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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 | |
2183 | holgerb | 23 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, |
24 | SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, |
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25 | SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU, |
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26 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2 |
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27 | }; |
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823 | ingob | 28 | unsigned char SPI_CommandCounter = 0; |
1703 | holgerb | 29 | unsigned char NC_ErrorCode = 0; |
1920 | holgerb | 30 | unsigned char NC_GPS_ModeCharacter = ' '; |
1972 | holgerb | 31 | unsigned char EarthMagneticField = 0; |
32 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
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2009 | holgerb | 33 | unsigned char NC_To_FC_Flags = 0; |
2034 | holgerb | 34 | unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
1840 | holgerb | 35 | signed int POI_KameraNick = 0; // in 0,1° |
1852 | killagreg | 36 | vector16_t MagVec = {0,0,0}; |
823 | ingob | 37 | |
597 | ingob | 38 | #ifdef USE_SPI_COMMUNICATION |
691 | ingob | 39 | |
304 | ingob | 40 | //------------------------------------------------------ |
41 | void SPI_MasterInit(void) |
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42 | { |
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1051 | killagreg | 43 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
304 | ingob | 44 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
1051 | killagreg | 45 | |
46 | 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 | 47 | SPSR = 0;//(1<<SPI2X); |
1051 | killagreg | 48 | |
49 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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606 | ingob | 50 | SPITransferCompleted = 1; |
1051 | killagreg | 51 | |
708 | ingob | 52 | //SPDR = 0x00; // dummy write |
1051 | killagreg | 53 | |
823 | ingob | 54 | ToNaviCtrl.Sync1 = 0xAA; |
55 | ToNaviCtrl.Sync2 = 0x83; |
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1051 | killagreg | 56 | |
1448 | killagreg | 57 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
823 | ingob | 58 | ToNaviCtrl.IntegralNick = 0; |
59 | ToNaviCtrl.IntegralRoll = 0; |
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1215 | hbuss | 60 | FromNaviCtrl_Value.SerialDataOkay = 0; |
1051 | killagreg | 61 | SPI_RxDataValid = 0; |
62 | |||
304 | ingob | 63 | } |
64 | |||
65 | //------------------------------------------------------ |
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823 | ingob | 66 | void SPI_StartTransmitPacket(void) |
304 | ingob | 67 | { |
606 | ingob | 68 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
69 | if (!SPITransferCompleted) return; |
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1051 | killagreg | 70 | // _delay_us(30); |
71 | |||
304 | ingob | 72 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
823 | ingob | 73 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
1051 | killagreg | 74 | |
823 | ingob | 75 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
76 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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1051 | killagreg | 77 | |
606 | ingob | 78 | SPITransferCompleted = 0; |
304 | ingob | 79 | UpdateSPI_Buffer(); // update buffer |
823 | ingob | 80 | |
304 | ingob | 81 | SPI_BufferIndex = 1; |
82 | // -- Debug-Output --- |
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83 | //---- |
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691 | ingob | 84 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
85 | 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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86 | 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 | 87 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
1051 | killagreg | 88 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
691 | ingob | 89 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
90 | |||
304 | ingob | 91 | } |
92 | |||
93 | //------------------------------------------------------ |
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94 | //SIGNAL(SIG_SPI) |
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95 | void SPI_TransmitByte(void) |
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96 | { |
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708 | ingob | 97 | static unsigned char SPI_RXState = 0; |
1051 | killagreg | 98 | unsigned char rxdata; |
708 | ingob | 99 | static unsigned char rxchksum; |
1051 | killagreg | 100 | |
691 | ingob | 101 | if (SPITransferCompleted) return; |
304 | ingob | 102 | if (!(SPSR & (1 << SPIF))) return; |
1051 | killagreg | 103 | SendSPI = 4; |
104 | |||
105 | // _delay_us(30); |
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606 | ingob | 106 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
1051 | killagreg | 107 | |
708 | ingob | 108 | rxdata = SPDR; |
109 | switch ( SPI_RXState) |
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110 | { |
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1051 | killagreg | 111 | case 0: |
112 | |||
113 | SPI_RxBufferIndex = 0; |
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114 | rxchksum = rxdata; |
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115 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
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116 | |||
708 | ingob | 117 | break; |
118 | |||
1051 | killagreg | 119 | case 1: |
120 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
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121 | else SPI_RXState = 0; |
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122 | break; |
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123 | |||
708 | ingob | 124 | case 2: |
125 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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126 | //DebugOut.Analog[19]++; |
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1051 | killagreg | 127 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
128 | { |
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129 | |||
708 | ingob | 130 | if (rxdata == rxchksum) |
131 | { |
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823 | ingob | 132 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
708 | ingob | 133 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
1051 | killagreg | 134 | SPI_RxDataValid = 1; |
135 | } |
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1856 | killagreg | 136 | else |
1855 | holgerb | 137 | { |
138 | SPI_RxDataValid = 0; |
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1856 | killagreg | 139 | } |
1051 | killagreg | 140 | |
1856 | killagreg | 141 | |
1051 | killagreg | 142 | SPI_RXState = 0; |
708 | ingob | 143 | } |
1051 | killagreg | 144 | else rxchksum += rxdata; |
145 | break; |
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146 | |||
147 | } |
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148 | |||
149 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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150 | { |
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606 | ingob | 151 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
2072 | holgerb | 152 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
153 | 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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154 | 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 | 155 | |
708 | ingob | 156 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
823 | ingob | 157 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
691 | ingob | 158 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
159 | |||
606 | ingob | 160 | } |
1051 | killagreg | 161 | else SPITransferCompleted = 1; |
162 | |||
304 | ingob | 163 | SPI_BufferIndex++; |
164 | } |
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165 | |||
691 | ingob | 166 | |
304 | ingob | 167 | //------------------------------------------------------ |
168 | void UpdateSPI_Buffer(void) |
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169 | { |
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846 | hbuss | 170 | signed int tmp; |
2150 | holgerb | 171 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION; |
1171 | hbuss | 172 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
173 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
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174 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
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1664 | holgerb | 175 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 176 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
177 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
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819 | hbuss | 178 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
823 | ingob | 179 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
180 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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1051 | killagreg | 181 | switch(ToNaviCtrl.Command) // |
823 | ingob | 182 | { |
1448 | killagreg | 183 | case SPI_FCCMD_USER: |
823 | ingob | 184 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
185 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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186 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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187 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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188 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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189 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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190 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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921 | hbuss | 191 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
1765 | killagreg | 192 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
2309 | holgerb | 193 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
1765 | killagreg | 194 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
2333 | holgerb | 195 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
1915 | holgerb | 196 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
1861 | holgerb | 197 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
921 | hbuss | 198 | break; |
1241 | killagreg | 199 | |
1508 | killagreg | 200 | case SPI_FCCMD_ACCU: |
201 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
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202 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
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203 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
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204 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
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1865 | holgerb | 205 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
2037 | holgerb | 206 | ToNaviCtrl.Param.Byte[7] = motorindex; |
207 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
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208 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
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1948 | holgerb | 209 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
210 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
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211 | motorindex %= 12; |
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1508 | killagreg | 212 | break; |
1448 | killagreg | 213 | case SPI_FCCMD_PARAMETER1: |
993 | hbuss | 214 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
1051 | killagreg | 215 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
216 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
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217 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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218 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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219 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
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220 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
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221 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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993 | hbuss | 222 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
223 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
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1936 | holgerb | 224 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
1064 | hbuss | 225 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
823 | ingob | 226 | break; |
2183 | holgerb | 227 | case SPI_FCCMD_PARAMETER2: |
228 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviOut1Parameter; // Distance between Photo releases |
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2190 | holgerb | 229 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 230 | // create the ToNC_SpeakHoTT |
231 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
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232 | { |
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233 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
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234 | else HoTT_Waring(); |
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235 | } |
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2190 | holgerb | 236 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
237 | #else |
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238 | ToNaviCtrl.Param.Byte[1] = 0; |
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239 | #endif |
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2183 | holgerb | 240 | break; |
1448 | killagreg | 241 | case SPI_FCCMD_STICK: |
1320 | hbuss | 242 | cli(); |
871 | hbuss | 243 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 244 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
871 | hbuss | 245 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 246 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
871 | hbuss | 247 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 248 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
871 | hbuss | 249 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
1320 | hbuss | 250 | sei(); |
846 | hbuss | 251 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
1377 | hbuss | 252 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
253 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
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254 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
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255 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
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256 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
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257 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
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258 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
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259 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
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1241 | killagreg | 260 | break; |
1448 | killagreg | 261 | case SPI_FCCMD_MISC: |
1241 | killagreg | 262 | if(WinkelOut.CalcState > 5) |
263 | { |
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264 | WinkelOut.CalcState = 0; |
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265 | ToNaviCtrl.Param.Byte[0] = 5; |
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266 | } |
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267 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
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1312 | hbuss | 268 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
1662 | killagreg | 269 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
1312 | hbuss | 270 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
271 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
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272 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
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273 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
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1377 | hbuss | 274 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
1600 | killagreg | 275 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
1377 | hbuss | 276 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
1241 | killagreg | 277 | break; |
1448 | killagreg | 278 | case SPI_FCCMD_VERSION: |
279 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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280 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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281 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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282 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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1241 | killagreg | 283 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
1702 | holgerb | 284 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
285 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
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2269 | holgerb | 286 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
1938 | holgerb | 287 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
2037 | holgerb | 288 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused |
289 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
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290 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
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1913 | holgerb | 291 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
2008 | holgerb | 292 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
1241 | killagreg | 293 | break; |
1448 | killagreg | 294 | case SPI_FCCMD_SERVOS: |
1241 | killagreg | 295 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
296 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
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297 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
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298 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
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299 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
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300 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
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301 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
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302 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
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303 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
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304 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
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1948 | holgerb | 305 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
306 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
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1241 | killagreg | 307 | break; |
308 | } |
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2010 | holgerb | 309 | |
1215 | hbuss | 310 | if(SPI_RxDataValid) |
1051 | killagreg | 311 | { |
2148 | holgerb | 312 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
313 | oldcommand = FromNaviCtrl.Command; |
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1852 | killagreg | 314 | CalculateCompassTimer = 1; |
315 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
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316 | { |
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317 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
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318 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
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319 | } |
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1690 | holgerb | 320 | |
1852 | killagreg | 321 | // update compass readings |
1936 | holgerb | 322 | // MagVec.x = FromNaviCtrl.MagVecX; |
323 | // MagVec.y = FromNaviCtrl.MagVecY; |
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324 | // MagVec.z = FromNaviCtrl.MagVecZ; |
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1852 | killagreg | 325 | |
1690 | holgerb | 326 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
1941 | holgerb | 327 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
1051 | killagreg | 328 | |
2029 | holgerb | 329 | if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
823 | ingob | 330 | switch (FromNaviCtrl.Command) |
331 | { |
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1448 | killagreg | 332 | case SPI_NCCMD_KALMAN: |
1231 | killagreg | 333 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
334 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
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335 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
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1944 | holgerb | 336 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
1283 | hbuss | 337 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
1664 | holgerb | 338 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
339 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
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1945 | holgerb | 340 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
1912 | holgerb | 341 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
1840 | holgerb | 342 | { |
343 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
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1876 | holgerb | 344 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
345 | { |
||
346 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
||
347 | KompassSollWert %= 360; |
||
348 | } |
||
1856 | killagreg | 349 | } |
1862 | holgerb | 350 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
1231 | killagreg | 351 | break; |
1448 | killagreg | 352 | case SPI_NCCMD_VERSION: |
353 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
||
354 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
||
355 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
||
356 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
||
357 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
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1702 | holgerb | 358 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
359 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
||
1920 | holgerb | 360 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
361 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
||
1944 | holgerb | 362 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
2009 | holgerb | 363 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
2034 | holgerb | 364 | NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
1856 | killagreg | 365 | break; |
1451 | killagreg | 366 | case SPI_NCCMD_GPSINFO: |
367 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
||
368 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
||
369 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
||
1690 | holgerb | 370 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
1852 | killagreg | 371 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
1472 | killagreg | 372 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
2240 | holgerb | 373 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
1855 | holgerb | 374 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
1857 | holgerb | 375 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
1451 | killagreg | 376 | break; |
1972 | holgerb | 377 | case SPI_MISC: |
378 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
||
379 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
||
380 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
||
2090 | holgerb | 381 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2179 | holgerb | 382 | if(FromNaviCtrl.Param.Byte[3]) |
2120 | holgerb | 383 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
2179 | holgerb | 384 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
385 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
||
386 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
||
387 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
||
2090 | holgerb | 388 | #endif |
389 | break; |
||
1972 | holgerb | 390 | |
1940 | holgerb | 391 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
392 | case SPI_NCCMD_HOTT_DATA: |
||
393 | if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
||
394 | break; |
||
395 | #endif |
||
396 | |||
1855 | holgerb | 397 | // 0 = 0,1 |
398 | // 1 = 2,3 |
||
399 | // 2 = 4,5 |
||
400 | // 3 = 6,7 |
||
401 | // 4 = 8,9 |
||
402 | // 5 = 10,11 |
||
823 | ingob | 403 | default: |
1451 | killagreg | 404 | break; |
823 | ingob | 405 | } |
720 | ingob | 406 | } |
407 | else |
||
408 | { |
||
819 | hbuss | 409 | // KompassValue = 0; |
410 | // KompassRichtung = 0; |
||
720 | ingob | 411 | GPS_Nick = 0; |
412 | GPS_Roll = 0; |
||
413 | } |
||
304 | ingob | 414 | } |
415 | |||
597 | ingob | 416 | #endif |
304 | ingob | 417 | |
418 |