5] = FC.StatusFlags;
294	holgerb	564	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
255	killagreg	565	NaviData.FCStatusFlags = FC.StatusFlags;
294	holgerb	566	NaviData.FCStatusFlags2 = FC.StatusFlags2;
338	holgerb	567	Logging_FCStatusFlags1 \|= FC.StatusFlags;
		568	Logging_FCStatusFlags2 \|= FC.StatusFlags2;
321	holgerb	569	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
41	ingob	570	break;
1	ingob	571
206	killagreg	572	case SPI_FCCMD_ACCU:
223	killagreg	573	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
206	killagreg	574	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
		575	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
		576	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
298	holgerb	577	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
320	holgerb	578	Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7];
		579	Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8];
338	holgerb	580	MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10];
		581	MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11];
298	holgerb	582	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
		583	{
		584	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
		585	}
206	killagreg	586	NaviData.UBat = FC.BAT_Voltage;
		587	NaviData.Current = FC.BAT_Current;
		588	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		589	break;
		590
193	killagreg	591	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	592	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		593
202	killagreg	594	case SPI_FCCMD_PARAMETER1:
41	ingob	595	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		596	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		597	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		598	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		599	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		600	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		601	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		602	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	603	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	604	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
327	holgerb	605	CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255);
41	ingob	606	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	607	break;
1	ingob	608
202	killagreg	609	case SPI_FCCMD_STICK:
41	ingob	610	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		611	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		612	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		613	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	614	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		615	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		616	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		617	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		618	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		619	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		620	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	621	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	622	break;
27	holgerb	623
202	killagreg	624	case SPI_FCCMD_MISC:
41	ingob	625	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		626	{ // put only new CompassCalState into queue to send via I2C
		627	CompassCalState = FromFlightCtrl.Param.Byte[0];
254	killagreg	628	Compass_SetCalState(CompassCalState);
41	ingob	629	}
58	killagreg	630	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	631	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
287	holgerb	632	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm
		633	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
160	holgerb	634	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		635	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		636	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	637	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		638	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
294	holgerb	639	if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
		640	// NaviData.RC_RSSI = FC.RC_RSSI;
206	killagreg	641	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	642	break;
161	killagreg	643
202	killagreg	644	case SPI_FCCMD_SERVOS:
121	killagreg	645	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		646	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		647	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		648	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	649	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	650	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		651	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		652	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	653	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		654	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
338	holgerb	655	BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10];
119	killagreg	656	break;
1	ingob	657
202	killagreg	658	case SPI_FCCMD_VERSION:
119	killagreg	659	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		660	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		661	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		662	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		663	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
328	holgerb	664	FC.Error[0] \|= FromFlightCtrl.Param.Byte[5];
		665	FC.Error[1] \|= FromFlightCtrl.Param.Byte[6];
		666	FC.Error[2] \|= FromFlightCtrl.Param.Byte[7];
		667	FC.Error[3] \|= FromFlightCtrl.Param.Byte[8];
		668	FC.Error[4] \|= FromFlightCtrl.Param.Byte[9];
320	holgerb	669	Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10];
338	holgerb	670	DebugOut.StatusGreen \|= AMPEL_FC; // status of FC Present
		671	DebugOut.StatusGreen \|= AMPEL_BL; // status of BL Present
		672	if(FC.Error[0] \|\| FC.Error[1] \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]) DebugOut.StatusRed \|= AMPEL_FC;
		673	else DebugOut.StatusRed &= ~AMPEL_FC;
41	ingob	674	break;
		675	default:
204	killagreg	676	break;
41	ingob	677	}
1	ingob	678
41	ingob	679	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	680	// and update GPSStick that are returned to FC
		681	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
255	killagreg	682	ClearFCStatusFlags = 1;
202	killagreg	683
180	killagreg	684	if(counter)
		685	{
		686	counter--; // count down to enable servo
202	killagreg	687	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	688	}
1	ingob	689
41	ingob	690	SPI_RxBuffer_Request = 0;
180	killagreg	691	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	692
62	killagreg	693	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		694	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	695	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		696	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	697	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	698	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		699	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		700	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		701	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	702	else // no new SPI data
202	killagreg	703	{
180	killagreg	704	if(CheckDelay(timeout) && (counter == 0))
		705	{
		706	TIMER2_Deinit(); // disable Servo Output
		707	counter = 50; // reset counter for enabling Servo Output
		708	}
		709	}
1	ingob	710	}
		711
41	ingob	712	//------------------------------------------------------
		713	void SPI0_GetFlightCtrlVersion(void)
		714	{
154	killagreg	715	u32 timeout;
		716	u8 repeat;
78	holgerb	717	u8 msg[64];
41	ingob	718
297	ingob	719	UART1_PutString("\r\n Looking for FlightControl");
41	ingob	720	FC_Version.Major = 0xFF;
		721	FC_Version.Minor = 0xFF;
		722	FC_Version.Patch = 0xFF;
		723	FC_Version.Compatible = 0xFF;
		724
165	killagreg	725	// polling FC version info
154	killagreg	726	repeat = 0;
41	ingob	727	do
		728	{
154	killagreg	729	timeout = SetDelay(250);
		730	do
		731	{
		732	SPI0_UpdateBuffer();
		733	if (FC_Version.Major != 0xFF) break;
		734	}while (!CheckDelay(timeout));
		735	UART1_PutString(".");
		736	repeat++;
329	holgerb	737	FCCalibActive = 1;
180	killagreg	738	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	739	// if we got it
		740	if (FC_Version.Major != 0xFF)
		741	{
242	killagreg	742	sprintf(msg, " FC V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10);
110	killagreg	743	UART1_PutString(msg);
41	ingob	744	}
242	killagreg	745	else UART1_PutString("\n\r not found!");
41	ingob	746	}
		747
		748

Subversion Repositories NaviCtrl

(root)/tags/V2.10c/spi_slave.c @ 811 - Rev 338