WebSVN - FlightCtrl - Diff - Rev 1316 and 1320 - /branches/V0.82a_ACC-HH



 
//------------------------------------------------------
void UpdateSPI_Buffer(void)
{
 
 
  signed int tmp;
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
//  ToNaviCtrl.User8 = Parameter_UserParam8;
 
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
   switch(ToNaviCtrl.Command)  //
   {
         case SPI_CMD_USER:
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;

                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
            break;

 
         case SPI_CMD_STICK:
              cli();
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
              sei();
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
                    ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderRSSI;
                                ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4; //GasMischanteil
 
                        break;
                case SPI_CMD_MISC:
                        if(WinkelOut.CalcState > 5)
                        {
                                WinkelOut.CalcState = 0;
                                ToNaviCtrl.Param.Byte[0] = 5;
                        }
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
                        ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5;
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;

                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
                break;
        }

 
 
 
  if(SPI_RxDataValid)
  {
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
   {

Rev 1316	Rev 1320
Line 157...	Line 157...
157		157
158	//------------------------------------------------------	158	//------------------------------------------------------
159	void UpdateSPI_Buffer(void)	159	void UpdateSPI_Buffer(void)
160	{	160	{
161	signed int tmp;	-
162	cli();	-
163		161	signed int tmp;
164	ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));	162	ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
165	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));	163	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
166	ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;	164	ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
167	ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;	165	ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
168	ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;	166	ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
169	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;	167	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
170	// ToNaviCtrl.User8 = Parameter_UserParam8;	168	// ToNaviCtrl.User8 = Parameter_UserParam8;
171	// ToNaviCtrl.CalState = WinkelOut.CalcState;	-
172		169	// ToNaviCtrl.CalState = WinkelOut.CalcState;
173	switch(ToNaviCtrl.Command) //	170	switch(ToNaviCtrl.Command) //
174	{	171	{
175	case SPI_CMD_USER:	172	case SPI_CMD_USER:
176	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;	173	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
Line 202...	Line 199...
202	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;	199	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
203	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;	200	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
204	break;	201	break;
Line 205...	Line 202...
205		202
-		203	case SPI_CMD_STICK:
206	case SPI_CMD_STICK:	204	cli();
207	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	205	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
208	ToNaviCtrl.Param.Byte[0] = (char) tmp;	206	ToNaviCtrl.Param.Byte[0] = (char) tmp;
209	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	207	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
210	ToNaviCtrl.Param.Byte[1] = (char) tmp;	208	ToNaviCtrl.Param.Byte[1] = (char) tmp;
211	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	209	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
212	ToNaviCtrl.Param.Byte[2] = (char) tmp;	210	ToNaviCtrl.Param.Byte[2] = (char) tmp;
-		211	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
213	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;	212	sei();
214	ToNaviCtrl.Param.Byte[3] = (char) tmp;	213	ToNaviCtrl.Param.Byte[3] = (char) tmp;
215	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;	214	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
216	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;	215	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
217	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;	216	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
218	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;	217	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
219	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;	218	ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
220	ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderRSSI;	219	ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderRSSI;
221	ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4;	220	ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4; //GasMischanteil
222	break;	-
223		221	break;
224	case SPI_CMD_MISC:	222	case SPI_CMD_MISC:
225	if(WinkelOut.CalcState > 5)	223	if(WinkelOut.CalcState > 5)
226	{	224	{
227	WinkelOut.CalcState = 0;	225	WinkelOut.CalcState = 0;
228	ToNaviCtrl.Param.Byte[0] = 5;	226	ToNaviCtrl.Param.Byte[0] = 5;
229	}	227	}
230	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;	228	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
231	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;	229	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
232	ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);	230	ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5;
233	ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);	231	ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
234	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;	232	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
235	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;	233	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
236	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;	234	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
Line 256...	Line 254...
256	ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;	254	ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
257	ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;	255	ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
258	break;	256	break;
259	}	257	}
Line 260...	Line -...
260		-
261	sei();	-
262		258
263	if(SPI_RxDataValid)	259	if(SPI_RxDataValid)
264	{	260	{
265	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))	261	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
266	{	262	{

Subversion Repositories FlightCtrl

(root)/branches/V0.82a_ACC-HH_MartinR/spi.c @ 1797 - Rev 1316 → 1320