Rev 2560 | Rev 2604 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 304 | ingob | 1 | // ######################## SPI - FlightCtrl ################### |
| 2 | #include "main.h" |
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| 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; |
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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; |
| 2596 | holgerb | 13 | struct str_HugeBlockToNavi HugeBlockToNavi; |
| 14 | struct str_HugeBlockFromNavi HugeBlockFromNavi; |
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| 708 | ingob | 15 | |
| 2008 | holgerb | 16 | unsigned char SPI_BufferIndex; |
| 17 | unsigned char SPI_RxBufferIndex; |
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| 2596 | holgerb | 18 | unsigned char SPI_Datasize; |
| 1668 | holgerb | 19 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
| 2485 | holgerb | 20 | signed char FromNC_WP_EventChannel_New = 0; |
| 606 | ingob | 21 | |
| 2596 | holgerb | 22 | volatile unsigned char SPI_Buffer[sizeof(HugeBlockToNavi)]; |
| 823 | ingob | 23 | unsigned char *SPI_TX_Buffer; |
| 708 | ingob | 24 | |
| 617 | ingob | 25 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| 1690 | holgerb | 26 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| 720 | ingob | 27 | |
| 2499 | holgerb | 28 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW,SPI_FCCMD_BL_ACCU, |
| 2596 | holgerb | 29 | SPI_FCCMD_STICK2, SPI_FCCMD_MISC, SPI_FCCMD_BL_ACCU, |
| 2499 | holgerb | 30 | SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_BL_ACCU, |
| 2596 | holgerb | 31 | SPI_FCCMD_STICK2, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
| 2183 | holgerb | 32 | }; |
| 823 | ingob | 33 | unsigned char SPI_CommandCounter = 0; |
| 1703 | holgerb | 34 | unsigned char NC_ErrorCode = 0; |
| 1920 | holgerb | 35 | unsigned char NC_GPS_ModeCharacter = ' '; |
| 1972 | holgerb | 36 | unsigned char EarthMagneticField = 0; |
| 37 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
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| 2009 | holgerb | 38 | unsigned char NC_To_FC_Flags = 0; |
| 2501 | holgerb | 39 | unsigned char NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
| 2447 | holgerb | 40 | //unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
| 1840 | holgerb | 41 | signed int POI_KameraNick = 0; // in 0,1° |
| 1852 | killagreg | 42 | vector16_t MagVec = {0,0,0}; |
| 2596 | holgerb | 43 | unsigned char *PtrToChksum; |
| 823 | ingob | 44 | |
| 597 | ingob | 45 | #ifdef USE_SPI_COMMUNICATION |
| 691 | ingob | 46 | |
| 304 | ingob | 47 | //------------------------------------------------------ |
| 48 | void SPI_MasterInit(void) |
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| 49 | { |
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| 1051 | killagreg | 50 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 304 | ingob | 51 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| 1051 | killagreg | 52 | |
| 53 | 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 | 54 | SPSR = 0;//(1<<SPI2X); |
| 1051 | killagreg | 55 | |
| 56 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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| 606 | ingob | 57 | SPITransferCompleted = 1; |
| 1051 | killagreg | 58 | |
| 708 | ingob | 59 | //SPDR = 0x00; // dummy write |
| 1051 | killagreg | 60 | |
| 2596 | holgerb | 61 | ToNaviCtrl.Sync1 = SPI_FCSYNCBYTE1; |
| 62 | ToNaviCtrl.Sync2 = SPI_FCSYNCBYTE2; |
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| 1051 | killagreg | 63 | |
| 1448 | killagreg | 64 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
| 823 | ingob | 65 | ToNaviCtrl.IntegralNick = 0; |
| 66 | ToNaviCtrl.IntegralRoll = 0; |
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| 1215 | hbuss | 67 | FromNaviCtrl_Value.SerialDataOkay = 0; |
| 1051 | killagreg | 68 | SPI_RxDataValid = 0; |
| 69 | |||
| 304 | ingob | 70 | } |
| 71 | |||
| 72 | //------------------------------------------------------ |
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| 2386 | holgerb | 73 | unsigned char SPI_StartTransmitPacket(void) |
| 304 | ingob | 74 | { |
| 2386 | holgerb | 75 | if(!SPITransferCompleted) return(0); |
| 304 | ingob | 76 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 823 | ingob | 77 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| 2596 | holgerb | 78 | PtrToChksum = (unsigned char *) &ToNaviCtrl.Chksum; |
| 823 | ingob | 79 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 80 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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| 1051 | killagreg | 81 | |
| 606 | ingob | 82 | SPITransferCompleted = 0; |
| 2560 | holgerb | 83 | UpdateSPI_Buffer(); // update buffer |
| 304 | ingob | 84 | SPI_BufferIndex = 1; |
| 823 | ingob | 85 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| 2596 | holgerb | 86 | SPI_Datasize = sizeof(ToNaviCtrl); |
| 1051 | killagreg | 87 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
| 2386 | holgerb | 88 | return(1); |
| 304 | ingob | 89 | } |
| 90 | |||
| 91 | //------------------------------------------------------ |
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| 2496 | holgerb | 92 | //SIaNAL(SIG_SPI) |
| 304 | ingob | 93 | void SPI_TransmitByte(void) |
| 94 | { |
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| 708 | ingob | 95 | static unsigned char SPI_RXState = 0; |
| 1051 | killagreg | 96 | unsigned char rxdata; |
| 708 | ingob | 97 | static unsigned char rxchksum; |
| 1051 | killagreg | 98 | |
| 691 | ingob | 99 | if (SPITransferCompleted) return; |
| 304 | ingob | 100 | if (!(SPSR & (1 << SPIF))) return; |
| 2386 | holgerb | 101 | BytegapSPI = SPI_BYTEGAP; |
| 1051 | killagreg | 102 | // _delay_us(30); |
| 606 | ingob | 103 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 1051 | killagreg | 104 | |
| 708 | ingob | 105 | rxdata = SPDR; |
| 106 | switch ( SPI_RXState) |
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| 107 | { |
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| 1051 | killagreg | 108 | case 0: |
| 109 | SPI_RxBufferIndex = 0; |
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| 110 | rxchksum = rxdata; |
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| 2596 | holgerb | 111 | if (rxdata == SPI_NCSYNCBYTE1 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| 708 | ingob | 112 | break; |
| 113 | |||
| 1051 | killagreg | 114 | case 1: |
| 2596 | holgerb | 115 | rxchksum += rxdata; |
| 116 | if (rxdata == SPI_NCSYNCBYTE2) { SPI_RXState = 2; } // 2. Syncbyte ok |
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| 117 | else |
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| 118 | if (rxdata == SPI_NCSYNCBYTE_HB2) { SPI_RXState = 3; } // 2. Syncbyte ok |
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| 119 | else SPI_RXState = 0; |
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| 1051 | killagreg | 120 | break; |
| 121 | |||
| 2596 | holgerb | 122 | case 2: // get normal NC data packets |
| 708 | ingob | 123 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| 124 | //DebugOut.Analog[19]++; |
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| 1051 | killagreg | 125 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| 126 | { |
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| 708 | ingob | 127 | if (rxdata == rxchksum) |
| 128 | { |
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| 823 | ingob | 129 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| 2596 | holgerb | 130 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(FromNaviCtrl)); |
| 1051 | killagreg | 131 | SPI_RxDataValid = 1; |
| 132 | } |
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| 1856 | killagreg | 133 | else |
| 1855 | holgerb | 134 | { |
| 135 | SPI_RxDataValid = 0; |
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| 2596 | holgerb | 136 | DebugOut.Analog[27]++; |
| 1856 | killagreg | 137 | } |
| 1051 | killagreg | 138 | SPI_RXState = 0; |
| 708 | ingob | 139 | } |
| 1051 | killagreg | 140 | else rxchksum += rxdata; |
| 141 | break; |
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| 2596 | holgerb | 142 | case 3: // get huge data packet |
| 143 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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| 144 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromNavi)) |
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| 145 | { |
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| 146 | if(rxdata == rxchksum) |
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| 147 | { |
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| 148 | unsigned char *ptr = (unsigned char *)&HugeBlockFromNavi; |
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| 149 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(HugeBlockFromNavi)); |
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| 150 | DebugOut.Analog[26] = HugeBlockFromNavi.Data[239]; |
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| 151 | // SPI_RxDataValid = 1; |
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| 152 | } |
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| 153 | else |
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| 154 | { |
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| 155 | SPI_RxDataValid = 0; |
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| 156 | DebugOut.Analog[27]++; |
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| 157 | } |
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| 158 | SPI_RXState = 0; |
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| 159 | } |
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| 160 | else rxchksum += rxdata; |
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| 161 | break; |
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| 1051 | killagreg | 162 | } |
| 163 | |||
| 2596 | holgerb | 164 | if (SPI_BufferIndex < SPI_Datasize) |
| 1051 | killagreg | 165 | { |
| 2596 | holgerb | 166 | unsigned char tmp; |
| 606 | ingob | 167 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 2596 | holgerb | 168 | tmp = SPI_TX_Buffer[SPI_BufferIndex]; |
| 169 | SPDR = tmp; |
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| 170 | *PtrToChksum += tmp; |
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| 2341 | holgerb | 171 | } |
| 1051 | killagreg | 172 | else SPITransferCompleted = 1; |
| 173 | |||
| 304 | ingob | 174 | SPI_BufferIndex++; |
| 175 | } |
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| 176 | |||
| 2596 | holgerb | 177 | void TransmitHugeBlock(void) |
| 178 | { |
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| 179 | // if(!SPITransferCompleted) return(0); |
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| 180 | while(!SPITransferCompleted) { SPI_TransmitByte();_delay_us(100);}; // send the remaining data |
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| 181 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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| 182 | SPI_TX_Buffer = (unsigned char *) &HugeBlockToNavi; // pointer to the huge Block |
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| 183 | PtrToChksum = (unsigned char *) &HugeBlockToNavi.Chksum; |
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| 184 | SPITransferCompleted = 0; |
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| 185 | SPI_BufferIndex = 1; |
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| 186 | HugeBlockToNavi.Sync1 = SPI_FCSYNCBYTE_HB1; |
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| 187 | HugeBlockToNavi.Sync2 = SPI_FCSYNCBYTE_HB2; |
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| 188 | HugeBlockToNavi.Chksum = SPI_FCSYNCBYTE_HB1; |
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| 189 | SPI_Datasize = sizeof(HugeBlockToNavi); |
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| 190 | SPDR = HugeBlockToNavi.Sync1; // Start transmission |
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| 191 | SPI_TransmitByte();_delay_us(200); SPI_TransmitByte();_delay_us(200); // leave the NC a bit time to fill the FIFO |
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| 192 | while(!SPITransferCompleted) { _delay_us(80); SPI_TransmitByte();}; |
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| 193 | } |
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| 691 | ingob | 194 | |
| 2596 | holgerb | 195 | void SendSettingToNC(unsigned char who) |
| 196 | { |
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| 197 | HugeBlockToNavi.WhoAmI = who; |
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| 198 | memcpy( HugeBlockToNavi.Data, (unsigned char *) &EE_Parameter, sizeof(EE_Parameter)); |
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| 199 | HugeBlockToNavi.Data[239]++; |
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| 200 | TransmitHugeBlock(); |
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| 201 | } |
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| 202 | |||
| 304 | ingob | 203 | //------------------------------------------------------ |
| 204 | void UpdateSPI_Buffer(void) |
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| 205 | { |
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| 2496 | holgerb | 206 | // signed int tmp; |
| 2499 | holgerb | 207 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0; |
| 2373 | holgerb | 208 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 209 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
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| 1171 | hbuss | 210 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| 1664 | holgerb | 211 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| 819 | hbuss | 212 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| 823 | ingob | 213 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
| 214 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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| 1051 | killagreg | 215 | switch(ToNaviCtrl.Command) // |
| 823 | ingob | 216 | { |
| 1448 | killagreg | 217 | case SPI_FCCMD_USER: |
| 823 | ingob | 218 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| 219 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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| 220 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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| 221 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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| 222 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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| 223 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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| 224 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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| 921 | hbuss | 225 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| 1765 | killagreg | 226 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| 2518 | holgerb | 227 | ToNaviCtrl.Param.Byte[9] = FC_StatusFlags2; |
| 2309 | holgerb | 228 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
| 1765 | killagreg | 229 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| 2518 | holgerb | 230 | ToNaviCtrl.Param.Int[5] = UBat; // 10 & 11 |
| 2348 | holgerb | 231 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
| 2596 | holgerb | 232 | // 8 = 16,17 |
| 233 | // 9 = 18,19 |
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| 921 | hbuss | 234 | break; |
| 2341 | holgerb | 235 | case SPI_FCCMD_BL_ACCU: |
| 1508 | killagreg | 236 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| 2527 | holgerb | 237 | ToNaviCtrl.Param.Byte[2] = motorindex | Out1ChangedFlag; // 0x80 this Flag marks a changed Out1 |
| 2443 | holgerb | 238 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
| 2596 | holgerb | 239 | ToNaviCtrl.Param.Byte[4] = Parameter_GPS_Switch; // GPS-Mode control |
| 2386 | holgerb | 240 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
| 2443 | holgerb | 241 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
| 2386 | holgerb | 242 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
| 2037 | holgerb | 243 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
| 244 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
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| 1948 | holgerb | 245 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
| 2346 | holgerb | 246 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
| 2404 | holgerb | 247 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
| 248 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
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| 2527 | holgerb | 249 | Out1ChangedFlag = 0; |
| 2596 | holgerb | 250 | ToNaviCtrl.Param.sInt[6] = Mittelwert_AccNick/4; // ToNaviCtrl.AccNick |
| 251 | ToNaviCtrl.Param.sInt[7] = Mittelwert_AccRoll/4; // ToNaviCtrl.AccRoll |
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| 252 | // 8 = 16,17 |
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| 253 | // 9 = 18,19 |
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| 1508 | killagreg | 254 | break; |
| 2477 | holgerb | 255 | case SPI_FCCMD_SLOW: |
| 256 | switch(slow_command) |
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| 257 | { |
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| 258 | case 0: |
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| 2499 | holgerb | 259 | ToNaviCtrl.Command = SPI_FCCMD_VERSION; |
| 260 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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| 261 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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| 262 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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| 263 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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| 264 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
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| 265 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.LandingSpeed; |
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| 266 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude; |
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| 267 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes; |
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| 268 | ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware; |
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| 2518 | holgerb | 269 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
| 2499 | holgerb | 270 | ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11 |
| 271 | slow_command++; |
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| 272 | break; |
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| 273 | case 1: |
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| 274 | ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; |
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| 2341 | holgerb | 275 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
| 276 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
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| 1051 | killagreg | 277 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| 278 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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| 279 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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| 2344 | holgerb | 280 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
| 1051 | killagreg | 281 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| 282 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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| 2447 | holgerb | 283 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
| 993 | hbuss | 284 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| 1936 | holgerb | 285 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
| 1064 | hbuss | 286 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| 2499 | holgerb | 287 | slow_command++; |
| 2477 | holgerb | 288 | break; |
| 2499 | holgerb | 289 | case 2: |
| 290 | ToNaviCtrl.Command = SPI_FCCMD_SLOW2; |
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| 291 | ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1 |
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| 292 | ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3 |
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| 293 | ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5 |
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| 294 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation; |
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| 295 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
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| 296 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
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| 297 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
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| 298 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
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| 299 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
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| 300 | slow_command++; |
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| 301 | break; |
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| 302 | case 3: |
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| 303 | ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
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| 304 | ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
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| 305 | ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
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| 306 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
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| 307 | ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
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| 2501 | holgerb | 308 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert; |
| 2518 | holgerb | 309 | ToNaviCtrl.Param.Byte[5] = LipoCells; |
| 310 | ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7 |
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| 2541 | holgerb | 311 | ToNaviCtrl.Param.Byte[8] = LowVoltageLandingActive; |
| 2560 | holgerb | 312 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.FailSafeTime; |
| 2499 | holgerb | 313 | ToNaviCtrl.Param.Byte[10] = 0; |
| 314 | ToNaviCtrl.Param.Byte[11] = 0; |
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| 2596 | holgerb | 315 | //ToNaviCtrl.Param.Byte[12] |
| 316 | //ToNaviCtrl.Param.Byte[13] |
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| 317 | //ToNaviCtrl.Param.Byte[14] |
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| 318 | //ToNaviCtrl.Param.Byte[15] |
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| 319 | //ToNaviCtrl.Param.Byte[16] |
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| 320 | //ToNaviCtrl.Param.Byte[17] |
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| 321 | //ToNaviCtrl.Param.Byte[18] |
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| 322 | //ToNaviCtrl.Param.Byte[19] |
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| 2499 | holgerb | 323 | slow_command++; |
| 324 | break; |
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| 2477 | holgerb | 325 | default: |
| 2499 | holgerb | 326 | ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; |
| 2477 | holgerb | 327 | ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
| 328 | ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
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| 329 | ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
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| 330 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
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| 2499 | holgerb | 331 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime; |
| 332 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver; |
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| 333 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit; |
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| 334 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit; |
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| 335 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit; |
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| 336 | slow_command = 0; |
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| 2596 | holgerb | 337 | //ToNaviCtrl.Param.Byte[12] |
| 338 | //ToNaviCtrl.Param.Byte[13] |
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| 339 | //ToNaviCtrl.Param.Byte[14] |
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| 340 | //ToNaviCtrl.Param.Byte[15] |
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| 341 | //ToNaviCtrl.Param.Byte[16] |
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| 342 | //ToNaviCtrl.Param.Byte[17] |
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| 343 | //ToNaviCtrl.Param.Byte[18] |
||
| 344 | //ToNaviCtrl.Param.Byte[19] |
||
| 2477 | holgerb | 345 | break; |
| 346 | } |
||
| 823 | ingob | 347 | break; |
| 2183 | holgerb | 348 | case SPI_FCCMD_PARAMETER2: |
| 2440 | holgerb | 349 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
| 2190 | holgerb | 350 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2263 | holgerb | 351 | // create the ToNC_SpeakHoTT |
| 352 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
||
| 353 | { |
||
| 354 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
||
| 355 | else HoTT_Waring(); |
||
| 356 | } |
||
| 2190 | holgerb | 357 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
| 358 | #else |
||
| 359 | ToNaviCtrl.Param.Byte[1] = 0; |
||
| 360 | #endif |
||
| 2499 | holgerb | 361 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3 |
| 2408 | holgerb | 362 | ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
| 2418 | holgerb | 363 | ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
| 2438 | holgerb | 364 | ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
| 365 | ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
||
| 2418 | holgerb | 366 | ToNC_Load_WP_List = 0; |
| 2438 | holgerb | 367 | ToNC_Load_SingePoint = 0; |
| 368 | ToNC_Store_SingePoint = 0; |
||
| 2477 | holgerb | 369 | if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
| 370 | else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
||
| 2499 | holgerb | 371 | ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3; |
| 2440 | holgerb | 372 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
| 2596 | holgerb | 373 | //ToNaviCtrl.Param.Byte[12] |
| 374 | //ToNaviCtrl.Param.Byte[13] |
||
| 375 | //ToNaviCtrl.Param.Byte[14] |
||
| 376 | //ToNaviCtrl.Param.Byte[15] |
||
| 377 | //ToNaviCtrl.Param.Byte[16] |
||
| 378 | //ToNaviCtrl.Param.Byte[17] |
||
| 379 | //ToNaviCtrl.Param.Byte[18] |
||
| 380 | //ToNaviCtrl.Param.Byte[19] |
||
| 2183 | holgerb | 381 | break; |
| 1448 | killagreg | 382 | case SPI_FCCMD_STICK: |
| 2496 | holgerb | 383 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
| 384 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
||
| 385 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
||
| 386 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
||
| 1377 | hbuss | 387 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| 388 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
||
| 389 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
||
| 390 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
||
| 391 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
||
| 392 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
||
| 393 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
||
| 394 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
||
| 2596 | holgerb | 395 | //ToNaviCtrl.Param.Byte[12] |
| 396 | //ToNaviCtrl.Param.Byte[13] |
||
| 397 | //ToNaviCtrl.Param.Byte[14] |
||
| 398 | //ToNaviCtrl.Param.Byte[15] |
||
| 399 | //ToNaviCtrl.Param.Byte[16] |
||
| 400 | //ToNaviCtrl.Param.Byte[17] |
||
| 401 | //ToNaviCtrl.Param.Byte[18] |
||
| 402 | //ToNaviCtrl.Param.Byte[19] |
||
| 1241 | killagreg | 403 | break; |
| 2596 | holgerb | 404 | case SPI_FCCMD_STICK2: |
| 405 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
||
| 406 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
||
| 407 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
||
| 408 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
||
| 409 | ToNaviCtrl.Param.Byte[4] = (unsigned char) PPM_in[1]; |
||
| 410 | ToNaviCtrl.Param.Byte[5] = (unsigned char) PPM_in[2]; |
||
| 411 | ToNaviCtrl.Param.Byte[6] = (unsigned char) PPM_in[3]; |
||
| 412 | ToNaviCtrl.Param.Byte[7] = (unsigned char) PPM_in[4]; |
||
| 413 | ToNaviCtrl.Param.Byte[8] = (unsigned char) PPM_in[5]; |
||
| 414 | ToNaviCtrl.Param.Byte[9] = (unsigned char) PPM_in[6]; |
||
| 415 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[7]; |
||
| 416 | ToNaviCtrl.Param.Byte[11] = (unsigned char) PPM_in[8]; |
||
| 417 | ToNaviCtrl.Param.Byte[12] = (unsigned char) PPM_in[9]; |
||
| 418 | ToNaviCtrl.Param.Byte[13] = (unsigned char) PPM_in[10]; |
||
| 419 | ToNaviCtrl.Param.Byte[14] = (unsigned char) PPM_in[11]; |
||
| 420 | ToNaviCtrl.Param.Byte[15] = (unsigned char) PPM_in[12]; |
||
| 421 | ToNaviCtrl.Param.Byte[16] = (unsigned char) PPM_in[13]; |
||
| 422 | ToNaviCtrl.Param.Byte[17] = (unsigned char) PPM_in[14]; |
||
| 423 | ToNaviCtrl.Param.Byte[18] = (unsigned char) PPM_in[15]; |
||
| 424 | ToNaviCtrl.Param.Byte[19] = (unsigned char) PPM_in[16]; |
||
| 425 | break; |
||
| 1448 | killagreg | 426 | case SPI_FCCMD_MISC: |
| 2418 | holgerb | 427 | if(WinkelOut.CalcState >= 5) |
| 1241 | killagreg | 428 | { |
| 429 | WinkelOut.CalcState = 0; |
||
| 430 | ToNaviCtrl.Param.Byte[0] = 5; |
||
| 431 | } |
||
| 432 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
||
| 2499 | holgerb | 433 | ToNaviCtrl.Param.Byte[1] = HoverGas / 4; |
| 434 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3 |
||
| 435 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5 |
||
| 436 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0]; |
||
| 437 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1]; |
||
| 438 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
||
| 439 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
||
| 440 | ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter |
||
| 2596 | holgerb | 441 | ToNaviCtrl.Param.Byte[9] = (unsigned char) ReceiverOkay; |
| 2370 | holgerb | 442 | ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
| 1377 | hbuss | 443 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| 2596 | holgerb | 444 | //ToNaviCtrl.Param.Byte[12] |
| 445 | //ToNaviCtrl.Param.Byte[13] |
||
| 446 | //ToNaviCtrl.Param.Byte[14] |
||
| 447 | //ToNaviCtrl.Param.Byte[15] |
||
| 448 | //ToNaviCtrl.Param.Byte[16] |
||
| 449 | //ToNaviCtrl.Param.Byte[17] |
||
| 450 | //ToNaviCtrl.Param.Byte[18] |
||
| 451 | //ToNaviCtrl.Param.Byte[19] |
||
| 1241 | killagreg | 452 | break; |
| 453 | } |
||
| 2010 | holgerb | 454 | |
| 1215 | hbuss | 455 | if(SPI_RxDataValid) |
| 1051 | killagreg | 456 | { |
| 2148 | holgerb | 457 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
| 458 | oldcommand = FromNaviCtrl.Command; |
||
| 1852 | killagreg | 459 | CalculateCompassTimer = 1; |
| 460 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
||
| 461 | { |
||
| 462 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
||
| 463 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
||
| 464 | } |
||
| 1690 | holgerb | 465 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| 823 | ingob | 466 | switch (FromNaviCtrl.Command) |
| 467 | { |
||
| 1448 | killagreg | 468 | case SPI_NCCMD_KALMAN: |
| 1231 | killagreg | 469 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| 470 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
||
| 471 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
||
| 1944 | holgerb | 472 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
| 1664 | holgerb | 473 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| 474 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
||
| 1945 | holgerb | 475 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
| 2497 | holgerb | 476 | if(FromNaviCtrl.Param.sInt[4] >= 0) |
| 1840 | holgerb | 477 | { |
| 2497 | holgerb | 478 | NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| 1856 | killagreg | 479 | } |
| 1862 | holgerb | 480 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
| 2596 | holgerb | 481 | //++++++++++++++++++++++++++++++++++++++++++++ |
| 482 | if(FromNaviCtrl.Param.Byte[12] && !beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.Param.Byte[12] * 16; |
||
| 483 | //++++++++++++++++++++++++++++++++++++++++++++ |
||
| 484 | if(FromNaviCtrl.Param.Byte[4] & 0x01) NCForcesNewDirection = 1; |
||
| 485 | if(FromNaviCtrl.Param.Byte[4] & 0x02) PORTD &= ~0x10; else PORTD |= 0x10; // switches PORTD.4 Low (UART-MUX) |
||
| 486 | if(FromNaviCtrl.Param.Byte[4] & 0x10) // External Control |
||
| 487 | { |
||
| 488 | memcpy((unsigned char *)&ExternalControl, (unsigned char *)&FromNaviCtrl.Param.Byte[13], 7); // 7 Bytes ExternalControl |
||
| 489 | if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0; |
||
| 490 | else ExternalControlTimeout = 100; // 2 seconds timeout |
||
| 491 | } |
||
| 492 | //++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1231 | killagreg | 493 | break; |
| 1448 | killagreg | 494 | case SPI_NCCMD_VERSION: |
| 495 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
||
| 496 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
||
| 497 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
||
| 498 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
||
| 499 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
||
| 1702 | holgerb | 500 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| 501 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
||
| 1920 | holgerb | 502 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
| 503 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
||
| 1944 | holgerb | 504 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
| 2009 | holgerb | 505 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
| 2596 | holgerb | 506 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 507 | if(FromNaviCtrl.Param.Byte[11]) |
||
| 508 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[11]; |
||
| 509 | #endif |
||
| 1856 | killagreg | 510 | break; |
| 1451 | killagreg | 511 | case SPI_NCCMD_GPSINFO: |
| 512 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
||
| 513 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
||
| 514 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
||
| 1690 | holgerb | 515 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| 1852 | killagreg | 516 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| 1472 | killagreg | 517 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| 2540 | holgerb | 518 | if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
| 2340 | holgerb | 519 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
| 2488 | holgerb | 520 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| 1857 | holgerb | 521 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| 1451 | killagreg | 522 | break; |
| 1972 | holgerb | 523 | case SPI_MISC: |
| 524 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
||
| 525 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
||
| 526 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
||
| 2090 | holgerb | 527 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2426 | holgerb | 528 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
| 529 | #endif |
||
| 2179 | holgerb | 530 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
| 531 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
||
| 532 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
||
| 2420 | holgerb | 533 | NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
| 2437 | holgerb | 534 | CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
| 2090 | holgerb | 535 | break; |
| 1940 | holgerb | 536 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 537 | case SPI_NCCMD_HOTT_DATA: |
||
| 2377 | holgerb | 538 | //if(EE_Parameter.Receiver == RECEIVER_HOTT) |
| 539 | NC_Fills_HoTT_Telemety(); |
||
| 1940 | holgerb | 540 | break; |
| 2596 | holgerb | 541 | case SPI_SERIAL_CH: // kommt nur, wenn NC den Datensatz empfangen hat |
| 542 | { |
||
| 543 | unsigned char tempchar1; |
||
| 544 | for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) FromNaviCtrl.Param.Byte[tempchar1]; |
||
| 545 | } |
||
| 546 | break; |
||
| 1940 | holgerb | 547 | #endif |
| 548 | |||
| 1855 | holgerb | 549 | // 0 = 0,1 |
| 550 | // 1 = 2,3 |
||
| 551 | // 2 = 4,5 |
||
| 552 | // 3 = 6,7 |
||
| 553 | // 4 = 8,9 |
||
| 554 | // 5 = 10,11 |
||
| 2596 | holgerb | 555 | // 6 = 12,13 |
| 556 | // 7 = 14,15 |
||
| 557 | // 8 = 16,17 |
||
| 558 | // 9 = 18,19 |
||
| 823 | ingob | 559 | default: |
| 1451 | killagreg | 560 | break; |
| 823 | ingob | 561 | } |
| 720 | ingob | 562 | } |
| 563 | else |
||
| 564 | { |
||
| 819 | hbuss | 565 | // KompassValue = 0; |
| 566 | // KompassRichtung = 0; |
||
| 720 | ingob | 567 | GPS_Nick = 0; |
| 568 | GPS_Roll = 0; |
||
| 569 | } |
||
| 304 | ingob | 570 | } |
| 571 | |||
| 597 | ingob | 572 | #endif |
| 304 | ingob | 573 | |
| 574 |