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Rev | Author | Line No. | Line |
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304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
2 | #include "main.h" |
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1622 | killagreg | 3 | #include "eeprom.h" |
304 | ingob | 4 | |
5 | |||
823 | ingob | 6 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
7 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
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8 | struct str_ToNaviCtrl ToNaviCtrl; |
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9 | struct str_FromNaviCtrl FromNaviCtrl; |
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978 | hbuss | 10 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
1448 | killagreg | 11 | struct str_SPI_VersionInfo NC_Version; |
1451 | killagreg | 12 | struct str_GPSInfo GPSInfo; |
708 | ingob | 13 | |
304 | ingob | 14 | unsigned char SPI_BufferIndex; |
708 | ingob | 15 | unsigned char SPI_RxBufferIndex; |
1668 | holgerb | 16 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
606 | ingob | 17 | |
882 | hbuss | 18 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
823 | ingob | 19 | unsigned char *SPI_TX_Buffer; |
708 | ingob | 20 | |
617 | ingob | 21 | unsigned char SPITransferCompleted, SPI_ChkSum; |
1690 | holgerb | 22 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
720 | ingob | 23 | |
1509 | killagreg | 24 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
823 | ingob | 25 | unsigned char SPI_CommandCounter = 0; |
26 | |||
597 | ingob | 27 | #ifdef USE_SPI_COMMUNICATION |
691 | ingob | 28 | |
304 | ingob | 29 | //------------------------------------------------------ |
30 | void SPI_MasterInit(void) |
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31 | { |
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1051 | killagreg | 32 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
304 | ingob | 33 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
1051 | killagreg | 34 | |
35 | 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 | 36 | SPSR = 0;//(1<<SPI2X); |
1051 | killagreg | 37 | |
38 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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606 | ingob | 39 | SPITransferCompleted = 1; |
1051 | killagreg | 40 | |
708 | ingob | 41 | //SPDR = 0x00; // dummy write |
1051 | killagreg | 42 | |
823 | ingob | 43 | ToNaviCtrl.Sync1 = 0xAA; |
44 | ToNaviCtrl.Sync2 = 0x83; |
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1051 | killagreg | 45 | |
1448 | killagreg | 46 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
823 | ingob | 47 | ToNaviCtrl.IntegralNick = 0; |
48 | ToNaviCtrl.IntegralRoll = 0; |
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1215 | hbuss | 49 | FromNaviCtrl_Value.SerialDataOkay = 0; |
1051 | killagreg | 50 | SPI_RxDataValid = 0; |
51 | |||
304 | ingob | 52 | } |
53 | |||
54 | //------------------------------------------------------ |
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823 | ingob | 55 | void SPI_StartTransmitPacket(void) |
304 | ingob | 56 | { |
606 | ingob | 57 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
58 | if (!SPITransferCompleted) return; |
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1051 | killagreg | 59 | // _delay_us(30); |
60 | |||
304 | ingob | 61 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
823 | ingob | 62 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
1051 | killagreg | 63 | |
823 | ingob | 64 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
65 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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1051 | killagreg | 66 | |
606 | ingob | 67 | SPITransferCompleted = 0; |
304 | ingob | 68 | UpdateSPI_Buffer(); // update buffer |
823 | ingob | 69 | |
304 | ingob | 70 | SPI_BufferIndex = 1; |
1051 | killagreg | 71 | //ebugOut.Analog[16]++; |
304 | ingob | 72 | // -- Debug-Output --- |
73 | //---- |
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691 | ingob | 74 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
75 | 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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76 | 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 | 77 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
1051 | killagreg | 78 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
691 | ingob | 79 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
80 | |||
304 | ingob | 81 | } |
82 | |||
83 | //------------------------------------------------------ |
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84 | //SIGNAL(SIG_SPI) |
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85 | void SPI_TransmitByte(void) |
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86 | { |
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708 | ingob | 87 | static unsigned char SPI_RXState = 0; |
1051 | killagreg | 88 | unsigned char rxdata; |
708 | ingob | 89 | static unsigned char rxchksum; |
1051 | killagreg | 90 | |
691 | ingob | 91 | if (SPITransferCompleted) return; |
304 | ingob | 92 | if (!(SPSR & (1 << SPIF))) return; |
1051 | killagreg | 93 | SendSPI = 4; |
94 | |||
95 | // _delay_us(30); |
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606 | ingob | 96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
1051 | killagreg | 97 | |
708 | ingob | 98 | rxdata = SPDR; |
99 | switch ( SPI_RXState) |
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100 | { |
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1051 | killagreg | 101 | case 0: |
102 | |||
103 | SPI_RxBufferIndex = 0; |
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104 | rxchksum = rxdata; |
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105 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
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106 | |||
708 | ingob | 107 | break; |
108 | |||
1051 | killagreg | 109 | case 1: |
110 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
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111 | else SPI_RXState = 0; |
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112 | break; |
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113 | |||
708 | ingob | 114 | case 2: |
115 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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116 | //DebugOut.Analog[19]++; |
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1051 | killagreg | 117 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
118 | { |
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119 | |||
708 | ingob | 120 | if (rxdata == rxchksum) |
121 | { |
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823 | ingob | 122 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
1051 | killagreg | 123 | |
708 | ingob | 124 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
1051 | killagreg | 125 | |
126 | SPI_RxDataValid = 1; |
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127 | } |
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128 | else SPI_RxDataValid = 0; |
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129 | |||
130 | SPI_RXState = 0; |
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708 | ingob | 131 | } |
1051 | killagreg | 132 | else rxchksum += rxdata; |
133 | break; |
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134 | |||
135 | } |
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136 | |||
137 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
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138 | { |
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606 | ingob | 139 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
691 | ingob | 140 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
141 | 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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142 | 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 | 143 | |
708 | ingob | 144 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
823 | ingob | 145 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
691 | ingob | 146 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
147 | |||
606 | ingob | 148 | } |
1051 | killagreg | 149 | else SPITransferCompleted = 1; |
150 | |||
304 | ingob | 151 | SPI_BufferIndex++; |
152 | } |
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153 | |||
691 | ingob | 154 | |
304 | ingob | 155 | //------------------------------------------------------ |
156 | void UpdateSPI_Buffer(void) |
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157 | { |
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846 | hbuss | 158 | signed int tmp; |
1171 | hbuss | 159 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
160 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
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161 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
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1664 | holgerb | 162 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
1171 | hbuss | 163 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
164 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
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819 | hbuss | 165 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
823 | ingob | 166 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
167 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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1051 | killagreg | 168 | switch(ToNaviCtrl.Command) // |
823 | ingob | 169 | { |
1448 | killagreg | 170 | case SPI_FCCMD_USER: |
823 | ingob | 171 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
172 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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173 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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174 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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175 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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176 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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177 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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921 | hbuss | 178 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
1420 | killagreg | 179 | ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
180 | FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
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1622 | killagreg | 181 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
1668 | holgerb | 182 | ToNaviCtrl.Param.Byte[10] = ControlHeading; |
921 | hbuss | 183 | break; |
1241 | killagreg | 184 | |
1508 | killagreg | 185 | case SPI_FCCMD_ACCU: |
186 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
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187 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
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188 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
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189 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
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190 | break; |
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191 | |||
1448 | killagreg | 192 | case SPI_FCCMD_PARAMETER1: |
993 | hbuss | 193 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
1051 | killagreg | 194 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
195 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
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196 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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197 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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198 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
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199 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
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200 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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993 | hbuss | 201 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
202 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
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203 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
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1064 | hbuss | 204 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
823 | ingob | 205 | break; |
1241 | killagreg | 206 | |
1448 | killagreg | 207 | case SPI_FCCMD_STICK: |
1320 | hbuss | 208 | cli(); |
871 | hbuss | 209 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 210 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
871 | hbuss | 211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 212 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
871 | hbuss | 213 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
846 | hbuss | 214 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
871 | hbuss | 215 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
1320 | hbuss | 216 | sei(); |
846 | hbuss | 217 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
1377 | hbuss | 218 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
219 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
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220 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
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221 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
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222 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
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223 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
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224 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
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225 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
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1241 | killagreg | 226 | break; |
1448 | killagreg | 227 | case SPI_FCCMD_MISC: |
1241 | killagreg | 228 | if(WinkelOut.CalcState > 5) |
229 | { |
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230 | WinkelOut.CalcState = 0; |
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231 | ToNaviCtrl.Param.Byte[0] = 5; |
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232 | } |
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233 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
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1312 | hbuss | 234 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
1662 | killagreg | 235 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
1312 | hbuss | 236 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
237 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
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238 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
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239 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
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1377 | hbuss | 240 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
1600 | killagreg | 241 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
1377 | hbuss | 242 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
1241 | killagreg | 243 | break; |
1448 | killagreg | 244 | case SPI_FCCMD_VERSION: |
245 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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246 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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247 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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248 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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1241 | killagreg | 249 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
1702 | holgerb | 250 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
251 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
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252 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
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1241 | killagreg | 253 | break; |
1448 | killagreg | 254 | case SPI_FCCMD_SERVOS: |
1241 | killagreg | 255 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
256 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
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257 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
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258 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
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259 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
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260 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
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261 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
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262 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
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263 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
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264 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
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265 | break; |
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266 | } |
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267 | |||
1215 | hbuss | 268 | if(SPI_RxDataValid) |
1051 | killagreg | 269 | { |
1536 | killagreg | 270 | NaviDataOkay = 250; |
855 | hbuss | 271 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
854 | hbuss | 272 | { |
823 | ingob | 273 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
274 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
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854 | hbuss | 275 | } |
1690 | holgerb | 276 | |
277 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
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720 | ingob | 278 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
1051 | killagreg | 279 | |
855 | hbuss | 280 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
1051 | killagreg | 281 | |
823 | ingob | 282 | switch (FromNaviCtrl.Command) |
283 | { |
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1448 | killagreg | 284 | case SPI_NCCMD_KALMAN: |
1231 | killagreg | 285 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
286 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
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287 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
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288 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
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1283 | hbuss | 289 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
1664 | holgerb | 290 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
291 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
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1231 | killagreg | 292 | break; |
1448 | killagreg | 293 | |
294 | case SPI_NCCMD_VERSION: |
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295 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
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296 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
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297 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
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298 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
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299 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
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1702 | holgerb | 300 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
301 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
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1448 | killagreg | 302 | break; |
1451 | killagreg | 303 | |
304 | case SPI_NCCMD_GPSINFO: |
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305 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
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306 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
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307 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
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1690 | holgerb | 308 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
1472 | killagreg | 309 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
310 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
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1451 | killagreg | 311 | break; |
312 | |||
823 | ingob | 313 | default: |
1451 | killagreg | 314 | break; |
823 | ingob | 315 | } |
720 | ingob | 316 | } |
317 | else |
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318 | { |
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819 | hbuss | 319 | // KompassValue = 0; |
320 | // KompassRichtung = 0; |
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720 | ingob | 321 | GPS_Nick = 0; |
322 | GPS_Roll = 0; |
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323 | } |
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304 | ingob | 324 | } |
325 | |||
597 | ingob | 326 | #endif |
304 | ingob | 327 | |
328 |