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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 ToNaviCtrl; |
7 | struct str_ToNaviCtrl ToNaviCtrl; |
8 | struct str_FromNaviCtrl FromNaviCtrl; |
8 | struct str_FromNaviCtrl FromNaviCtrl; |
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) + 8]; |
13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl) + 8]; |
14 | unsigned char *SPI_TX_Buffer; |
14 | unsigned char *SPI_TX_Buffer; |
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 | unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
19 | unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
20 | unsigned char SPI_CommandCounter = 0; |
20 | unsigned char SPI_CommandCounter = 0; |
21 | 21 | ||
22 | #ifdef USE_SPI_COMMUNICATION |
22 | #ifdef USE_SPI_COMMUNICATION |
23 | 23 | ||
24 | //------------------------------------------------------ |
24 | //------------------------------------------------------ |
25 | void SPI_MasterInit(void) |
25 | void SPI_MasterInit(void) |
26 | { |
26 | { |
27 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
27 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
28 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
28 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
29 | 29 | ||
30 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
30 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
31 | SPSR = 0;//(1<<SPI2X); |
31 | SPSR = 0;//(1<<SPI2X); |
32 | 32 | ||
33 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
33 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
34 | SPITransferCompleted = 1; |
34 | SPITransferCompleted = 1; |
35 | 35 | ||
36 | //SPDR = 0x00; // dummy write |
36 | //SPDR = 0x00; // dummy write |
37 | 37 | ||
38 | ToNaviCtrl.Sync1 = 0xAA; |
38 | ToNaviCtrl.Sync1 = 0xAA; |
39 | ToNaviCtrl.Sync2 = 0x83; |
39 | ToNaviCtrl.Sync2 = 0x83; |
40 | 40 | ||
41 | ToNaviCtrl.Command = SPI_CMD_USER; |
41 | ToNaviCtrl.Command = SPI_CMD_USER; |
42 | ToNaviCtrl.IntegralNick = 0; |
42 | ToNaviCtrl.IntegralNick = 0; |
43 | ToNaviCtrl.IntegralRoll = 0; |
43 | ToNaviCtrl.IntegralRoll = 0; |
44 | SPI_RxDataValid = 0; |
44 | SPI_RxDataValid = 0; |
45 | } |
45 | } |
46 | 46 | ||
47 | //------------------------------------------------------ |
47 | //------------------------------------------------------ |
48 | void SPI_StartTransmitPacket(void) |
48 | void SPI_StartTransmitPacket(void) |
49 | { |
49 | { |
50 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
50 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
51 | if (!SPITransferCompleted) return; |
51 | if (!SPITransferCompleted) return; |
52 | // _delay_us(30); |
52 | // _delay_us(30); |
53 | 53 | ||
54 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
54 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
55 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
55 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
56 | 56 | ||
57 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
57 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
58 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
58 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
59 | 59 | ||
60 | SPITransferCompleted = 0; |
60 | SPITransferCompleted = 0; |
61 | UpdateSPI_Buffer(); // update buffer |
61 | UpdateSPI_Buffer(); // update buffer |
62 | 62 | ||
63 | SPI_BufferIndex = 1; |
63 | SPI_BufferIndex = 1; |
64 | //ebugOut.Analog[16]++; |
64 | //ebugOut.Analog[16]++; |
65 | // -- Debug-Output --- |
65 | // -- Debug-Output --- |
66 | //---- |
66 | //---- |
67 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
67 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
68 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
68 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
69 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
69 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
70 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
70 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
71 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
71 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
72 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
72 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
73 | 73 | ||
74 | } |
74 | } |
75 | 75 | ||
76 | //------------------------------------------------------ |
76 | //------------------------------------------------------ |
77 | //SIGNAL(SIG_SPI) |
77 | //SIGNAL(SIG_SPI) |
78 | void SPI_TransmitByte(void) |
78 | void SPI_TransmitByte(void) |
79 | { |
79 | { |
80 | static unsigned char SPI_RXState = 0; |
80 | static unsigned char SPI_RXState = 0; |
81 | unsigned char rxdata; |
81 | unsigned char rxdata; |
82 | static unsigned char rxchksum; |
82 | static unsigned char rxchksum; |
83 | 83 | ||
84 | if (SPITransferCompleted) return; |
84 | if (SPITransferCompleted) return; |
85 | if (!(SPSR & (1 << SPIF))) return; |
85 | if (!(SPSR & (1 << SPIF))) return; |
86 | SendSPI = 4; |
86 | SendSPI = 4; |
87 | 87 | ||
88 | // _delay_us(30); |
88 | // _delay_us(30); |
89 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
89 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
90 | 90 | ||
91 | rxdata = SPDR; |
91 | rxdata = SPDR; |
92 | switch ( SPI_RXState) |
92 | switch ( SPI_RXState) |
93 | { |
93 | { |
94 | case 0: |
94 | case 0: |
95 | 95 | ||
96 | SPI_RxBufferIndex = 0; |
96 | SPI_RxBufferIndex = 0; |
97 | //DebugOut.Analog[17]++; |
97 | //DebugOut.Analog[17]++; |
98 | rxchksum = rxdata; |
98 | rxchksum = rxdata; |
99 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
99 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
100 | 100 | ||
101 | break; |
101 | break; |
102 | 102 | ||
103 | case 1: |
103 | case 1: |
104 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
104 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
105 | else SPI_RXState = 0; |
105 | else SPI_RXState = 0; |
106 | //DebugOut.Analog[18]++; |
106 | //DebugOut.Analog[18]++; |
107 | break; |
107 | break; |
108 | 108 | ||
109 | case 2: |
109 | case 2: |
110 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
110 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
111 | //DebugOut.Analog[19]++; |
111 | //DebugOut.Analog[19]++; |
112 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
112 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
113 | { |
113 | { |
114 | 114 | ||
115 | if (rxdata == rxchksum) |
115 | if (rxdata == rxchksum) |
116 | { |
116 | { |
117 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
117 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
118 | 118 | ||
119 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
119 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
120 | 120 | ||
121 | SPI_RxDataValid = 1; |
121 | SPI_RxDataValid = 1; |
122 | } |
122 | } |
123 | else SPI_RxDataValid = 0; |
123 | else SPI_RxDataValid = 0; |
124 | 124 | ||
125 | SPI_RXState = 0; |
125 | SPI_RXState = 0; |
126 | } |
126 | } |
127 | else rxchksum += rxdata; |
127 | else rxchksum += rxdata; |
128 | break; |
128 | break; |
129 | 129 | ||
130 | } |
130 | } |
131 | 131 | ||
132 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
132 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
133 | { |
133 | { |
134 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
134 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
135 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
135 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
136 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
136 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
137 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
137 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
138 | 138 | ||
139 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
139 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
140 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
140 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
141 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
141 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
142 | 142 | ||
143 | } |
143 | } |
144 | else SPITransferCompleted = 1; |
144 | else SPITransferCompleted = 1; |
145 | 145 | ||
146 | SPI_BufferIndex++; |
146 | SPI_BufferIndex++; |
147 | } |
147 | } |
148 | 148 | ||
149 | 149 | ||
150 | //------------------------------------------------------ |
150 | //------------------------------------------------------ |
151 | void UpdateSPI_Buffer(void) |
151 | void UpdateSPI_Buffer(void) |
152 | { |
152 | { |
153 | static unsigned char i =0; |
153 | static unsigned char i =0; |
- | 154 | signed int tmp; |
|
154 | cli(); |
155 | cli(); |
155 | 156 | ||
156 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 1024); |
157 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108); |
157 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 1024); |
158 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108); |
158 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
159 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
159 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
160 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
160 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc); |
161 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
161 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
162 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
162 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
163 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
163 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
164 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
164 | 165 | ||
165 | switch(ToNaviCtrl.Command) // |
166 | switch(ToNaviCtrl.Command) // |
166 | { |
167 | { |
167 | case SPI_CMD_USER: |
168 | case SPI_CMD_USER: |
168 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
169 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
169 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
170 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
170 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
171 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
171 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
172 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
172 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
173 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
173 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
174 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
174 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
175 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
175 | break; |
176 | break; |
176 | 177 | ||
177 | case SPI_CMD_STICK: |
178 | case SPI_CMD_STICK: |
- | 179 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127; |
|
178 | ToNaviCtrl.Param.Byte[0] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; |
180 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
- | 181 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127; |
|
179 | ToNaviCtrl.Param.Byte[1] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
182 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
- | 183 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127; |
|
180 | ToNaviCtrl.Param.Byte[2] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
184 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
- | 185 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127; |
|
181 | ToNaviCtrl.Param.Byte[3] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
186 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
182 | ToNaviCtrl.Param.Byte[4] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]; |
187 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
183 | ToNaviCtrl.Param.Byte[5] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]; |
188 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
184 | ToNaviCtrl.Param.Byte[6] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]; |
189 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
185 | ToNaviCtrl.Param.Byte[7] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]; |
190 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
186 | 191 | ||
187 | break; |
192 | break; |
188 | case SPI_CMD_CAL_COMPASS: |
193 | case SPI_CMD_CAL_COMPASS: |
189 | ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
194 | ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
190 | break; |
195 | break; |
191 | } |
196 | } |
192 | 197 | ||
193 | 198 | ||
194 | sei(); |
199 | sei(); |
195 | 200 | ||
196 | 201 | ||
197 | 202 | ||
198 | if (SPI_RxDataValid) |
203 | if (SPI_RxDataValid) |
199 | { |
204 | { |
200 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
205 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
201 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
206 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
202 | KompassValue = FromNaviCtrl.CompassValue; |
207 | KompassValue = FromNaviCtrl.CompassValue; |
203 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
208 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
204 | 209 | ||
205 | if (FromNaviCtrl.BeepTime > beeptime) beeptime = FromNaviCtrl.BeepTime; |
210 | if (FromNaviCtrl.BeepTime > beeptime) beeptime = FromNaviCtrl.BeepTime; |
206 | 211 | ||
207 | switch (FromNaviCtrl.Command) |
212 | switch (FromNaviCtrl.Command) |
208 | { |
213 | { |
209 | case SPI_CMD_OSD_DATA: |
214 | case SPI_CMD_OSD_DATA: |
210 | // ToFlightCtrl.Param.Byte[0] = OsdBar; |
215 | // ToFlightCtrl.Param.Byte[0] = OsdBar; |
211 | // ToFlightCtrl.Param.Int[1] = Distance; |
216 | // ToFlightCtrl.Param.Int[1] = Distance; |
212 | break; |
217 | break; |
213 | 218 | ||
214 | case SPI_CMD_GPS_POS: |
219 | case SPI_CMD_GPS_POS: |
215 | // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
220 | // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
216 | // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
221 | // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
217 | break; |
222 | break; |
218 | 223 | ||
219 | case SPI_CMD_GPS_TARGET: |
224 | case SPI_CMD_GPS_TARGET: |
220 | // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
225 | // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
221 | // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
226 | // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
222 | break; |
227 | break; |
223 | 228 | ||
224 | default: |
229 | default: |
225 | break; |
230 | break; |
226 | } |
231 | } |
227 | } |
232 | } |
228 | else |
233 | else |
229 | { |
234 | { |
230 | // KompassValue = 0; |
235 | // KompassValue = 0; |
231 | // KompassRichtung = 0; |
236 | // KompassRichtung = 0; |
232 | 237 | ||
233 | GPS_Nick = 0; |
238 | GPS_Nick = 0; |
234 | GPS_Roll = 0; |
239 | GPS_Roll = 0; |
235 | } |
240 | } |
236 | } |
241 | } |
237 | 242 | ||
238 | #endif |
243 | #endif |
239 | 244 | ||
240 | 245 | ||
241 | 246 |