WebSVN - FlightCtrl - Blame - Rev 2566

Rev	Author	Line No.	Line
304	ingob	1	// ######################## SPI - FlightCtrl ###################
		2	#include "main.h"
1622	killagreg	3	#include "eeprom.h"
2496	holgerb	4	#include "uart.h"
304	ingob	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
2008	holgerb	14	unsigned char SPI_BufferIndex;
		15	unsigned char SPI_RxBufferIndex;
1668	holgerb	16	signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
2485	holgerb	17	signed char FromNC_WP_EventChannel_New = 0;
606	ingob	18
882	hbuss	19	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)];
823	ingob	20	unsigned char *SPI_TX_Buffer;
708	ingob	21
617	ingob	22	unsigned char SPITransferCompleted, SPI_ChkSum;
1690	holgerb	23	unsigned char SPI_RxDataValid,NaviDataOkay = 250;
720	ingob	24
2499	holgerb	25	unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW,SPI_FCCMD_BL_ACCU,
		26	SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_BL_ACCU,
		27	SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_BL_ACCU,
2341	holgerb	28	SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU
2183	holgerb	29	};
823	ingob	30	unsigned char SPI_CommandCounter = 0;
1703	holgerb	31	unsigned char NC_ErrorCode = 0;
1920	holgerb	32	unsigned char NC_GPS_ModeCharacter = ' ';
1972	holgerb	33	unsigned char EarthMagneticField = 0;
		34	unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0;
2009	holgerb	35	unsigned char NC_To_FC_Flags = 0;
2501	holgerb	36	unsigned char NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home)
2447	holgerb	37	//unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
1840	holgerb	38	signed int POI_KameraNick = 0; // in 0,1�
1852	killagreg	39	vector16_t MagVec = {0,0,0};
823	ingob	40
597	ingob	41	#ifdef USE_SPI_COMMUNICATION
691	ingob	42
304	ingob	43	//------------------------------------------------------
		44	void SPI_MasterInit(void)
		45	{
1051	killagreg	46	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
304	ingob	47	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
1051	killagreg	48
		49	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
723	hbuss	50	SPSR = 0;//(1<<SPI2X);
1051	killagreg	51
		52	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
606	ingob	53	SPITransferCompleted = 1;
1051	killagreg	54
708	ingob	55	//SPDR = 0x00; // dummy write
1051	killagreg	56
823	ingob	57	ToNaviCtrl.Sync1 = 0xAA;
		58	ToNaviCtrl.Sync2 = 0x83;
1051	killagreg	59
1448	killagreg	60	ToNaviCtrl.Command = SPI_FCCMD_USER;
823	ingob	61	ToNaviCtrl.IntegralNick = 0;
		62	ToNaviCtrl.IntegralRoll = 0;
1215	hbuss	63	FromNaviCtrl_Value.SerialDataOkay = 0;
1051	killagreg	64	SPI_RxDataValid = 0;
		65
304	ingob	66	}
		67
		68	//------------------------------------------------------
2386	holgerb	69	unsigned char SPI_StartTransmitPacket(void)
304	ingob	70	{
2386	holgerb	71	if(!SPITransferCompleted) return(0);
304	ingob	72	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
823	ingob	73	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051	killagreg	74
823	ingob	75	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		76	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051	killagreg	77
606	ingob	78	SPITransferCompleted = 0;
2560	holgerb	79	UpdateSPI_Buffer(); // update buffer
304	ingob	80	SPI_BufferIndex = 1;
823	ingob	81	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051	killagreg	82	SPDR = ToNaviCtrl.Sync1; // Start transmission
2386	holgerb	83	return(1);
304	ingob	84	}
		85
		86	//------------------------------------------------------
2496	holgerb	87	//SIaNAL(SIG_SPI)
304	ingob	88	void SPI_TransmitByte(void)
		89	{
708	ingob	90	static unsigned char SPI_RXState = 0;
1051	killagreg	91	unsigned char rxdata;
708	ingob	92	static unsigned char rxchksum;
1051	killagreg	93
691	ingob	94	if (SPITransferCompleted) return;
304	ingob	95	if (!(SPSR & (1 << SPIF))) return;
2386	holgerb	96	BytegapSPI = SPI_BYTEGAP;
1051	killagreg	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	SPI_RxBufferIndex = 0;
		105	rxchksum = rxdata;
		106	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
		107
708	ingob	108	break;
		109
1051	killagreg	110	case 1:
		111	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
		112	else SPI_RXState = 0;
		113	break;
		114
708	ingob	115	case 2:
		116	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
		117	//DebugOut.Analog[19]++;
1051	killagreg	118	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
		119	{
708	ingob	120	if (rxdata == rxchksum)
		121	{
823	ingob	122	unsigned char ptr = (unsigned char )&FromNaviCtrl;
708	ingob	123	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
1051	killagreg	124	SPI_RxDataValid = 1;
		125	}
1856	killagreg	126	else
1855	holgerb	127	{
		128	SPI_RxDataValid = 0;
1856	killagreg	129	}
1051	killagreg	130	SPI_RXState = 0;
708	ingob	131	}
1051	killagreg	132	else rxchksum += rxdata;
		133	break;
		134
		135	}
		136
		137	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
		138	{
606	ingob	139	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
2341	holgerb	140	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
708	ingob	141	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823	ingob	142	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
2341	holgerb	143	}
1051	killagreg	144	else SPITransferCompleted = 1;
		145
304	ingob	146	SPI_BufferIndex++;
		147	}
		148
691	ingob	149
304	ingob	150	//------------------------------------------------------
		151	void UpdateSPI_Buffer(void)
		152	{
2496	holgerb	153	// signed int tmp;
2499	holgerb	154	static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0;
2373	holgerb	155	ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
		156	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
1171	hbuss	157	ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
1664	holgerb	158	ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
1171	hbuss	159	ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
		160	ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819	hbuss	161	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823	ingob	162	// ToNaviCtrl.User8 = Parameter_UserParam8;
		163	// ToNaviCtrl.CalState = WinkelOut.CalcState;
1051	killagreg	164	switch(ToNaviCtrl.Command) //
823	ingob	165	{
1448	killagreg	166	case SPI_FCCMD_USER:
823	ingob	167	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
		168	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
		169	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
		170	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
		171	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
		172	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
		173	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921	hbuss	174	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
1765	killagreg	175	ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
2518	holgerb	176	ToNaviCtrl.Param.Byte[9] = FC_StatusFlags2;
2309	holgerb	177	//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;
1765	killagreg	178	FC_StatusFlags &= ~(FC_STATUS_CALIBRATE \| FC_STATUS_START);
2518	holgerb	179	ToNaviCtrl.Param.Int[5] = UBat; // 10 & 11
2348	holgerb	180	if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16)
921	hbuss	181	break;
2341	holgerb	182	case SPI_FCCMD_BL_ACCU:
1508	killagreg	183	ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
2527	holgerb	184	ToNaviCtrl.Param.Byte[2] = motorindex \| Out1ChangedFlag; // 0x80 this Flag marks a changed Out1
2443	holgerb	185	ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM;
2386	holgerb	186	ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control
		187	ToNaviCtrl.Param.Byte[5] = VarioCharacter;
2443	holgerb	188	ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt;
2386	holgerb	189	ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version;
2037	holgerb	190	ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
		191	ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
1948	holgerb	192	ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
2346	holgerb	193	ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current;
2404	holgerb	194	if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ?
		195	while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13;
2527	holgerb	196	Out1ChangedFlag = 0;
1508	killagreg	197	break;
2477	holgerb	198	case SPI_FCCMD_SLOW:
		199	switch(slow_command)
		200	{
		201	case 0:
2499	holgerb	202	ToNaviCtrl.Command = SPI_FCCMD_VERSION;
		203	ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
		204	ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
		205	ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
		206	ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
		207	ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
		208	ToNaviCtrl.Param.Byte[5] = EE_Parameter.LandingSpeed;
		209	ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude;
		210	ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes;
		211	ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware;
2518	holgerb	212	ToNaviCtrl.Param.Byte[9] = ActiveParamSet;
2499	holgerb	213	ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11
		214	slow_command++;
		215	break;
		216	case 1:
		217	ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1;
2341	holgerb	218	ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V
		219	ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard
1051	killagreg	220	ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
		221	ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
		222	ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
2344	holgerb	223	ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA;
1051	killagreg	224	ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
		225	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
2447	holgerb	226	ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange;
993	hbuss	227	ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
1936	holgerb	228	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
1064	hbuss	229	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
2499	holgerb	230	slow_command++;
2477	holgerb	231	break;
2499	holgerb	232	case 2:
		233	ToNaviCtrl.Command = SPI_FCCMD_SLOW2;
		234	ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1
		235	ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3
		236	ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5
		237	ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation;
		238	ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset;
		239	ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig;
		240	ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig;
		241	ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
		242	ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
		243	slow_command++;
		244	break;
		245	case 3:
		246	ToNaviCtrl.Command = SPI_FCCMD_SLOW3;
		247	ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl;
		248	ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl;
		249	ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m
		250	ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude;
2501	holgerb	251	ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert;
2518	holgerb	252	ToNaviCtrl.Param.Byte[5] = LipoCells;
		253	ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7
2541	holgerb	254	ToNaviCtrl.Param.Byte[8] = LowVoltageLandingActive;
2560	holgerb	255	ToNaviCtrl.Param.Byte[9] = EE_Parameter.FailSafeTime;
2499	holgerb	256	ToNaviCtrl.Param.Byte[10] = 0;
		257	ToNaviCtrl.Param.Byte[11] = 0;
		258	slow_command++;
		259	break;
2477	holgerb	260	default:
2499	holgerb	261	ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL;
2477	holgerb	262	ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1
		263	ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3
		264	ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5
		265	ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp;
2499	holgerb	266	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime;
		267	ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver;
		268	ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit;
		269	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit;
		270	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit;
		271	slow_command = 0;
2477	holgerb	272	break;
		273	}
823	ingob	274	break;
2183	holgerb	275	case SPI_FCCMD_PARAMETER2:
2440	holgerb	276	ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases
2190	holgerb	277	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2263	holgerb	278	// create the ToNC_SpeakHoTT
		279	if(EE_Parameter.Receiver != RECEIVER_HOTT)
		280	{
		281	if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]);
		282	else HoTT_Waring();
		283	}
2190	holgerb	284	ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT;
		285	#else
		286	ToNaviCtrl.Param.Byte[1] = 0;
		287	#endif
2499	holgerb	288	ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3
2408	holgerb	289	ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive;
2418	holgerb	290	ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List;
2438	holgerb	291	ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint;
		292	ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint;
2418	holgerb	293	ToNC_Load_WP_List = 0;
2438	holgerb	294	ToNC_Load_SingePoint = 0;
		295	ToNC_Store_SingePoint = 0;
2477	holgerb	296	if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9
		297	else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero
2499	holgerb	298	ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3;
2440	holgerb	299	ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed;
2183	holgerb	300	break;
1448	killagreg	301	case SPI_FCCMD_STICK:
2496	holgerb	302	/*
1320	hbuss	303	cli();
871	hbuss	304	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846	hbuss	305	ToNaviCtrl.Param.Byte[0] = (char) tmp;
871	hbuss	306	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846	hbuss	307	ToNaviCtrl.Param.Byte[1] = (char) tmp;
871	hbuss	308	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846	hbuss	309	ToNaviCtrl.Param.Byte[2] = (char) tmp;
871	hbuss	310	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
1320	hbuss	311	sei();
846	hbuss	312	ToNaviCtrl.Param.Byte[3] = (char) tmp;
2496	holgerb	313	*/
		314	ToNaviCtrl.Param.Byte[0] = ChannelGas;
		315	ToNaviCtrl.Param.Byte[1] = ChannelYaw;
		316	ToNaviCtrl.Param.Byte[2] = ChannelRoll;
		317	ToNaviCtrl.Param.Byte[3] = ChannelNick;
1377	hbuss	318	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
		319	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
		320	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
		321	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
		322	ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
		323	ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
		324	ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
		325	ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241	killagreg	326	break;
1448	killagreg	327	case SPI_FCCMD_MISC:
2418	holgerb	328	if(WinkelOut.CalcState >= 5)
1241	killagreg	329	{
		330	WinkelOut.CalcState = 0;
		331	ToNaviCtrl.Param.Byte[0] = 5;
		332	}
		333	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
2499	holgerb	334	ToNaviCtrl.Param.Byte[1] = HoverGas / 4;
		335	ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3
		336	ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5
		337	ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0];
		338	ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1];
		339	VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0;
		340	VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
		341	ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter
1377	hbuss	342	ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
2370	holgerb	343	ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED;
1377	hbuss	344	ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241	killagreg	345	break;
		346	}
2010	holgerb	347
1215	hbuss	348	if(SPI_RxDataValid)
1051	killagreg	349	{
2148	holgerb	350	if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250;
		351	oldcommand = FromNaviCtrl.Command;
1852	killagreg	352	CalculateCompassTimer = 1;
		353	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
		354	{
		355	GPS_Nick = FromNaviCtrl.GPS_Nick;
		356	GPS_Roll = FromNaviCtrl.GPS_Roll;
		357	}
1690	holgerb	358
1852	killagreg	359	// update compass readings
1936	holgerb	360	// MagVec.x = FromNaviCtrl.MagVecX;
		361	// MagVec.y = FromNaviCtrl.MagVecY;
		362	// MagVec.z = FromNaviCtrl.MagVecZ;
1852	killagreg	363
1690	holgerb	364	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
1051	killagreg	365
2029	holgerb	366	if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
823	ingob	367	switch (FromNaviCtrl.Command)
		368	{
1448	killagreg	369	case SPI_NCCMD_KALMAN:
1231	killagreg	370	FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
		371	FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
		372	FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
1944	holgerb	373	KompassFusion = FromNaviCtrl.Param.sByte[3];
2501	holgerb	374	if(FromNaviCtrl.Param.Byte[4] & 0x01) NCForcesNewDirection = 1;
1664	holgerb	375	FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
		376	FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
1945	holgerb	377	GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
2497	holgerb	378	if(FromNaviCtrl.Param.sInt[4] >= 0)
1840	holgerb	379	{
2497	holgerb	380	NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
1856	killagreg	381	}
1862	holgerb	382	POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
1231	killagreg	383	break;
1448	killagreg	384	case SPI_NCCMD_VERSION:
		385	NC_Version.Major = FromNaviCtrl.Param.Byte[0];
		386	NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
		387	NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
		388	NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
		389	NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
1702	holgerb	390	DebugOut.Status[0] \|= FromNaviCtrl.Param.Byte[5];
		391	DebugOut.Status[1] = (DebugOut.Status[1] & (0x01\|0x02)) \| (FromNaviCtrl.Param.Byte[6] & (0x04 \| 0x08));
1920	holgerb	392	NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
		393	NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
1944	holgerb	394	FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
2009	holgerb	395	NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
2447	holgerb	396	//NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11];
1856	killagreg	397	break;
1451	killagreg	398	case SPI_NCCMD_GPSINFO:
		399	GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
		400	GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
		401	GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
1690	holgerb	402	GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
1852	killagreg	403	GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
1472	killagreg	404	GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
2540	holgerb	405	if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird
2340	holgerb	406	PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel)
2488	holgerb	407	FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
1857	holgerb	408	FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm
1451	killagreg	409	break;
1972	holgerb	410	case SPI_MISC:
		411	EarthMagneticField = FromNaviCtrl.Param.Byte[0];
		412	EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
		413	EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
2090	holgerb	414	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2179	holgerb	415	if(FromNaviCtrl.Param.Byte[3])
2120	holgerb	416	if(!SpeakHoTT \|\| (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3];
2426	holgerb	417	NaviData_TargetDistance = FromNaviCtrl.Param.Int[3];
		418	#endif
2179	holgerb	419	NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4];
		420	NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5];
		421	NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8];
2420	holgerb	422	NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9];
2437	holgerb	423	CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11
2090	holgerb	424	break;
1972	holgerb	425
1940	holgerb	426	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		427	case SPI_NCCMD_HOTT_DATA:
2377	holgerb	428	//if(EE_Parameter.Receiver == RECEIVER_HOTT)
		429	NC_Fills_HoTT_Telemety();
1940	holgerb	430	break;
		431	#endif
		432
1855	holgerb	433	// 0 = 0,1
		434	// 1 = 2,3
		435	// 2 = 4,5
		436	// 3 = 6,7
		437	// 4 = 8,9
		438	// 5 = 10,11
823	ingob	439	default:
1451	killagreg	440	break;
823	ingob	441	}
720	ingob	442	}
		443	else
		444	{
819	hbuss	445	// KompassValue = 0;
		446	// KompassRichtung = 0;
720	ingob	447	GPS_Nick = 0;
		448	GPS_Roll = 0;
		449	}
304	ingob	450	}
		451
597	ingob	452	#endif
304	ingob	453
		454

Subversion Repositories FlightCtrl

(root)/tags/V2.10e/spi.c - Rev 2566