WebSVN - FlightCtrl - Blame - Rev 2302 - /branches/v0.90d_Ernstl

Rev	Author	Line No.	Line
2287	-	1	// ######################## SPI - FlightCtrl ###################
		2	#include "main.h"
		3	#include "eeprom.h"
		4
		5	//struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
		6	//struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
		7	struct str_ToNaviCtrl ToNaviCtrl;
		8	struct str_FromNaviCtrl FromNaviCtrl;
		9	struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
		10	struct str_SPI_VersionInfo NC_Version;
		11	struct str_GPSInfo GPSInfo;
		12
		13	unsigned char SPI_BufferIndex;
		14	unsigned char SPI_RxBufferIndex;
		15	signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
		16
		17	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
		18	unsigned char *SPI_TX_Buffer;
		19
		20	unsigned char SPITransferCompleted, SPI_ChkSum;
		21	unsigned char SPI_RxDataValid,NaviDataOkay = 250;
		22
		23	unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1,
		24	SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION,
		25	SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU,
		26	SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2
		27	};
		28	unsigned char SPI_CommandCounter = 0;
		29	unsigned char NC_ErrorCode = 0;
		30	unsigned char NC_GPS_ModeCharacter = ' ';
		31	unsigned char EarthMagneticField = 0;
		32	unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0;
		33	unsigned char NC_To_FC_Flags = 0;
		34	unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
		35	signed int POI_KameraNick = 0; // in 0,1�
		36	vector16_t MagVec = {0,0,0};
		37
		38	#ifdef USE_SPI_COMMUNICATION
		39
		40	//------------------------------------------------------
		41	void SPI_MasterInit(void)
		42	{
		43	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
		44	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
		45
		46	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
		47	SPSR = 0;//(1<<SPI2X);
		48
		49	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
		50	SPITransferCompleted = 1;
		51
		52	//SPDR = 0x00; // dummy write
		53
		54	ToNaviCtrl.Sync1 = 0xAA;
		55	ToNaviCtrl.Sync2 = 0x83;
		56
		57	ToNaviCtrl.Command = SPI_FCCMD_USER;
		58	ToNaviCtrl.IntegralNick = 0;
		59	ToNaviCtrl.IntegralRoll = 0;
		60	FromNaviCtrl_Value.SerialDataOkay = 0;
		61	SPI_RxDataValid = 0;
		62
		63	}
		64
		65	//------------------------------------------------------
		66	void SPI_StartTransmitPacket(void)
		67	{
		68	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
		69	if (!SPITransferCompleted) return;
		70	// _delay_us(30);
		71
		72	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		73	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
		74
		75	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		76	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
		77
		78	SPITransferCompleted = 0;
		79	UpdateSPI_Buffer(); // update buffer
		80
		81	SPI_BufferIndex = 1;
		82	// -- Debug-Output ---
		83	//----
		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");
		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");
		87	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
		88	SPDR = ToNaviCtrl.Sync1; // Start transmission
		89	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		90
		91	}
		92
		93	//------------------------------------------------------
		94	//SIGNAL(SIG_SPI)
		95	void SPI_TransmitByte(void)
		96	{
		97	static unsigned char SPI_RXState = 0;
		98	unsigned char rxdata;
		99	static unsigned char rxchksum;
		100
		101	if (SPITransferCompleted) return;
		102	if (!(SPSR & (1 << SPIF))) return;
		103	SendSPI = 4;
		104
		105	// _delay_us(30);
		106	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		107
		108	rxdata = SPDR;
		109	switch ( SPI_RXState)
		110	{
		111	case 0:
		112
		113	SPI_RxBufferIndex = 0;
		114	rxchksum = rxdata;
		115	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
		116
		117	break;
		118
		119	case 1:
		120	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
		121	else SPI_RXState = 0;
		122	break;
		123
		124	case 2:
		125	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
		126	//DebugOut.Analog[19]++;
		127	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
		128	{
		129
		130	if (rxdata == rxchksum)
		131	{
		132	unsigned char ptr = (unsigned char )&FromNaviCtrl;
		133	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
		134	SPI_RxDataValid = 1;
		135	}
		136	else
		137	{
		138	SPI_RxDataValid = 0;
		139	}
		140
		141
		142	SPI_RXState = 0;
		143	}
		144	else rxchksum += rxdata;
		145	break;
		146
		147	}
		148
		149	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
		150	{
		151	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
		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");
		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");
		155
		156	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
		157	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
		158	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
		159
		160	}
		161	else SPITransferCompleted = 1;
		162
		163	SPI_BufferIndex++;
		164	}
		165
		166
		167	//------------------------------------------------------
		168	void UpdateSPI_Buffer(void)
		169	{
		170	signed int tmp;
		171	static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION;
		172	ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
		173	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
		174	ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
		175	ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
		176	ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
		177	ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
		178	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
		179	// ToNaviCtrl.User8 = Parameter_UserParam8;
		180	// ToNaviCtrl.CalState = WinkelOut.CalcState;
		181	switch(ToNaviCtrl.Command) //
		182	{
		183	case SPI_FCCMD_USER:
		184	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
		185	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
		186	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
		187	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
		188	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
		189	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
		190	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
		191	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
		192	ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
		193	FC_StatusFlags &= ~(FC_STATUS_CALIBRATE \| FC_STATUS_START);
		194	ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
		195	ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
		196	ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
		197	break;
		198
		199	case SPI_FCCMD_ACCU:
		200	ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
		201	ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
		202	ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
		203	ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
		204	ToNaviCtrl.Param.Byte[6] = VarioCharacter;
		205	ToNaviCtrl.Param.Byte[7] = motorindex;
		206	ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
		207	ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
		208	ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
		209	ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current;
		210	motorindex %= 12;
		211	break;
		212	case SPI_FCCMD_PARAMETER1:
		213	ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard
		214	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
		215	ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
		216	ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
		217	ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
		218	ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
		219	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
		220	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
		221	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
		222	ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
		223	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
		224	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
		225	break;
		226	case SPI_FCCMD_PARAMETER2:
		227	ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviOut1Parameter; // Distance between Photo releases
		228	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		229	// create the ToNC_SpeakHoTT
		230	if(EE_Parameter.Receiver != RECEIVER_HOTT)
		231	{
		232	if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]);
		233	else HoTT_Waring();
		234	}
		235	ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT;
		236	#else
		237	ToNaviCtrl.Param.Byte[1] = 0;
		238	#endif
		239	break;
		240	case SPI_FCCMD_STICK:
		241	cli();
		242	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		243	ToNaviCtrl.Param.Byte[0] = (char) tmp;
		244	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		245	ToNaviCtrl.Param.Byte[1] = (char) tmp;
		246	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		247	ToNaviCtrl.Param.Byte[2] = (char) tmp;
		248	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
		249	sei();
		250	ToNaviCtrl.Param.Byte[3] = (char) tmp;
		251	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
		252	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
		253	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
		254	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
		255	ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
		256	ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
		257	ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
		258	ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
		259	break;
		260	case SPI_FCCMD_MISC:
		261	if(WinkelOut.CalcState > 5)
		262	{
		263	WinkelOut.CalcState = 0;
		264	ToNaviCtrl.Param.Byte[0] = 5;
		265	}
		266	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
		267	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
		268	ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
		269	ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
		270	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
		271	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
		272	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
		273	ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
		274	ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
		275	ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
		276	break;
		277	case SPI_FCCMD_VERSION:
		278	ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
		279	ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
		280	ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
		281	ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
		282	ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
		283	ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
		284	ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
		285	VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0;
		286	VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
		287	ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused
		288	ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig;
		289	ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig;
		290	ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
		291	ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
		292	break;
		293	case SPI_FCCMD_SERVOS:
		294	ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control
		295	ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
		296	ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
		297	ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
		298	ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
		299	ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
		300	ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
		301	ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
		302	ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
		303	ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
		304	ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
		305	ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
		306	break;
		307	}
		308
		309	if(SPI_RxDataValid)
		310	{
		311	if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250;
		312	oldcommand = FromNaviCtrl.Command;
		313	CalculateCompassTimer = 1;
		314	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
		315	{
		316	GPS_Nick = FromNaviCtrl.GPS_Nick;
		317	GPS_Roll = FromNaviCtrl.GPS_Roll;
		318	}
		319
		320	// update compass readings
		321	// MagVec.x = FromNaviCtrl.MagVecX;
		322	// MagVec.y = FromNaviCtrl.MagVecY;
		323	// MagVec.z = FromNaviCtrl.MagVecZ;
		324
		325	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
		326	// KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
		327
		328	if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
		329	switch (FromNaviCtrl.Command)
		330	{
		331	case SPI_NCCMD_KALMAN:
		332	FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
		333	FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
		334	FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
		335	KompassFusion = FromNaviCtrl.Param.sByte[3];
		336	FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
		337	FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
		338	FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
		339	GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
		340	if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
		341	{
		342	KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
		343	if(EE_Parameter.CamOrientation) // Kamera angle is not front
		344	{
		345	KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
		346	KompassSollWert %= 360;
		347	}
		348	}
		349	POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
		350	break;
		351	case SPI_NCCMD_VERSION:
		352	NC_Version.Major = FromNaviCtrl.Param.Byte[0];
		353	NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
		354	NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
		355	NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
		356	NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
		357	DebugOut.Status[0] \|= FromNaviCtrl.Param.Byte[5];
		358	DebugOut.Status[1] = (DebugOut.Status[1] & (0x01\|0x02)) \| (FromNaviCtrl.Param.Byte[6] & (0x04 \| 0x08));
		359	NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
		360	NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
		361	FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
		362	NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
		363	NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11];
		364	break;
		365	case SPI_NCCMD_GPSINFO:
		366	GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
		367	GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
		368	GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
		369	GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
		370	GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
		371	GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
		372	PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel)
		373	FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
		374	FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm
		375	break;
		376	case SPI_MISC:
		377	EarthMagneticField = FromNaviCtrl.Param.Byte[0];
		378	EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
		379	EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
		380	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		381	if(FromNaviCtrl.Param.Byte[3])
		382	if(!SpeakHoTT \|\| (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3];
		383	NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4];
		384	NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5];
		385	NaviData_TargetDistance = FromNaviCtrl.Param.Int[3];
		386	NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8];
		387	#endif
		388	break;
		389
		390	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		391	case SPI_NCCMD_HOTT_DATA:
		392	if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety();
		393	break;
		394	#endif
		395
		396	// 0 = 0,1
		397	// 1 = 2,3
		398	// 2 = 4,5
		399	// 3 = 6,7
		400	// 4 = 8,9
		401	// 5 = 10,11
		402	default:
		403	break;
		404	}
		405	}
		406	else
		407	{
		408	// KompassValue = 0;
		409	// KompassRichtung = 0;
		410	GPS_Nick = 0;
		411	GPS_Roll = 0;
		412	}
		413	}
		414
		415	#endif
		416
		417

Subversion Repositories FlightCtrl

(root)/branches/v0.90d_Ernstl_8-Motoren+Sexpander/spi.c - Rev 2302