WebSVN - FlightCtrl - Diff - Rev 720 and 723 - /branches/FC_V070d_ACC-HH


// ######################## SPI - FlightCtrl ###################
#include "main.h"
 
 
struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
struct str_ToNaviCtrl_Value   ToNaviCtrl_Value;
struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
 
unsigned char              SPI_BufferIndex;
unsigned char              SPI_RxBufferIndex;
 
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl_Value)];
unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum;
 
unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid;
 
#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_Value.Sync1 = 0xAA;
  ToNaviCtrl_Value.Sync2 = 0x83;
 
  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
  ToNaviCtrl_Value.IntegralNick = 12345;
  ToNaviCtrl_Value.IntegralRoll = 56789;
  ToNaviCtrl_Value.StickNick = 100;
  ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll;
  ToNaviCtrl_Value.StickGier = 200;//(char) StickGier;
   
  SPI_RxDataValid = 0;
}
 
//------------------------------------------------------
void SPI_StartTransmitPacket(unsigned char command)
{
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
   if (!SPITransferCompleted) return;
 
//   _delay_us(30); 
   
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
   
   switch(command)
   {
     case SPI_CMD_VERSION: SPI_TX_Buffer  = (unsigned char *) &ToNaviCtrl_Version;
                                                   ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum;
            break;       
       
         case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value;
                             ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum;
            break;
 
   }
   
   
   SPITransferCompleted = 0;
   UpdateSPI_Buffer();                              // update buffer
   SPI_BufferIndex = 1;
  //ebugOut.Analog[16]++; 
   // -- Debug-Output ---
   //----
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
   SPDR = ToNaviCtrl_Value.Sync1;                  // Start transmission 
   *ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1;
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
 
}
 
//------------------------------------------------------
//SIGNAL(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;
  SendSPI = 4;
   
 
//   _delay_us(30); 
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
 
  rxdata = SPDR;
  switch ( SPI_RXState)
  {
  case 0:
           
                        SPI_RxBufferIndex = 0;
                        //DebugOut.Analog[17]++;
                        rxchksum = rxdata;  
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok 
                       
           break;
 
   case 1:
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok 
                 else SPI_RXState  = 0;    
                        //DebugOut.Analog[18]++;
           break;      
           
   case 2:
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
           //DebugOut.Analog[19]++;
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value))
                   {  
                         
                if (rxdata == rxchksum)
                        {
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl_Value;
     
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
                         
                          SPI_RxDataValid = 1;
                        }
                        else SPI_RxDataValid = 0;
                       
                        SPI_RXState  = 0;  
                   }
                  else rxchksum += rxdata;
        break;   
         
  }            
 
   if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value))  
     {
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         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];
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
 
         }
         else SPITransferCompleted = 1;  
       
         SPI_BufferIndex++;
}
 
 
//------------------------------------------------------
void UpdateSPI_Buffer(void)
{
  static unsigned char i =0;
  cli();
  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
  ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024);
  ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);
  ToNaviCtrl_Value.StickNick = 4;
  ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll;
  ToNaviCtrl_Value.StickGier = 6;//(char) StickGier;
  ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
  ToNaviCtrl_Value.User1 = Parameter_UserParam1;
  ToNaviCtrl_Value.User2 = Parameter_UserParam2;
  ToNaviCtrl_Value.User3 = Parameter_UserParam3;
  ToNaviCtrl_Value.User4 = Parameter_UserParam4;
  ToNaviCtrl_Value.User5 = Parameter_UserParam5;
  ToNaviCtrl_Value.User6 = Parameter_UserParam6;
  ToNaviCtrl_Value.User7 = Parameter_UserParam7;
  ToNaviCtrl_Value.User8 = Parameter_UserParam8;
  sei();
 
  if (SPI_RxDataValid)
  {
    GPS_Nick = FromNaviCtrl_Value.GPS_Nick;
    GPS_Roll = FromNaviCtrl_Value.GPS_Roll;
    KompassValue = FromNaviCtrl_Value.CompassValue;
    KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
 
    if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime;
  }
  else
  {
    KompassValue = 0;
    KompassRichtung = 0;
       
        GPS_Nick = 0;
    GPS_Roll = 0;
  }
}
 
#endif
 
 
 

Subversion Repositories FlightCtrl

(root)/branches/FC_V070d_ACC-HH_Umschaltung/spi.c @ 1241 - Rev 720 → 723

Rev 720		Rev 723
1	// ######################## SPI - FlightCtrl ###################	1	// ######################## SPI - FlightCtrl ###################
2	#include "main.h"	2	#include "main.h"
3		3
4		4
5	struct str_ToNaviCtrl_Version ToNaviCtrl_Version;	5	struct str_ToNaviCtrl_Version ToNaviCtrl_Version;
6	struct str_FromNaviCtrl_Version FromNaviCtrl_Version;	6	struct str_FromNaviCtrl_Version FromNaviCtrl_Version;
7	struct str_ToNaviCtrl_Value ToNaviCtrl_Value;	7	struct str_ToNaviCtrl_Value ToNaviCtrl_Value;
8	struct str_FromNaviCtrl_Value FromNaviCtrl_Value;	8	struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
9		9
10	unsigned char SPI_BufferIndex;	10	unsigned char SPI_BufferIndex;
11	unsigned char SPI_RxBufferIndex;	11	unsigned char SPI_RxBufferIndex;
12		12
13	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value)];	13	volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value)];
14	unsigned char SPI_TX_Buffer, ToNaviCtrl_Chksum;	14	unsigned char SPI_TX_Buffer, ToNaviCtrl_Chksum;
15		15
16	unsigned char SPITransferCompleted, SPI_ChkSum;	16	unsigned char SPITransferCompleted, SPI_ChkSum;
17	unsigned char SPI_RxDataValid;	17	unsigned char SPI_RxDataValid;
18		18
19	#ifdef USE_SPI_COMMUNICATION	19	#ifdef USE_SPI_COMMUNICATION
20		20
21	//------------------------------------------------------	21	//------------------------------------------------------
22	void SPI_MasterInit(void)	22	void SPI_MasterInit(void)
23	{	23	{
24	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input	24	DDR_SPI \|= (1<<DD_MOSI)\|(1<<DD_SCK); // Set MOSI and SCK output, all others input
25	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);	25	SLAVE_SELECT_DDR_PORT \|= (1 << SPI_SLAVE_SELECT);
26		26
27	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64	27	SPCR = (1<<SPE)\|(1<<MSTR)\|(1<<SPR1)\|(0<<SPR0)\|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64
28	SPSR = 0; // SPI2X	28	SPSR = 0;//(1<<SPI2X);
29		29
30	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);	30	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT);
31	SPITransferCompleted = 1;	31	SPITransferCompleted = 1;
32		32
33	//SPDR = 0x00; // dummy write	33	//SPDR = 0x00; // dummy write
34		34
35	ToNaviCtrl_Value.Sync1 = 0xAA;	35	ToNaviCtrl_Value.Sync1 = 0xAA;
36	ToNaviCtrl_Value.Sync2 = 0x83;	36	ToNaviCtrl_Value.Sync2 = 0x83;
37		37
38	ToNaviCtrl_Value.Command = SPI_CMD_VALUE;	38	ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
39	ToNaviCtrl_Value.IntegralNick = 12345;	39	ToNaviCtrl_Value.IntegralNick = 12345;
40	ToNaviCtrl_Value.IntegralRoll = 56789;	40	ToNaviCtrl_Value.IntegralRoll = 56789;
41	ToNaviCtrl_Value.StickNick = 100;	41	ToNaviCtrl_Value.StickNick = 100;
42	ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll;	42	ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll;
43	ToNaviCtrl_Value.StickGier = 200;//(char) StickGier;	43	ToNaviCtrl_Value.StickGier = 200;//(char) StickGier;
44		44
45	SPI_RxDataValid = 0;	45	SPI_RxDataValid = 0;
46	}	46	}
47		47
48	//------------------------------------------------------	48	//------------------------------------------------------
49	void SPI_StartTransmitPacket(unsigned char command)	49	void SPI_StartTransmitPacket(unsigned char command)
50	{	50	{
51	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed	51	//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed
52	if (!SPITransferCompleted) return;	52	if (!SPITransferCompleted) return;
53	//if (!(SPSR & (1 << SPIF))) return;	-
54	_delay_us(30);	53	// _delay_us(30);
55		54
56	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	55	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
57		56
58	switch(command)	57	switch(command)
59	{	58	{
60	case SPI_CMD_VERSION: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Version;	59	case SPI_CMD_VERSION: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Version;
61	ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum;	60	ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Version.Chksum;
62	break;	61	break;
63		62
64	case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value;	63	case SPI_CMD_VALUE: SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl_Value;
65	ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum;	64	ToNaviCtrl_Chksum = (unsigned char *) &ToNaviCtrl_Value.Chksum;
66	break;	65	break;
67		66
68	}	67	}
69		68
70		69
71	SPITransferCompleted = 0;	70	SPITransferCompleted = 0;
72	UpdateSPI_Buffer(); // update buffer	71	UpdateSPI_Buffer(); // update buffer
73	SPI_BufferIndex = 1;	72	SPI_BufferIndex = 1;
74	//ebugOut.Analog[16]++;	73	//ebugOut.Analog[16]++;
75	// -- Debug-Output ---	74	// -- Debug-Output ---
76	//----	75	//----
77	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	76	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
78	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	77	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
79	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	78	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
80	SPDR = ToNaviCtrl_Value.Sync1; // Start transmission	79	SPDR = ToNaviCtrl_Value.Sync1; // Start transmission
81	*ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1;	80	*ToNaviCtrl_Chksum = ToNaviCtrl_Value.Sync1;
82	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	81	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
83		82
84	}	83	}
85		84
86	//------------------------------------------------------	85	//------------------------------------------------------
87	//SIGNAL(SIG_SPI)	86	//SIGNAL(SIG_SPI)
88	void SPI_TransmitByte(void)	87	void SPI_TransmitByte(void)
89	{	88	{
90	static unsigned char SPI_RXState = 0;	89	static unsigned char SPI_RXState = 0;
91	unsigned char rxdata;	90	unsigned char rxdata;
92	static unsigned char rxchksum;	91	static unsigned char rxchksum;
93		92
94	if (SPITransferCompleted) return;	93	if (SPITransferCompleted) return;
95	if (!(SPSR & (1 << SPIF))) return;	94	if (!(SPSR & (1 << SPIF))) return;
-		95	SendSPI = 4;
96		96
97	_delay_us(30);	-
98		97	// _delay_us(30);
99	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	98	SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
100		99
101	rxdata = SPDR;	100	rxdata = SPDR;
102	switch ( SPI_RXState)	101	switch ( SPI_RXState)
103	{	102	{
104	case 0:	103	case 0:
105		104
106	SPI_RxBufferIndex = 0;	105	SPI_RxBufferIndex = 0;
107	//DebugOut.Analog[17]++;	106	//DebugOut.Analog[17]++;
108	rxchksum = rxdata;	107	rxchksum = rxdata;
109	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok	108	if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok
110		109
111	break;	110	break;
112		111
113	case 1:	112	case 1:
114	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok	113	if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok
115	else SPI_RXState = 0;	114	else SPI_RXState = 0;
116	//DebugOut.Analog[18]++;	115	//DebugOut.Analog[18]++;
117	break;	116	break;
118		117
119	case 2:	118	case 2:
120	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data	119	SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data
121	//DebugOut.Analog[19]++;	120	//DebugOut.Analog[19]++;
122	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value))	121	if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl_Value))
123	{	122	{
124		123
125	if (rxdata == rxchksum)	124	if (rxdata == rxchksum)
126	{	125	{
127	unsigned char ptr = (unsigned char )&FromNaviCtrl_Value;	126	unsigned char ptr = (unsigned char )&FromNaviCtrl_Value;
128		127
129	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));	128	memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer));
130		129
131	SPI_RxDataValid = 1;	130	SPI_RxDataValid = 1;
132	}	131	}
133	else SPI_RxDataValid = 0;	132	else SPI_RxDataValid = 0;
134		133
135	SPI_RXState = 0;	134	SPI_RXState = 0;
136	}	135	}
137	else rxchksum += rxdata;	136	else rxchksum += rxdata;
138	break;	137	break;
139		138
140	}	139	}
141		140
142	if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value))	141	if (SPI_BufferIndex < sizeof(ToNaviCtrl_Value))
143	{	142	{
144	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave	143	SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave
145	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	144	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
146	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	145	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
147	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");	146	asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
148		147
149	SPDR = SPI_TX_Buffer[SPI_BufferIndex];	148	SPDR = SPI_TX_Buffer[SPI_BufferIndex];
150	*ToNaviCtrl_Chksum += SPI_TX_Buffer[SPI_BufferIndex];	149	*ToNaviCtrl_Chksum += SPI_TX_Buffer[SPI_BufferIndex];
151	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave	150	// SLAVE_SELECT_PORT \|= (1 << SPI_SLAVE_SELECT); // DeselectSlave
152		151
153	}	152	}
154	else SPITransferCompleted = 1;	153	else SPITransferCompleted = 1;
155		154
156	SPI_BufferIndex++;	155	SPI_BufferIndex++;
157	}	156	}
158		157
159		158
160	//------------------------------------------------------	159	//------------------------------------------------------
161	void UpdateSPI_Buffer(void)	160	void UpdateSPI_Buffer(void)
162	{	161	{
163	static unsigned char i =0;	162	static unsigned char i =0;
164	cli();	163	cli();
165	ToNaviCtrl_Value.Command = SPI_CMD_VALUE;	164	ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
166	ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024);	165	ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024);
167	ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);	166	ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);
168	ToNaviCtrl_Value.StickNick = 4;	167	ToNaviCtrl_Value.StickNick = 4;
169	ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll;	168	ToNaviCtrl_Value.StickRoll = 5;//(char) StickRoll;
170	ToNaviCtrl_Value.StickGier = 6;//(char) StickGier;	169	ToNaviCtrl_Value.StickGier = 6;//(char) StickGier;
171	ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;	170	ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
172	ToNaviCtrl_Value.User1 = Parameter_UserParam1;	171	ToNaviCtrl_Value.User1 = Parameter_UserParam1;
173	ToNaviCtrl_Value.User2 = Parameter_UserParam2;	172	ToNaviCtrl_Value.User2 = Parameter_UserParam2;
174	ToNaviCtrl_Value.User3 = Parameter_UserParam3;	173	ToNaviCtrl_Value.User3 = Parameter_UserParam3;
175	ToNaviCtrl_Value.User4 = Parameter_UserParam4;	174	ToNaviCtrl_Value.User4 = Parameter_UserParam4;
176	ToNaviCtrl_Value.User5 = Parameter_UserParam5;	175	ToNaviCtrl_Value.User5 = Parameter_UserParam5;
177	ToNaviCtrl_Value.User6 = Parameter_UserParam6;	176	ToNaviCtrl_Value.User6 = Parameter_UserParam6;
178	ToNaviCtrl_Value.User7 = Parameter_UserParam7;	177	ToNaviCtrl_Value.User7 = Parameter_UserParam7;
179	ToNaviCtrl_Value.User8 = Parameter_UserParam8;	178	ToNaviCtrl_Value.User8 = Parameter_UserParam8;
180	sei();	179	sei();
181		180
182	if (SPI_RxDataValid)	181	if (SPI_RxDataValid)
183	{	182	{
184	GPS_Nick = FromNaviCtrl_Value.GPS_Nick;	183	GPS_Nick = FromNaviCtrl_Value.GPS_Nick;
185	GPS_Roll = FromNaviCtrl_Value.GPS_Roll;	184	GPS_Roll = FromNaviCtrl_Value.GPS_Roll;
186	KompassValue = FromNaviCtrl_Value.CompassValue;	185	KompassValue = FromNaviCtrl_Value.CompassValue;
187	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	186	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
188		187
189	if (FromNaviCtrl_Value.BeepTime != 0) beeptime = FromNaviCtrl_Value.BeepTime;	188	if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime;
190	}	189	}
191	else	190	else
192	{	191	{
193	KompassValue = 0;	192	KompassValue = 0;
194	KompassRichtung = 0;	193	KompassRichtung = 0;
195		194
196	GPS_Nick = 0;	195	GPS_Nick = 0;
197	GPS_Roll = 0;	196	GPS_Roll = 0;
198	}	197	}
199	}	198	}
200		199
201	#endif	200	#endif
202		201
203		202
204		203