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; |
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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; |
} |