Subversion Repositories FlightCtrl

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304 ingob 1
// ######################## SPI - FlightCtrl ###################
2
#include "main.h"
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;
8
struct str_ToNaviCtrl   ToNaviCtrl;
9
struct str_FromNaviCtrl   FromNaviCtrl;
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)
34
{
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
723 hbuss 39
  SPSR = 0;//(1<<SPI2X);
1051 killagreg 40
 
41
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
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;
1051 killagreg 48
 
1448 killagreg 49
  ToNaviCtrl.Command = SPI_FCCMD_USER;
823 ingob 50
  ToNaviCtrl.IntegralNick = 0;
51
  ToNaviCtrl.IntegralRoll = 0;
1215 hbuss 52
  FromNaviCtrl_Value.SerialDataOkay = 0;
1051 killagreg 53
  SPI_RxDataValid = 0;
54
 
304 ingob 55
}
56
 
57
//------------------------------------------------------
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;
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;
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
   //----
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");
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");
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
//------------------------------------------------------
87
//SIGNAL(SIG_SPI)
88
void SPI_TransmitByte(void)
89
{
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);
606 ingob 99
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 100
 
708 ingob 101
  rxdata = SPDR;
102
  switch ( SPI_RXState)
103
  {
1051 killagreg 104
  case 0:
105
 
106
                        SPI_RxBufferIndex = 0;
107
                        rxchksum = rxdata;
108
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
109
 
708 ingob 110
           break;
111
 
1051 killagreg 112
   case 1:
113
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
114
                 else SPI_RXState  = 0;
115
           break;
116
 
708 ingob 117
   case 2:
118
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
119
           //DebugOut.Analog[19]++;
1051 killagreg 120
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
121
                   {
122
 
708 ingob 123
                if (rxdata == rxchksum)
124
                        {
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;
133
//                        DebugOut.Analog[26]++;
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;
141
 
142
  }
143
 
144
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
145
     {
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");
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");
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
}
160
 
691 ingob 161
 
304 ingob 162
//------------------------------------------------------
163
void UpdateSPI_Buffer(void)
164
{
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));
168
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
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;
819 hbuss 172
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 173
//  ToNaviCtrl.User8 = Parameter_UserParam8;
174
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
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;
180
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
181
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
182
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
183
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
184
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
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);
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
195
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
196
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
197
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
198
        break;
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;
204
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
205
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
206
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
207
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
208
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 209
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
210
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
211
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
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];
228
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
229
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
230
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
231
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
232
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
233
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241 killagreg 234
                        break;
1448 killagreg 235
                case SPI_FCCMD_MISC:
1241 killagreg 236
                        if(WinkelOut.CalcState > 5)
237
                        {
238
                                WinkelOut.CalcState = 0;
239
                                ToNaviCtrl.Param.Byte[0] = 5;
240
                        }
241
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
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;
246
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
247
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
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;
254
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
255
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
256
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
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];
260
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2];
1765 killagreg 261
                        ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3];
262
                        ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4];
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;
267
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
268
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
269
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
270
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
271
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
272
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
273
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
274
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
275
                break;
276
        }
1856 killagreg 277
 
1215 hbuss 278
  if(SPI_RxDataValid)
1051 killagreg 279
  {
1852 killagreg 280
        NaviDataOkay = 250;
281
        CalculateCompassTimer = 1;
282
        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
283
        {
284
                GPS_Nick = FromNaviCtrl.GPS_Nick;
285
                GPS_Roll = FromNaviCtrl.GPS_Roll;
286
        }
1690 holgerb 287
 
1852 killagreg 288
        // update compass readings
1856 killagreg 289
        MagVec.x = FromNaviCtrl.MagVecX;
290
        MagVec.y = FromNaviCtrl.MagVecY;
291
        MagVec.z = FromNaviCtrl.MagVecZ;
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
          {
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];
303
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
304
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
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];
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
1856 killagreg 311
                         }
1861 holgerb 312
//                  if(CareFree)  POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel
313
//                      else  POI_KameraNick = 0;
314
                        POI_KameraNick = POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
1231 killagreg 315
                        break;
1448 killagreg 316
                case SPI_NCCMD_VERSION:
317
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
318
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
319
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
320
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
321
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
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:
328
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
329
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
330
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
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
341
// 2 = 4,5
342
// 3 = 6,7
343
// 4 = 8,9
344
// 5 = 10,11
823 ingob 345
                default:
1451 killagreg 346
                        break;
823 ingob 347
          }
720 ingob 348
  }
349
  else
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