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| Rev 717 | Rev 720 | ||
|---|---|---|---|
| Line 12... | Line 12... | ||
| 12 | 12 | ||
| 13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value)]; |
13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value)]; |
| Line 14... | Line 14... | ||
| 14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
| - | 15 | ||
| - | 16 | unsigned char SPITransferCompleted, SPI_ChkSum; |
|
| 15 | 17 | unsigned char SPI_RxDataValid; |
|
| Line 16... | Line 18... | ||
| 16 | unsigned char SPITransferCompleted, SPI_ChkSum; |
18 | |
| 17 | #ifdef USE_SPI_COMMUNICATION |
19 | #ifdef USE_SPI_COMMUNICATION |
| 18 | 20 | ||
| Line 28... | Line 30... | ||
| 28 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
30 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| 29 | SPITransferCompleted = 1; |
31 | SPITransferCompleted = 1; |
| Line 30... | Line 32... | ||
| 30 | 32 | ||
| Line 31... | Line 33... | ||
| 31 | //SPDR = 0x00; // dummy write |
33 | //SPDR = 0x00; // dummy write |
| 32 | 34 | ||
| Line 33... | Line 35... | ||
| 33 | ToNaviCtrl_Value.Sync1 = 0x81; |
35 | ToNaviCtrl_Value.Sync1 = 0xAA; |
| 34 | ToNaviCtrl_Value.Sync2 = 0x55; |
36 | ToNaviCtrl_Value.Sync2 = 0x83; |
| 35 | 37 | ||
| 36 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
38 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
| 37 | ToNaviCtrl_Value.IntegralNick = 12345; |
39 | ToNaviCtrl_Value.IntegralNick = 12345; |
| 38 | ToNaviCtrl_Value.IntegralRoll = 56789; |
40 | ToNaviCtrl_Value.IntegralRoll = 56789; |
| 39 | ToNaviCtrl_Value.StickNick = 100; |
41 | ToNaviCtrl_Value.StickNick = 100; |
| - | 42 | ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll; |
|
| 40 | ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll; |
43 | ToNaviCtrl_Value.StickGier = 200;//(char) StickGier; |
| Line 41... | Line 44... | ||
| 41 | ToNaviCtrl_Value.StickGier = 200;//(char) StickGier; |
44 | |
| 42 | 45 | SPI_RxDataValid = 0; |
|
| 43 | } |
46 | } |
| Line 123... | Line 126... | ||
| 123 | { |
126 | { |
| 124 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value; |
127 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value; |
| Line 125... | Line 128... | ||
| 125 | 128 | ||
| Line 126... | Line 129... | ||
| 126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
129 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| 127 | 130 | ||
| 128 | DebugOut.Analog[20]++; |
131 | SPI_RxDataValid = 1; |
| Line 129... | Line 132... | ||
| 129 | } |
132 | } |
| 130 | else DebugOut.Analog[21]++; |
133 | else SPI_RxDataValid = 0; |
| 131 | 134 | ||
| 132 | SPI_RXState = 0; |
135 | SPI_RXState = 0; |
| Line 164... | Line 167... | ||
| 164 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
167 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
| 165 | ToNaviCtrl_Value.StickNick = 4; |
168 | ToNaviCtrl_Value.StickNick = 4; |
| 166 | ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll; |
169 | ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll; |
| 167 | ToNaviCtrl_Value.StickGier = 6;//(char) StickGier; |
170 | ToNaviCtrl_Value.StickGier = 6;//(char) StickGier; |
| 168 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
171 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
| 169 | ToNaviCtrl_Value.User1 = EE_Parameter.UserParam1; |
172 | ToNaviCtrl_Value.User1 = Parameter_UserParam1; |
| 170 | ToNaviCtrl_Value.User2 = EE_Parameter.UserParam2; |
173 | ToNaviCtrl_Value.User2 = Parameter_UserParam2; |
| 171 | ToNaviCtrl_Value.User3 = EE_Parameter.UserParam3; |
174 | ToNaviCtrl_Value.User3 = Parameter_UserParam3; |
| 172 | ToNaviCtrl_Value.User4 = EE_Parameter.UserParam4; |
175 | ToNaviCtrl_Value.User4 = Parameter_UserParam4; |
| 173 | ToNaviCtrl_Value.User5 = EE_Parameter.UserParam5; |
176 | ToNaviCtrl_Value.User5 = Parameter_UserParam5; |
| 174 | ToNaviCtrl_Value.User6 = EE_Parameter.UserParam6; |
177 | ToNaviCtrl_Value.User6 = Parameter_UserParam6; |
| 175 | ToNaviCtrl_Value.User7 = EE_Parameter.UserParam7; |
178 | ToNaviCtrl_Value.User7 = Parameter_UserParam7; |
| 176 | ToNaviCtrl_Value.User8 = EE_Parameter.UserParam8; |
179 | ToNaviCtrl_Value.User8 = Parameter_UserParam8; |
| 177 | sei(); |
180 | sei(); |
| Line -... | Line 181... | ||
| - | 181 | ||
| - | 182 | if (SPI_RxDataValid) |
|
| 178 | 183 | { |
|
| 179 | DebugOut.Analog[30] = FromNaviCtrl_Value.GPS_Nick; |
184 | GPS_Nick = FromNaviCtrl_Value.GPS_Nick; |
| 180 | DebugOut.Analog[31] = FromNaviCtrl_Value.GPS_Roll; |
185 | GPS_Roll = FromNaviCtrl_Value.GPS_Roll; |
| 181 | KompassValue = FromNaviCtrl_Value.CompassValue; |
186 | KompassValue = FromNaviCtrl_Value.CompassValue; |
| - | 187 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
| - | 188 | ||
| - | 189 | if (FromNaviCtrl_Value.BeepTime != 0) beeptime = FromNaviCtrl_Value.BeepTime; |
|
| - | 190 | } |
|
| - | 191 | else |
|
| - | 192 | { |
|
| - | 193 | KompassValue = 0; |
|
| - | 194 | KompassRichtung = 0; |
|
| - | 195 | ||
| - | 196 | GPS_Nick = 0; |
|
| - | 197 | GPS_Roll = 0; |
|
| 182 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
198 | } |
| Line 183... | Line 199... | ||
| 183 | } |
199 | } |