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Rev | Author | Line No. | Line |
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304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #include "main.h" |
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1622 | killagreg | 3 | #include "eeprom.h" |
304 | ingob | 4 | |
5 | |||
823 | ingob | 6 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
7 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
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8 | struct str_ToNaviCtrl ToNaviCtrl; |
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9 | struct str_FromNaviCtrl FromNaviCtrl; |
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978 | hbuss | 10 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
1448 | killagreg | 11 | struct str_SPI_VersionInfo NC_Version; |
1451 | killagreg | 12 | struct str_GPSInfo GPSInfo; |
708 | ingob | 13 | |
304 | ingob | 14 | unsigned char SPI_BufferIndex; |
708 | ingob | 15 | unsigned char SPI_RxBufferIndex; |
1668 | holgerb | 16 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 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 | |
1509 | killagreg | 24 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
823 | ingob | 25 | unsigned char SPI_CommandCounter = 0; |
1703 | holgerb | 26 | unsigned char NC_ErrorCode = 0; |
1840 | holgerb | 27 | signed int POI_KameraNick = 0; // in 0,1° |
1852 | killagreg | 28 | vector16_t MagVec = {0,0,0}; |
823 | ingob | 29 | |
597 | ingob | 30 | #ifdef USE_SPI_COMMUNICATION |
691 | ingob | 31 | |
304 | ingob | 32 | //------------------------------------------------------ |
33 | void SPI_MasterInit(void) |
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34 | { |
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1051 | killagreg | 35 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
304 | ingob | 36 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
1051 | killagreg | 37 | |
38 | 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 | 39 | SPSR = 0;//(1<<SPI2X); |
1051 | killagreg | 40 | |
41 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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606 | ingob | 42 | SPITransferCompleted = 1; |
1051 | killagreg | 43 | |
708 | ingob | 44 | //SPDR = 0x00; // dummy write |
1051 | killagreg | 45 | |
823 | ingob | 46 | ToNaviCtrl.Sync1 = 0xAA; |
47 | ToNaviCtrl.Sync2 = 0x83; |
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1051 | killagreg | 48 | |
1448 | killagreg | 49 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
823 | ingob | 50 | ToNaviCtrl.IntegralNick = 0; |
51 | ToNaviCtrl.IntegralRoll = 0; |
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1215 | hbuss | 52 | FromNaviCtrl_Value.SerialDataOkay = 0; |
1051 | killagreg | 53 | SPI_RxDataValid = 0; |
54 | |||
304 | ingob | 55 | } |
56 | |||
57 | //------------------------------------------------------ |
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823 | ingob | 58 | void SPI_StartTransmitPacket(void) |
304 | ingob | 59 | { |
606 | ingob | 60 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
61 | if (!SPITransferCompleted) return; |
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1051 | killagreg | 62 | // _delay_us(30); |
63 | |||
304 | ingob | 64 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
823 | ingob | 65 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
1051 | killagreg | 66 | |
823 | ingob | 67 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
68 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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1051 | killagreg | 69 | |
606 | ingob | 70 | SPITransferCompleted = 0; |
304 | ingob | 71 | UpdateSPI_Buffer(); // update buffer |
823 | ingob | 72 | |
304 | ingob | 73 | SPI_BufferIndex = 1; |
1051 | killagreg | 74 | //ebugOut.Analog[16]++; |
304 | ingob | 75 | // -- Debug-Output --- |
76 | //---- |
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691 | ingob | 77 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
78 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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79 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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823 | ingob | 80 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
1051 | killagreg | 81 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
691 | ingob | 82 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
83 | |||
304 | ingob | 84 | } |
85 | |||
86 | //------------------------------------------------------ |
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87 | //SIGNAL(SIG_SPI) |
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88 | void SPI_TransmitByte(void) |
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89 | { |
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708 | ingob | 90 | static unsigned char SPI_RXState = 0; |
1051 | killagreg | 91 | unsigned char rxdata; |
708 | ingob | 92 | static unsigned char rxchksum; |
1051 | killagreg | 93 | |
691 | ingob | 94 | if (SPITransferCompleted) return; |
304 | ingob | 95 | if (!(SPSR & (1 << SPIF))) return; |
1051 | killagreg | 96 | SendSPI = 4; |
97 | |||
98 | // _delay_us(30); |
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606 | ingob | 99 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
1051 | killagreg | 100 | |
708 | ingob | 101 | rxdata = SPDR; |
102 | switch ( SPI_RXState) |
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103 | { |
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1051 | killagreg | 104 | case 0: |
105 | |||
106 | SPI_RxBufferIndex = 0; |
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107 | rxchksum = rxdata; |
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108 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
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109 | |||
708 | ingob | 110 | break; |
111 | |||
1051 | killagreg | 112 | case 1: |
113 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
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114 | else SPI_RXState = 0; |
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115 | break; |
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116 | |||
708 | ingob | 117 | case 2: |
118 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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119 | //DebugOut.Analog[19]++; |
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1051 | killagreg | 120 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
121 | { |
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122 | |||
708 | ingob | 123 | if (rxdata == rxchksum) |
124 | { |
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823 | ingob | 125 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
708 | ingob | 126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
1051 | killagreg | 127 | SPI_RxDataValid = 1; |
1855 | holgerb | 128 | // DebugOut.Analog[26]--; |
1051 | killagreg | 129 | } |
1856 | killagreg | 130 | else |
1855 | holgerb | 131 | { |
132 | SPI_RxDataValid = 0; |
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133 | // DebugOut.Analog[26]++; |
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1856 | killagreg | 134 | } |
1051 | killagreg | 135 | |
1856 | killagreg | 136 | |
1051 | killagreg | 137 | SPI_RXState = 0; |
708 | ingob | 138 | } |
1051 | killagreg | 139 | else rxchksum += rxdata; |
140 | break; |
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141 | |||
142 | } |
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143 | |||
144 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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145 | { |
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606 | ingob | 146 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
691 | ingob | 147 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
148 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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149 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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1051 | killagreg | 150 | |
708 | ingob | 151 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
823 | ingob | 152 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
691 | ingob | 153 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
154 | |||
606 | ingob | 155 | } |
1051 | killagreg | 156 | else SPITransferCompleted = 1; |
157 | |||
304 | ingob | 158 | SPI_BufferIndex++; |
159 | } |
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160 | |||
691 | ingob | 161 | |
304 | ingob | 162 | //------------------------------------------------------ |
163 | void UpdateSPI_Buffer(void) |
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164 | { |
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846 | hbuss | 165 | signed int tmp; |
1171 | hbuss | 166 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
167 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
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168 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
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1664 | holgerb | 169 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 170 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
171 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
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819 | hbuss | 172 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
823 | ingob | 173 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
174 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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1051 | killagreg | 175 | switch(ToNaviCtrl.Command) // |
823 | ingob | 176 | { |
1448 | killagreg | 177 | case SPI_FCCMD_USER: |
823 | ingob | 178 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
179 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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180 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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181 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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182 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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183 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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184 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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921 | hbuss | 185 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
1765 | killagreg | 186 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
187 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
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1622 | killagreg | 188 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
1668 | holgerb | 189 | ToNaviCtrl.Param.Byte[10] = ControlHeading; |
1861 | holgerb | 190 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
921 | hbuss | 191 | break; |
1241 | killagreg | 192 | |
1508 | killagreg | 193 | case SPI_FCCMD_ACCU: |
194 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
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195 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
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196 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
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197 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
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198 | break; |
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199 | |||
1448 | killagreg | 200 | case SPI_FCCMD_PARAMETER1: |
993 | hbuss | 201 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
1051 | killagreg | 202 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
203 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
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204 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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205 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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206 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
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207 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
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208 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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993 | hbuss | 209 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
210 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
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211 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
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1064 | hbuss | 212 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
823 | ingob | 213 | break; |
1241 | killagreg | 214 | |
1448 | killagreg | 215 | case SPI_FCCMD_STICK: |
1320 | hbuss | 216 | cli(); |
871 | hbuss | 217 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 218 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
871 | hbuss | 219 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 220 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
871 | hbuss | 221 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 222 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
871 | hbuss | 223 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
1320 | hbuss | 224 | sei(); |
846 | hbuss | 225 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
1377 | hbuss | 226 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
227 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
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228 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
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229 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
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230 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
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231 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
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232 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
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233 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
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1241 | killagreg | 234 | break; |
1448 | killagreg | 235 | case SPI_FCCMD_MISC: |
1241 | killagreg | 236 | if(WinkelOut.CalcState > 5) |
237 | { |
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238 | WinkelOut.CalcState = 0; |
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239 | ToNaviCtrl.Param.Byte[0] = 5; |
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240 | } |
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241 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
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1312 | hbuss | 242 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
1662 | killagreg | 243 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
1312 | hbuss | 244 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
245 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
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246 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
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247 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
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1377 | hbuss | 248 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
1600 | killagreg | 249 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
1377 | hbuss | 250 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
1241 | killagreg | 251 | break; |
1448 | killagreg | 252 | case SPI_FCCMD_VERSION: |
253 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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254 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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255 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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256 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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1241 | killagreg | 257 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
1702 | holgerb | 258 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
259 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
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260 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
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1765 | killagreg | 261 | ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
262 | ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
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1241 | killagreg | 263 | break; |
1448 | killagreg | 264 | case SPI_FCCMD_SERVOS: |
1241 | killagreg | 265 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
266 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
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267 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
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268 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
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269 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
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270 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
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271 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
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272 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
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273 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
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274 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
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275 | break; |
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276 | } |
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1856 | killagreg | 277 | |
1215 | hbuss | 278 | if(SPI_RxDataValid) |
1051 | killagreg | 279 | { |
1852 | killagreg | 280 | NaviDataOkay = 250; |
281 | CalculateCompassTimer = 1; |
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282 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
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283 | { |
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284 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
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285 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
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286 | } |
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1690 | holgerb | 287 | |
1852 | killagreg | 288 | // update compass readings |
1856 | killagreg | 289 | MagVec.x = FromNaviCtrl.MagVecX; |
290 | MagVec.y = FromNaviCtrl.MagVecY; |
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291 | MagVec.z = FromNaviCtrl.MagVecZ; |
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1852 | killagreg | 292 | |
1690 | holgerb | 293 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
1837 | holgerb | 294 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
1051 | killagreg | 295 | |
1834 | holgerb | 296 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
1051 | killagreg | 297 | |
823 | ingob | 298 | switch (FromNaviCtrl.Command) |
299 | { |
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1448 | killagreg | 300 | case SPI_NCCMD_KALMAN: |
1231 | killagreg | 301 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
302 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
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303 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
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304 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
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1283 | hbuss | 305 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
1664 | holgerb | 306 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
307 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
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1852 | killagreg | 308 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
1840 | holgerb | 309 | { |
310 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
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1856 | killagreg | 311 | } |
1861 | holgerb | 312 | // if(CareFree) POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
313 | // else POI_KameraNick = 0; |
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314 | POI_KameraNick = POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
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1231 | killagreg | 315 | break; |
1448 | killagreg | 316 | case SPI_NCCMD_VERSION: |
317 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
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318 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
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319 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
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320 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
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321 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
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1702 | holgerb | 322 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
1703 | holgerb | 323 | NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
1702 | holgerb | 324 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
1856 | killagreg | 325 | break; |
1451 | killagreg | 326 | |
327 | case SPI_NCCMD_GPSINFO: |
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328 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
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329 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
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330 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
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1690 | holgerb | 331 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
1852 | killagreg | 332 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
1472 | killagreg | 333 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
1790 | holgerb | 334 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
1855 | holgerb | 335 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
1857 | holgerb | 336 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
1855 | holgerb | 337 | DebugOut.Analog[24] = SollHoehe/5; |
1451 | killagreg | 338 | break; |
1855 | holgerb | 339 | // 0 = 0,1 |
340 | // 1 = 2,3 |
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341 | // 2 = 4,5 |
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342 | // 3 = 6,7 |
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343 | // 4 = 8,9 |
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344 | // 5 = 10,11 |
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823 | ingob | 345 | default: |
1451 | killagreg | 346 | break; |
823 | ingob | 347 | } |
720 | ingob | 348 | } |
349 | else |
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350 | { |
||
819 | hbuss | 351 | // KompassValue = 0; |
352 | // KompassRichtung = 0; |
||
720 | ingob | 353 | GPS_Nick = 0; |
354 | GPS_Roll = 0; |
||
355 | } |
||
304 | ingob | 356 | } |
357 | |||
597 | ingob | 358 | #endif |
304 | ingob | 359 | |
360 |