Subversion Repositories FlightCtrl

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Ignore whitespace Rev 2736 → Rev 2737

/tags/V2.20c/spi.c
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