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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 | |
823 | ingob | 5 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
6 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
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7 | struct str_ToNaviCtrl ToNaviCtrl; |
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8 | struct str_FromNaviCtrl FromNaviCtrl; |
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978 | hbuss | 9 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
1448 | killagreg | 10 | struct str_SPI_VersionInfo NC_Version; |
1451 | killagreg | 11 | struct str_GPSInfo GPSInfo; |
708 | ingob | 12 | |
2008 | holgerb | 13 | unsigned char SPI_BufferIndex; |
14 | unsigned char SPI_RxBufferIndex; |
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1668 | holgerb | 15 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
606 | ingob | 16 | |
882 | hbuss | 17 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
823 | ingob | 18 | unsigned char *SPI_TX_Buffer; |
708 | ingob | 19 | |
617 | ingob | 20 | unsigned char SPITransferCompleted, SPI_ChkSum; |
1690 | holgerb | 21 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
720 | ingob | 22 | |
1509 | killagreg | 23 | 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 | 24 | unsigned char SPI_CommandCounter = 0; |
1703 | holgerb | 25 | unsigned char NC_ErrorCode = 0; |
1920 | holgerb | 26 | unsigned char NC_GPS_ModeCharacter = ' '; |
1972 | holgerb | 27 | unsigned char EarthMagneticField = 0; |
28 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
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2009 | holgerb | 29 | unsigned char NC_To_FC_Flags = 0; |
1840 | holgerb | 30 | signed int POI_KameraNick = 0; // in 0,1° |
1852 | killagreg | 31 | vector16_t MagVec = {0,0,0}; |
823 | ingob | 32 | |
597 | ingob | 33 | #ifdef USE_SPI_COMMUNICATION |
691 | ingob | 34 | |
304 | ingob | 35 | //------------------------------------------------------ |
36 | void SPI_MasterInit(void) |
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37 | { |
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1051 | killagreg | 38 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
304 | ingob | 39 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
1051 | killagreg | 40 | |
41 | 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 | 42 | SPSR = 0;//(1<<SPI2X); |
1051 | killagreg | 43 | |
44 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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606 | ingob | 45 | SPITransferCompleted = 1; |
1051 | killagreg | 46 | |
708 | ingob | 47 | //SPDR = 0x00; // dummy write |
1051 | killagreg | 48 | |
823 | ingob | 49 | ToNaviCtrl.Sync1 = 0xAA; |
50 | ToNaviCtrl.Sync2 = 0x83; |
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1051 | killagreg | 51 | |
1448 | killagreg | 52 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
823 | ingob | 53 | ToNaviCtrl.IntegralNick = 0; |
54 | ToNaviCtrl.IntegralRoll = 0; |
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1215 | hbuss | 55 | FromNaviCtrl_Value.SerialDataOkay = 0; |
1051 | killagreg | 56 | SPI_RxDataValid = 0; |
57 | |||
304 | ingob | 58 | } |
59 | |||
60 | //------------------------------------------------------ |
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823 | ingob | 61 | void SPI_StartTransmitPacket(void) |
304 | ingob | 62 | { |
606 | ingob | 63 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
64 | if (!SPITransferCompleted) return; |
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1051 | killagreg | 65 | // _delay_us(30); |
66 | |||
304 | ingob | 67 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
823 | ingob | 68 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
1051 | killagreg | 69 | |
823 | ingob | 70 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
71 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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1051 | killagreg | 72 | |
606 | ingob | 73 | SPITransferCompleted = 0; |
304 | ingob | 74 | UpdateSPI_Buffer(); // update buffer |
823 | ingob | 75 | |
304 | ingob | 76 | SPI_BufferIndex = 1; |
1051 | killagreg | 77 | //ebugOut.Analog[16]++; |
304 | ingob | 78 | // -- Debug-Output --- |
79 | //---- |
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691 | ingob | 80 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
81 | 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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82 | 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 | 83 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
1051 | killagreg | 84 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
691 | ingob | 85 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
86 | |||
304 | ingob | 87 | } |
88 | |||
89 | //------------------------------------------------------ |
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90 | //SIGNAL(SIG_SPI) |
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91 | void SPI_TransmitByte(void) |
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92 | { |
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708 | ingob | 93 | static unsigned char SPI_RXState = 0; |
1051 | killagreg | 94 | unsigned char rxdata; |
708 | ingob | 95 | static unsigned char rxchksum; |
1051 | killagreg | 96 | |
691 | ingob | 97 | if (SPITransferCompleted) return; |
304 | ingob | 98 | if (!(SPSR & (1 << SPIF))) return; |
1051 | killagreg | 99 | SendSPI = 4; |
100 | |||
101 | // _delay_us(30); |
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606 | ingob | 102 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
1051 | killagreg | 103 | |
708 | ingob | 104 | rxdata = SPDR; |
105 | switch ( SPI_RXState) |
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106 | { |
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1051 | killagreg | 107 | case 0: |
108 | |||
109 | SPI_RxBufferIndex = 0; |
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110 | rxchksum = rxdata; |
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111 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
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112 | |||
708 | ingob | 113 | break; |
114 | |||
1051 | killagreg | 115 | case 1: |
116 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
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117 | else SPI_RXState = 0; |
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118 | break; |
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119 | |||
708 | ingob | 120 | case 2: |
121 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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122 | //DebugOut.Analog[19]++; |
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1051 | killagreg | 123 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
124 | { |
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125 | |||
708 | ingob | 126 | if (rxdata == rxchksum) |
127 | { |
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823 | ingob | 128 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
708 | ingob | 129 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
1051 | killagreg | 130 | SPI_RxDataValid = 1; |
131 | } |
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1856 | killagreg | 132 | else |
1855 | holgerb | 133 | { |
134 | SPI_RxDataValid = 0; |
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1856 | killagreg | 135 | } |
1051 | killagreg | 136 | |
1856 | killagreg | 137 | |
1051 | killagreg | 138 | SPI_RXState = 0; |
708 | ingob | 139 | } |
1051 | killagreg | 140 | else rxchksum += rxdata; |
141 | break; |
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142 | |||
143 | } |
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144 | |||
145 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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146 | { |
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606 | ingob | 147 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
691 | ingob | 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"); |
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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150 | 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 | 151 | |
708 | ingob | 152 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
823 | ingob | 153 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
691 | ingob | 154 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
155 | |||
606 | ingob | 156 | } |
1051 | killagreg | 157 | else SPITransferCompleted = 1; |
158 | |||
304 | ingob | 159 | SPI_BufferIndex++; |
160 | } |
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161 | |||
691 | ingob | 162 | |
304 | ingob | 163 | //------------------------------------------------------ |
164 | void UpdateSPI_Buffer(void) |
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165 | { |
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846 | hbuss | 166 | signed int tmp; |
1948 | holgerb | 167 | static unsigned char motorindex; |
1171 | hbuss | 168 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
169 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
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170 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
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1664 | holgerb | 171 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 172 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
173 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
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819 | hbuss | 174 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
823 | ingob | 175 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
176 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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1051 | killagreg | 177 | switch(ToNaviCtrl.Command) // |
823 | ingob | 178 | { |
1448 | killagreg | 179 | case SPI_FCCMD_USER: |
823 | ingob | 180 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
181 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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182 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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183 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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184 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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185 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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186 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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921 | hbuss | 187 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
1765 | killagreg | 188 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
189 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
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1622 | killagreg | 190 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
1915 | holgerb | 191 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
1861 | holgerb | 192 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
921 | hbuss | 193 | break; |
1241 | killagreg | 194 | |
1508 | killagreg | 195 | case SPI_FCCMD_ACCU: |
196 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
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197 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
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198 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
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199 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
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1865 | holgerb | 200 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
1916 | holgerb | 201 | ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig; |
202 | ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig; |
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1948 | holgerb | 203 | ToNaviCtrl.Param.Byte[9] = motorindex; |
204 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
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205 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
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206 | motorindex %= 12; |
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1508 | killagreg | 207 | break; |
1448 | killagreg | 208 | case SPI_FCCMD_PARAMETER1: |
993 | hbuss | 209 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
1051 | killagreg | 210 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
211 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
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212 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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213 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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214 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
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215 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
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216 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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993 | hbuss | 217 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
218 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
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1936 | holgerb | 219 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
1064 | hbuss | 220 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
823 | ingob | 221 | break; |
1241 | killagreg | 222 | |
1448 | killagreg | 223 | case SPI_FCCMD_STICK: |
1320 | hbuss | 224 | cli(); |
871 | hbuss | 225 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 226 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
871 | hbuss | 227 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 228 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
871 | hbuss | 229 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 230 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
871 | hbuss | 231 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
1320 | hbuss | 232 | sei(); |
846 | hbuss | 233 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
1377 | hbuss | 234 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
235 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
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236 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
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237 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
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238 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
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239 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
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240 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
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241 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
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1241 | killagreg | 242 | break; |
1448 | killagreg | 243 | case SPI_FCCMD_MISC: |
1241 | killagreg | 244 | if(WinkelOut.CalcState > 5) |
245 | { |
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246 | WinkelOut.CalcState = 0; |
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247 | ToNaviCtrl.Param.Byte[0] = 5; |
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248 | } |
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249 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
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1312 | hbuss | 250 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
1662 | killagreg | 251 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
1312 | hbuss | 252 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
253 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
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254 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
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255 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
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1377 | hbuss | 256 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
1600 | killagreg | 257 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
1377 | hbuss | 258 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
1241 | killagreg | 259 | break; |
1448 | killagreg | 260 | case SPI_FCCMD_VERSION: |
261 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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262 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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263 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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264 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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1241 | killagreg | 265 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
1702 | holgerb | 266 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
267 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
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1938 | holgerb | 268 | VersionInfo.HardwareError[0] = 0; |
269 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
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1702 | holgerb | 270 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
1765 | killagreg | 271 | ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
272 | ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
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1913 | holgerb | 273 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
2008 | holgerb | 274 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
1241 | killagreg | 275 | break; |
1448 | killagreg | 276 | case SPI_FCCMD_SERVOS: |
1241 | killagreg | 277 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
278 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
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279 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
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280 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
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281 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
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282 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
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283 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
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284 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
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285 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
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286 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
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1948 | holgerb | 287 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
288 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
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1241 | killagreg | 289 | break; |
290 | } |
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2010 | holgerb | 291 | |
1215 | hbuss | 292 | if(SPI_RxDataValid) |
1051 | killagreg | 293 | { |
1852 | killagreg | 294 | NaviDataOkay = 250; |
295 | CalculateCompassTimer = 1; |
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296 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
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297 | { |
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298 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
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299 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
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300 | } |
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1690 | holgerb | 301 | |
1852 | killagreg | 302 | // update compass readings |
1936 | holgerb | 303 | // MagVec.x = FromNaviCtrl.MagVecX; |
304 | // MagVec.y = FromNaviCtrl.MagVecY; |
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305 | // MagVec.z = FromNaviCtrl.MagVecZ; |
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1852 | killagreg | 306 | |
1690 | holgerb | 307 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
1941 | holgerb | 308 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
1051 | killagreg | 309 | |
2029 | holgerb | 310 | if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
823 | ingob | 311 | switch (FromNaviCtrl.Command) |
312 | { |
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1448 | killagreg | 313 | case SPI_NCCMD_KALMAN: |
1231 | killagreg | 314 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
315 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
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316 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
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1944 | holgerb | 317 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
1283 | hbuss | 318 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
1664 | holgerb | 319 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
320 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
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1945 | holgerb | 321 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
1912 | holgerb | 322 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
1840 | holgerb | 323 | { |
324 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
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1876 | holgerb | 325 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
326 | { |
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327 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
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328 | KompassSollWert %= 360; |
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329 | } |
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1856 | killagreg | 330 | } |
1862 | holgerb | 331 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
1231 | killagreg | 332 | break; |
1448 | killagreg | 333 | case SPI_NCCMD_VERSION: |
334 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
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335 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
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336 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
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337 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
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338 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
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1702 | holgerb | 339 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
340 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
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1920 | holgerb | 341 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
342 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
||
1944 | holgerb | 343 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
2009 | holgerb | 344 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
1972 | holgerb | 345 | // = FromNaviCtrl.Param.Byte[11]; |
1856 | killagreg | 346 | break; |
1451 | killagreg | 347 | case SPI_NCCMD_GPSINFO: |
348 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
||
349 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
||
350 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
||
1690 | holgerb | 351 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
1852 | killagreg | 352 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
1472 | killagreg | 353 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
1790 | holgerb | 354 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
1855 | holgerb | 355 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
1857 | holgerb | 356 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
1451 | killagreg | 357 | break; |
1972 | holgerb | 358 | case SPI_MISC: |
359 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
||
360 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
||
361 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
||
362 | break; |
||
363 | |||
1940 | holgerb | 364 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
365 | case SPI_NCCMD_HOTT_DATA: |
||
366 | if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
||
367 | break; |
||
368 | #endif |
||
369 | |||
1855 | holgerb | 370 | // 0 = 0,1 |
371 | // 1 = 2,3 |
||
372 | // 2 = 4,5 |
||
373 | // 3 = 6,7 |
||
374 | // 4 = 8,9 |
||
375 | // 5 = 10,11 |
||
823 | ingob | 376 | default: |
1451 | killagreg | 377 | break; |
823 | ingob | 378 | } |
720 | ingob | 379 | } |
380 | else |
||
381 | { |
||
819 | hbuss | 382 | // KompassValue = 0; |
383 | // KompassRichtung = 0; |
||
720 | ingob | 384 | GPS_Nick = 0; |
385 | GPS_Roll = 0; |
||
386 | } |
||
304 | ingob | 387 | } |
388 | |||
597 | ingob | 389 | #endif |
304 | ingob | 390 | |
391 |