Subversion Repositories FlightCtrl

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1233 thjac 1
// ######################## SPI - FlightCtrl ###################
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#include "main.h"
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//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
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//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
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struct str_ToNaviCtrl   ToNaviCtrl;
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struct str_FromNaviCtrl   FromNaviCtrl;
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struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
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struct str_SPI_VersionInfo SPI_VersionInfo;
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unsigned char              SPI_BufferIndex;
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unsigned char              SPI_RxBufferIndex;
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15
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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unsigned char *SPI_TX_Buffer;
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unsigned char SPITransferCompleted, SPI_ChkSum;
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unsigned char SPI_RxDataValid,NaviDataOkay = 0;
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unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION };
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unsigned char SPI_CommandCounter = 0;
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24
#ifdef USE_SPI_COMMUNICATION
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//------------------------------------------------------
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void SPI_MasterInit(void)
28
{
29
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
30
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
31
 
32
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
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  SPSR = 0;//(1<<SPI2X);
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35
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
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  SPITransferCompleted = 1;
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38
  //SPDR = 0x00;  // dummy write
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40
  ToNaviCtrl.Sync1 = 0xAA;
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  ToNaviCtrl.Sync2 = 0x83;
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43
  ToNaviCtrl.Command = SPI_CMD_USER;
44
  ToNaviCtrl.IntegralNick = 0;
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  ToNaviCtrl.IntegralRoll = 0;
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  FromNaviCtrl_Value.SerialDataOkay = 0;
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  SPI_RxDataValid = 0;
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49
  SPI_VersionInfo.Major = VERSION_MAJOR;
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  SPI_VersionInfo.Minor = VERSION_MINOR;
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  SPI_VersionInfo.Patch = VERSION_PATCH;
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  SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
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}
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55
//------------------------------------------------------
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void SPI_StartTransmitPacket(void)
57
{
58
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
59
   if (!SPITransferCompleted) return;
60
//   _delay_us(30);
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62
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
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65
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
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   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
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68
   SPITransferCompleted = 0;
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   UpdateSPI_Buffer();                              // update buffer
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71
   SPI_BufferIndex = 1;
72
  //ebugOut.Analog[16]++;
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   // -- Debug-Output ---
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   //----
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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   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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   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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   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
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   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
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//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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82
}
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//------------------------------------------------------
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//SIGNAL(SIG_SPI)
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void SPI_TransmitByte(void)
87
{
88
   static unsigned char SPI_RXState = 0;
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   unsigned char rxdata;
90
   static unsigned char rxchksum;
91
 
92
   if (SPITransferCompleted) return;
93
   if (!(SPSR & (1 << SPIF))) return;
94
  SendSPI = 4;
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96
//   _delay_us(30);
97
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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99
  rxdata = SPDR;
100
  switch ( SPI_RXState)
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  {
102
  case 0:
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                        SPI_RxBufferIndex = 0;
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                        //DebugOut.Analog[17]++;
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                        rxchksum = rxdata;
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                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
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           break;
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   case 1:
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                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
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                 else SPI_RXState  = 0;
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                        //DebugOut.Analog[18]++;
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           break;
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117
   case 2:
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                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
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           //DebugOut.Analog[19]++;
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           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
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                   {
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                if (rxdata == rxchksum)
124
                        {
125
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
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127
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
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                          SPI_RxDataValid = 1;
130
                        }
131
                        else SPI_RxDataValid = 0;
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                        SPI_RXState  = 0;
134
                   }
135
                  else rxchksum += rxdata;
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        break;
137
 
138
  }
139
 
140
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
141
     {
142
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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           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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           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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           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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           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
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           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
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        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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151
         }
152
         else SPITransferCompleted = 1;
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154
         SPI_BufferIndex++;
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}
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158
//------------------------------------------------------
159
void UpdateSPI_Buffer(void)
160
{
161
  signed int tmp;
162
  cli();
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164
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
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  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
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  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
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//  ToNaviCtrl.User8 = Parameter_UserParam8;
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//  ToNaviCtrl.CalState = WinkelOut.CalcState;
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173
   switch(ToNaviCtrl.Command)  //
174
   {
175
         case SPI_CMD_USER:
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                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
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                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
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                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
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                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
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                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
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                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
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                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
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                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
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                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
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                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
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                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
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                    ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
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                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
189
        break;
190
         case SPI_CMD_PARAMETER1:
191
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
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                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
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                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
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                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
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                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
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                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
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                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
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                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
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                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
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                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
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                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
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                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
203
            break;
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         case SPI_CMD_STICK:
205
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
206
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
207
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
208
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
209
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
210
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
211
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
212
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
213
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
214
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
215
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
216
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
217
                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
218
            break;
219
         case SPI_CMD_MISC:
220
                if(WinkelOut.CalcState > 5)
221
                  {
222
                    WinkelOut.CalcState = 0;
223
                    ToNaviCtrl.Param.Byte[0] = 5;
224
                  }
225
                                else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
226
                                ToNaviCtrl.Param.Int[1] = HoehenWert;
227
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
228
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit;
229
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit;
230
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsDLimit;
231
            break;
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233
         case SPI_CMD_VERSION:
234
                                ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
235
                                ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
236
                                ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
237
                                ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
238
                                ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
239
            break;
240
   }
241
 
242
  sei();
243
 
244
  if(SPI_RxDataValid)
245
  {
246
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
247
   {
248
    GPS_Nick = FromNaviCtrl.GPS_Nick;
249
    GPS_Roll = FromNaviCtrl.GPS_Roll;
250
        NaviDataOkay = 250;
251
   }
252
    if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
253
    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
254
 
255
    if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
256
 
257
          switch (FromNaviCtrl.Command)
258
          {
259
            case  SPI_KALMAN:
260
               FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0];
261
               FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1];
262
               FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2];
263
               FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
264
               break;
265
 
266
                default:
267
                  break;
268
          }
269
  }
270
  else
271
  {
272
//    KompassValue = 0;
273
//    KompassRichtung = 0;
274
        GPS_Nick = 0;
275
    GPS_Roll = 0;
276
  }
277
}
278
 
279
#endif
280
 
281