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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" |
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; |
2619 | holgerb | 34 | unsigned char NC_ErrorCode = 0, Partner_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; |
2604 | holgerb | 44 | unsigned char NC_RequestsConfig = 0; |
2624 | holgerb | 45 | unsigned char CamCtrlCharacter = ' '; |
823 | ingob | 46 | |
597 | ingob | 47 | #ifdef USE_SPI_COMMUNICATION |
691 | ingob | 48 | |
304 | ingob | 49 | //------------------------------------------------------ |
50 | void SPI_MasterInit(void) |
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51 | { |
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1051 | killagreg | 52 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
304 | ingob | 53 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
1051 | killagreg | 54 | |
55 | 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 | 56 | SPSR = 0;//(1<<SPI2X); |
1051 | killagreg | 57 | |
58 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
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606 | ingob | 59 | SPITransferCompleted = 1; |
1051 | killagreg | 60 | |
708 | ingob | 61 | //SPDR = 0x00; // dummy write |
1051 | killagreg | 62 | |
2596 | holgerb | 63 | ToNaviCtrl.Sync1 = SPI_FCSYNCBYTE1; |
64 | ToNaviCtrl.Sync2 = SPI_FCSYNCBYTE2; |
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1051 | killagreg | 65 | |
1448 | killagreg | 66 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
823 | ingob | 67 | ToNaviCtrl.IntegralNick = 0; |
68 | ToNaviCtrl.IntegralRoll = 0; |
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1215 | hbuss | 69 | FromNaviCtrl_Value.SerialDataOkay = 0; |
1051 | killagreg | 70 | SPI_RxDataValid = 0; |
71 | |||
304 | ingob | 72 | } |
73 | |||
74 | //------------------------------------------------------ |
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2386 | holgerb | 75 | unsigned char SPI_StartTransmitPacket(void) |
304 | ingob | 76 | { |
2386 | holgerb | 77 | if(!SPITransferCompleted) return(0); |
304 | ingob | 78 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
823 | ingob | 79 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
2596 | holgerb | 80 | PtrToChksum = (unsigned char *) &ToNaviCtrl.Chksum; |
823 | ingob | 81 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
82 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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1051 | killagreg | 83 | |
606 | ingob | 84 | SPITransferCompleted = 0; |
2560 | holgerb | 85 | UpdateSPI_Buffer(); // update buffer |
304 | ingob | 86 | SPI_BufferIndex = 1; |
823 | ingob | 87 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
2596 | holgerb | 88 | SPI_Datasize = sizeof(ToNaviCtrl); |
1051 | killagreg | 89 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
2386 | holgerb | 90 | return(1); |
304 | ingob | 91 | } |
92 | |||
93 | //------------------------------------------------------ |
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2496 | holgerb | 94 | //SIaNAL(SIG_SPI) |
304 | ingob | 95 | void SPI_TransmitByte(void) |
96 | { |
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708 | ingob | 97 | static unsigned char SPI_RXState = 0; |
1051 | killagreg | 98 | unsigned char rxdata; |
708 | ingob | 99 | static unsigned char rxchksum; |
1051 | killagreg | 100 | |
691 | ingob | 101 | if (SPITransferCompleted) return; |
304 | ingob | 102 | if (!(SPSR & (1 << SPIF))) return; |
2386 | holgerb | 103 | BytegapSPI = SPI_BYTEGAP; |
1051 | killagreg | 104 | // _delay_us(30); |
606 | ingob | 105 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
1051 | killagreg | 106 | |
708 | ingob | 107 | rxdata = SPDR; |
108 | switch ( SPI_RXState) |
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109 | { |
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1051 | killagreg | 110 | case 0: |
111 | SPI_RxBufferIndex = 0; |
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112 | rxchksum = rxdata; |
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2596 | holgerb | 113 | if (rxdata == SPI_NCSYNCBYTE1 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
708 | ingob | 114 | break; |
115 | |||
1051 | killagreg | 116 | case 1: |
2596 | holgerb | 117 | rxchksum += rxdata; |
118 | if (rxdata == SPI_NCSYNCBYTE2) { SPI_RXState = 2; } // 2. Syncbyte ok |
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119 | else |
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120 | if (rxdata == SPI_NCSYNCBYTE_HB2) { SPI_RXState = 3; } // 2. Syncbyte ok |
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121 | else SPI_RXState = 0; |
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1051 | killagreg | 122 | break; |
123 | |||
2596 | holgerb | 124 | case 2: // get normal NC data packets |
708 | ingob | 125 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
126 | //DebugOut.Analog[19]++; |
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1051 | killagreg | 127 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
128 | { |
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708 | ingob | 129 | if (rxdata == rxchksum) |
130 | { |
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823 | ingob | 131 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
2596 | holgerb | 132 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(FromNaviCtrl)); |
1051 | killagreg | 133 | SPI_RxDataValid = 1; |
134 | } |
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1856 | killagreg | 135 | else |
1855 | holgerb | 136 | { |
137 | SPI_RxDataValid = 0; |
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2596 | holgerb | 138 | DebugOut.Analog[27]++; |
1856 | killagreg | 139 | } |
1051 | killagreg | 140 | SPI_RXState = 0; |
708 | ingob | 141 | } |
1051 | killagreg | 142 | else rxchksum += rxdata; |
143 | break; |
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2596 | holgerb | 144 | case 3: // get huge data packet |
145 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
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146 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromNavi)) |
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147 | { |
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148 | if(rxdata == rxchksum) |
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149 | { |
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150 | unsigned char *ptr = (unsigned char *)&HugeBlockFromNavi; |
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151 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(HugeBlockFromNavi)); |
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152 | DebugOut.Analog[26] = HugeBlockFromNavi.Data[239]; |
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153 | // SPI_RxDataValid = 1; |
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154 | } |
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155 | else |
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156 | { |
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157 | SPI_RxDataValid = 0; |
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158 | DebugOut.Analog[27]++; |
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159 | } |
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160 | SPI_RXState = 0; |
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161 | } |
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162 | else rxchksum += rxdata; |
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163 | break; |
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1051 | killagreg | 164 | } |
165 | |||
2596 | holgerb | 166 | if (SPI_BufferIndex < SPI_Datasize) |
1051 | killagreg | 167 | { |
2596 | holgerb | 168 | unsigned char tmp; |
606 | ingob | 169 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
2596 | holgerb | 170 | tmp = SPI_TX_Buffer[SPI_BufferIndex]; |
171 | SPDR = tmp; |
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172 | *PtrToChksum += tmp; |
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2341 | holgerb | 173 | } |
1051 | killagreg | 174 | else SPITransferCompleted = 1; |
175 | |||
304 | ingob | 176 | SPI_BufferIndex++; |
177 | } |
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178 | |||
2596 | holgerb | 179 | void TransmitHugeBlock(void) |
180 | { |
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181 | // if(!SPITransferCompleted) return(0); |
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182 | while(!SPITransferCompleted) { SPI_TransmitByte();_delay_us(100);}; // send the remaining data |
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183 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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184 | SPI_TX_Buffer = (unsigned char *) &HugeBlockToNavi; // pointer to the huge Block |
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185 | PtrToChksum = (unsigned char *) &HugeBlockToNavi.Chksum; |
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186 | SPITransferCompleted = 0; |
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187 | SPI_BufferIndex = 1; |
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188 | HugeBlockToNavi.Sync1 = SPI_FCSYNCBYTE_HB1; |
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189 | HugeBlockToNavi.Sync2 = SPI_FCSYNCBYTE_HB2; |
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190 | HugeBlockToNavi.Chksum = SPI_FCSYNCBYTE_HB1; |
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191 | SPI_Datasize = sizeof(HugeBlockToNavi); |
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192 | SPDR = HugeBlockToNavi.Sync1; // Start transmission |
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193 | SPI_TransmitByte();_delay_us(200); SPI_TransmitByte();_delay_us(200); // leave the NC a bit time to fill the FIFO |
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194 | while(!SPITransferCompleted) { _delay_us(80); SPI_TransmitByte();}; |
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195 | } |
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691 | ingob | 196 | |
2604 | holgerb | 197 | void SendSettingToNC(void) |
2596 | holgerb | 198 | { |
2604 | holgerb | 199 | HugeBlockToNavi.WhoAmI = 1; // 1 means: EE-Data |
200 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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201 | memcpy(HugeBlockToNavi.Data, (unsigned char *) &EE_Parameter, sizeof(EE_Parameter)); |
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2596 | holgerb | 202 | TransmitHugeBlock(); |
203 | } |
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204 | |||
304 | ingob | 205 | //------------------------------------------------------ |
206 | void UpdateSPI_Buffer(void) |
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207 | { |
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2496 | holgerb | 208 | // signed int tmp; |
2499 | holgerb | 209 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0; |
2373 | holgerb | 210 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
211 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
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1171 | hbuss | 212 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
1664 | holgerb | 213 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
819 | hbuss | 214 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
823 | ingob | 215 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
216 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
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1051 | killagreg | 217 | switch(ToNaviCtrl.Command) // |
823 | ingob | 218 | { |
1448 | killagreg | 219 | case SPI_FCCMD_USER: |
823 | ingob | 220 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
221 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
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222 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
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223 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
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224 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
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225 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
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226 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
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921 | hbuss | 227 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
1765 | killagreg | 228 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
2518 | holgerb | 229 | ToNaviCtrl.Param.Byte[9] = FC_StatusFlags2; |
2309 | holgerb | 230 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
1765 | killagreg | 231 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
2518 | holgerb | 232 | ToNaviCtrl.Param.Int[5] = UBat; // 10 & 11 |
2348 | holgerb | 233 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
2596 | holgerb | 234 | // 8 = 16,17 |
235 | // 9 = 18,19 |
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921 | hbuss | 236 | break; |
2341 | holgerb | 237 | case SPI_FCCMD_BL_ACCU: |
1508 | killagreg | 238 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
2527 | holgerb | 239 | ToNaviCtrl.Param.Byte[2] = motorindex | Out1ChangedFlag; // 0x80 this Flag marks a changed Out1 |
2443 | holgerb | 240 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
2596 | holgerb | 241 | ToNaviCtrl.Param.Byte[4] = Parameter_GPS_Switch; // GPS-Mode control |
2386 | holgerb | 242 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
2443 | holgerb | 243 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
2386 | holgerb | 244 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
2037 | holgerb | 245 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
246 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
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1948 | holgerb | 247 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
2346 | holgerb | 248 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
2404 | holgerb | 249 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
250 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
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2527 | holgerb | 251 | Out1ChangedFlag = 0; |
2596 | holgerb | 252 | ToNaviCtrl.Param.sInt[6] = Mittelwert_AccNick/4; // ToNaviCtrl.AccNick |
253 | ToNaviCtrl.Param.sInt[7] = Mittelwert_AccRoll/4; // ToNaviCtrl.AccRoll |
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254 | // 8 = 16,17 |
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255 | // 9 = 18,19 |
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1508 | killagreg | 256 | break; |
2477 | holgerb | 257 | case SPI_FCCMD_SLOW: |
258 | switch(slow_command) |
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259 | { |
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260 | case 0: |
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2499 | holgerb | 261 | ToNaviCtrl.Command = SPI_FCCMD_VERSION; |
262 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
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263 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
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264 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
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265 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
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266 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
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267 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.LandingSpeed; |
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268 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude; |
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269 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes; |
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270 | ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware; |
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2518 | holgerb | 271 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
2499 | holgerb | 272 | ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11 |
2619 | holgerb | 273 | ToNaviCtrl.Param.Byte[12] = IamMaster; |
2499 | holgerb | 274 | slow_command++; |
275 | break; |
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276 | case 1: |
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277 | ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; |
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2341 | holgerb | 278 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
279 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
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1051 | killagreg | 280 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
281 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
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282 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
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2344 | holgerb | 283 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
1051 | killagreg | 284 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
285 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
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2447 | holgerb | 286 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
993 | hbuss | 287 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
1936 | holgerb | 288 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
1064 | hbuss | 289 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
2604 | holgerb | 290 | |
2499 | holgerb | 291 | slow_command++; |
2477 | holgerb | 292 | break; |
2499 | holgerb | 293 | case 2: |
294 | ToNaviCtrl.Command = SPI_FCCMD_SLOW2; |
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295 | ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1 |
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296 | ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3 |
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297 | ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5 |
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298 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation; |
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299 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
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300 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
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301 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
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302 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
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303 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
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304 | slow_command++; |
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305 | break; |
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306 | case 3: |
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307 | ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
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308 | ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
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309 | ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
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310 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
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311 | ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
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2501 | holgerb | 312 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert; |
2518 | holgerb | 313 | ToNaviCtrl.Param.Byte[5] = LipoCells; |
314 | ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7 |
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2541 | holgerb | 315 | ToNaviCtrl.Param.Byte[8] = LowVoltageLandingActive; |
2560 | holgerb | 316 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.FailSafeTime; |
2499 | holgerb | 317 | ToNaviCtrl.Param.Byte[10] = 0; |
318 | ToNaviCtrl.Param.Byte[11] = 0; |
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2596 | holgerb | 319 | //ToNaviCtrl.Param.Byte[12] |
320 | //ToNaviCtrl.Param.Byte[13] |
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321 | //ToNaviCtrl.Param.Byte[14] |
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322 | //ToNaviCtrl.Param.Byte[15] |
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323 | //ToNaviCtrl.Param.Byte[16] |
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324 | //ToNaviCtrl.Param.Byte[17] |
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325 | //ToNaviCtrl.Param.Byte[18] |
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326 | //ToNaviCtrl.Param.Byte[19] |
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2499 | holgerb | 327 | slow_command++; |
328 | break; |
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2477 | holgerb | 329 | default: |
2499 | holgerb | 330 | ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; |
2477 | holgerb | 331 | ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
332 | ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
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333 | ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
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334 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
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2499 | holgerb | 335 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime; |
336 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver; |
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337 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit; |
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338 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit; |
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339 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit; |
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340 | slow_command = 0; |
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2596 | holgerb | 341 | //ToNaviCtrl.Param.Byte[12] |
342 | //ToNaviCtrl.Param.Byte[13] |
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343 | //ToNaviCtrl.Param.Byte[14] |
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344 | //ToNaviCtrl.Param.Byte[15] |
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345 | //ToNaviCtrl.Param.Byte[16] |
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346 | //ToNaviCtrl.Param.Byte[17] |
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347 | //ToNaviCtrl.Param.Byte[18] |
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348 | //ToNaviCtrl.Param.Byte[19] |
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2477 | holgerb | 349 | break; |
350 | } |
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823 | ingob | 351 | break; |
2183 | holgerb | 352 | case SPI_FCCMD_PARAMETER2: |
2440 | holgerb | 353 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
2190 | holgerb | 354 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2263 | holgerb | 355 | // create the ToNC_SpeakHoTT |
356 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
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357 | { |
||
358 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
||
359 | else HoTT_Waring(); |
||
360 | } |
||
2190 | holgerb | 361 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
362 | #else |
||
363 | ToNaviCtrl.Param.Byte[1] = 0; |
||
364 | #endif |
||
2499 | holgerb | 365 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3 |
2408 | holgerb | 366 | ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
2418 | holgerb | 367 | ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
2438 | holgerb | 368 | ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
369 | ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
||
2418 | holgerb | 370 | ToNC_Load_WP_List = 0; |
2438 | holgerb | 371 | ToNC_Load_SingePoint = 0; |
372 | ToNC_Store_SingePoint = 0; |
||
2477 | holgerb | 373 | if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
374 | else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
||
2499 | holgerb | 375 | ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3; |
2440 | holgerb | 376 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
2596 | holgerb | 377 | //ToNaviCtrl.Param.Byte[12] |
378 | //ToNaviCtrl.Param.Byte[13] |
||
379 | //ToNaviCtrl.Param.Byte[14] |
||
380 | //ToNaviCtrl.Param.Byte[15] |
||
381 | //ToNaviCtrl.Param.Byte[16] |
||
382 | //ToNaviCtrl.Param.Byte[17] |
||
383 | //ToNaviCtrl.Param.Byte[18] |
||
384 | //ToNaviCtrl.Param.Byte[19] |
||
2183 | holgerb | 385 | break; |
1448 | killagreg | 386 | case SPI_FCCMD_STICK: |
2496 | holgerb | 387 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
388 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
||
389 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
||
390 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
||
1377 | hbuss | 391 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
392 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
||
393 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
||
394 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
||
395 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
||
396 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
||
397 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
||
398 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
||
2596 | holgerb | 399 | //ToNaviCtrl.Param.Byte[12] |
400 | //ToNaviCtrl.Param.Byte[13] |
||
401 | //ToNaviCtrl.Param.Byte[14] |
||
402 | //ToNaviCtrl.Param.Byte[15] |
||
403 | //ToNaviCtrl.Param.Byte[16] |
||
404 | //ToNaviCtrl.Param.Byte[17] |
||
405 | //ToNaviCtrl.Param.Byte[18] |
||
406 | //ToNaviCtrl.Param.Byte[19] |
||
1241 | killagreg | 407 | break; |
2596 | holgerb | 408 | case SPI_FCCMD_STICK2: |
409 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
||
410 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
||
411 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
||
412 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
||
413 | ToNaviCtrl.Param.Byte[4] = (unsigned char) PPM_in[1]; |
||
414 | ToNaviCtrl.Param.Byte[5] = (unsigned char) PPM_in[2]; |
||
415 | ToNaviCtrl.Param.Byte[6] = (unsigned char) PPM_in[3]; |
||
416 | ToNaviCtrl.Param.Byte[7] = (unsigned char) PPM_in[4]; |
||
417 | ToNaviCtrl.Param.Byte[8] = (unsigned char) PPM_in[5]; |
||
418 | ToNaviCtrl.Param.Byte[9] = (unsigned char) PPM_in[6]; |
||
419 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[7]; |
||
420 | ToNaviCtrl.Param.Byte[11] = (unsigned char) PPM_in[8]; |
||
421 | ToNaviCtrl.Param.Byte[12] = (unsigned char) PPM_in[9]; |
||
422 | ToNaviCtrl.Param.Byte[13] = (unsigned char) PPM_in[10]; |
||
423 | ToNaviCtrl.Param.Byte[14] = (unsigned char) PPM_in[11]; |
||
424 | ToNaviCtrl.Param.Byte[15] = (unsigned char) PPM_in[12]; |
||
425 | ToNaviCtrl.Param.Byte[16] = (unsigned char) PPM_in[13]; |
||
426 | ToNaviCtrl.Param.Byte[17] = (unsigned char) PPM_in[14]; |
||
427 | ToNaviCtrl.Param.Byte[18] = (unsigned char) PPM_in[15]; |
||
428 | ToNaviCtrl.Param.Byte[19] = (unsigned char) PPM_in[16]; |
||
429 | break; |
||
1448 | killagreg | 430 | case SPI_FCCMD_MISC: |
2418 | holgerb | 431 | if(WinkelOut.CalcState >= 5) |
1241 | killagreg | 432 | { |
433 | WinkelOut.CalcState = 0; |
||
434 | ToNaviCtrl.Param.Byte[0] = 5; |
||
435 | } |
||
436 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
||
2499 | holgerb | 437 | ToNaviCtrl.Param.Byte[1] = HoverGas / 4; |
438 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3 |
||
439 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5 |
||
440 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0]; |
||
441 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1]; |
||
442 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
||
2610 | holgerb | 443 | VersionInfo.HardwareError[1] &= (FC_ERROR1_ACC_NOT_CAL | FC_ERROR1_MIXER); // delete the most error-flags now |
2499 | holgerb | 444 | ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter |
2596 | holgerb | 445 | ToNaviCtrl.Param.Byte[9] = (unsigned char) ReceiverOkay; |
2370 | holgerb | 446 | ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
1377 | hbuss | 447 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
2596 | holgerb | 448 | //ToNaviCtrl.Param.Byte[12] |
449 | //ToNaviCtrl.Param.Byte[13] |
||
450 | //ToNaviCtrl.Param.Byte[14] |
||
451 | //ToNaviCtrl.Param.Byte[15] |
||
452 | //ToNaviCtrl.Param.Byte[16] |
||
453 | //ToNaviCtrl.Param.Byte[17] |
||
454 | //ToNaviCtrl.Param.Byte[18] |
||
455 | //ToNaviCtrl.Param.Byte[19] |
||
1241 | killagreg | 456 | break; |
457 | } |
||
2010 | holgerb | 458 | |
1215 | hbuss | 459 | if(SPI_RxDataValid) |
1051 | killagreg | 460 | { |
2148 | holgerb | 461 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
462 | oldcommand = FromNaviCtrl.Command; |
||
1852 | killagreg | 463 | CalculateCompassTimer = 1; |
464 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
||
465 | { |
||
466 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
||
467 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
||
468 | } |
||
1690 | holgerb | 469 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
823 | ingob | 470 | switch (FromNaviCtrl.Command) |
471 | { |
||
1448 | killagreg | 472 | case SPI_NCCMD_KALMAN: |
1231 | killagreg | 473 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
474 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
||
475 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
||
1944 | holgerb | 476 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
1664 | holgerb | 477 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
478 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
||
1945 | holgerb | 479 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
2497 | holgerb | 480 | if(FromNaviCtrl.Param.sInt[4] >= 0) |
1840 | holgerb | 481 | { |
2497 | holgerb | 482 | NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
1856 | killagreg | 483 | } |
1862 | holgerb | 484 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
2596 | holgerb | 485 | //++++++++++++++++++++++++++++++++++++++++++++ |
486 | if(FromNaviCtrl.Param.Byte[12] && !beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.Param.Byte[12] * 16; |
||
487 | //++++++++++++++++++++++++++++++++++++++++++++ |
||
2619 | holgerb | 488 | if(FromNaviCtrl.Param.Byte[4] & 0x01) NCForcesNewDirection = 1; |
489 | if(FromNaviCtrl.Param.Byte[4] & 0x02) // controls the Uart-Multiplexer on the FC3.0 |
||
490 | { |
||
491 | #ifdef REDUNDANT_FC_SLAVE |
||
492 | if(MotorenEin) // otherwise we wouldn't read the answer of the BLs if debugging on FC is active |
||
493 | { |
||
494 | UART_MUX_TO_BL; |
||
495 | SwitchMultiplexerToUpdate = 0; |
||
496 | } |
||
497 | else |
||
498 | #endif |
||
499 | { |
||
500 | if(UebertragungAbgeschlossen == 2) UART_MUX_TO_UPDATE; |
||
501 | SwitchMultiplexerToUpdate = 1; |
||
502 | } |
||
503 | } |
||
504 | else |
||
505 | { |
||
506 | UART_MUX_TO_BL; |
||
507 | SwitchMultiplexerToUpdate = 0; |
||
508 | } |
||
509 | |||
2596 | holgerb | 510 | if(FromNaviCtrl.Param.Byte[4] & 0x10) // External Control |
511 | { |
||
512 | memcpy((unsigned char *)&ExternalControl, (unsigned char *)&FromNaviCtrl.Param.Byte[13], 7); // 7 Bytes ExternalControl |
||
513 | if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0; |
||
514 | else ExternalControlTimeout = 100; // 2 seconds timeout |
||
515 | } |
||
516 | //++++++++++++++++++++++++++++++++++++++++++++ |
||
1231 | killagreg | 517 | break; |
1448 | killagreg | 518 | case SPI_NCCMD_VERSION: |
519 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
||
520 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
||
521 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
||
522 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
||
523 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
||
1702 | holgerb | 524 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
525 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
||
1920 | holgerb | 526 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
527 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
||
1944 | holgerb | 528 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
2009 | holgerb | 529 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
2596 | holgerb | 530 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
531 | if(FromNaviCtrl.Param.Byte[11]) |
||
532 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[11]; |
||
533 | #endif |
||
2624 | holgerb | 534 | if(FromNaviCtrl.Param.Byte[12]) NC_RequestsConfig = FromNaviCtrl.Param.Byte[12]; |
2619 | holgerb | 535 | Partner_ErrorCode = FromNaviCtrl.Param.Byte[13]; |
536 | Partner_StatusFlags = FromNaviCtrl.Param.Byte[14]; |
||
537 | Partner_StatusFlags2 = FromNaviCtrl.Param.Byte[15]; |
||
538 | Partner_StatusFlags3 = FromNaviCtrl.Param.Byte[16]; |
||
1856 | killagreg | 539 | break; |
1451 | killagreg | 540 | case SPI_NCCMD_GPSINFO: |
541 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
||
542 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
||
543 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
||
1690 | holgerb | 544 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
1852 | killagreg | 545 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
1472 | killagreg | 546 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
2540 | holgerb | 547 | if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
2340 | holgerb | 548 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
2488 | holgerb | 549 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
1857 | holgerb | 550 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
1451 | killagreg | 551 | break; |
1972 | holgerb | 552 | case SPI_MISC: |
553 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
||
554 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
||
555 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
||
2090 | holgerb | 556 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2426 | holgerb | 557 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
558 | #endif |
||
2179 | holgerb | 559 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
560 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
||
561 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
||
2420 | holgerb | 562 | NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
2437 | holgerb | 563 | CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
2624 | holgerb | 564 | CamCtrlCharacter = FromNaviCtrl.Param.Byte[12]; |
2090 | holgerb | 565 | break; |
1940 | holgerb | 566 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
567 | case SPI_NCCMD_HOTT_DATA: |
||
2377 | holgerb | 568 | //if(EE_Parameter.Receiver == RECEIVER_HOTT) |
569 | NC_Fills_HoTT_Telemety(); |
||
1940 | holgerb | 570 | break; |
2596 | holgerb | 571 | case SPI_SERIAL_CH: // kommt nur, wenn NC den Datensatz empfangen hat |
572 | { |
||
573 | unsigned char tempchar1; |
||
574 | for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) FromNaviCtrl.Param.Byte[tempchar1]; |
||
575 | } |
||
576 | break; |
||
1940 | holgerb | 577 | #endif |
578 | |||
1855 | holgerb | 579 | // 0 = 0,1 |
580 | // 1 = 2,3 |
||
581 | // 2 = 4,5 |
||
582 | // 3 = 6,7 |
||
583 | // 4 = 8,9 |
||
584 | // 5 = 10,11 |
||
2596 | holgerb | 585 | // 6 = 12,13 |
586 | // 7 = 14,15 |
||
587 | // 8 = 16,17 |
||
588 | // 9 = 18,19 |
||
823 | ingob | 589 | default: |
1451 | killagreg | 590 | break; |
823 | ingob | 591 | } |
720 | ingob | 592 | } |
593 | else |
||
594 | { |
||
819 | hbuss | 595 | // KompassValue = 0; |
596 | // KompassRichtung = 0; |
||
720 | ingob | 597 | GPS_Nick = 0; |
598 | GPS_Roll = 0; |
||
599 | } |
||
304 | ingob | 600 | } |
601 | |||
597 | ingob | 602 | #endif |
304 | ingob | 603 | |
604 |