Subversion Repositories FlightCtrl

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304 ingob 1
// ######################## SPI - FlightCtrl ###################
2
#include "main.h"
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;
7
struct str_ToNaviCtrl   ToNaviCtrl;
8
struct str_FromNaviCtrl   FromNaviCtrl;
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
 
304 ingob 13
unsigned char              SPI_BufferIndex;
708 ingob 14
unsigned char              SPI_RxBufferIndex;
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
 
1509 killagreg 23
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 24
unsigned char SPI_CommandCounter = 0;
1703 holgerb 25
unsigned char NC_ErrorCode = 0;
1920 holgerb 26
unsigned char NC_GPS_ModeCharacter = ' ';
1972 holgerb 27
unsigned char EarthMagneticField = 0;
28
unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0;
1840 holgerb 29
signed int POI_KameraNick = 0; // in 0,1°
1852 killagreg 30
vector16_t MagVec = {0,0,0};
823 ingob 31
 
597 ingob 32
#ifdef USE_SPI_COMMUNICATION
691 ingob 33
 
304 ingob 34
//------------------------------------------------------
35
void SPI_MasterInit(void)
36
{
1051 killagreg 37
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
304 ingob 38
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
1051 killagreg 39
 
40
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
723 hbuss 41
  SPSR = 0;//(1<<SPI2X);
1051 killagreg 42
 
43
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
606 ingob 44
  SPITransferCompleted = 1;
1051 killagreg 45
 
708 ingob 46
  //SPDR = 0x00;  // dummy write
1051 killagreg 47
 
823 ingob 48
  ToNaviCtrl.Sync1 = 0xAA;
49
  ToNaviCtrl.Sync2 = 0x83;
1051 killagreg 50
 
1448 killagreg 51
  ToNaviCtrl.Command = SPI_FCCMD_USER;
823 ingob 52
  ToNaviCtrl.IntegralNick = 0;
53
  ToNaviCtrl.IntegralRoll = 0;
1215 hbuss 54
  FromNaviCtrl_Value.SerialDataOkay = 0;
1051 killagreg 55
  SPI_RxDataValid = 0;
56
 
304 ingob 57
}
58
 
59
//------------------------------------------------------
823 ingob 60
void SPI_StartTransmitPacket(void)
304 ingob 61
{
606 ingob 62
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
63
   if (!SPITransferCompleted) return;
1051 killagreg 64
//   _delay_us(30);
65
 
304 ingob 66
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 67
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051 killagreg 68
 
823 ingob 69
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
70
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051 killagreg 71
 
606 ingob 72
   SPITransferCompleted = 0;
304 ingob 73
   UpdateSPI_Buffer();                              // update buffer
823 ingob 74
 
304 ingob 75
   SPI_BufferIndex = 1;
1051 killagreg 76
  //ebugOut.Analog[16]++;
304 ingob 77
   // -- Debug-Output ---
78
   //----
691 ingob 79
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
80
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
81
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
823 ingob 82
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051 killagreg 83
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
691 ingob 84
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
85
 
304 ingob 86
}
87
 
88
//------------------------------------------------------
89
//SIGNAL(SIG_SPI)
90
void SPI_TransmitByte(void)
91
{
708 ingob 92
   static unsigned char SPI_RXState = 0;
1051 killagreg 93
   unsigned char rxdata;
708 ingob 94
   static unsigned char rxchksum;
1051 killagreg 95
 
691 ingob 96
   if (SPITransferCompleted) return;
304 ingob 97
   if (!(SPSR & (1 << SPIF))) return;
1051 killagreg 98
  SendSPI = 4;
99
 
100
//   _delay_us(30);
606 ingob 101
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 102
 
708 ingob 103
  rxdata = SPDR;
104
  switch ( SPI_RXState)
105
  {
1051 killagreg 106
  case 0:
107
 
108
                        SPI_RxBufferIndex = 0;
109
                        rxchksum = rxdata;
110
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
111
 
708 ingob 112
           break;
113
 
1051 killagreg 114
   case 1:
115
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
116
                 else SPI_RXState  = 0;
117
           break;
118
 
708 ingob 119
   case 2:
120
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
121
           //DebugOut.Analog[19]++;
1051 killagreg 122
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
123
                   {
124
 
708 ingob 125
                if (rxdata == rxchksum)
126
                        {
823 ingob 127
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
708 ingob 128
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
1051 killagreg 129
                          SPI_RxDataValid = 1;
130
                        }
1856 killagreg 131
                        else
1855 holgerb 132
                         {
133
                          SPI_RxDataValid = 0;
1856 killagreg 134
                         }
1051 killagreg 135
 
1856 killagreg 136
 
1051 killagreg 137
                        SPI_RXState  = 0;
708 ingob 138
                   }
1051 killagreg 139
                  else rxchksum += rxdata;
140
        break;
141
 
142
  }
143
 
144
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
145
     {
606 ingob 146
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
691 ingob 147
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
148
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
149
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
1051 killagreg 150
 
708 ingob 151
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 152
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
691 ingob 153
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
154
 
606 ingob 155
         }
1051 killagreg 156
         else SPITransferCompleted = 1;
157
 
304 ingob 158
         SPI_BufferIndex++;
159
}
160
 
691 ingob 161
 
304 ingob 162
//------------------------------------------------------
163
void UpdateSPI_Buffer(void)
164
{
846 hbuss 165
  signed int tmp;
1948 holgerb 166
  static unsigned char motorindex;
1171 hbuss 167
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
168
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
169
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
1664 holgerb 170
  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
1171 hbuss 171
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
172
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819 hbuss 173
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 174
//  ToNaviCtrl.User8 = Parameter_UserParam8;
175
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
1051 killagreg 176
   switch(ToNaviCtrl.Command)  //
823 ingob 177
   {
1448 killagreg 178
         case SPI_FCCMD_USER:
823 ingob 179
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
180
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
181
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
182
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
183
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
184
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
185
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921 hbuss 186
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
1765 killagreg 187
                                ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
188
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
1622 killagreg 189
                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
1915 holgerb 190
                                ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
1861 holgerb 191
                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
921 hbuss 192
        break;
1241 killagreg 193
 
1508 killagreg 194
     case SPI_FCCMD_ACCU:
195
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
196
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
197
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
198
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
1865 holgerb 199
                                ToNaviCtrl.Param.Byte[6] = VarioCharacter;
1916 holgerb 200
                                ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig;
201
                                ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig;
1948 holgerb 202
                                ToNaviCtrl.Param.Byte[9] = motorindex;
203
                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
204
                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current;
205
                                motorindex %= 12;
1508 killagreg 206
        break;
1448 killagreg 207
         case SPI_FCCMD_PARAMETER1:
993 hbuss 208
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 209
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
210
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
211
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
212
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
213
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
214
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
215
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 216
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
217
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
1936 holgerb 218
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
1064 hbuss 219
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
823 ingob 220
            break;
1241 killagreg 221
 
1448 killagreg 222
         case SPI_FCCMD_STICK:
1320 hbuss 223
              cli();
871 hbuss 224
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 225
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
871 hbuss 226
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 227
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
871 hbuss 228
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 229
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
871 hbuss 230
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
1320 hbuss 231
              sei();
846 hbuss 232
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
1377 hbuss 233
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
234
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
235
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
236
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
237
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
238
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
239
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
240
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241 killagreg 241
                        break;
1448 killagreg 242
                case SPI_FCCMD_MISC:
1241 killagreg 243
                        if(WinkelOut.CalcState > 5)
244
                        {
245
                                WinkelOut.CalcState = 0;
246
                                ToNaviCtrl.Param.Byte[0] = 5;
247
                        }
248
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
1312 hbuss 249
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
1662 killagreg 250
                        ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
1312 hbuss 251
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
252
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
253
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
254
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
1377 hbuss 255
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
1600 killagreg 256
            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
1377 hbuss 257
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241 killagreg 258
                        break;
1448 killagreg 259
                case SPI_FCCMD_VERSION:
260
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
261
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
262
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
263
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
1241 killagreg 264
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
1702 holgerb 265
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
266
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
1938 holgerb 267
                        VersionInfo.HardwareError[0] = 0;
268
                        VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
1702 holgerb 269
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2];
1765 killagreg 270
                        ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3];
271
                        ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4];
1913 holgerb 272
                        ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
1241 killagreg 273
                break;
1448 killagreg 274
            case SPI_FCCMD_SERVOS:
1241 killagreg 275
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
276
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
277
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
278
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
279
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
280
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
281
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
282
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
283
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
284
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
1948 holgerb 285
                        ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
286
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
1241 killagreg 287
                break;
288
        }
1856 killagreg 289
 
1215 hbuss 290
  if(SPI_RxDataValid)
1051 killagreg 291
  {
1852 killagreg 292
        NaviDataOkay = 250;
293
        CalculateCompassTimer = 1;
294
        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
295
        {
296
                GPS_Nick = FromNaviCtrl.GPS_Nick;
297
                GPS_Roll = FromNaviCtrl.GPS_Roll;
298
        }
1690 holgerb 299
 
1852 killagreg 300
        // update compass readings
1936 holgerb 301
//      MagVec.x = FromNaviCtrl.MagVecX;
302
//      MagVec.y = FromNaviCtrl.MagVecY;
303
//      MagVec.z = FromNaviCtrl.MagVecZ;
1852 killagreg 304
 
1690 holgerb 305
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
1941 holgerb 306
//    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
1051 killagreg 307
 
1834 holgerb 308
    if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime;
823 ingob 309
          switch (FromNaviCtrl.Command)
310
          {
1448 killagreg 311
            case SPI_NCCMD_KALMAN:
1231 killagreg 312
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
313
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
314
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
1944 holgerb 315
                        KompassFusion = FromNaviCtrl.Param.sByte[3];
1283 hbuss 316
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
1664 holgerb 317
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
318
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
1945 holgerb 319
                        GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
1912 holgerb 320
                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
1840 holgerb 321
                         {
322
                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
1876 holgerb 323
                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front
324
                           {
325
                            KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
326
                                KompassSollWert %= 360;
327
                           }   
1856 killagreg 328
                         }
1862 holgerb 329
                        POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
1231 killagreg 330
                        break;
1448 killagreg 331
                case SPI_NCCMD_VERSION:
332
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
333
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
334
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
335
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
336
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
1702 holgerb 337
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
338
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
1920 holgerb 339
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
340
                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
1944 holgerb 341
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
1972 holgerb 342
                        // = FromNaviCtrl.Param.Byte[10];
343
                        // = FromNaviCtrl.Param.Byte[11];
1856 killagreg 344
                        break;
1451 killagreg 345
                case SPI_NCCMD_GPSINFO:
346
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
347
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
348
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
1690 holgerb 349
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
1852 killagreg 350
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
1472 killagreg 351
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
1790 holgerb 352
                        PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
1855 holgerb 353
            FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
1857 holgerb 354
                FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10;  // in cm
1451 killagreg 355
                        break;
1972 holgerb 356
                case SPI_MISC:
357
                        EarthMagneticField = FromNaviCtrl.Param.Byte[0];
358
                        EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
359
                        EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
360
                        break;
361
 
1940 holgerb 362
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
363
                case SPI_NCCMD_HOTT_DATA:
364
                        if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety();
365
                        break;
366
#endif
367
 
1855 holgerb 368
// 0 = 0,1
369
// 1 = 2,3
370
// 2 = 4,5
371
// 3 = 6,7
372
// 4 = 8,9
373
// 5 = 10,11
823 ingob 374
                default:
1451 killagreg 375
                        break;
823 ingob 376
          }
720 ingob 377
  }
378
  else
379
  {
819 hbuss 380
//    KompassValue = 0;
381
//    KompassRichtung = 0;
720 ingob 382
        GPS_Nick = 0;
383
    GPS_Roll = 0;
384
  }
304 ingob 385
}
386
 
597 ingob 387
#endif
304 ingob 388
 
389