0,0 → 1,440 |
// ######################## SPI - FlightCtrl ################### |
#include "main.h" |
#include "eeprom.h" |
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//struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
//struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
struct str_ToNaviCtrl ToNaviCtrl; |
struct str_FromNaviCtrl FromNaviCtrl; |
struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
struct str_SPI_VersionInfo NC_Version; |
struct str_GPSInfo GPSInfo; |
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unsigned char SPI_BufferIndex; |
unsigned char SPI_RxBufferIndex; |
signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
signed char FromNC_WP_EventChannel_New = 0; |
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volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
unsigned char *SPI_TX_Buffer; |
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unsigned char SPITransferCompleted, SPI_ChkSum; |
unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
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unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW, |
SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU, |
SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS, |
SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
}; |
unsigned char SPI_CommandCounter = 0; |
unsigned char NC_ErrorCode = 0; |
unsigned char NC_GPS_ModeCharacter = ' '; |
unsigned char EarthMagneticField = 0; |
unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
unsigned char NC_To_FC_Flags = 0; |
//unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
signed int POI_KameraNick = 0; // in 0,1° |
vector16_t MagVec = {0,0,0}; |
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#ifdef USE_SPI_COMMUNICATION |
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//------------------------------------------------------ |
void SPI_MasterInit(void) |
{ |
DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
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SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
SPSR = 0;//(1<<SPI2X); |
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SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
SPITransferCompleted = 1; |
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//SPDR = 0x00; // dummy write |
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ToNaviCtrl.Sync1 = 0xAA; |
ToNaviCtrl.Sync2 = 0x83; |
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ToNaviCtrl.Command = SPI_FCCMD_USER; |
ToNaviCtrl.IntegralNick = 0; |
ToNaviCtrl.IntegralRoll = 0; |
FromNaviCtrl_Value.SerialDataOkay = 0; |
SPI_RxDataValid = 0; |
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} |
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//------------------------------------------------------ |
unsigned char SPI_StartTransmitPacket(void) |
{ |
if(!SPITransferCompleted) return(0); |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
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ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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SPITransferCompleted = 0; |
UpdateSPI_Buffer(); // update buffer |
SPI_BufferIndex = 1; |
ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
SPDR = ToNaviCtrl.Sync1; // Start transmission |
return(1); |
} |
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//------------------------------------------------------ |
//SIGNAL(SIG_SPI) |
void SPI_TransmitByte(void) |
{ |
static unsigned char SPI_RXState = 0; |
unsigned char rxdata; |
static unsigned char rxchksum; |
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if (SPITransferCompleted) return; |
if (!(SPSR & (1 << SPIF))) return; |
BytegapSPI = SPI_BYTEGAP; |
// _delay_us(30); |
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
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rxdata = SPDR; |
switch ( SPI_RXState) |
{ |
case 0: |
SPI_RxBufferIndex = 0; |
rxchksum = rxdata; |
if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
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break; |
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case 1: |
if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
else SPI_RXState = 0; |
break; |
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case 2: |
SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
//DebugOut.Analog[19]++; |
if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
{ |
if (rxdata == rxchksum) |
{ |
unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
SPI_RxDataValid = 1; |
} |
else |
{ |
SPI_RxDataValid = 0; |
} |
SPI_RXState = 0; |
} |
else rxchksum += rxdata; |
break; |
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} |
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if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
{ |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
} |
else SPITransferCompleted = 1; |
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SPI_BufferIndex++; |
} |
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//------------------------------------------------------ |
void UpdateSPI_Buffer(void) |
{ |
signed int tmp; |
static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command; |
ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
// ToNaviCtrl.User8 = Parameter_UserParam8; |
// ToNaviCtrl.CalState = WinkelOut.CalcState; |
switch(ToNaviCtrl.Command) // |
{ |
case SPI_FCCMD_USER: |
ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
ToNaviCtrl.Param.Byte[10] = (unsigned char) UBat; // 0.1V |
ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
break; |
case SPI_FCCMD_BL_ACCU: |
ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
ToNaviCtrl.Param.Byte[2] = motorindex; |
ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
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if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
break; |
case SPI_FCCMD_SLOW: |
switch(slow_command) |
{ |
case 0: |
ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; slow_command = 1; |
ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
break; |
default: |
ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; slow_command = 0; |
ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
ToNaviCtrl.Param.Byte[7] = HoverGas / 4; |
ToNaviCtrl.Param.Byte[8] = 0; |
ToNaviCtrl.Param.Byte[9] = 0; |
ToNaviCtrl.Param.Byte[10] = 0; |
ToNaviCtrl.Param.Byte[11] = 0; |
break; |
} |
break; |
case SPI_FCCMD_PARAMETER2: |
ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
// create the ToNC_SpeakHoTT |
if(EE_Parameter.Receiver != RECEIVER_HOTT) |
{ |
if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
else HoTT_Waring(); |
} |
ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
#else |
ToNaviCtrl.Param.Byte[1] = 0; |
#endif |
ToNaviCtrl.Param.Byte[2] = EE_Parameter.LandingSpeed; |
ToNaviCtrl.Param.Byte[3] = EE_Parameter.ComingHomeAltitude; |
ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
ToNC_Load_WP_List = 0; |
ToNC_Load_SingePoint = 0; |
ToNC_Store_SingePoint = 0; |
if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
ToNaviCtrl.Param.Byte[10] = EE_Parameter.AutoPhotoAtitudes; |
ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
break; |
case SPI_FCCMD_STICK: |
cli(); |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
ToNaviCtrl.Param.Byte[0] = (char) tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
ToNaviCtrl.Param.Byte[1] = (char) tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
ToNaviCtrl.Param.Byte[2] = (char) tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
sei(); |
ToNaviCtrl.Param.Byte[3] = (char) tmp; |
ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
break; |
case SPI_FCCMD_MISC: |
if(WinkelOut.CalcState >= 5) |
{ |
WinkelOut.CalcState = 0; |
ToNaviCtrl.Param.Byte[0] = 5; |
} |
else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
break; |
case SPI_FCCMD_VERSION: |
ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
break; |
case SPI_FCCMD_SERVOS: |
ToNaviCtrl.Param.Int[0] = Capacity.UsedCapacity; // mAh |
ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
ToNaviCtrl.Param.Byte[3] = Parameter_ServoRollControl; |
ToNaviCtrl.Param.Byte[4] = DebugOut.Analog[28]; // I2C-Error counter |
ToNaviCtrl.Param.Byte[5] = FC_StatusFlags3; |
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviDescendRange; // in 10m |
ToNaviCtrl.Param.Byte[7] = Parameter_MaximumAltitude; |
ToNaviCtrl.Param.Int[4] = FlugMinutenGesamt; // 8 & 9 |
ToNaviCtrl.Param.Byte[10] = EE_Parameter.CamOrientation; |
ToNaviCtrl.Param.Byte[11] = VersionInfo.BL_Firmware; |
break; |
} |
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if(SPI_RxDataValid) |
{ |
if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
oldcommand = FromNaviCtrl.Command; |
CalculateCompassTimer = 1; |
if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
{ |
GPS_Nick = FromNaviCtrl.GPS_Nick; |
GPS_Roll = FromNaviCtrl.GPS_Roll; |
} |
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// update compass readings |
// MagVec.x = FromNaviCtrl.MagVecX; |
// MagVec.y = FromNaviCtrl.MagVecY; |
// MagVec.z = FromNaviCtrl.MagVecZ; |
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if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
// KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
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if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
switch (FromNaviCtrl.Command) |
{ |
case SPI_NCCMD_KALMAN: |
FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
KompassFusion = FromNaviCtrl.Param.sByte[3]; |
FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
{ |
KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
/* |
if(EE_Parameter.CamOrientation) // Kamera angle is not front |
{ |
KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
KompassSollWert %= 360; |
} |
*/ |
} |
POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
break; |
case SPI_NCCMD_VERSION: |
NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
//NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
break; |
case SPI_NCCMD_GPSINFO: |
GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
if((signed char) PPM_in[WP_EVENT_PPM_IN] == -127) // zuletzt war der WP-Event auf Null |
{ |
if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
} |
PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
break; |
case SPI_MISC: |
EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(FromNaviCtrl.Param.Byte[3]) |
if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
#endif |
NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
break; |
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#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
case SPI_NCCMD_HOTT_DATA: |
//if(EE_Parameter.Receiver == RECEIVER_HOTT) |
NC_Fills_HoTT_Telemety(); |
break; |
#endif |
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// 0 = 0,1 |
// 1 = 2,3 |
// 2 = 4,5 |
// 3 = 6,7 |
// 4 = 8,9 |
// 5 = 10,11 |
default: |
break; |
} |
} |
else |
{ |
// KompassValue = 0; |
// KompassRichtung = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
} |
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#endif |
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