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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,NaviDataOkay = 0; |
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 | FromNaviCtrl_Value.SerialDataOkay = 0; |
|
46 | SPI_RxDataValid = 0; |
47 | SPI_RxDataValid = 0; |
47 | 48 | ||
48 | SPI_VersionInfo.Major = VERSION_MAJOR; |
49 | SPI_VersionInfo.Major = VERSION_MAJOR; |
49 | SPI_VersionInfo.Minor = VERSION_MINOR; |
50 | SPI_VersionInfo.Minor = VERSION_MINOR; |
50 | SPI_VersionInfo.Patch = VERSION_PATCH; |
51 | SPI_VersionInfo.Patch = VERSION_PATCH; |
51 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
52 | SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
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 | //DebugOut.Analog[17]++; |
105 | //DebugOut.Analog[17]++; |
105 | rxchksum = rxdata; |
106 | rxchksum = rxdata; |
106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
107 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
107 | 108 | ||
108 | break; |
109 | break; |
109 | 110 | ||
110 | case 1: |
111 | case 1: |
111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
112 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
112 | else SPI_RXState = 0; |
113 | else SPI_RXState = 0; |
113 | //DebugOut.Analog[18]++; |
114 | //DebugOut.Analog[18]++; |
114 | break; |
115 | break; |
115 | 116 | ||
116 | case 2: |
117 | case 2: |
117 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
118 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
118 | //DebugOut.Analog[19]++; |
119 | //DebugOut.Analog[19]++; |
119 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
120 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
120 | { |
121 | { |
121 | 122 | ||
122 | if (rxdata == rxchksum) |
123 | if (rxdata == rxchksum) |
123 | { |
124 | { |
124 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
125 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
125 | 126 | ||
126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
127 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
127 | 128 | ||
128 | SPI_RxDataValid = 1; |
129 | SPI_RxDataValid = 1; |
129 | } |
130 | } |
130 | else SPI_RxDataValid = 0; |
131 | else SPI_RxDataValid = 0; |
131 | 132 | ||
132 | SPI_RXState = 0; |
133 | SPI_RXState = 0; |
133 | } |
134 | } |
134 | else rxchksum += rxdata; |
135 | else rxchksum += rxdata; |
135 | break; |
136 | break; |
136 | 137 | ||
137 | } |
138 | } |
138 | 139 | ||
139 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
140 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
140 | { |
141 | { |
141 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
142 | 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"); |
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 | 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 | 146 | ||
146 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
147 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
147 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
148 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
148 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
149 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
149 | 150 | ||
150 | } |
151 | } |
151 | else SPITransferCompleted = 1; |
152 | else SPITransferCompleted = 1; |
152 | 153 | ||
153 | SPI_BufferIndex++; |
154 | SPI_BufferIndex++; |
154 | } |
155 | } |
155 | 156 | ||
156 | 157 | ||
157 | //------------------------------------------------------ |
158 | //------------------------------------------------------ |
158 | void UpdateSPI_Buffer(void) |
159 | void UpdateSPI_Buffer(void) |
159 | { |
160 | { |
160 | signed int tmp; |
161 | signed int tmp; |
161 | cli(); |
162 | cli(); |
162 | 163 | ||
163 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
164 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
165 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
166 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
166 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
167 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
167 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
168 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
168 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
169 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
170 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
170 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
171 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
171 | 172 | ||
172 | switch(ToNaviCtrl.Command) // |
173 | switch(ToNaviCtrl.Command) // |
173 | { |
174 | { |
174 | case SPI_CMD_USER: |
175 | case SPI_CMD_USER: |
175 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
176 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
176 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
177 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
177 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
178 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
178 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
179 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
179 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
180 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
180 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
181 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
181 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
182 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
182 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
183 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
183 | ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags; |
184 | ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags; |
184 | MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
185 | MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
185 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
186 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
186 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
187 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
187 | 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]); |
188 | break; |
189 | break; |
189 | case SPI_CMD_PARAMETER1: |
190 | case SPI_CMD_PARAMETER1: |
190 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
191 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
191 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
192 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
192 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
193 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
193 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
194 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
194 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
195 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
195 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
196 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
196 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
197 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
197 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
198 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
198 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
199 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
199 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
200 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
200 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
201 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
201 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
202 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
202 | break; |
203 | break; |
203 | case SPI_CMD_STICK: |
204 | case SPI_CMD_STICK: |
204 | 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; |
205 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
206 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
206 | 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; |
207 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
208 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
208 | 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; |
209 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
210 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
210 | 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; |
211 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
212 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
212 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
213 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
213 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
214 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
214 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
215 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
215 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
216 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
216 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
217 | ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
217 | break; |
218 | break; |
218 | case SPI_CMD_MISC: |
219 | case SPI_CMD_MISC: |
219 | if(WinkelOut.CalcState > 5) |
220 | if(WinkelOut.CalcState > 5) |
220 | { |
221 | { |
221 | WinkelOut.CalcState = 0; |
222 | WinkelOut.CalcState = 0; |
222 | ToNaviCtrl.Param.Byte[0] = 5; |
223 | ToNaviCtrl.Param.Byte[0] = 5; |
223 | } |
224 | } |
224 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
225 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
225 | ToNaviCtrl.Param.Int[1] = HoehenWert; |
226 | ToNaviCtrl.Param.Int[1] = HoehenWert; |
226 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
227 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
227 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit; |
228 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit; |
228 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit; |
229 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit; |
229 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsDLimit; |
230 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsDLimit; |
230 | break; |
231 | break; |
231 | 232 | ||
232 | case SPI_CMD_VERSION: |
233 | case SPI_CMD_VERSION: |
233 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
234 | ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
234 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
235 | ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
235 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
236 | ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
236 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
237 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
237 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
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; |
- | 250 | NaviDataOkay = 250; |
|
249 | } |
251 | } |
250 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
252 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
251 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
253 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
252 | 254 | ||
253 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
255 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
254 | 256 | ||
255 | switch (FromNaviCtrl.Command) |
257 | switch (FromNaviCtrl.Command) |
256 | { |
258 | { |
257 | case SPI_KALMAN: |
259 | case SPI_KALMAN: |
258 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
260 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
259 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
261 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
260 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
262 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
- | 263 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
|
261 | break; |
264 | break; |
262 | 265 | ||
263 | default: |
266 | default: |
264 | break; |
267 | break; |
265 | } |
268 | } |
266 | } |
269 | } |
267 | else |
270 | else |
268 | { |
271 | { |
269 | // KompassValue = 0; |
272 | // KompassValue = 0; |
270 | // KompassRichtung = 0; |
273 | // KompassRichtung = 0; |
271 | - | ||
272 | GPS_Nick = 0; |
274 | GPS_Nick = 0; |
273 | GPS_Roll = 0; |
275 | GPS_Roll = 0; |
274 | } |
276 | } |
275 | } |
277 | } |
276 | 278 | ||
277 | #endif |
279 | #endif |
278 | 280 | ||
279 | 281 | ||
280 | 282 |