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
 
5
 
823 ingob 6
//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
7
//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
8
struct str_ToNaviCtrl   ToNaviCtrl;
9
struct str_FromNaviCtrl   FromNaviCtrl;
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;
1840 holgerb 27
signed int POI_KameraNick = 0; // in 0,1°
823 ingob 28
 
597 ingob 29
#ifdef USE_SPI_COMMUNICATION
691 ingob 30
 
304 ingob 31
//------------------------------------------------------
32
void SPI_MasterInit(void)
33
{
1051 killagreg 34
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
304 ingob 35
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
1051 killagreg 36
 
37
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
723 hbuss 38
  SPSR = 0;//(1<<SPI2X);
1051 killagreg 39
 
40
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
606 ingob 41
  SPITransferCompleted = 1;
1051 killagreg 42
 
708 ingob 43
  //SPDR = 0x00;  // dummy write
1051 killagreg 44
 
823 ingob 45
  ToNaviCtrl.Sync1 = 0xAA;
46
  ToNaviCtrl.Sync2 = 0x83;
1051 killagreg 47
 
1448 killagreg 48
  ToNaviCtrl.Command = SPI_FCCMD_USER;
823 ingob 49
  ToNaviCtrl.IntegralNick = 0;
50
  ToNaviCtrl.IntegralRoll = 0;
1215 hbuss 51
  FromNaviCtrl_Value.SerialDataOkay = 0;
1051 killagreg 52
  SPI_RxDataValid = 0;
53
 
304 ingob 54
}
55
 
56
//------------------------------------------------------
823 ingob 57
void SPI_StartTransmitPacket(void)
304 ingob 58
{
606 ingob 59
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
60
   if (!SPITransferCompleted) return;
1051 killagreg 61
//   _delay_us(30);
62
 
304 ingob 63
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
823 ingob 64
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051 killagreg 65
 
823 ingob 66
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
67
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051 killagreg 68
 
606 ingob 69
   SPITransferCompleted = 0;
304 ingob 70
   UpdateSPI_Buffer();                              // update buffer
823 ingob 71
 
304 ingob 72
   SPI_BufferIndex = 1;
1051 killagreg 73
  //ebugOut.Analog[16]++;
304 ingob 74
   // -- Debug-Output ---
75
   //----
691 ingob 76
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
77
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
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");
823 ingob 79
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051 killagreg 80
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
691 ingob 81
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
82
 
304 ingob 83
}
84
 
85
//------------------------------------------------------
86
//SIGNAL(SIG_SPI)
87
void SPI_TransmitByte(void)
88
{
708 ingob 89
   static unsigned char SPI_RXState = 0;
1051 killagreg 90
   unsigned char rxdata;
708 ingob 91
   static unsigned char rxchksum;
1051 killagreg 92
 
691 ingob 93
   if (SPITransferCompleted) return;
304 ingob 94
   if (!(SPSR & (1 << SPIF))) return;
1051 killagreg 95
  SendSPI = 4;
96
 
97
//   _delay_us(30);
606 ingob 98
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
1051 killagreg 99
 
708 ingob 100
  rxdata = SPDR;
101
  switch ( SPI_RXState)
102
  {
1051 killagreg 103
  case 0:
104
 
105
                        SPI_RxBufferIndex = 0;
106
                        rxchksum = rxdata;
107
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
108
 
708 ingob 109
           break;
110
 
1051 killagreg 111
   case 1:
112
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
113
                 else SPI_RXState  = 0;
114
           break;
115
 
708 ingob 116
   case 2:
117
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
118
           //DebugOut.Analog[19]++;
1051 killagreg 119
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
120
                   {
121
 
708 ingob 122
                if (rxdata == rxchksum)
123
                        {
823 ingob 124
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
1051 killagreg 125
 
708 ingob 126
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
1051 killagreg 127
 
128
                          SPI_RxDataValid = 1;
129
                        }
130
                        else SPI_RxDataValid = 0;
131
 
132
                        SPI_RXState  = 0;
708 ingob 133
                   }
1051 killagreg 134
                  else rxchksum += rxdata;
135
        break;
136
 
137
  }
138
 
139
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
140
     {
606 ingob 141
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
691 ingob 142
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
143
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
144
           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 145
 
708 ingob 146
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823 ingob 147
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
691 ingob 148
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
149
 
606 ingob 150
         }
1051 killagreg 151
         else SPITransferCompleted = 1;
152
 
304 ingob 153
         SPI_BufferIndex++;
154
}
155
 
691 ingob 156
 
304 ingob 157
//------------------------------------------------------
158
void UpdateSPI_Buffer(void)
159
{
846 hbuss 160
  signed int tmp;
1171 hbuss 161
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
162
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
163
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
1664 holgerb 164
  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
1171 hbuss 165
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
166
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819 hbuss 167
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823 ingob 168
//  ToNaviCtrl.User8 = Parameter_UserParam8;
169
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
1051 killagreg 170
   switch(ToNaviCtrl.Command)  //
823 ingob 171
   {
1448 killagreg 172
         case SPI_FCCMD_USER:
823 ingob 173
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
174
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
175
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
176
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
177
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
178
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
179
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921 hbuss 180
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
1765 killagreg 181
                                ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
182
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
1622 killagreg 183
                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
1668 holgerb 184
                                ToNaviCtrl.Param.Byte[10] = ControlHeading;
921 hbuss 185
        break;
1241 killagreg 186
 
1508 killagreg 187
     case SPI_FCCMD_ACCU:
188
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
189
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
190
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
191
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
192
        break;
193
 
1448 killagreg 194
         case SPI_FCCMD_PARAMETER1:
993 hbuss 195
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 196
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
197
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
198
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
199
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
200
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
201
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
202
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
993 hbuss 203
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
204
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
205
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
1064 hbuss 206
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
823 ingob 207
            break;
1241 killagreg 208
 
1448 killagreg 209
         case SPI_FCCMD_STICK:
1320 hbuss 210
              cli();
871 hbuss 211
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 212
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
871 hbuss 213
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 214
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
871 hbuss 215
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846 hbuss 216
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
871 hbuss 217
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
1320 hbuss 218
              sei();
846 hbuss 219
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
1377 hbuss 220
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
221
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
222
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
223
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
224
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
225
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
226
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
227
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241 killagreg 228
                        break;
1448 killagreg 229
                case SPI_FCCMD_MISC:
1241 killagreg 230
                        if(WinkelOut.CalcState > 5)
231
                        {
232
                                WinkelOut.CalcState = 0;
233
                                ToNaviCtrl.Param.Byte[0] = 5;
234
                        }
235
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
1312 hbuss 236
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
1662 killagreg 237
                        ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
1312 hbuss 238
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
239
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
240
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
241
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
1377 hbuss 242
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
1600 killagreg 243
            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
1377 hbuss 244
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241 killagreg 245
                        break;
1448 killagreg 246
                case SPI_FCCMD_VERSION:
247
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
248
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
249
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
250
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
1241 killagreg 251
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
1702 holgerb 252
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
253
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
254
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2];
1765 killagreg 255
                        ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3];
256
                        ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4];
1241 killagreg 257
                break;
1448 killagreg 258
            case SPI_FCCMD_SERVOS:
1241 killagreg 259
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
260
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
261
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
262
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
263
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
264
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
265
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
266
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
267
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
268
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
269
                break;
270
        }
271
 
1215 hbuss 272
  if(SPI_RxDataValid)
1051 killagreg 273
  {
1536 killagreg 274
   NaviDataOkay = 250;
1839 holgerb 275
   CalculateCompassTimer = 1;
855 hbuss 276
   if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
854 hbuss 277
   {
823 ingob 278
    GPS_Nick = FromNaviCtrl.GPS_Nick;
279
    GPS_Roll = FromNaviCtrl.GPS_Roll;
854 hbuss 280
   }
1690 holgerb 281
 
282
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
1837 holgerb 283
    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
1051 killagreg 284
 
1834 holgerb 285
    if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime;
1051 killagreg 286
 
823 ingob 287
          switch (FromNaviCtrl.Command)
288
          {
1448 killagreg 289
            case SPI_NCCMD_KALMAN:
1231 killagreg 290
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
291
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
292
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
293
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
1283 hbuss 294
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
1664 holgerb 295
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
296
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
1837 holgerb 297
                        // = FromNaviCtrl.Param.Byte[7];  noch frei
1848 holgerb 298
                    POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel
1850 holgerb 299
            if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)  
1840 holgerb 300
                         {
301
                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
302
                         }
1231 killagreg 303
                        break;
1448 killagreg 304
                case SPI_NCCMD_VERSION:
305
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
306
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
307
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
308
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
309
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
1702 holgerb 310
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
1703 holgerb 311
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[6];
1702 holgerb 312
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
1448 killagreg 313
                        break;
1451 killagreg 314
 
315
                case SPI_NCCMD_GPSINFO:
316
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
317
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
318
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
1690 holgerb 319
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
1787 holgerb 320
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
1472 killagreg 321
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
1790 holgerb 322
                        PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
1451 killagreg 323
                        break;
324
 
823 ingob 325
                default:
1451 killagreg 326
                        break;
823 ingob 327
          }
720 ingob 328
  }
329
  else
330
  {
819 hbuss 331
//    KompassValue = 0;
332
//    KompassRichtung = 0;
720 ingob 333
        GPS_Nick = 0;
334
    GPS_Roll = 0;
335
  }
304 ingob 336
}
337
 
597 ingob 338
#endif
304 ingob 339
 
340