WebSVN - FlightCtrl - Blame - Rev 2499

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;
2447	holgerb	36	//unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
1840	holgerb	37	signed int POI_KameraNick = 0; // in 0,1�
1852	killagreg	38	vector16_t MagVec = {0,0,0};
823	ingob	39
597	ingob	40	#ifdef USE_SPI_COMMUNICATION
691	ingob	41
304	ingob	42	//------------------------------------------------------
		43	void SPI_MasterInit(void)
		44	{
1051	killagreg	45	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
304	ingob	46	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
1051	killagreg	47
		48	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
723	hbuss	49	SPSR = 0;//(1<<SPI2X);
1051	killagreg	50
		51	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
606	ingob	52	SPITransferCompleted = 1;
1051	killagreg	53
708	ingob	54	//SPDR = 0x00; // dummy write
1051	killagreg	55
823	ingob	56	ToNaviCtrl.Sync1 = 0xAA;
		57	ToNaviCtrl.Sync2 = 0x83;
1051	killagreg	58
1448	killagreg	59	ToNaviCtrl.Command = SPI_FCCMD_USER;
823	ingob	60	ToNaviCtrl.IntegralNick = 0;
		61	ToNaviCtrl.IntegralRoll = 0;
1215	hbuss	62	FromNaviCtrl_Value.SerialDataOkay = 0;
1051	killagreg	63	SPI_RxDataValid = 0;
		64
304	ingob	65	}
		66
		67	//------------------------------------------------------
2386	holgerb	68	unsigned char SPI_StartTransmitPacket(void)
304	ingob	69	{
2386	holgerb	70	if(!SPITransferCompleted) return(0);
304	ingob	71	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
823	ingob	72	SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
1051	killagreg	73
823	ingob	74	ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
		75	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1051	killagreg	76
606	ingob	77	SPITransferCompleted = 0;
304	ingob	78	UpdateSPI_Buffer(); // update buffer
		79	SPI_BufferIndex = 1;
823	ingob	80	ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
1051	killagreg	81	SPDR = ToNaviCtrl.Sync1; // Start transmission
2386	holgerb	82	return(1);
304	ingob	83	}
		84
		85	//------------------------------------------------------
2496	holgerb	86	//SIaNAL(SIG_SPI)
304	ingob	87	void SPI_TransmitByte(void)
		88	{
708	ingob	89	static unsigned char SPI_RXState = 0;
1051	killagreg	90	unsigned char rxdata;
708	ingob	91	static unsigned char rxchksum;
1051	killagreg	92
691	ingob	93	if (SPITransferCompleted) return;
304	ingob	94	if (!(SPSR & (1 << SPIF))) return;
2386	holgerb	95	BytegapSPI = SPI_BYTEGAP;
1051	killagreg	96	// _delay_us(30);
606	ingob	97	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
1051	killagreg	98
708	ingob	99	rxdata = SPDR;
		100	switch ( SPI_RXState)
		101	{
1051	killagreg	102	case 0:
		103	SPI_RxBufferIndex = 0;
		104	rxchksum = rxdata;
		105	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
		106
708	ingob	107	break;
		108
1051	killagreg	109	case 1:
		110	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
		111	else SPI_RXState = 0;
		112	break;
		113
708	ingob	114	case 2:
		115	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
		116	//DebugOut.Analog[19]++;
1051	killagreg	117	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
		118	{
708	ingob	119	if (rxdata == rxchksum)
		120	{
823	ingob	121	unsigned char ptr = (unsigned char )&FromNaviCtrl;
708	ingob	122	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
1051	killagreg	123	SPI_RxDataValid = 1;
		124	}
1856	killagreg	125	else
1855	holgerb	126	{
		127	SPI_RxDataValid = 0;
1856	killagreg	128	}
1051	killagreg	129	SPI_RXState = 0;
708	ingob	130	}
1051	killagreg	131	else rxchksum += rxdata;
		132	break;
		133
		134	}
		135
		136	if (SPI_BufferIndex < sizeof(ToNaviCtrl))
		137	{
606	ingob	138	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
2341	holgerb	139	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
708	ingob	140	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
823	ingob	141	ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
2341	holgerb	142	}
1051	killagreg	143	else SPITransferCompleted = 1;
		144
304	ingob	145	SPI_BufferIndex++;
		146	}
		147
691	ingob	148
304	ingob	149	//------------------------------------------------------
		150	void UpdateSPI_Buffer(void)
		151	{
2496	holgerb	152	// signed int tmp;
2499	holgerb	153	static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0;
2373	holgerb	154	ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
		155	ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad
1171	hbuss	156	ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
1664	holgerb	157	ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
1171	hbuss	158	ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
		159	ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
819	hbuss	160	NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
823	ingob	161	// ToNaviCtrl.User8 = Parameter_UserParam8;
		162	// ToNaviCtrl.CalState = WinkelOut.CalcState;
1051	killagreg	163	switch(ToNaviCtrl.Command) //
823	ingob	164	{
1448	killagreg	165	case SPI_FCCMD_USER:
823	ingob	166	ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
		167	ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
		168	ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
		169	ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
		170	ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
		171	ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
		172	ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
921	hbuss	173	ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
1765	killagreg	174	ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
2309	holgerb	175	//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;
1765	killagreg	176	FC_StatusFlags &= ~(FC_STATUS_CALIBRATE \| FC_STATUS_START);
2333	holgerb	177	ToNaviCtrl.Param.Byte[9] = ActiveParamSet;
2386	holgerb	178	ToNaviCtrl.Param.Byte[10] = (unsigned char) UBat; // 0.1V
1861	holgerb	179	ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
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
2443	holgerb	184	ToNaviCtrl.Param.Byte[2] = motorindex;
		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;
2443	holgerb	194
2404	holgerb	195	if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ?
		196	while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13;
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;
		212	ToNaviCtrl.Param.Byte[9] = 0;
		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;
		251	ToNaviCtrl.Param.Byte[4] = 0;
		252	ToNaviCtrl.Param.Byte[5] = 0;
		253	ToNaviCtrl.Param.Byte[6] = 0;
		254	ToNaviCtrl.Param.Byte[7] = 0;
		255	ToNaviCtrl.Param.Byte[8] = 0;
		256	ToNaviCtrl.Param.Byte[9] = 0;
		257	ToNaviCtrl.Param.Byte[10] = 0;
		258	ToNaviCtrl.Param.Byte[11] = 0;
		259	slow_command++;
		260	break;
2477	holgerb	261	default:
2499	holgerb	262	ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL;
2477	holgerb	263	ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1
		264	ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3
		265	ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5
		266	ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp;
2499	holgerb	267	ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime;
		268	ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver;
		269	ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit;
		270	ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit;
		271	ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit;
		272	slow_command = 0;
2477	holgerb	273	break;
		274	}
823	ingob	275	break;
2183	holgerb	276	case SPI_FCCMD_PARAMETER2:
2440	holgerb	277	ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases
2190	holgerb	278	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2263	holgerb	279	// create the ToNC_SpeakHoTT
		280	if(EE_Parameter.Receiver != RECEIVER_HOTT)
		281	{
		282	if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]);
		283	else HoTT_Waring();
		284	}
2190	holgerb	285	ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT;
		286	#else
		287	ToNaviCtrl.Param.Byte[1] = 0;
		288	#endif
2499	holgerb	289	ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3
2408	holgerb	290	ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive;
2418	holgerb	291	ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List;
2438	holgerb	292	ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint;
		293	ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint;
2418	holgerb	294	ToNC_Load_WP_List = 0;
2438	holgerb	295	ToNC_Load_SingePoint = 0;
		296	ToNC_Store_SingePoint = 0;
2477	holgerb	297	if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9
		298	else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero
2499	holgerb	299	ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3;
2440	holgerb	300	ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed;
2183	holgerb	301	break;
1448	killagreg	302	case SPI_FCCMD_STICK:
2496	holgerb	303	/*
1320	hbuss	304	cli();
871	hbuss	305	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846	hbuss	306	ToNaviCtrl.Param.Byte[0] = (char) tmp;
871	hbuss	307	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846	hbuss	308	ToNaviCtrl.Param.Byte[1] = (char) tmp;
871	hbuss	309	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
846	hbuss	310	ToNaviCtrl.Param.Byte[2] = (char) tmp;
871	hbuss	311	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
1320	hbuss	312	sei();
846	hbuss	313	ToNaviCtrl.Param.Byte[3] = (char) tmp;
2496	holgerb	314	*/
		315	ToNaviCtrl.Param.Byte[0] = ChannelGas;
		316	ToNaviCtrl.Param.Byte[1] = ChannelYaw;
		317	ToNaviCtrl.Param.Byte[2] = ChannelRoll;
		318	ToNaviCtrl.Param.Byte[3] = ChannelNick;
1377	hbuss	319	ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
		320	ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
		321	ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
		322	ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
		323	ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
		324	ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
		325	ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
		326	ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
1241	killagreg	327	break;
1448	killagreg	328	case SPI_FCCMD_MISC:
2418	holgerb	329	if(WinkelOut.CalcState >= 5)
1241	killagreg	330	{
		331	WinkelOut.CalcState = 0;
		332	ToNaviCtrl.Param.Byte[0] = 5;
		333	}
		334	else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
2499	holgerb	335	ToNaviCtrl.Param.Byte[1] = HoverGas / 4;
		336	ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3
		337	ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5
		338	ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0];
		339	ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1];
		340	VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0;
		341	VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
		342	ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter
1377	hbuss	343	ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
2370	holgerb	344	ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED;
1377	hbuss	345	ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
1241	killagreg	346	break;
		347	}
2010	holgerb	348
1215	hbuss	349	if(SPI_RxDataValid)
1051	killagreg	350	{
2148	holgerb	351	if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250;
		352	oldcommand = FromNaviCtrl.Command;
1852	killagreg	353	CalculateCompassTimer = 1;
		354	if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
		355	{
		356	GPS_Nick = FromNaviCtrl.GPS_Nick;
		357	GPS_Roll = FromNaviCtrl.GPS_Roll;
		358	}
1690	holgerb	359
1852	killagreg	360	// update compass readings
1936	holgerb	361	// MagVec.x = FromNaviCtrl.MagVecX;
		362	// MagVec.y = FromNaviCtrl.MagVecY;
		363	// MagVec.z = FromNaviCtrl.MagVecZ;
1852	killagreg	364
1690	holgerb	365	if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue;
1051	killagreg	366
2029	holgerb	367	if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
823	ingob	368	switch (FromNaviCtrl.Command)
		369	{
1448	killagreg	370	case SPI_NCCMD_KALMAN:
1231	killagreg	371	FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
		372	FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
		373	FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
1944	holgerb	374	KompassFusion = FromNaviCtrl.Param.sByte[3];
1283	hbuss	375	FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
1664	holgerb	376	FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
		377	FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
1945	holgerb	378	GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
2497	holgerb	379	if(FromNaviCtrl.Param.sInt[4] >= 0)
1840	holgerb	380	{
2497	holgerb	381	NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
1856	killagreg	382	}
1862	holgerb	383	POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
1231	killagreg	384	break;
1448	killagreg	385	case SPI_NCCMD_VERSION:
		386	NC_Version.Major = FromNaviCtrl.Param.Byte[0];
		387	NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
		388	NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
		389	NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
		390	NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
1702	holgerb	391	DebugOut.Status[0] \|= FromNaviCtrl.Param.Byte[5];
		392	DebugOut.Status[1] = (DebugOut.Status[1] & (0x01\|0x02)) \| (FromNaviCtrl.Param.Byte[6] & (0x04 \| 0x08));
1920	holgerb	393	NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
		394	NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
1944	holgerb	395	FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
2009	holgerb	396	NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
2447	holgerb	397	//NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11];
1856	killagreg	398	break;
1451	killagreg	399	case SPI_NCCMD_GPSINFO:
		400	GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
		401	GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
		402	GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
1690	holgerb	403	GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
1852	killagreg	404	GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
1472	killagreg	405	GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
2488	holgerb	406	if((signed char) PPM_in[WP_EVENT_PPM_IN] == -127) // zuletzt war der WP-Event auf Null
		407	{
		408	if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird
		409	}
2340	holgerb	410	PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel)
2488	holgerb	411	FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
1857	holgerb	412	FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm
1451	killagreg	413	break;
1972	holgerb	414	case SPI_MISC:
		415	EarthMagneticField = FromNaviCtrl.Param.Byte[0];
		416	EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
		417	EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
2090	holgerb	418	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2179	holgerb	419	if(FromNaviCtrl.Param.Byte[3])
2120	holgerb	420	if(!SpeakHoTT \|\| (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3];
2426	holgerb	421	NaviData_TargetDistance = FromNaviCtrl.Param.Int[3];
		422	#endif
2179	holgerb	423	NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4];
		424	NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5];
		425	NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8];
2420	holgerb	426	NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9];
2437	holgerb	427	CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11
2090	holgerb	428	break;
1972	holgerb	429
1940	holgerb	430	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		431	case SPI_NCCMD_HOTT_DATA:
2377	holgerb	432	//if(EE_Parameter.Receiver == RECEIVER_HOTT)
		433	NC_Fills_HoTT_Telemety();
1940	holgerb	434	break;
		435	#endif
		436
1855	holgerb	437	// 0 = 0,1
		438	// 1 = 2,3
		439	// 2 = 4,5
		440	// 3 = 6,7
		441	// 4 = 8,9
		442	// 5 = 10,11
823	ingob	443	default:
1451	killagreg	444	break;
823	ingob	445	}
720	ingob	446	}
		447	else
		448	{
819	hbuss	449	// KompassValue = 0;
		450	// KompassRichtung = 0;
720	ingob	451	GPS_Nick = 0;
		452	GPS_Roll = 0;
		453	}
304	ingob	454	}
		455
597	ingob	456	#endif
304	ingob	457
		458

Subversion Repositories FlightCtrl

(root)/tags/V2.18a/spi.c @ 2716 - Rev 2499