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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 | unsigned char NC_ErrorCode = 0; |
27 | signed int POI_KameraNick = 0; // in 0,1° |
27 | signed int POI_KameraNick = 0; // in 0,1° |
- | 28 | vector16_t MagVec = {0,0,0}; |
|
28 | 29 | ||
29 | #ifdef USE_SPI_COMMUNICATION |
30 | #ifdef USE_SPI_COMMUNICATION |
30 | 31 | ||
31 | //------------------------------------------------------ |
32 | //------------------------------------------------------ |
32 | void SPI_MasterInit(void) |
33 | void SPI_MasterInit(void) |
33 | { |
34 | { |
34 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
35 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
35 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
36 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
36 | 37 | ||
37 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
38 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
38 | SPSR = 0;//(1<<SPI2X); |
39 | SPSR = 0;//(1<<SPI2X); |
39 | 40 | ||
40 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
41 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
41 | SPITransferCompleted = 1; |
42 | SPITransferCompleted = 1; |
42 | 43 | ||
43 | //SPDR = 0x00; // dummy write |
44 | //SPDR = 0x00; // dummy write |
44 | 45 | ||
45 | ToNaviCtrl.Sync1 = 0xAA; |
46 | ToNaviCtrl.Sync1 = 0xAA; |
46 | ToNaviCtrl.Sync2 = 0x83; |
47 | ToNaviCtrl.Sync2 = 0x83; |
47 | 48 | ||
48 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
49 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
49 | ToNaviCtrl.IntegralNick = 0; |
50 | ToNaviCtrl.IntegralNick = 0; |
50 | ToNaviCtrl.IntegralRoll = 0; |
51 | ToNaviCtrl.IntegralRoll = 0; |
51 | FromNaviCtrl_Value.SerialDataOkay = 0; |
52 | FromNaviCtrl_Value.SerialDataOkay = 0; |
52 | SPI_RxDataValid = 0; |
53 | SPI_RxDataValid = 0; |
53 | 54 | ||
54 | } |
55 | } |
55 | 56 | ||
56 | //------------------------------------------------------ |
57 | //------------------------------------------------------ |
57 | void SPI_StartTransmitPacket(void) |
58 | void SPI_StartTransmitPacket(void) |
58 | { |
59 | { |
59 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
60 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
60 | if (!SPITransferCompleted) return; |
61 | if (!SPITransferCompleted) return; |
61 | // _delay_us(30); |
62 | // _delay_us(30); |
62 | 63 | ||
63 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
64 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
64 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
65 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
65 | 66 | ||
66 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
67 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
67 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
68 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
68 | 69 | ||
69 | SPITransferCompleted = 0; |
70 | SPITransferCompleted = 0; |
70 | UpdateSPI_Buffer(); // update buffer |
71 | UpdateSPI_Buffer(); // update buffer |
71 | 72 | ||
72 | SPI_BufferIndex = 1; |
73 | SPI_BufferIndex = 1; |
73 | //ebugOut.Analog[16]++; |
74 | //ebugOut.Analog[16]++; |
74 | // -- Debug-Output --- |
75 | // -- Debug-Output --- |
75 | //---- |
76 | //---- |
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 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
78 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
78 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
79 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
79 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
80 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
80 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
81 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
81 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
82 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
82 | 83 | ||
83 | } |
84 | } |
84 | 85 | ||
85 | //------------------------------------------------------ |
86 | //------------------------------------------------------ |
86 | //SIGNAL(SIG_SPI) |
87 | //SIGNAL(SIG_SPI) |
87 | void SPI_TransmitByte(void) |
88 | void SPI_TransmitByte(void) |
88 | { |
89 | { |
89 | static unsigned char SPI_RXState = 0; |
90 | static unsigned char SPI_RXState = 0; |
90 | unsigned char rxdata; |
91 | unsigned char rxdata; |
91 | static unsigned char rxchksum; |
92 | static unsigned char rxchksum; |
92 | 93 | ||
93 | if (SPITransferCompleted) return; |
94 | if (SPITransferCompleted) return; |
94 | if (!(SPSR & (1 << SPIF))) return; |
95 | if (!(SPSR & (1 << SPIF))) return; |
95 | SendSPI = 4; |
96 | SendSPI = 4; |
96 | 97 | ||
97 | // _delay_us(30); |
98 | // _delay_us(30); |
98 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
99 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
99 | 100 | ||
100 | rxdata = SPDR; |
101 | rxdata = SPDR; |
101 | switch ( SPI_RXState) |
102 | switch ( SPI_RXState) |
102 | { |
103 | { |
103 | case 0: |
104 | case 0: |
104 | 105 | ||
105 | SPI_RxBufferIndex = 0; |
106 | SPI_RxBufferIndex = 0; |
106 | rxchksum = rxdata; |
107 | rxchksum = rxdata; |
107 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
108 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
108 | 109 | ||
109 | break; |
110 | break; |
110 | 111 | ||
111 | case 1: |
112 | case 1: |
112 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
113 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
113 | else SPI_RXState = 0; |
114 | else SPI_RXState = 0; |
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 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
162 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
162 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
163 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
163 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
164 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
164 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
165 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
165 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
166 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
166 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
167 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
167 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
168 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
168 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
169 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
169 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
170 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
170 | switch(ToNaviCtrl.Command) // |
171 | switch(ToNaviCtrl.Command) // |
171 | { |
172 | { |
172 | case SPI_FCCMD_USER: |
173 | case SPI_FCCMD_USER: |
173 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
174 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
174 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
175 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
175 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
176 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
176 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
177 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
177 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
178 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
178 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
179 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
179 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
180 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
180 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
181 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
181 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
182 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
182 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
183 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
183 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
184 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
184 | ToNaviCtrl.Param.Byte[10] = ControlHeading; |
185 | ToNaviCtrl.Param.Byte[10] = ControlHeading; |
185 | break; |
186 | break; |
186 | 187 | ||
187 | case SPI_FCCMD_ACCU: |
188 | case SPI_FCCMD_ACCU: |
188 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
189 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
189 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
190 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
190 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
191 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
191 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
192 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
192 | break; |
193 | break; |
193 | 194 | ||
194 | case SPI_FCCMD_PARAMETER1: |
195 | case SPI_FCCMD_PARAMETER1: |
195 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
196 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
196 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
197 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
197 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
198 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
198 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
199 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
199 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
200 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
200 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
201 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
201 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
202 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
202 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
203 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
203 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
204 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
204 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
205 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
205 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
206 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
206 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
207 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
207 | break; |
208 | break; |
208 | 209 | ||
209 | case SPI_FCCMD_STICK: |
210 | case SPI_FCCMD_STICK: |
210 | cli(); |
211 | cli(); |
211 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
212 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
212 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
213 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
213 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
214 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
214 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
215 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
215 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
216 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
216 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
217 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
217 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
218 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
218 | sei(); |
219 | sei(); |
219 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
220 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
220 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
221 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
221 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
222 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
222 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
223 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
223 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
224 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
224 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
225 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
225 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
226 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
226 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
227 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
227 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
228 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
228 | break; |
229 | break; |
229 | case SPI_FCCMD_MISC: |
230 | case SPI_FCCMD_MISC: |
230 | if(WinkelOut.CalcState > 5) |
231 | if(WinkelOut.CalcState > 5) |
231 | { |
232 | { |
232 | WinkelOut.CalcState = 0; |
233 | WinkelOut.CalcState = 0; |
233 | ToNaviCtrl.Param.Byte[0] = 5; |
234 | ToNaviCtrl.Param.Byte[0] = 5; |
234 | } |
235 | } |
235 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
236 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
236 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
237 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
237 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
238 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
238 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
239 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
239 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
240 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
240 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
241 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
241 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
242 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
242 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
243 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
243 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
244 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
244 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
245 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
245 | break; |
246 | break; |
246 | case SPI_FCCMD_VERSION: |
247 | case SPI_FCCMD_VERSION: |
247 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
248 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
248 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
249 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
249 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
250 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
250 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
251 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
251 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
252 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
252 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
253 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
253 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
254 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
254 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
255 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
255 | ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
256 | ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
256 | ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
257 | ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
257 | break; |
258 | break; |
258 | case SPI_FCCMD_SERVOS: |
259 | case SPI_FCCMD_SERVOS: |
259 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
260 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
260 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
261 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
261 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
262 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
262 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
263 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
263 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
264 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
264 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
265 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
265 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
266 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
266 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
267 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
267 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
268 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
268 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
269 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
269 | break; |
270 | break; |
270 | } |
271 | } |
271 | 272 | ||
272 | if(SPI_RxDataValid) |
273 | if(SPI_RxDataValid) |
273 | { |
274 | { |
274 | NaviDataOkay = 250; |
275 | NaviDataOkay = 250; |
275 | CalculateCompassTimer = 1; |
276 | CalculateCompassTimer = 1; |
276 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
277 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
277 | { |
278 | { |
278 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
279 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
279 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
280 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
280 | } |
281 | } |
- | 282 | ||
- | 283 | // update compass readings |
|
- | 284 | MagVec.x = FromNaviCtrl.MagVecX; |
|
- | 285 | MagVec.y = FromNaviCtrl.MagVecY; |
|
- | 286 | MagVec.z = FromNaviCtrl.MagVecZ; |
|
281 | 287 | ||
282 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
288 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
283 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
289 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
284 | 290 | ||
285 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
291 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
286 | 292 | ||
287 | switch (FromNaviCtrl.Command) |
293 | switch (FromNaviCtrl.Command) |
288 | { |
294 | { |
289 | case SPI_NCCMD_KALMAN: |
295 | case SPI_NCCMD_KALMAN: |
290 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
296 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
291 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
297 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
292 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
298 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
293 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
299 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
294 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
300 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
295 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
301 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
296 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
302 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
297 | // = FromNaviCtrl.Param.Byte[7]; noch frei |
303 | // = FromNaviCtrl.Param.Byte[7]; noch frei |
298 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
304 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
299 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
305 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
300 | { |
306 | { |
301 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
307 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
302 | } |
308 | } |
303 | break; |
309 | break; |
304 | case SPI_NCCMD_VERSION: |
310 | case SPI_NCCMD_VERSION: |
305 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
311 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
306 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
312 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
307 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
313 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
308 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
314 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
309 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
315 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
310 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
316 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
311 | NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
317 | NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
312 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
318 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
313 | break; |
319 | break; |
314 | 320 | ||
315 | case SPI_NCCMD_GPSINFO: |
321 | case SPI_NCCMD_GPSINFO: |
316 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
322 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
317 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
323 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
318 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
324 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
319 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
325 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
320 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
326 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
321 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
327 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
322 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
328 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
323 | break; |
329 | break; |
324 | 330 | ||
325 | default: |
331 | default: |
326 | break; |
332 | break; |
327 | } |
333 | } |
328 | } |
334 | } |
329 | else |
335 | else |
330 | { |
336 | { |
331 | // KompassValue = 0; |
337 | // KompassValue = 0; |
332 | // KompassRichtung = 0; |
338 | // KompassRichtung = 0; |
333 | GPS_Nick = 0; |
339 | GPS_Nick = 0; |
334 | GPS_Roll = 0; |
340 | GPS_Roll = 0; |
335 | } |
341 | } |
336 | } |
342 | } |
337 | 343 | ||
338 | #endif |
344 | #endif |
339 | 345 | ||
340 | 346 | ||
341 | 347 |