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