Rev 1509 | Rev 1598 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1509 | Rev 1536 | ||
---|---|---|---|
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 NC_Version; |
10 | struct str_SPI_VersionInfo NC_Version; |
11 | struct str_GPSInfo GPSInfo; |
11 | struct str_GPSInfo GPSInfo; |
12 | 12 | ||
13 | unsigned char SPI_BufferIndex; |
13 | unsigned char SPI_BufferIndex; |
14 | unsigned char SPI_RxBufferIndex; |
14 | unsigned char SPI_RxBufferIndex; |
15 | 15 | ||
16 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
16 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
17 | unsigned char *SPI_TX_Buffer; |
17 | unsigned char *SPI_TX_Buffer; |
18 | 18 | ||
19 | unsigned char SPITransferCompleted, SPI_ChkSum; |
19 | unsigned char SPITransferCompleted, SPI_ChkSum; |
20 | unsigned char SPI_RxDataValid,NaviDataOkay = 0; |
20 | unsigned char SPI_RxDataValid,NaviDataOkay = 0; |
21 | 21 | ||
22 | 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}; |
22 | 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}; |
23 | unsigned char SPI_CommandCounter = 0; |
23 | unsigned char SPI_CommandCounter = 0; |
24 | 24 | ||
25 | #ifdef USE_SPI_COMMUNICATION |
25 | #ifdef USE_SPI_COMMUNICATION |
26 | 26 | ||
27 | //------------------------------------------------------ |
27 | //------------------------------------------------------ |
28 | void SPI_MasterInit(void) |
28 | void SPI_MasterInit(void) |
29 | { |
29 | { |
30 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
30 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
31 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
31 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
32 | 32 | ||
33 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
33 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
34 | SPSR = 0;//(1<<SPI2X); |
34 | SPSR = 0;//(1<<SPI2X); |
35 | 35 | ||
36 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
36 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
37 | SPITransferCompleted = 1; |
37 | SPITransferCompleted = 1; |
38 | 38 | ||
39 | //SPDR = 0x00; // dummy write |
39 | //SPDR = 0x00; // dummy write |
40 | 40 | ||
41 | ToNaviCtrl.Sync1 = 0xAA; |
41 | ToNaviCtrl.Sync1 = 0xAA; |
42 | ToNaviCtrl.Sync2 = 0x83; |
42 | ToNaviCtrl.Sync2 = 0x83; |
43 | 43 | ||
44 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
44 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
45 | ToNaviCtrl.IntegralNick = 0; |
45 | ToNaviCtrl.IntegralNick = 0; |
46 | ToNaviCtrl.IntegralRoll = 0; |
46 | ToNaviCtrl.IntegralRoll = 0; |
47 | FromNaviCtrl_Value.SerialDataOkay = 0; |
47 | FromNaviCtrl_Value.SerialDataOkay = 0; |
48 | SPI_RxDataValid = 0; |
48 | SPI_RxDataValid = 0; |
49 | 49 | ||
50 | } |
50 | } |
51 | 51 | ||
52 | //------------------------------------------------------ |
52 | //------------------------------------------------------ |
53 | void SPI_StartTransmitPacket(void) |
53 | void SPI_StartTransmitPacket(void) |
54 | { |
54 | { |
55 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
55 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
56 | if (!SPITransferCompleted) return; |
56 | if (!SPITransferCompleted) return; |
57 | // _delay_us(30); |
57 | // _delay_us(30); |
58 | 58 | ||
59 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
59 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
60 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
60 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
61 | 61 | ||
62 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
62 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
63 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
63 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
64 | 64 | ||
65 | SPITransferCompleted = 0; |
65 | SPITransferCompleted = 0; |
66 | UpdateSPI_Buffer(); // update buffer |
66 | UpdateSPI_Buffer(); // update buffer |
67 | 67 | ||
68 | SPI_BufferIndex = 1; |
68 | SPI_BufferIndex = 1; |
69 | //ebugOut.Analog[16]++; |
69 | //ebugOut.Analog[16]++; |
70 | // -- Debug-Output --- |
70 | // -- Debug-Output --- |
71 | //---- |
71 | //---- |
72 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
72 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
73 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
73 | 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"); |
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 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
75 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
76 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
76 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
77 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
77 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
78 | 78 | ||
79 | } |
79 | } |
80 | 80 | ||
81 | //------------------------------------------------------ |
81 | //------------------------------------------------------ |
82 | //SIGNAL(SIG_SPI) |
82 | //SIGNAL(SIG_SPI) |
83 | void SPI_TransmitByte(void) |
83 | void SPI_TransmitByte(void) |
84 | { |
84 | { |
85 | static unsigned char SPI_RXState = 0; |
85 | static unsigned char SPI_RXState = 0; |
86 | unsigned char rxdata; |
86 | unsigned char rxdata; |
87 | static unsigned char rxchksum; |
87 | static unsigned char rxchksum; |
88 | 88 | ||
89 | if (SPITransferCompleted) return; |
89 | if (SPITransferCompleted) return; |
90 | if (!(SPSR & (1 << SPIF))) return; |
90 | if (!(SPSR & (1 << SPIF))) return; |
91 | SendSPI = 4; |
91 | SendSPI = 4; |
92 | 92 | ||
93 | // _delay_us(30); |
93 | // _delay_us(30); |
94 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
94 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
95 | 95 | ||
96 | rxdata = SPDR; |
96 | rxdata = SPDR; |
97 | switch ( SPI_RXState) |
97 | switch ( SPI_RXState) |
98 | { |
98 | { |
99 | case 0: |
99 | case 0: |
100 | 100 | ||
101 | SPI_RxBufferIndex = 0; |
101 | SPI_RxBufferIndex = 0; |
102 | //DebugOut.Analog[17]++; |
102 | //DebugOut.Analog[17]++; |
103 | rxchksum = rxdata; |
103 | rxchksum = rxdata; |
104 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
104 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
105 | 105 | ||
106 | break; |
106 | break; |
107 | 107 | ||
108 | case 1: |
108 | case 1: |
109 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
109 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
110 | else SPI_RXState = 0; |
110 | else SPI_RXState = 0; |
111 | //DebugOut.Analog[18]++; |
111 | //DebugOut.Analog[18]++; |
112 | break; |
112 | break; |
113 | 113 | ||
114 | case 2: |
114 | case 2: |
115 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
115 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
116 | //DebugOut.Analog[19]++; |
116 | //DebugOut.Analog[19]++; |
117 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
117 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
118 | { |
118 | { |
119 | 119 | ||
120 | if (rxdata == rxchksum) |
120 | if (rxdata == rxchksum) |
121 | { |
121 | { |
122 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
122 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
123 | 123 | ||
124 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
124 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
125 | 125 | ||
126 | SPI_RxDataValid = 1; |
126 | SPI_RxDataValid = 1; |
127 | } |
127 | } |
128 | else SPI_RxDataValid = 0; |
128 | else SPI_RxDataValid = 0; |
129 | 129 | ||
130 | SPI_RXState = 0; |
130 | SPI_RXState = 0; |
131 | } |
131 | } |
132 | else rxchksum += rxdata; |
132 | else rxchksum += rxdata; |
133 | break; |
133 | break; |
134 | 134 | ||
135 | } |
135 | } |
136 | 136 | ||
137 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
137 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
138 | { |
138 | { |
139 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
139 | 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"); |
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 | 143 | ||
144 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
144 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
145 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
145 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
146 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
146 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
147 | 147 | ||
148 | } |
148 | } |
149 | else SPITransferCompleted = 1; |
149 | else SPITransferCompleted = 1; |
150 | 150 | ||
151 | SPI_BufferIndex++; |
151 | SPI_BufferIndex++; |
152 | } |
152 | } |
153 | 153 | ||
154 | 154 | ||
155 | //------------------------------------------------------ |
155 | //------------------------------------------------------ |
156 | void UpdateSPI_Buffer(void) |
156 | void UpdateSPI_Buffer(void) |
157 | { |
157 | { |
158 | signed int tmp; |
158 | signed int tmp; |
159 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
159 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
160 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
160 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
161 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
161 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
162 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
162 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
163 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
163 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
164 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
164 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
165 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
165 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
166 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
166 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
167 | switch(ToNaviCtrl.Command) // |
167 | switch(ToNaviCtrl.Command) // |
168 | { |
168 | { |
169 | case SPI_FCCMD_USER: |
169 | case SPI_FCCMD_USER: |
170 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
170 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
171 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
171 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
172 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
172 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
173 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
173 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
174 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
174 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
175 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
175 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
176 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
176 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
177 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
177 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
178 | ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
178 | ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
179 | FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
179 | FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
180 | ToNaviCtrl.Param.Byte[9] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
180 | ToNaviCtrl.Param.Byte[9] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
181 | break; |
181 | break; |
182 | 182 | ||
183 | case SPI_FCCMD_ACCU: |
183 | case SPI_FCCMD_ACCU: |
184 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
184 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
185 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
185 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
186 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
186 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
187 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
187 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
188 | break; |
188 | break; |
189 | 189 | ||
190 | case SPI_FCCMD_PARAMETER1: |
190 | case SPI_FCCMD_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 | 204 | ||
205 | case SPI_FCCMD_STICK: |
205 | case SPI_FCCMD_STICK: |
206 | cli(); |
206 | cli(); |
207 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
207 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
208 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
208 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
209 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
209 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
210 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
210 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
212 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
212 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
213 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
213 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
214 | sei(); |
214 | sei(); |
215 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
215 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
216 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
216 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
217 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
217 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
218 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
218 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
219 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
219 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
220 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
220 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
221 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
221 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
222 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
222 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
223 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
223 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
224 | break; |
224 | break; |
225 | case SPI_FCCMD_MISC: |
225 | case SPI_FCCMD_MISC: |
226 | if(WinkelOut.CalcState > 5) |
226 | if(WinkelOut.CalcState > 5) |
227 | { |
227 | { |
228 | WinkelOut.CalcState = 0; |
228 | WinkelOut.CalcState = 0; |
229 | ToNaviCtrl.Param.Byte[0] = 5; |
229 | ToNaviCtrl.Param.Byte[0] = 5; |
230 | } |
230 | } |
231 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
231 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
232 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
232 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
233 | ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5; |
233 | ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5; |
234 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
234 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
235 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
235 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
236 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
236 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
237 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
237 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
238 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
238 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
239 | ToNaviCtrl.Param.Byte[10] = (unsigned char) SenderRSSI; |
239 | ToNaviCtrl.Param.Byte[10] = (unsigned char) SenderRSSI; |
240 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
240 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
241 | break; |
241 | break; |
242 | case SPI_FCCMD_VERSION: |
242 | case SPI_FCCMD_VERSION: |
243 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
243 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
244 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
244 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
245 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
245 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
246 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
246 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
247 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
247 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
248 | break; |
248 | break; |
249 | 249 | ||
250 | case SPI_FCCMD_SERVOS: |
250 | case SPI_FCCMD_SERVOS: |
251 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
251 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
252 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
252 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
253 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
253 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
254 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
254 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
255 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
255 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
256 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
256 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
257 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
257 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
258 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
258 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
259 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
259 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
260 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
260 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
261 | break; |
261 | break; |
262 | } |
262 | } |
263 | 263 | ||
264 | if(SPI_RxDataValid) |
264 | if(SPI_RxDataValid) |
265 | { |
265 | { |
- | 266 | NaviDataOkay = 250; |
|
266 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
267 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
267 | { |
268 | { |
268 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
269 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
269 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
270 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
270 | NaviDataOkay = 250; |
- | |
271 | } |
271 | } |
272 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
272 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
273 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
273 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
274 | 274 | ||
275 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
275 | if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
276 | 276 | ||
277 | switch (FromNaviCtrl.Command) |
277 | switch (FromNaviCtrl.Command) |
278 | { |
278 | { |
279 | case SPI_NCCMD_KALMAN: |
279 | case SPI_NCCMD_KALMAN: |
280 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
280 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
281 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
281 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
282 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
282 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
283 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
283 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
284 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
284 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
285 | break; |
285 | break; |
286 | 286 | ||
287 | case SPI_NCCMD_VERSION: |
287 | case SPI_NCCMD_VERSION: |
288 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
288 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
289 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
289 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
290 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
290 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
291 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
291 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
292 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
292 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
293 | break; |
293 | break; |
294 | 294 | ||
295 | case SPI_NCCMD_GPSINFO: |
295 | case SPI_NCCMD_GPSINFO: |
296 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
296 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
297 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
297 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
298 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
298 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
299 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
299 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
300 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
300 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
301 | break; |
301 | break; |
302 | 302 | ||
303 | default: |
303 | default: |
304 | break; |
304 | break; |
305 | } |
305 | } |
306 | } |
306 | } |
307 | else |
307 | else |
308 | { |
308 | { |
309 | // KompassValue = 0; |
309 | // KompassValue = 0; |
310 | // KompassRichtung = 0; |
310 | // KompassRichtung = 0; |
311 | GPS_Nick = 0; |
311 | GPS_Nick = 0; |
312 | GPS_Roll = 0; |
312 | GPS_Roll = 0; |
313 | } |
313 | } |
314 | } |
314 | } |
315 | 315 | ||
316 | #endif |
316 | #endif |
317 | 317 | ||
318 | 318 | ||
319 | 319 |