0,0 → 1,638 |
// ######################## SPI - FlightCtrl ################### |
#include "main.h" |
#include "eeprom.h" |
#include "uart.h" |
|
//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; |
struct str_HugeBlockToNavi HugeBlockToNavi; |
struct str_HugeBlockFromNavi HugeBlockFromNavi; |
|
unsigned char SPI_BufferIndex; |
unsigned char SPI_RxBufferIndex; |
unsigned char SPI_Datasize; |
signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
signed char FromNC_WP_EventChannel_New = 0; |
|
volatile unsigned char SPI_Buffer[sizeof(HugeBlockToNavi)]; |
unsigned char *SPI_TX_Buffer; |
|
unsigned char SPITransferCompleted, SPI_ChkSum; |
unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
|
unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_SLOW,SPI_FCCMD_BL_ACCU, |
SPI_FCCMD_STICK2, SPI_FCCMD_MISC, SPI_FCCMD_BL_ACCU, |
SPI_FCCMD_STICK, SPI_FCCMD_STATUSTEXT, SPI_FCCMD_BL_ACCU, |
SPI_FCCMD_STICK2, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
}; |
unsigned char SPI_CommandCounter = 0; |
unsigned char NC_ErrorCode = 0, Partner_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 NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
//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}; |
unsigned char *PtrToChksum; |
unsigned char NC_RequestsConfig = 0; |
unsigned char CamCtrlCharacter = ' '; |
unsigned char NCParachute = 0; |
unsigned char BaroCalState = 0; |
unsigned char FlyzonePointCnt = 0; |
unsigned int FromNC_Laser_cm; |
unsigned int TrigLogging_CountExternal = 0; |
unsigned char FromNcBaudrateIndex = 8; |
|
#ifdef USE_SPI_COMMUNICATION |
|
//------------------------------------------------------ |
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); |
|
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
SPSR = 0;//(1<<SPI2X); |
|
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
SPITransferCompleted = 1; |
|
//SPDR = 0x00; // dummy write |
|
ToNaviCtrl.Sync1 = SPI_FCSYNCBYTE1; |
ToNaviCtrl.Sync2 = SPI_FCSYNCBYTE2; |
|
ToNaviCtrl.Command = SPI_FCCMD_STATUSTEXT; |
ToNaviCtrl.IntegralNick = 0; |
ToNaviCtrl.IntegralRoll = 0; |
FromNaviCtrl_Value.SerialDataOkay = 0; |
SPI_RxDataValid = 0; |
|
} |
|
//------------------------------------------------------ |
unsigned char SPI_StartTransmitPacket(void) |
{ |
if(!SPITransferCompleted) return(0); |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
PtrToChksum = (unsigned char *) &ToNaviCtrl.Chksum; |
ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
|
SPITransferCompleted = 0; |
UpdateSPI_Buffer(); // update buffer |
SPI_BufferIndex = 1; |
ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
SPI_Datasize = sizeof(ToNaviCtrl); |
SPDR = ToNaviCtrl.Sync1; // Start transmission |
return(1); |
} |
|
//------------------------------------------------------ |
//SIaNAL(SIG_SPI) |
void SPI_TransmitByte(void) |
{ |
static unsigned char SPI_RXState = 0; |
unsigned char rxdata; |
static unsigned char rxchksum; |
|
if (SPITransferCompleted) return; |
if (!(SPSR & (1 << SPIF))) return; |
BytegapSPI = SPI_BYTEGAP; |
// _delay_us(30); |
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
|
rxdata = SPDR; |
switch ( SPI_RXState) |
{ |
case 0: |
SPI_RxBufferIndex = 0; |
rxchksum = rxdata; |
if (rxdata == SPI_NCSYNCBYTE1 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
break; |
|
case 1: |
rxchksum += rxdata; |
if (rxdata == SPI_NCSYNCBYTE2) { SPI_RXState = 2; } // 2. Syncbyte ok |
else |
if (rxdata == SPI_NCSYNCBYTE_HB2) { SPI_RXState = 3; } // 2. Syncbyte ok |
else SPI_RXState = 0; |
break; |
|
case 2: // get normal NC data packets |
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(FromNaviCtrl)); |
SPI_RxDataValid = 1; |
} |
else |
{ |
SPI_RxDataValid = 0; |
DebugOut.Analog[27]++; |
} |
SPI_RXState = 0; |
} |
else rxchksum += rxdata; |
break; |
case 3: // get huge data packet |
SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
if(SPI_RxBufferIndex >= sizeof(HugeBlockFromNavi)) |
{ |
if(rxdata == rxchksum) |
{ |
unsigned char *ptr = (unsigned char *)&HugeBlockFromNavi; |
memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(HugeBlockFromNavi)); |
// DebugOut.Analog[] = HugeBlockFromNavi.Data[239]; |
// SPI_RxDataValid = 1; |
} |
else |
{ |
SPI_RxDataValid = 0; |
DebugOut.Analog[27]++; |
} |
SPI_RXState = 0; |
} |
else rxchksum += rxdata; |
break; |
} |
|
if (SPI_BufferIndex < SPI_Datasize) |
{ |
unsigned char tmp; |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
tmp = SPI_TX_Buffer[SPI_BufferIndex]; |
SPDR = tmp; |
*PtrToChksum += tmp; |
} |
else SPITransferCompleted = 1; |
|
SPI_BufferIndex++; |
} |
|
void TransmitHugeBlock(void) |
{ |
// if(!SPITransferCompleted) return(0); |
while(!SPITransferCompleted) { SPI_TransmitByte();_delay_us(100);}; // send the remaining data |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
SPI_TX_Buffer = (unsigned char *) &HugeBlockToNavi; // pointer to the huge Block |
PtrToChksum = (unsigned char *) &HugeBlockToNavi.Chksum; |
SPITransferCompleted = 0; |
SPI_BufferIndex = 1; |
HugeBlockToNavi.Sync1 = SPI_FCSYNCBYTE_HB1; |
HugeBlockToNavi.Sync2 = SPI_FCSYNCBYTE_HB2; |
HugeBlockToNavi.Chksum = SPI_FCSYNCBYTE_HB1; |
SPI_Datasize = sizeof(HugeBlockToNavi); |
SPDR = HugeBlockToNavi.Sync1; // Start transmission |
// +++++++++++++++++++++++++++++++ |
// finish I2CTransfer first |
// if(I2C_TransferActive)_delay_ms(2); |
// +++++++++++++++++++++++++++++++ |
SPI_TransmitByte();_delay_us(200); SPI_TransmitByte();_delay_us(200); // leave the NC a bit time to fill the FIFO |
while(!SPITransferCompleted) { _delay_us(80); SPI_TransmitByte();}; |
} |
|
void SendSettingToNC(void) |
{ |
HugeBlockToNavi.WhoAmI = 1; // 1 means: EE-Data |
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
memcpy(HugeBlockToNavi.Data, (unsigned char *) &EE_Parameter, sizeof(EE_Parameter)); |
TransmitHugeBlock(); |
NC_RequestsConfig = 0; |
} |
|
//------------------------------------------------------ |
void UpdateSPI_Buffer(void) |
{ |
// signed int tmp; |
static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0; |
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; |
NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
// ToNaviCtrl.User8 = Parameter_UserParam8; |
// ToNaviCtrl.CalState = WinkelOut.CalcState; |
switch(ToNaviCtrl.Command) // |
{ |
case SPI_FCCMD_STATUSTEXT: |
memcpy((unsigned char *)&ToNaviCtrl.Param.Byte[0], (unsigned char *)&VarioPacket.Text[0], 21); // 21 Bytes HoTT-Statustext |
ToNaviCtrl.Param.Byte[21] = HoTT_TextLevel; |
break; |
case SPI_FCCMD_BL_ACCU: |
ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
ToNaviCtrl.Param.Byte[2] = motorindex | Out1ChangedFlag; // 0x80 this Flag marks a changed Out1 |
ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
ToNaviCtrl.Param.Byte[4] = Parameter_GPS_Switch; // 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; |
if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
Out1ChangedFlag = 0; |
ToNaviCtrl.Param.sInt[6] = Mittelwert_AccNick/4; // ToNaviCtrl.AccNick |
ToNaviCtrl.Param.sInt[7] = Mittelwert_AccRoll/4; // ToNaviCtrl.AccRoll |
ToNaviCtrl.Param.Int[8] = UBat; // 16 & 17 |
|
ToNaviCtrl.Param.Byte[18] = FC_StatusFlags; |
ToNaviCtrl.Param.Byte[19] = FC_StatusFlags2; |
//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
|
|
//ToNaviCtrl.Param.sInt[9] = DebugOut.Analog[17]; |
// 8 = 16,17 |
// 9 = 18,19 |
break; |
case SPI_FCCMD_SLOW: |
switch(slow_command) |
{ |
case 0: |
ToNaviCtrl.Command = 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] = EE_Parameter.LandingSpeed; |
ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude; |
ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes; |
ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware; |
ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11 |
ToNaviCtrl.Param.Byte[12] = IamMaster; |
slow_command++; |
break; |
case 1: |
ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; |
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; |
|
slow_command++; |
break; |
case 2: |
ToNaviCtrl.Command = SPI_FCCMD_SLOW2; |
ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1 |
ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3 |
ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5 |
ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation; |
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; |
slow_command++; |
break; |
case 3: |
ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
// ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
// ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert; |
ToNaviCtrl.Param.Byte[5] = LipoCells; |
ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7 |
ToNaviCtrl.Param.Byte[8] = LowVoltageLandingActive; |
ToNaviCtrl.Param.Byte[9] = EE_Parameter.FailSafeTime; |
ToNaviCtrl.Param.Byte[10] = ExternalControl.Config; |
ToNaviCtrl.Param.Byte[11] = ExternalControl.Switches; |
//ToNaviCtrl.Param.Byte[12] |
//ToNaviCtrl.Param.Byte[13] |
//ToNaviCtrl.Param.Byte[14] |
//ToNaviCtrl.Param.Byte[15] |
//ToNaviCtrl.Param.Byte[16] |
//ToNaviCtrl.Param.Byte[17] |
//ToNaviCtrl.Param.Byte[18] |
//ToNaviCtrl.Param.Byte[19] |
slow_command++; |
break; |
default: |
ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; |
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] = EE_Parameter.NaviPH_LoginTime; |
ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver; |
ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit; |
ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit; |
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit; |
slow_command = 0; |
//ToNaviCtrl.Param.Byte[12] |
//ToNaviCtrl.Param.Byte[13] |
//ToNaviCtrl.Param.Byte[14] |
//ToNaviCtrl.Param.Byte[15] |
//ToNaviCtrl.Param.Byte[16] |
//ToNaviCtrl.Param.Byte[17] |
//ToNaviCtrl.Param.Byte[18] |
//ToNaviCtrl.Param.Byte[19] |
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.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3 |
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] = FC_StatusFlags3; |
ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
//ToNaviCtrl.Param.Byte[12] |
//ToNaviCtrl.Param.Byte[13] |
//ToNaviCtrl.Param.Byte[14] |
//ToNaviCtrl.Param.Byte[15] |
//ToNaviCtrl.Param.Byte[16] |
//ToNaviCtrl.Param.Byte[17] |
//ToNaviCtrl.Param.Byte[18] |
//ToNaviCtrl.Param.Byte[19] |
break; |
case SPI_FCCMD_STICK: |
ToNaviCtrl.Param.Byte[0] = ChannelGas; |
ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
ToNaviCtrl.Param.Byte[3] = ChannelNick; |
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]; |
|
ToNaviCtrl.Param.Byte[12] = Parameter_UserParam1; |
ToNaviCtrl.Param.Byte[13] = Parameter_UserParam2; |
ToNaviCtrl.Param.Byte[14] = Parameter_UserParam3; |
ToNaviCtrl.Param.Byte[15] = Parameter_UserParam4; |
ToNaviCtrl.Param.Byte[16] = Parameter_UserParam5; |
ToNaviCtrl.Param.Byte[17] = Parameter_UserParam6; |
ToNaviCtrl.Param.Byte[18] = Parameter_UserParam7; |
ToNaviCtrl.Param.Byte[19] = Parameter_UserParam8; |
|
ToNaviCtrl.Param.Byte[20] = Parameter_ServoRollControl; |
ToNaviCtrl.Param.Byte[21] = Parameter_ServoNickControl; |
|
break; |
case SPI_FCCMD_STICK2: |
ToNaviCtrl.Param.Byte[0] = ChannelGas; |
ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
ToNaviCtrl.Param.Byte[3] = ChannelNick; |
ToNaviCtrl.Param.Byte[4] = (unsigned char) PPM_in[1]; |
ToNaviCtrl.Param.Byte[5] = (unsigned char) PPM_in[2]; |
ToNaviCtrl.Param.Byte[6] = (unsigned char) PPM_in[3]; |
ToNaviCtrl.Param.Byte[7] = (unsigned char) PPM_in[4]; |
ToNaviCtrl.Param.Byte[8] = (unsigned char) PPM_in[5]; |
ToNaviCtrl.Param.Byte[9] = (unsigned char) PPM_in[6]; |
ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[7]; |
ToNaviCtrl.Param.Byte[11] = (unsigned char) PPM_in[8]; |
ToNaviCtrl.Param.Byte[12] = (unsigned char) PPM_in[9]; |
ToNaviCtrl.Param.Byte[13] = (unsigned char) PPM_in[10]; |
ToNaviCtrl.Param.Byte[14] = (unsigned char) PPM_in[11]; |
ToNaviCtrl.Param.Byte[15] = (unsigned char) PPM_in[12]; |
ToNaviCtrl.Param.Byte[16] = (unsigned char) PPM_in[13]; |
ToNaviCtrl.Param.Byte[17] = (unsigned char) PPM_in[14]; |
ToNaviCtrl.Param.Byte[18] = (unsigned char) PPM_in[15]; |
ToNaviCtrl.Param.Byte[19] = (unsigned char) PPM_in[16]; |
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] = HoverGas / 4; |
ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3 |
ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5 |
ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0]; |
ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1]; |
VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
VersionInfo.HardwareError[1] &= (FC_ERROR1_ACC_NOT_CAL | FC_ERROR1_MIXER); // delete the most error-flags now |
ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter |
ToNaviCtrl.Param.Byte[9] = (unsigned char) ReceiverOkay; |
ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
//ToNaviCtrl.Param.Byte[12] |
//ToNaviCtrl.Param.Byte[13] |
//ToNaviCtrl.Param.Byte[14] |
//ToNaviCtrl.Param.Byte[15] |
//ToNaviCtrl.Param.Byte[16] |
//ToNaviCtrl.Param.Byte[17] |
//ToNaviCtrl.Param.Byte[18] |
//ToNaviCtrl.Param.Byte[19] |
break; |
} |
|
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; |
} |
if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
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]; |
FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
if(FromNaviCtrl.Param.sInt[4] >= 0) |
{ |
NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
} |
POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
//++++++++++++++++++++++++++++++++++++++++++++ |
if(FromNaviCtrl.Param.Byte[12] && !beeptime/* && !DisableRcOffBeeping*/) beeptime = FromNaviCtrl.Param.Byte[12] * 16; |
//++++++++++++++++++++++++++++++++++++++++++++ |
if(FromNaviCtrl.Param.Byte[4] & KM_BIT_YAW) NCForcesNewDirection = 1; |
NCParachute = FromNaviCtrl.Param.Byte[4] & (KM_BIT_SLOW | KM_BIT_OFF); |
if(FromNaviCtrl.Param.Byte[4] & KM_BIT_UART) // controls the Uart-Multiplexer on the FC3.0 |
{ |
#ifdef REDUNDANT_FC_SLAVE |
if(MotorenEin) // otherwise we wouldn't read the answer of the BLs if debugging on FC is active |
{ |
UART_MUX_TO_BL; |
SwitchMultiplexerToUpdate = 0; |
} |
else |
#endif |
{ |
if(UebertragungAbgeschlossen == 2) UART_MUX_TO_UPDATE; |
SwitchMultiplexerToUpdate = 1; |
} |
} |
else |
{ |
UART_MUX_TO_BL; |
SwitchMultiplexerToUpdate = 0; |
} |
|
if(FromNaviCtrl.Param.Byte[4] & KM_BIT_EXTCNTRL) // External Control |
{ |
memcpy((unsigned char *)&ExternalControl, (unsigned char *)&FromNaviCtrl.Param.Byte[13], 7); // 7 Bytes ExternalControl |
if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0; |
else ExternalControlTimeout = EXTRN_CTRL_TIMEOUT; |
} |
//++++++++++++++++++++++++++++++++++++++++++++ |
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]; |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(FromNaviCtrl.Param.Byte[11]) |
if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[11]; |
#endif |
if(FromNaviCtrl.Param.Byte[12]) NC_RequestsConfig = FromNaviCtrl.Param.Byte[12]; |
Partner_ErrorCode = FromNaviCtrl.Param.Byte[13]; |
Partner_StatusFlags = FromNaviCtrl.Param.Byte[14]; |
Partner_StatusFlags2 = FromNaviCtrl.Param.Byte[15]; |
Partner_StatusFlags3 = FromNaviCtrl.Param.Byte[16]; |
if(!MotorenEin && FromNcBaudrateIndex != FromNaviCtrl.Param.Byte[17]) |
{ |
FromNcBaudrateIndex = FromNaviCtrl.Param.Byte[17]; |
SetParamByte(EE_BAUDRATE,FromNcBaudrateIndex); |
SetParamByte(EE_BAUDRATE_CRC,FromNcBaudrateIndex+1); |
UART_Init(); |
} |
NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[18]; |
NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[19]; |
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(!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 |
TrigLogging_CountExternal = FromNaviCtrl.Param.sInt[6]; |
break; |
case SPI_MISC: |
EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
//FromNaviCtrl.Param.Byte[3]; |
//FromNaviCtrl.Param.Byte[4]; |
//FromNaviCtrl.Param.Byte[5]; |
NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
CamCtrlCharacter = FromNaviCtrl.Param.Byte[12]; |
BaroCalState = FromNaviCtrl.Param.Byte[13]; |
LuftdruckTemperaturOffset = FromNaviCtrl.Param.sInt[7]; // Bytes 14 & 15 |
FromNC_Laser_cm = FromNaviCtrl.Param.sInt[8]; // Bytes 16 & 17 |
FlyzonePointCnt = FromNaviCtrl.Param.Byte[18]; |
break; |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
case SPI_NCCMD_HOTT_DATA: |
//if(EE_Parameter.Receiver == RECEIVER_HOTT) |
NC_Fills_HoTT_Telemety(); |
break; |
case SPI_SERIAL_CH: // kommt nur, wenn NC den Datensatz empfangen hat |
{ |
unsigned char tempchar1; |
for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) FromNaviCtrl.Param.Byte[tempchar1]; |
SerialChannelDataOkay = 30; |
} |
break; |
case SPI_OEM_NAME: |
{ |
unsigned char i; |
for(i=0;i<16;i++) OEM_String[i] = FromNaviCtrl.Param.Byte[i]; |
} |
break; |
#endif |
|
// 0 = 0,1 |
// 1 = 2,3 |
// 2 = 4,5 |
// 3 = 6,7 |
// 4 = 8,9 |
// 5 = 10,11 |
// 6 = 12,13 |
// 7 = 14,15 |
// 8 = 16,17 |
// 9 = 18,19 |
default: |
break; |
} |
} |
else |
{ |
// KompassValue = 0; |
// KompassRichtung = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
} |
|
#endif |
|
|