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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 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
9 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
10 | struct str_SPI_VersionInfo SPI_VersionInfo; |
10 | struct str_SPI_VersionInfo SPI_VersionInfo; |
11 | 11 | ||
12 | unsigned char SPI_BufferIndex; |
12 | unsigned char SPI_BufferIndex; |
13 | unsigned char SPI_RxBufferIndex; |
13 | unsigned char SPI_RxBufferIndex; |
14 | 14 | ||
15 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
15 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
16 | unsigned char *SPI_TX_Buffer; |
16 | unsigned char *SPI_TX_Buffer; |
17 | 17 | ||
18 | unsigned char SPITransferCompleted, SPI_ChkSum; |
18 | unsigned char SPITransferCompleted, SPI_ChkSum; |
19 | unsigned char SPI_RxDataValid; |
19 | unsigned char SPI_RxDataValid; |
20 | 20 | ||
21 | unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
21 | unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
22 | unsigned char SPI_CommandCounter = 0; |
22 | unsigned char SPI_CommandCounter = 0; |
23 | 23 | ||
24 | #ifdef USE_SPI_COMMUNICATION |
24 | #ifdef USE_SPI_COMMUNICATION |
25 | 25 | ||
26 | //------------------------------------------------------ |
26 | //------------------------------------------------------ |
27 | void SPI_MasterInit(void) |
27 | void SPI_MasterInit(void) |
28 | { |
28 | { |
29 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
29 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
30 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
30 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
31 | 31 | ||
32 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
32 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
33 | SPSR = 0;//(1<<SPI2X); |
33 | SPSR = 0;//(1<<SPI2X); |
34 | 34 | ||
35 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
35 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
36 | SPITransferCompleted = 1; |
36 | SPITransferCompleted = 1; |
37 | 37 | ||
38 | //SPDR = 0x00; // dummy write |
38 | //SPDR = 0x00; // dummy write |
39 | 39 | ||
40 | ToNaviCtrl.Sync1 = 0xAA; |
40 | ToNaviCtrl.Sync1 = 0xAA; |
41 | ToNaviCtrl.Sync2 = 0x83; |
41 | ToNaviCtrl.Sync2 = 0x83; |
42 | 42 | ||
43 | ToNaviCtrl.Command = SPI_CMD_USER; |
43 | ToNaviCtrl.Command = SPI_CMD_USER; |
44 | ToNaviCtrl.IntegralNick = 0; |
44 | ToNaviCtrl.IntegralNick = 0; |
45 | ToNaviCtrl.IntegralRoll = 0; |
45 | ToNaviCtrl.IntegralRoll = 0; |
46 | SPI_RxDataValid = 0; |
46 | SPI_RxDataValid = 0; |
47 | 47 | ||
48 | SPI_VersionInfo.Major = VERSION_MAJOR; |
48 | SPI_VersionInfo.Major = VERSION_MAJOR; |
49 | SPI_VersionInfo.Minor = VERSION_MINOR; |
49 | SPI_VersionInfo.Minor = VERSION_MINOR; |
50 | SPI_VersionInfo.Patch = VERSION_PATCH; |
50 | SPI_VersionInfo.Patch = VERSION_PATCH; |
51 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
51 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
52 | } |
52 | } |
53 | 53 | ||
54 | //------------------------------------------------------ |
54 | //------------------------------------------------------ |
55 | void SPI_StartTransmitPacket(void) |
55 | void SPI_StartTransmitPacket(void) |
56 | { |
56 | { |
57 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
57 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
58 | if (!SPITransferCompleted) return; |
58 | if (!SPITransferCompleted) return; |
59 | // _delay_us(30); |
59 | // _delay_us(30); |
60 | 60 | ||
61 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
61 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
62 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
62 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
63 | 63 | ||
64 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
64 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
65 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
65 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
66 | 66 | ||
67 | SPITransferCompleted = 0; |
67 | SPITransferCompleted = 0; |
68 | UpdateSPI_Buffer(); // update buffer |
68 | UpdateSPI_Buffer(); // update buffer |
69 | 69 | ||
70 | SPI_BufferIndex = 1; |
70 | SPI_BufferIndex = 1; |
71 | //ebugOut.Analog[16]++; |
71 | //ebugOut.Analog[16]++; |
72 | // -- Debug-Output --- |
72 | // -- Debug-Output --- |
73 | //---- |
73 | //---- |
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"); |
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 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
77 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
78 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
78 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
79 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
79 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
80 | 80 | ||
81 | } |
81 | } |
82 | 82 | ||
83 | //------------------------------------------------------ |
83 | //------------------------------------------------------ |
84 | //SIGNAL(SIG_SPI) |
84 | //SIGNAL(SIG_SPI) |
85 | void SPI_TransmitByte(void) |
85 | void SPI_TransmitByte(void) |
86 | { |
86 | { |
87 | static unsigned char SPI_RXState = 0; |
87 | static unsigned char SPI_RXState = 0; |
88 | unsigned char rxdata; |
88 | unsigned char rxdata; |
89 | static unsigned char rxchksum; |
89 | static unsigned char rxchksum; |
90 | 90 | ||
91 | if (SPITransferCompleted) return; |
91 | if (SPITransferCompleted) return; |
92 | if (!(SPSR & (1 << SPIF))) return; |
92 | if (!(SPSR & (1 << SPIF))) return; |
93 | SendSPI = 4; |
93 | SendSPI = 4; |
94 | 94 | ||
95 | // _delay_us(30); |
95 | // _delay_us(30); |
96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
96 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
97 | 97 | ||
98 | rxdata = SPDR; |
98 | rxdata = SPDR; |
99 | switch ( SPI_RXState) |
99 | switch ( SPI_RXState) |
100 | { |
100 | { |
101 | case 0: |
101 | case 0: |
102 | 102 | ||
103 | SPI_RxBufferIndex = 0; |
103 | SPI_RxBufferIndex = 0; |
104 | //DebugOut.Analog[17]++; |
104 | //DebugOut.Analog[17]++; |
105 | rxchksum = rxdata; |
105 | rxchksum = rxdata; |
106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
107 | 107 | ||
108 | break; |
108 | break; |
109 | 109 | ||
110 | case 1: |
110 | case 1: |
111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
112 | else SPI_RXState = 0; |
112 | else SPI_RXState = 0; |
113 | //DebugOut.Analog[18]++; |
113 | //DebugOut.Analog[18]++; |
114 | break; |
114 | break; |
115 | 115 | ||
116 | case 2: |
116 | case 2: |
117 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
117 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
118 | //DebugOut.Analog[19]++; |
118 | //DebugOut.Analog[19]++; |
119 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
119 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
120 | { |
120 | { |
121 | 121 | ||
122 | if (rxdata == rxchksum) |
122 | if (rxdata == rxchksum) |
123 | { |
123 | { |
124 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
124 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
125 | 125 | ||
126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
127 | 127 | ||
128 | SPI_RxDataValid = 1; |
128 | SPI_RxDataValid = 1; |
129 | } |
129 | } |
130 | else SPI_RxDataValid = 0; |
130 | else SPI_RxDataValid = 0; |
131 | 131 | ||
132 | SPI_RXState = 0; |
132 | SPI_RXState = 0; |
133 | } |
133 | } |
134 | else rxchksum += rxdata; |
134 | else rxchksum += rxdata; |
135 | break; |
135 | break; |
136 | 136 | ||
137 | } |
137 | } |
138 | 138 | ||
139 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
139 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
140 | { |
140 | { |
141 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
141 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
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 | 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"); |
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"); |
145 | 145 | ||
146 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
146 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
147 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
147 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
148 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
148 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
149 | 149 | ||
150 | } |
150 | } |
151 | else SPITransferCompleted = 1; |
151 | else SPITransferCompleted = 1; |
152 | 152 | ||
153 | SPI_BufferIndex++; |
153 | SPI_BufferIndex++; |
154 | } |
154 | } |
155 | 155 | ||
156 | 156 | ||
157 | //------------------------------------------------------ |
157 | //------------------------------------------------------ |
158 | void UpdateSPI_Buffer(void) |
158 | void UpdateSPI_Buffer(void) |
159 | { |
159 | { |
160 | static unsigned char i =0; |
160 | static unsigned char i =0; |
161 | signed int tmp; |
161 | signed int tmp; |
162 | cli(); |
162 | cli(); |
163 | 163 | ||
164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 130); |
164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 130); |
165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
166 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
166 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
167 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
167 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
168 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
168 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
170 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
170 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
171 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
171 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
172 | 172 | ||
173 | switch(ToNaviCtrl.Command) // |
173 | switch(ToNaviCtrl.Command) // |
174 | { |
174 | { |
175 | case SPI_CMD_USER: |
175 | case SPI_CMD_USER: |
176 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
176 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
177 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
177 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
178 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
178 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
179 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
179 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
180 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
180 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
181 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
181 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
182 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
182 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
183 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
183 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
184 | ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags; |
184 | ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags; |
185 | MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
185 | MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
186 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
186 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
187 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
187 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
188 | ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
188 | ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
189 | break; |
189 | break; |
190 | case SPI_CMD_PARAMETER1: |
190 | case SPI_CMD_PARAMETER1: |
191 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
191 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
192 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
192 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
193 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
193 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
194 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
194 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
195 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
195 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
196 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
196 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
197 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
197 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
198 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
198 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
199 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
199 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
200 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
200 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
201 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
201 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
202 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
202 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
203 | break; |
203 | break; |
204 | case SPI_CMD_STICK: |
204 | case SPI_CMD_STICK: |
205 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
205 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
206 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
206 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
207 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
207 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
208 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
208 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
209 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
209 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
210 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
210 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
212 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
212 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
213 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
213 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
214 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
214 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
215 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
215 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
216 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
216 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
217 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
217 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
218 | break; |
218 | break; |
219 | case SPI_CMD_MISC: |
219 | case SPI_CMD_MISC: |
220 | if(WinkelOut.CalcState > 5) |
220 | if(WinkelOut.CalcState > 5) |
221 | { |
221 | { |
222 | WinkelOut.CalcState = 0; |
222 | WinkelOut.CalcState = 0; |
223 | ToNaviCtrl.Param.Byte[0] = 5; |
223 | ToNaviCtrl.Param.Byte[0] = 5; |
224 | } |
224 | } |
225 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
225 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
226 | ToNaviCtrl.Param.Int[1] = HoehenWert; |
226 | ToNaviCtrl.Param.Int[1] = HoehenWert; |
227 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
227 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
228 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit; |
228 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit; |
229 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit; |
229 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit; |
230 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsDLimit; |
230 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsDLimit; |
231 | break; |
231 | break; |
232 | 232 | ||
233 | case SPI_CMD_VERSION: |
233 | case SPI_CMD_VERSION: |
234 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
234 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
235 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
235 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
236 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
236 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
237 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
237 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
- | 238 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
|
238 | break; |
239 | break; |
239 | } |
240 | } |
240 | 241 | ||
241 | sei(); |
242 | sei(); |
242 | 243 | ||
243 | if (SPI_RxDataValid) |
244 | if (SPI_RxDataValid) |
244 | { |
245 | { |
245 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
246 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
246 | { |
247 | { |
247 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
248 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
248 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
249 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
249 | } |
250 | } |
250 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
251 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
251 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
252 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
252 | 253 | ||
253 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
254 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
254 | 255 | ||
255 | switch (FromNaviCtrl.Command) |
256 | switch (FromNaviCtrl.Command) |
256 | { |
257 | { |
257 | case SPI_KALMAN: |
258 | case SPI_KALMAN: |
258 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
259 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
259 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
260 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
260 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
261 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
261 | break; |
262 | break; |
262 | 263 | ||
263 | default: |
264 | default: |
264 | break; |
265 | break; |
265 | } |
266 | } |
266 | } |
267 | } |
267 | else |
268 | else |
268 | { |
269 | { |
269 | // KompassValue = 0; |
270 | // KompassValue = 0; |
270 | // KompassRichtung = 0; |
271 | // KompassRichtung = 0; |
271 | 272 | ||
272 | GPS_Nick = 0; |
273 | GPS_Nick = 0; |
273 | GPS_Roll = 0; |
274 | GPS_Roll = 0; |
274 | } |
275 | } |
275 | } |
276 | } |
276 | 277 | ||
277 | #endif |
278 | #endif |
278 | 279 | ||
279 | 280 | ||
280 | 281 |