Subversion Repositories FlightCtrl

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Ignore whitespace Rev 1447 → Rev 1448

/trunk/spi.c
7,7 → 7,7
struct str_ToNaviCtrl ToNaviCtrl;
struct str_FromNaviCtrl FromNaviCtrl;
struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
struct str_SPI_VersionInfo SPI_VersionInfo;
struct str_SPI_VersionInfo NC_Version;
 
unsigned char SPI_BufferIndex;
unsigned char SPI_RxBufferIndex;
18,7 → 18,7
unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid,NaviDataOkay = 0;
 
unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION, SPI_CMD_SERVOS };
unsigned char SPI_CommandSequence[] = { SPI_FCCMD_USER, SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_SERVOS };
unsigned char SPI_CommandCounter = 0;
 
#ifdef USE_SPI_COMMUNICATION
40,16 → 40,12
ToNaviCtrl.Sync1 = 0xAA;
ToNaviCtrl.Sync2 = 0x83;
 
ToNaviCtrl.Command = SPI_CMD_USER;
ToNaviCtrl.Command = SPI_FCCMD_USER;
ToNaviCtrl.IntegralNick = 0;
ToNaviCtrl.IntegralRoll = 0;
FromNaviCtrl_Value.SerialDataOkay = 0;
SPI_RxDataValid = 0;
 
SPI_VersionInfo.Major = VERSION_MAJOR;
SPI_VersionInfo.Minor = VERSION_MINOR;
SPI_VersionInfo.Patch = VERSION_PATCH;
SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
}
 
//------------------------------------------------------
169,7 → 165,7
// ToNaviCtrl.CalState = WinkelOut.CalcState;
switch(ToNaviCtrl.Command) //
{
case SPI_CMD_USER:
case SPI_FCCMD_USER:
ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
185,7 → 181,7
ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
break;
 
case SPI_CMD_PARAMETER1:
case SPI_FCCMD_PARAMETER1:
ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
200,7 → 196,7
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
break;
 
case SPI_CMD_STICK:
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;
220,7 → 216,7
ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
break;
case SPI_CMD_MISC:
case SPI_FCCMD_MISC:
if(WinkelOut.CalcState > 5)
{
WinkelOut.CalcState = 0;
237,15 → 233,15
ToNaviCtrl.Param.Byte[10] = (unsigned char) SenderRSSI;
ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
break;
case SPI_CMD_VERSION:
ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
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;
break;
 
case SPI_CMD_SERVOS:
case SPI_FCCMD_SERVOS:
ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control
ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
274,7 → 270,7
 
switch (FromNaviCtrl.Command)
{
case SPI_KALMAN:
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];
281,6 → 277,14
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
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];
break;
default:
break;
}
/trunk/spi.h
48,12 → 48,12
#define SPI_SLAVE_SELECT PC5
 
 
#define SPI_CMD_USER 10
#define SPI_CMD_STICK 11
#define SPI_CMD_MISC 12
#define SPI_CMD_PARAMETER1 13
#define SPI_CMD_VERSION 14
#define SPI_CMD_SERVOS 15
#define SPI_FCCMD_USER 10
#define SPI_FCCMD_STICK 11
#define SPI_FCCMD_MISC 12
#define SPI_FCCMD_PARAMETER1 13
#define SPI_FCCMD_VERSION 14
#define SPI_FCCMD_SERVOS 15
 
struct str_ToNaviCtrl
{
78,7 → 78,8
unsigned char Chksum;
};
 
#define SPI_KALMAN 103
#define SPI_NCCMD_KALMAN 103
#define SPI_NCCMD_VERSION 104
 
struct str_FromNaviCtrl
{
115,10 → 116,12
unsigned char Minor;
unsigned char Patch;
unsigned char Compatible;
unsigned char Hardware;
};
 
#ifdef USE_SPI_COMMUNICATION
 
extern struct str_SPI_VersionInfo NC_Version;
extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
extern struct str_ToNaviCtrl ToNaviCtrl;
extern struct str_FromNaviCtrl FromNaviCtrl;