WebSVN - NaviCtrl - Diff - Rev 451 and 454



                                ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
                                ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
                                ToFlightCtrl.Param.Byte[4] = Version_HW;
                                ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen;
                                ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed;
                                ToFlightCtrl.Param.Byte[7] = ErrorCode;                          // muss in SPI_NCCMD_VERSION bleiben! (siehe oben)
                                ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
                                ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;
                                ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags;
                                if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work
                                else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude;

                                ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
                                ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
                                ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
                                ToFlightCtrl.Param.Int[2]  = NaviData.HomePositionDeviation.Distance; // dm   //4&5
                                ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing;  // deg  //6&7
                                if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;    // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben)
                                if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged
                                ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
                                FC_WP_EventChannel = 0; // the GPS-Routine will set it again
                                if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
                                {

                                Logging_FCStatusFlags1 |= FC.StatusFlags;
                                Logging_FCStatusFlags2 |= FC.StatusFlags2;
                                Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
                                break;

 
                        case SPI_FCCMD_BL_ACCU:
                                FC.BAT_Current = FromFlightCtrl.Param.Int[0];
                                FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
                                FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
                                Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[5];
                                FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
                                Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8];
                                Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9];
                                Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10];

                                NaviData.UBat = FC.BAT_Voltage;
                                NaviData.Current = FC.BAT_Current;
                                NaviData.UsedCapacity = FC.BAT_UsedCapacity;
                                break;
                        case SPI_FCCMD_PARAMETER1:
                                Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0];
                                CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
                                CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
                                CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
                                CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
                                CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);

                                CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
                                break;
                        case SPI_FCCMD_PARAMETER2:
                                CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255);
                                if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1];     // will be cleared in the SD-Logging
                Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2];
                                break;
                        case SPI_FCCMD_STICK:
                                FC.StickGas     = FromFlightCtrl.Param.sByte[0];
                                FC.StickYaw     = FromFlightCtrl.Param.sByte[1];
                                FC.StickRoll    = FromFlightCtrl.Param.sByte[2];

                                NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
                                CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
                                CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
                                CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
                                FC.RC_Quality   = FromFlightCtrl.Param.Byte[9];
                                NaviData.RC_Quality = FC.RC_Quality;
//FromFlightCtrl.Param.Byte[10];
 
//                              FC.RC_RSSI              = FromFlightCtrl.Param.Byte[10];
//                              if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
//                              NaviData.RC_RSSI = FC.RC_RSSI;
                                NaviData.Gas    = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
                                break;

 

Subversion Repositories NaviCtrl

(root)/tags/V2.16a/spi_slave.c @ 796 - Rev 451 → 454

Rev 451		Rev 454
Line 369...		Line 369...
369	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;	369	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
370	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;	370	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
371	ToFlightCtrl.Param.Byte[4] = Version_HW;	371	ToFlightCtrl.Param.Byte[4] = Version_HW;
372	ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen;	372	ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen;
373	ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed;	373	ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed;
374	ToFlightCtrl.Param.Byte[7] = ErrorCode;	374	ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben)
375	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;	375	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
376	ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;	376	ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;
377	ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags;	377	ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags;
378	if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work	378	if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work
379	else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude;	379	else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude;
Line 398...		Line 398...
398	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;	398	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
399	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;	399	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
400	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s	400	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
401	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5	401	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
402	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7	402	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
403	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;	403	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben)
404	if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged	404	if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged
405	ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);	405	ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
406	FC_WP_EventChannel = 0; // the GPS-Routine will set it again	406	FC_WP_EventChannel = 0; // the GPS-Routine will set it again
407	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))	407	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
408	{	408	{
Line 564...		Line 564...
564	Logging_FCStatusFlags1 \|= FC.StatusFlags;	564	Logging_FCStatusFlags1 \|= FC.StatusFlags;
565	Logging_FCStatusFlags2 \|= FC.StatusFlags2;	565	Logging_FCStatusFlags2 \|= FC.StatusFlags2;
566	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];	566	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
567	break;	567	break;
Line 568...		Line 568...
568		568
569	case SPI_FCCMD_ACCU:	569	case SPI_FCCMD_BL_ACCU:
570	FC.BAT_Current = FromFlightCtrl.Param.Int[0];	570	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
571	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];	571	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
572	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];	572	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
573	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];	573	Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[5];
574	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];	574	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
575	Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8];	575	Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8];
576	Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9];	576	Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9];
577	Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10];	577	Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10];
Line 583...		Line 583...
583	NaviData.UBat = FC.BAT_Voltage;	583	NaviData.UBat = FC.BAT_Voltage;
584	NaviData.Current = FC.BAT_Current;	584	NaviData.Current = FC.BAT_Current;
585	NaviData.UsedCapacity = FC.BAT_UsedCapacity;	585	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
586	break;	586	break;
587	case SPI_FCCMD_PARAMETER1:	587	case SPI_FCCMD_PARAMETER1:
588	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);	588	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0];
589	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);	589	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
590	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);	590	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
591	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);	591	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
592	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);	592	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
593	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);	593	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
Line 599...		Line 599...
599	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);	599	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
600	break;	600	break;
601	case SPI_FCCMD_PARAMETER2:	601	case SPI_FCCMD_PARAMETER2:
602	CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255);	602	CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255);
603	if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging	603	if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging
-		604	Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2];
604	break;	605	break;
605	case SPI_FCCMD_STICK:	606	case SPI_FCCMD_STICK:
606	FC.StickGas = FromFlightCtrl.Param.sByte[0];	607	FC.StickGas = FromFlightCtrl.Param.sByte[0];
607	FC.StickYaw = FromFlightCtrl.Param.sByte[1];	608	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
608	FC.StickRoll = FromFlightCtrl.Param.sByte[2];	609	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
Line 634...		Line 635...
634	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm	635	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
635	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);	636	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
636	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);	637	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
637	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);	638	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
638	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];	639	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
-		640	NaviData.RC_Quality = FC.RC_Quality;
-		641	//FromFlightCtrl.Param.Byte[10];
-		642
639	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];	643	// FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
640	if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;	644	// if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
641	// NaviData.RC_RSSI = FC.RC_RSSI;	645	// NaviData.RC_RSSI = FC.RC_RSSI;
642	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;	646	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
643	break;	647	break;
Line 644...		Line 648...
644		648