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1 | // ######################## SPI - FlightCtrl ################### |
1 | // ######################## SPI - FlightCtrl ################### |
2 | #include "main.h" |
2 | #include "main.h" |
3 | #include "eeprom.h" |
3 | #include "eeprom.h" |
4 | 4 | ||
5 | 5 | ||
6 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
6 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
7 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
7 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
8 | struct str_ToNaviCtrl ToNaviCtrl; |
8 | struct str_ToNaviCtrl ToNaviCtrl; |
9 | struct str_FromNaviCtrl FromNaviCtrl; |
9 | struct str_FromNaviCtrl FromNaviCtrl; |
10 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
10 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
11 | struct str_SPI_VersionInfo NC_Version; |
11 | struct str_SPI_VersionInfo NC_Version; |
12 | struct str_GPSInfo GPSInfo; |
12 | struct str_GPSInfo GPSInfo; |
13 | 13 | ||
14 | unsigned char SPI_BufferIndex; |
14 | unsigned char SPI_BufferIndex; |
15 | unsigned char SPI_RxBufferIndex; |
15 | unsigned char SPI_RxBufferIndex; |
16 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
16 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
17 | 17 | ||
18 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
18 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
19 | unsigned char *SPI_TX_Buffer; |
19 | unsigned char *SPI_TX_Buffer; |
20 | 20 | ||
21 | unsigned char SPITransferCompleted, SPI_ChkSum; |
21 | unsigned char SPITransferCompleted, SPI_ChkSum; |
22 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
22 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
23 | 23 | ||
24 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
24 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
25 | unsigned char SPI_CommandCounter = 0; |
25 | unsigned char SPI_CommandCounter = 0; |
- | 26 | unsigned char NC_ErrorCode = 0; |
|
26 | 27 | ||
27 | #ifdef USE_SPI_COMMUNICATION |
28 | #ifdef USE_SPI_COMMUNICATION |
28 | 29 | ||
29 | //------------------------------------------------------ |
30 | //------------------------------------------------------ |
30 | void SPI_MasterInit(void) |
31 | void SPI_MasterInit(void) |
31 | { |
32 | { |
32 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
33 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
33 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
34 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
34 | 35 | ||
35 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
36 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
36 | SPSR = 0;//(1<<SPI2X); |
37 | SPSR = 0;//(1<<SPI2X); |
37 | 38 | ||
38 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
39 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
39 | SPITransferCompleted = 1; |
40 | SPITransferCompleted = 1; |
40 | 41 | ||
41 | //SPDR = 0x00; // dummy write |
42 | //SPDR = 0x00; // dummy write |
42 | 43 | ||
43 | ToNaviCtrl.Sync1 = 0xAA; |
44 | ToNaviCtrl.Sync1 = 0xAA; |
44 | ToNaviCtrl.Sync2 = 0x83; |
45 | ToNaviCtrl.Sync2 = 0x83; |
45 | 46 | ||
46 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
47 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
47 | ToNaviCtrl.IntegralNick = 0; |
48 | ToNaviCtrl.IntegralNick = 0; |
48 | ToNaviCtrl.IntegralRoll = 0; |
49 | ToNaviCtrl.IntegralRoll = 0; |
49 | FromNaviCtrl_Value.SerialDataOkay = 0; |
50 | FromNaviCtrl_Value.SerialDataOkay = 0; |
50 | SPI_RxDataValid = 0; |
51 | SPI_RxDataValid = 0; |
51 | 52 | ||
52 | } |
53 | } |
53 | 54 | ||
54 | //------------------------------------------------------ |
55 | //------------------------------------------------------ |
55 | void SPI_StartTransmitPacket(void) |
56 | void SPI_StartTransmitPacket(void) |
56 | { |
57 | { |
57 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
58 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
58 | if (!SPITransferCompleted) return; |
59 | if (!SPITransferCompleted) return; |
59 | // _delay_us(30); |
60 | // _delay_us(30); |
60 | 61 | ||
61 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
62 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
62 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
63 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
63 | 64 | ||
64 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
65 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
65 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
66 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
66 | 67 | ||
67 | SPITransferCompleted = 0; |
68 | SPITransferCompleted = 0; |
68 | UpdateSPI_Buffer(); // update buffer |
69 | UpdateSPI_Buffer(); // update buffer |
69 | 70 | ||
70 | SPI_BufferIndex = 1; |
71 | SPI_BufferIndex = 1; |
71 | //ebugOut.Analog[16]++; |
72 | //ebugOut.Analog[16]++; |
72 | // -- Debug-Output --- |
73 | // -- Debug-Output --- |
73 | //---- |
74 | //---- |
74 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
75 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
75 | 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"); |
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"); |
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"); |
77 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
78 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
78 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
79 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
79 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
80 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
80 | 81 | ||
81 | } |
82 | } |
82 | 83 | ||
83 | //------------------------------------------------------ |
84 | //------------------------------------------------------ |
84 | //SIGNAL(SIG_SPI) |
85 | //SIGNAL(SIG_SPI) |
85 | void SPI_TransmitByte(void) |
86 | void SPI_TransmitByte(void) |
86 | { |
87 | { |
87 | static unsigned char SPI_RXState = 0; |
88 | static unsigned char SPI_RXState = 0; |
88 | unsigned char rxdata; |
89 | unsigned char rxdata; |
89 | static unsigned char rxchksum; |
90 | static unsigned char rxchksum; |
90 | 91 | ||
91 | if (SPITransferCompleted) return; |
92 | if (SPITransferCompleted) return; |
92 | if (!(SPSR & (1 << SPIF))) return; |
93 | if (!(SPSR & (1 << SPIF))) return; |
93 | SendSPI = 4; |
94 | SendSPI = 4; |
94 | 95 | ||
95 | // _delay_us(30); |
96 | // _delay_us(30); |
96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
97 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
97 | 98 | ||
98 | rxdata = SPDR; |
99 | rxdata = SPDR; |
99 | switch ( SPI_RXState) |
100 | switch ( SPI_RXState) |
100 | { |
101 | { |
101 | case 0: |
102 | case 0: |
102 | 103 | ||
103 | SPI_RxBufferIndex = 0; |
104 | SPI_RxBufferIndex = 0; |
104 | rxchksum = rxdata; |
105 | rxchksum = rxdata; |
105 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
106 | 107 | ||
107 | break; |
108 | break; |
108 | 109 | ||
109 | case 1: |
110 | case 1: |
110 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
111 | else SPI_RXState = 0; |
112 | else SPI_RXState = 0; |
112 | break; |
113 | break; |
113 | 114 | ||
114 | case 2: |
115 | case 2: |
115 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
116 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
116 | //DebugOut.Analog[19]++; |
117 | //DebugOut.Analog[19]++; |
117 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
118 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
118 | { |
119 | { |
119 | 120 | ||
120 | if (rxdata == rxchksum) |
121 | if (rxdata == rxchksum) |
121 | { |
122 | { |
122 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
123 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
123 | 124 | ||
124 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
125 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
125 | 126 | ||
126 | SPI_RxDataValid = 1; |
127 | SPI_RxDataValid = 1; |
127 | } |
128 | } |
128 | else SPI_RxDataValid = 0; |
129 | else SPI_RxDataValid = 0; |
129 | 130 | ||
130 | SPI_RXState = 0; |
131 | SPI_RXState = 0; |
131 | } |
132 | } |
132 | else rxchksum += rxdata; |
133 | else rxchksum += rxdata; |
133 | break; |
134 | break; |
134 | 135 | ||
135 | } |
136 | } |
136 | 137 | ||
137 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
138 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
138 | { |
139 | { |
139 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
140 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
140 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
141 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
141 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
142 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
142 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
143 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
143 | 144 | ||
144 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
145 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
145 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
146 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
146 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
147 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
147 | 148 | ||
148 | } |
149 | } |
149 | else SPITransferCompleted = 1; |
150 | else SPITransferCompleted = 1; |
150 | 151 | ||
151 | SPI_BufferIndex++; |
152 | SPI_BufferIndex++; |
152 | } |
153 | } |
153 | 154 | ||
154 | 155 | ||
155 | //------------------------------------------------------ |
156 | //------------------------------------------------------ |
156 | void UpdateSPI_Buffer(void) |
157 | void UpdateSPI_Buffer(void) |
157 | { |
158 | { |
158 | signed int tmp; |
159 | signed int tmp; |
159 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
160 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
160 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
161 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
161 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
162 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
162 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
163 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
163 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
164 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
164 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
165 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
165 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
166 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
166 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
167 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
167 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
168 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
168 | switch(ToNaviCtrl.Command) // |
169 | switch(ToNaviCtrl.Command) // |
169 | { |
170 | { |
170 | case SPI_FCCMD_USER: |
171 | case SPI_FCCMD_USER: |
171 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
172 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
172 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
173 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
173 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
174 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
174 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
175 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
175 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
176 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
176 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
177 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
177 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
178 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
178 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
179 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
179 | ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
180 | ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
180 | FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
181 | FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
181 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
182 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
182 | ToNaviCtrl.Param.Byte[10] = ControlHeading; |
183 | ToNaviCtrl.Param.Byte[10] = ControlHeading; |
183 | break; |
184 | break; |
184 | 185 | ||
185 | case SPI_FCCMD_ACCU: |
186 | case SPI_FCCMD_ACCU: |
186 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
187 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
187 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
188 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
188 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
189 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
189 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
190 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
190 | break; |
191 | break; |
191 | 192 | ||
192 | case SPI_FCCMD_PARAMETER1: |
193 | case SPI_FCCMD_PARAMETER1: |
193 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
194 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
194 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
195 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
195 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
196 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
196 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
197 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
197 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
198 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
198 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
199 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
199 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
200 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
200 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
201 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
201 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
202 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
202 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
203 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
203 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
204 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
204 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
205 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
205 | break; |
206 | break; |
206 | 207 | ||
207 | case SPI_FCCMD_STICK: |
208 | case SPI_FCCMD_STICK: |
208 | cli(); |
209 | cli(); |
209 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
210 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
210 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
211 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
212 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
212 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
213 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
213 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
214 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
214 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
215 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
215 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
216 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
216 | sei(); |
217 | sei(); |
217 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
218 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
218 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
219 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
219 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
220 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
220 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
221 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
221 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
222 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
222 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
223 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
223 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
224 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
224 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
225 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
225 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
226 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
226 | break; |
227 | break; |
227 | case SPI_FCCMD_MISC: |
228 | case SPI_FCCMD_MISC: |
228 | if(WinkelOut.CalcState > 5) |
229 | if(WinkelOut.CalcState > 5) |
229 | { |
230 | { |
230 | WinkelOut.CalcState = 0; |
231 | WinkelOut.CalcState = 0; |
231 | ToNaviCtrl.Param.Byte[0] = 5; |
232 | ToNaviCtrl.Param.Byte[0] = 5; |
232 | } |
233 | } |
233 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
234 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
234 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
235 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
235 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
236 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
236 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
237 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
237 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
238 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
238 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
239 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
239 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
240 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
240 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
241 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
241 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
242 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
242 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
243 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
243 | break; |
244 | break; |
244 | case SPI_FCCMD_VERSION: |
245 | case SPI_FCCMD_VERSION: |
245 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
246 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
246 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
247 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
247 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
248 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
248 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
249 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
249 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
250 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
250 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
251 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
251 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
252 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
252 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
253 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
253 | break; |
254 | break; |
254 | case SPI_FCCMD_SERVOS: |
255 | case SPI_FCCMD_SERVOS: |
255 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
256 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
256 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
257 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
257 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
258 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
258 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
259 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
259 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
260 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
260 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
261 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
261 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
262 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
262 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
263 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
263 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
264 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
264 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
265 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
265 | break; |
266 | break; |
266 | } |
267 | } |
267 | 268 | ||
268 | if(SPI_RxDataValid) |
269 | if(SPI_RxDataValid) |
269 | { |
270 | { |
270 | NaviDataOkay = 250; |
271 | NaviDataOkay = 250; |
271 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
272 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
272 | { |
273 | { |
273 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
274 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
274 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
275 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
275 | } |
276 | } |
276 | 277 | ||
277 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
278 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
278 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
279 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
279 | 280 | ||
280 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
281 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
281 | 282 | ||
282 | switch (FromNaviCtrl.Command) |
283 | switch (FromNaviCtrl.Command) |
283 | { |
284 | { |
284 | case SPI_NCCMD_KALMAN: |
285 | case SPI_NCCMD_KALMAN: |
285 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
286 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
286 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
287 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
287 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
288 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
288 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
289 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
289 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
290 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
290 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
291 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
291 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
292 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
292 | break; |
293 | break; |
293 | 294 | ||
294 | case SPI_NCCMD_VERSION: |
295 | case SPI_NCCMD_VERSION: |
295 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
296 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
296 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
297 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
297 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
298 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
298 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
299 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
299 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
300 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
300 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
301 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
- | 302 | NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
|
301 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
303 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
302 | break; |
304 | break; |
303 | 305 | ||
304 | case SPI_NCCMD_GPSINFO: |
306 | case SPI_NCCMD_GPSINFO: |
305 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
307 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
306 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
308 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
307 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
309 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
308 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
310 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
309 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
311 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
310 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
312 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
311 | break; |
313 | break; |
312 | 314 | ||
313 | default: |
315 | default: |
314 | break; |
316 | break; |
315 | } |
317 | } |
316 | } |
318 | } |
317 | else |
319 | else |
318 | { |
320 | { |
319 | // KompassValue = 0; |
321 | // KompassValue = 0; |
320 | // KompassRichtung = 0; |
322 | // KompassRichtung = 0; |
321 | GPS_Nick = 0; |
323 | GPS_Nick = 0; |
322 | GPS_Roll = 0; |
324 | GPS_Roll = 0; |
323 | } |
325 | } |
324 | } |
326 | } |
325 | 327 | ||
326 | #endif |
328 | #endif |
327 | 329 | ||
328 | 330 | ||
329 | 331 |