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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2506 | - | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #include "main.h" |
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| 3 | #include "eeprom.h" |
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| 4 | |||
| 5 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
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| 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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| 9 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
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| 10 | struct str_SPI_VersionInfo NC_Version; |
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| 11 | struct str_GPSInfo GPSInfo; |
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| 12 | |||
| 13 | unsigned char SPI_BufferIndex; |
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| 14 | unsigned char SPI_RxBufferIndex; |
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| 15 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
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| 16 | signed char FromNC_WP_EventChannel_New = 0; |
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| 17 | |||
| 18 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
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| 19 | unsigned char *SPI_TX_Buffer; |
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| 20 | |||
| 21 | unsigned char SPITransferCompleted, SPI_ChkSum; |
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| 22 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
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| 23 | |||
| 24 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW, |
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| 25 | SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU, |
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| 26 | SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS, |
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| 27 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
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| 28 | }; |
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| 29 | unsigned char SPI_CommandCounter = 0; |
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| 30 | unsigned char NC_ErrorCode = 0; |
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| 31 | unsigned char NC_GPS_ModeCharacter = ' '; |
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| 32 | unsigned char EarthMagneticField = 0; |
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| 33 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
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| 34 | unsigned char NC_To_FC_Flags = 0; |
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| 35 | //unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
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| 36 | signed int POI_KameraNick = 0; // in 0,1° |
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| 37 | vector16_t MagVec = {0,0,0}; |
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| 38 | |||
| 39 | #ifdef USE_SPI_COMMUNICATION |
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| 40 | |||
| 41 | //------------------------------------------------------ |
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| 42 | void SPI_MasterInit(void) |
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| 43 | { |
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| 44 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
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| 45 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
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| 46 | |||
| 47 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
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| 48 | SPSR = 0;//(1<<SPI2X); |
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| 49 | |||
| 50 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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| 51 | SPITransferCompleted = 1; |
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| 52 | |||
| 53 | //SPDR = 0x00; // dummy write |
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| 54 | |||
| 55 | ToNaviCtrl.Sync1 = 0xAA; |
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| 56 | ToNaviCtrl.Sync2 = 0x83; |
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| 57 | |||
| 58 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
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| 59 | ToNaviCtrl.IntegralNick = 0; |
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| 60 | ToNaviCtrl.IntegralRoll = 0; |
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| 61 | FromNaviCtrl_Value.SerialDataOkay = 0; |
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| 62 | SPI_RxDataValid = 0; |
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| 63 | |||
| 64 | } |
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| 65 | |||
| 66 | //------------------------------------------------------ |
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| 67 | unsigned char SPI_StartTransmitPacket(void) |
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| 68 | { |
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| 69 | if(!SPITransferCompleted) return(0); |
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| 70 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 71 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
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| 72 | |||
| 73 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 74 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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| 75 | |||
| 76 | SPITransferCompleted = 0; |
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| 77 | UpdateSPI_Buffer(); // update buffer |
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| 78 | SPI_BufferIndex = 1; |
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| 79 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
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| 80 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
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| 81 | return(1); |
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| 82 | } |
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| 83 | |||
| 84 | //------------------------------------------------------ |
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| 85 | //SIGNAL(SIG_SPI) |
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| 86 | void SPI_TransmitByte(void) |
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| 87 | { |
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| 88 | static unsigned char SPI_RXState = 0; |
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| 89 | unsigned char rxdata; |
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| 90 | static unsigned char rxchksum; |
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| 91 | |||
| 92 | if (SPITransferCompleted) return; |
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| 93 | if (!(SPSR & (1 << SPIF))) return; |
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| 94 | BytegapSPI = SPI_BYTEGAP; |
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| 95 | // _delay_us(30); |
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| 96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
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| 97 | |||
| 98 | rxdata = SPDR; |
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| 99 | switch ( SPI_RXState) |
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| 100 | { |
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| 101 | case 0: |
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| 102 | SPI_RxBufferIndex = 0; |
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| 103 | rxchksum = rxdata; |
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| 104 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
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| 105 | |||
| 106 | break; |
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| 107 | |||
| 108 | case 1: |
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| 109 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
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| 110 | else SPI_RXState = 0; |
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| 111 | break; |
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| 112 | |||
| 113 | case 2: |
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| 114 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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| 115 | //DebugOut.Analog[19]++; |
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| 116 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
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| 117 | { |
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| 118 | if (rxdata == rxchksum) |
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| 119 | { |
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| 120 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
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| 121 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
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| 122 | SPI_RxDataValid = 1; |
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| 123 | } |
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| 124 | else |
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| 125 | { |
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| 126 | SPI_RxDataValid = 0; |
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| 127 | } |
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| 128 | SPI_RXState = 0; |
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| 129 | } |
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| 130 | else rxchksum += rxdata; |
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| 131 | break; |
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| 132 | |||
| 133 | } |
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| 134 | |||
| 135 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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| 136 | { |
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| 137 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 138 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
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| 139 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
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| 140 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
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| 141 | } |
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| 142 | else SPITransferCompleted = 1; |
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| 143 | |||
| 144 | SPI_BufferIndex++; |
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| 145 | } |
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| 146 | |||
| 147 | |||
| 148 | //------------------------------------------------------ |
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| 149 | void UpdateSPI_Buffer(void) |
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| 150 | { |
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| 151 | signed int tmp; |
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| 152 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command; |
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| 153 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
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| 154 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
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| 155 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
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| 156 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
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| 157 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
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| 158 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
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| 159 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
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| 160 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
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| 161 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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| 162 | switch(ToNaviCtrl.Command) // |
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| 163 | { |
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| 164 | case SPI_FCCMD_USER: |
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| 165 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
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| 166 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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| 167 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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| 168 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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| 169 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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| 170 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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| 171 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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| 172 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
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| 173 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
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| 174 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
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| 175 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
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| 176 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
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| 177 | ToNaviCtrl.Param.Byte[10] = (unsigned char) UBat; // 0.1V |
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| 178 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
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| 179 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
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| 180 | break; |
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| 181 | case SPI_FCCMD_BL_ACCU: |
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| 182 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
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| 183 | ToNaviCtrl.Param.Byte[2] = motorindex; |
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| 184 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
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| 185 | ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
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| 186 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
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| 187 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
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| 188 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
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| 189 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
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| 190 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
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| 191 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
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| 192 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
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| 193 | |||
| 194 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
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| 195 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
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| 196 | break; |
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| 197 | case SPI_FCCMD_SLOW: |
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| 198 | switch(slow_command) |
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| 199 | { |
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| 200 | case 0: |
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| 201 | ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; slow_command = 1; |
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| 202 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
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| 203 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
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| 204 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
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| 205 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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| 206 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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| 207 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
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| 208 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
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| 209 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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| 210 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
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| 211 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
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| 212 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
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| 213 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
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| 214 | break; |
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| 215 | default: |
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| 216 | ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; slow_command = 0; |
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| 217 | ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
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| 218 | ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
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| 219 | ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
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| 220 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
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| 221 | ToNaviCtrl.Param.Byte[7] = HoverGas / 4; |
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| 222 | ToNaviCtrl.Param.Byte[8] = 0; |
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| 223 | ToNaviCtrl.Param.Byte[9] = 0; |
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| 224 | ToNaviCtrl.Param.Byte[10] = 0; |
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| 225 | ToNaviCtrl.Param.Byte[11] = 0; |
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| 226 | break; |
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| 227 | } |
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| 228 | break; |
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| 229 | case SPI_FCCMD_PARAMETER2: |
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| 230 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
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| 231 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 232 | // create the ToNC_SpeakHoTT |
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| 233 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
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| 234 | { |
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| 235 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
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| 236 | else HoTT_Waring(); |
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| 237 | } |
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| 238 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
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| 239 | #else |
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| 240 | ToNaviCtrl.Param.Byte[1] = 0; |
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| 241 | #endif |
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| 242 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.LandingSpeed; |
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| 243 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ComingHomeAltitude; |
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| 244 | ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
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| 245 | ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
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| 246 | ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
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| 247 | ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
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| 248 | ToNC_Load_WP_List = 0; |
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| 249 | ToNC_Load_SingePoint = 0; |
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| 250 | ToNC_Store_SingePoint = 0; |
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| 251 | if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
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| 252 | else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
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| 253 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.AutoPhotoAtitudes; |
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| 254 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
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| 255 | break; |
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| 256 | case SPI_FCCMD_STICK: |
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| 257 | cli(); |
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| 258 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
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| 259 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
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| 260 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
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| 261 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
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| 262 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
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| 263 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
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| 264 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
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| 265 | sei(); |
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| 266 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
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| 267 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
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| 268 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
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| 269 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
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| 270 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
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| 271 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
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| 272 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
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| 273 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
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| 274 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
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| 275 | break; |
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| 276 | case SPI_FCCMD_MISC: |
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| 277 | if(WinkelOut.CalcState >= 5) |
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| 278 | { |
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| 279 | WinkelOut.CalcState = 0; |
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| 280 | ToNaviCtrl.Param.Byte[0] = 5; |
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| 281 | } |
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| 282 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
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| 283 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
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| 284 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
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| 285 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
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| 286 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
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| 287 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
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| 288 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
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| 289 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
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| 290 | ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
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| 291 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
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| 292 | break; |
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| 293 | case SPI_FCCMD_VERSION: |
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| 294 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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| 295 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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| 296 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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| 297 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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| 298 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
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| 299 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
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| 300 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
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| 301 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
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| 302 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
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| 303 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
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| 304 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
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| 305 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
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| 306 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
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| 307 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
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| 308 | break; |
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| 309 | case SPI_FCCMD_SERVOS: |
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| 310 | ToNaviCtrl.Param.Int[0] = Capacity.UsedCapacity; // mAh |
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| 311 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
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| 312 | ToNaviCtrl.Param.Byte[3] = Parameter_ServoRollControl; |
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| 313 | ToNaviCtrl.Param.Byte[4] = DebugOut.Analog[28]; // I2C-Error counter |
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| 314 | ToNaviCtrl.Param.Byte[5] = FC_StatusFlags3; |
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| 315 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviDescendRange; // in 10m |
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| 316 | ToNaviCtrl.Param.Byte[7] = Parameter_MaximumAltitude; |
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| 317 | ToNaviCtrl.Param.Int[4] = FlugMinutenGesamt; // 8 & 9 |
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| 318 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.CamOrientation; |
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| 319 | ToNaviCtrl.Param.Byte[11] = VersionInfo.BL_Firmware; |
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| 320 | break; |
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| 321 | } |
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| 322 | |||
| 323 | if(SPI_RxDataValid) |
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| 324 | { |
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| 325 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
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| 326 | oldcommand = FromNaviCtrl.Command; |
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| 327 | CalculateCompassTimer = 1; |
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| 328 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
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| 329 | { |
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| 330 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
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| 331 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
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| 332 | } |
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| 333 | |||
| 334 | // update compass readings |
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| 335 | // MagVec.x = FromNaviCtrl.MagVecX; |
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| 336 | // MagVec.y = FromNaviCtrl.MagVecY; |
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| 337 | // MagVec.z = FromNaviCtrl.MagVecZ; |
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| 338 | |||
| 339 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
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| 340 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
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| 341 | |||
| 342 | if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
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| 343 | switch (FromNaviCtrl.Command) |
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| 344 | { |
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| 345 | case SPI_NCCMD_KALMAN: |
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| 346 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
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| 347 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
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| 348 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
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| 349 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
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| 350 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
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| 351 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
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| 352 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
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| 353 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
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| 354 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
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| 355 | { |
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| 356 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
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| 357 | /* |
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| 358 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
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| 359 | { |
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| 360 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
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| 361 | KompassSollWert %= 360; |
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| 362 | } |
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| 363 | */ |
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| 364 | } |
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| 365 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
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| 366 | break; |
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| 367 | case SPI_NCCMD_VERSION: |
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| 368 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
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| 369 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
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| 370 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
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| 371 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
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| 372 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
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| 373 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
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| 374 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
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| 375 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
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| 376 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
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| 377 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
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| 378 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
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| 379 | //NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
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| 380 | break; |
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| 381 | case SPI_NCCMD_GPSINFO: |
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| 382 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
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| 383 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
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| 384 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
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| 385 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
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| 386 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
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| 387 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
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| 388 | if((signed char) PPM_in[WP_EVENT_PPM_IN] == -127) // zuletzt war der WP-Event auf Null |
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| 389 | { |
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| 390 | if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
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| 391 | } |
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| 392 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
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| 393 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
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| 394 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
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| 395 | break; |
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| 396 | case SPI_MISC: |
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| 397 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
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| 398 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
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| 399 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
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| 400 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 401 | if(FromNaviCtrl.Param.Byte[3]) |
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| 402 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
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| 403 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
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| 404 | #endif |
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| 405 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
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| 406 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
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| 407 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
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| 408 | NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
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| 409 | CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
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| 410 | break; |
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| 411 | |||
| 412 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 413 | case SPI_NCCMD_HOTT_DATA: |
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| 414 | //if(EE_Parameter.Receiver == RECEIVER_HOTT) |
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| 415 | NC_Fills_HoTT_Telemety(); |
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| 416 | break; |
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| 417 | #endif |
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| 418 | |||
| 419 | // 0 = 0,1 |
||
| 420 | // 1 = 2,3 |
||
| 421 | // 2 = 4,5 |
||
| 422 | // 3 = 6,7 |
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| 423 | // 4 = 8,9 |
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| 424 | // 5 = 10,11 |
||
| 425 | default: |
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| 426 | break; |
||
| 427 | } |
||
| 428 | } |
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| 429 | else |
||
| 430 | { |
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| 431 | // KompassValue = 0; |
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| 432 | // KompassRichtung = 0; |
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| 433 | GPS_Nick = 0; |
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| 434 | GPS_Roll = 0; |
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| 435 | } |
||
| 436 | } |
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| 437 | |||
| 438 | #endif |
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| 439 | |||
| 440 |