Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
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
 
2008 holgerb 13
unsigned char SPI_BufferIndex;
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;
2009 holgerb 29
unsigned char NC_To_FC_Flags = 0;
1840 holgerb 30
signed int POI_KameraNick = 0; // in 0,1°
1852 killagreg 31
vector16_t MagVec = {0,0,0};
823 ingob 32
 
597 ingob 33
#ifdef USE_SPI_COMMUNICATION
691 ingob 34
 
304 ingob 35
//------------------------------------------------------
36
void SPI_MasterInit(void)
37
{
1051 killagreg 38
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
304 ingob 39
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
1051 killagreg 40
 
41
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
723 hbuss 42
  SPSR = 0;//(1<<SPI2X);
1051 killagreg 43
 
44
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
606 ingob 45
  SPITransferCompleted = 1;
1051 killagreg 46
 
708 ingob 47
  //SPDR = 0x00;  // dummy write
1051 killagreg 48
 
823 ingob 49
  ToNaviCtrl.Sync1 = 0xAA;
50
  ToNaviCtrl.Sync2 = 0x83;
1051 killagreg 51
 
1448 killagreg 52
  ToNaviCtrl.Command = SPI_FCCMD_USER;
823 ingob 53
  ToNaviCtrl.IntegralNick = 0;
54
  ToNaviCtrl.IntegralRoll = 0;
1215 hbuss 55
  FromNaviCtrl_Value.SerialDataOkay = 0;
1051 killagreg 56
  SPI_RxDataValid = 0;
57
 
304 ingob 58
}
59
 
60
//------------------------------------------------------
823 ingob 61
void SPI_StartTransmitPacket(void)
304 ingob 62
{
606 ingob 63
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
64
   if (!SPITransferCompleted) return;
1051 killagreg 65
//   _delay_us(30);
66
 
304 ingob 67
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 68
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051 killagreg 69
 
823 ingob 70
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
71
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051 killagreg 72
 
606 ingob 73
   SPITransferCompleted = 0;
304 ingob 74
   UpdateSPI_Buffer();                              // update buffer
823 ingob 75
 
304 ingob 76
   SPI_BufferIndex = 1;
1051 killagreg 77
  //ebugOut.Analog[16]++;
304 ingob 78
   // -- Debug-Output ---
79
   //----
691 ingob 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");
82
   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 83
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051 killagreg 84
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
691 ingob 85
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
86
 
304 ingob 87
}
88
 
89
//------------------------------------------------------
90
//SIGNAL(SIG_SPI)
91
void SPI_TransmitByte(void)
92
{
708 ingob 93
   static unsigned char SPI_RXState = 0;
1051 killagreg 94
   unsigned char rxdata;
708 ingob 95
   static unsigned char rxchksum;
1051 killagreg 96
 
691 ingob 97
   if (SPITransferCompleted) return;
304 ingob 98
   if (!(SPSR & (1 << SPIF))) return;
1051 killagreg 99
  SendSPI = 4;
100
 
101
//   _delay_us(30);
606 ingob 102
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 103
 
708 ingob 104
  rxdata = SPDR;
105
  switch ( SPI_RXState)
106
  {
1051 killagreg 107
  case 0:
108
 
109
                        SPI_RxBufferIndex = 0;
110
                        rxchksum = rxdata;
111
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
112
 
708 ingob 113
           break;
114
 
1051 killagreg 115
   case 1:
116
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
117
                 else SPI_RXState  = 0;
118
           break;
119
 
708 ingob 120
   case 2:
121
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
122
           //DebugOut.Analog[19]++;
1051 killagreg 123
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
124
                   {
125
 
708 ingob 126
                if (rxdata == rxchksum)
127
                        {
823 ingob 128
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
708 ingob 129
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
1051 killagreg 130
                          SPI_RxDataValid = 1;
131
                        }
1856 killagreg 132
                        else
1855 holgerb 133
                         {
134
                          SPI_RxDataValid = 0;
1856 killagreg 135
                         }
1051 killagreg 136
 
1856 killagreg 137
 
1051 killagreg 138
                        SPI_RXState  = 0;
708 ingob 139
                   }
1051 killagreg 140
                  else rxchksum += rxdata;
141
        break;
142
 
143
  }
144
 
145
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
146
     {
606 ingob 147
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
691 ingob 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");
150
           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 151
 
708 ingob 152
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 153
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
691 ingob 154
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
155
 
606 ingob 156
         }
1051 killagreg 157
         else SPITransferCompleted = 1;
158
 
304 ingob 159
         SPI_BufferIndex++;
160
}
161
 
691 ingob 162
 
304 ingob 163
//------------------------------------------------------
164
void UpdateSPI_Buffer(void)
165
{
846 hbuss 166
  signed int tmp;
1948 holgerb 167
  static unsigned char motorindex;
1171 hbuss 168
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
169
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
170
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
1664 holgerb 171
  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
1171 hbuss 172
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
173
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819 hbuss 174
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 175
//  ToNaviCtrl.User8 = Parameter_UserParam8;
176
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
1051 killagreg 177
   switch(ToNaviCtrl.Command)  //
823 ingob 178
   {
1448 killagreg 179
         case SPI_FCCMD_USER:
823 ingob 180
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
181
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
182
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
183
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
184
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
185
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
186
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921 hbuss 187
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
1765 killagreg 188
                                ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
189
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
1622 killagreg 190
                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
1915 holgerb 191
                                ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
1861 holgerb 192
                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
921 hbuss 193
        break;
1241 killagreg 194
 
1508 killagreg 195
     case SPI_FCCMD_ACCU:
196
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
197
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
198
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
199
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
1865 holgerb 200
                                ToNaviCtrl.Param.Byte[6] = VarioCharacter;
1916 holgerb 201
                                ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig;
202
                                ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig;
1948 holgerb 203
                                ToNaviCtrl.Param.Byte[9] = motorindex;
204
                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
205
                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current;
206
                                motorindex %= 12;
1508 killagreg 207
        break;
1448 killagreg 208
         case SPI_FCCMD_PARAMETER1:
993 hbuss 209
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 210
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
211
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
212
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
213
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
214
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
215
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
216
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 217
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
218
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
1936 holgerb 219
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
1064 hbuss 220
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
823 ingob 221
            break;
1241 killagreg 222
 
1448 killagreg 223
         case SPI_FCCMD_STICK:
1320 hbuss 224
              cli();
871 hbuss 225
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 226
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
871 hbuss 227
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 228
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
871 hbuss 229
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 230
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
871 hbuss 231
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
1320 hbuss 232
              sei();
846 hbuss 233
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
1377 hbuss 234
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
235
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
236
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
237
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
238
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
239
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
240
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
241
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241 killagreg 242
                        break;
1448 killagreg 243
                case SPI_FCCMD_MISC:
1241 killagreg 244
                        if(WinkelOut.CalcState > 5)
245
                        {
246
                                WinkelOut.CalcState = 0;
247
                                ToNaviCtrl.Param.Byte[0] = 5;
248
                        }
249
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
1312 hbuss 250
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
1662 killagreg 251
                        ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
1312 hbuss 252
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
253
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
254
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
255
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
1377 hbuss 256
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
1600 killagreg 257
            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
1377 hbuss 258
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241 killagreg 259
                        break;
1448 killagreg 260
                case SPI_FCCMD_VERSION:
261
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
262
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
263
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
264
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
1241 killagreg 265
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
1702 holgerb 266
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
267
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
1938 holgerb 268
                        VersionInfo.HardwareError[0] = 0;
269
                        VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
1702 holgerb 270
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2];
1765 killagreg 271
                        ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3];
272
                        ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4];
1913 holgerb 273
                        ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
2008 holgerb 274
                        ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
1241 killagreg 275
                break;
1448 killagreg 276
            case SPI_FCCMD_SERVOS:
1241 killagreg 277
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
278
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
279
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
280
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
281
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
282
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
283
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
284
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
285
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
286
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
1948 holgerb 287
                        ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
288
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
1241 killagreg 289
                break;
290
        }
2010 holgerb 291
 
1215 hbuss 292
  if(SPI_RxDataValid)
1051 killagreg 293
  {
1852 killagreg 294
        NaviDataOkay = 250;
295
        CalculateCompassTimer = 1;
296
        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
297
        {
298
                GPS_Nick = FromNaviCtrl.GPS_Nick;
299
                GPS_Roll = FromNaviCtrl.GPS_Roll;
300
        }
1690 holgerb 301
 
1852 killagreg 302
        // update compass readings
1936 holgerb 303
//      MagVec.x = FromNaviCtrl.MagVecX;
304
//      MagVec.y = FromNaviCtrl.MagVecY;
305
//      MagVec.z = FromNaviCtrl.MagVecZ;
1852 killagreg 306
 
1690 holgerb 307
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
1941 holgerb 308
//    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
1051 killagreg 309
 
2029 holgerb 310
    if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
823 ingob 311
          switch (FromNaviCtrl.Command)
312
          {
1448 killagreg 313
            case SPI_NCCMD_KALMAN:
1231 killagreg 314
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
315
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
316
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
1944 holgerb 317
                        KompassFusion = FromNaviCtrl.Param.sByte[3];
1283 hbuss 318
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
1664 holgerb 319
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
320
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
1945 holgerb 321
                        GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
1912 holgerb 322
                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
1840 holgerb 323
                         {
324
                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
1876 holgerb 325
                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front
326
                           {
327
                            KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
328
                                KompassSollWert %= 360;
329
                           }   
1856 killagreg 330
                         }
1862 holgerb 331
                        POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
1231 killagreg 332
                        break;
1448 killagreg 333
                case SPI_NCCMD_VERSION:
334
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
335
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
336
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
337
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
338
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
1702 holgerb 339
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
340
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
1920 holgerb 341
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
342
                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
1944 holgerb 343
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
2009 holgerb 344
                        NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
1972 holgerb 345
                        // = FromNaviCtrl.Param.Byte[11];
1856 killagreg 346
                        break;
1451 killagreg 347
                case SPI_NCCMD_GPSINFO:
348
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
349
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
350
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
1690 holgerb 351
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
1852 killagreg 352
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
1472 killagreg 353
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
1790 holgerb 354
                        PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
1855 holgerb 355
            FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
1857 holgerb 356
                FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10;  // in cm
1451 killagreg 357
                        break;
1972 holgerb 358
                case SPI_MISC:
359
                        EarthMagneticField = FromNaviCtrl.Param.Byte[0];
360
                        EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
361
                        EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
362
                        break;
363
 
1940 holgerb 364
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
365
                case SPI_NCCMD_HOTT_DATA:
366
                        if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety();
367
                        break;
368
#endif
369
 
1855 holgerb 370
// 0 = 0,1
371
// 1 = 2,3
372
// 2 = 4,5
373
// 3 = 6,7
374
// 4 = 8,9
375
// 5 = 10,11
823 ingob 376
                default:
1451 killagreg 377
                        break;
823 ingob 378
          }
720 ingob 379
  }
380
  else
381
  {
819 hbuss 382
//    KompassValue = 0;
383
//    KompassRichtung = 0;
720 ingob 384
        GPS_Nick = 0;
385
    GPS_Roll = 0;
386
  }
304 ingob 387
}
388
 
597 ingob 389
#endif
304 ingob 390
 
391