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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 | //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 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
15 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
16 | 16 | ||
17 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
17 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
18 | unsigned char *SPI_TX_Buffer; |
18 | unsigned char *SPI_TX_Buffer; |
19 | 19 | ||
20 | unsigned char SPITransferCompleted, SPI_ChkSum; |
20 | unsigned char SPITransferCompleted, SPI_ChkSum; |
21 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
21 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
22 | 22 | ||
23 | 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_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_CommandCounter = 0; |
24 | unsigned char SPI_CommandCounter = 0; |
25 | unsigned char NC_ErrorCode = 0; |
25 | unsigned char NC_ErrorCode = 0; |
26 | unsigned char NC_GPS_ModeCharacter = ' '; |
26 | unsigned char NC_GPS_ModeCharacter = ' '; |
27 | unsigned char EarthMagneticField = 0; |
27 | unsigned char EarthMagneticField = 0; |
28 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
28 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
29 | signed int POI_KameraNick = 0; // in 0,1° |
29 | signed int POI_KameraNick = 0; // in 0,1° |
30 | vector16_t MagVec = {0,0,0}; |
30 | vector16_t MagVec = {0,0,0}; |
31 | 31 | ||
32 | #ifdef USE_SPI_COMMUNICATION |
32 | #ifdef USE_SPI_COMMUNICATION |
33 | 33 | ||
34 | //------------------------------------------------------ |
34 | //------------------------------------------------------ |
35 | void SPI_MasterInit(void) |
35 | void SPI_MasterInit(void) |
36 | { |
36 | { |
37 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
37 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
38 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
38 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
39 | 39 | ||
40 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
40 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
41 | SPSR = 0;//(1<<SPI2X); |
41 | SPSR = 0;//(1<<SPI2X); |
42 | 42 | ||
43 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
43 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
44 | SPITransferCompleted = 1; |
44 | SPITransferCompleted = 1; |
45 | 45 | ||
46 | //SPDR = 0x00; // dummy write |
46 | //SPDR = 0x00; // dummy write |
47 | 47 | ||
48 | ToNaviCtrl.Sync1 = 0xAA; |
48 | ToNaviCtrl.Sync1 = 0xAA; |
49 | ToNaviCtrl.Sync2 = 0x83; |
49 | ToNaviCtrl.Sync2 = 0x83; |
50 | 50 | ||
51 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
51 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
52 | ToNaviCtrl.IntegralNick = 0; |
52 | ToNaviCtrl.IntegralNick = 0; |
53 | ToNaviCtrl.IntegralRoll = 0; |
53 | ToNaviCtrl.IntegralRoll = 0; |
54 | FromNaviCtrl_Value.SerialDataOkay = 0; |
54 | FromNaviCtrl_Value.SerialDataOkay = 0; |
55 | SPI_RxDataValid = 0; |
55 | SPI_RxDataValid = 0; |
56 | 56 | ||
57 | } |
57 | } |
58 | 58 | ||
59 | //------------------------------------------------------ |
59 | //------------------------------------------------------ |
60 | void SPI_StartTransmitPacket(void) |
60 | void SPI_StartTransmitPacket(void) |
61 | { |
61 | { |
62 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
62 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
63 | if (!SPITransferCompleted) return; |
63 | if (!SPITransferCompleted) return; |
64 | // _delay_us(30); |
64 | // _delay_us(30); |
65 | 65 | ||
66 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
66 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
67 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
67 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
68 | 68 | ||
69 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
69 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
70 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
70 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
71 | 71 | ||
72 | SPITransferCompleted = 0; |
72 | SPITransferCompleted = 0; |
73 | UpdateSPI_Buffer(); // update buffer |
73 | UpdateSPI_Buffer(); // update buffer |
74 | 74 | ||
75 | SPI_BufferIndex = 1; |
75 | SPI_BufferIndex = 1; |
76 | //ebugOut.Analog[16]++; |
76 | //ebugOut.Analog[16]++; |
77 | // -- Debug-Output --- |
77 | // -- Debug-Output --- |
78 | //---- |
78 | //---- |
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 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
80 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
80 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
81 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
81 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
82 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
82 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
83 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
83 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
84 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
84 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
85 | 85 | ||
86 | } |
86 | } |
87 | 87 | ||
88 | //------------------------------------------------------ |
88 | //------------------------------------------------------ |
89 | //SIGNAL(SIG_SPI) |
89 | //SIGNAL(SIG_SPI) |
90 | void SPI_TransmitByte(void) |
90 | void SPI_TransmitByte(void) |
91 | { |
91 | { |
92 | static unsigned char SPI_RXState = 0; |
92 | static unsigned char SPI_RXState = 0; |
93 | unsigned char rxdata; |
93 | unsigned char rxdata; |
94 | static unsigned char rxchksum; |
94 | static unsigned char rxchksum; |
95 | 95 | ||
96 | if (SPITransferCompleted) return; |
96 | if (SPITransferCompleted) return; |
97 | if (!(SPSR & (1 << SPIF))) return; |
97 | if (!(SPSR & (1 << SPIF))) return; |
98 | SendSPI = 4; |
98 | SendSPI = 4; |
99 | 99 | ||
100 | // _delay_us(30); |
100 | // _delay_us(30); |
101 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
101 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
102 | 102 | ||
103 | rxdata = SPDR; |
103 | rxdata = SPDR; |
104 | switch ( SPI_RXState) |
104 | switch ( SPI_RXState) |
105 | { |
105 | { |
106 | case 0: |
106 | case 0: |
107 | 107 | ||
108 | SPI_RxBufferIndex = 0; |
108 | SPI_RxBufferIndex = 0; |
109 | rxchksum = rxdata; |
109 | rxchksum = rxdata; |
110 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
110 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
111 | 111 | ||
112 | break; |
112 | break; |
113 | 113 | ||
114 | case 1: |
114 | case 1: |
115 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
115 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
116 | else SPI_RXState = 0; |
116 | else SPI_RXState = 0; |
117 | break; |
117 | break; |
118 | 118 | ||
119 | case 2: |
119 | case 2: |
120 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
120 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
121 | //DebugOut.Analog[19]++; |
121 | //DebugOut.Analog[19]++; |
122 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
122 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
123 | { |
123 | { |
124 | 124 | ||
125 | if (rxdata == rxchksum) |
125 | if (rxdata == rxchksum) |
126 | { |
126 | { |
127 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
127 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
128 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
128 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
129 | SPI_RxDataValid = 1; |
129 | SPI_RxDataValid = 1; |
130 | } |
130 | } |
131 | else |
131 | else |
132 | { |
132 | { |
133 | SPI_RxDataValid = 0; |
133 | SPI_RxDataValid = 0; |
134 | } |
134 | } |
135 | 135 | ||
136 | 136 | ||
137 | SPI_RXState = 0; |
137 | SPI_RXState = 0; |
138 | } |
138 | } |
139 | else rxchksum += rxdata; |
139 | else rxchksum += rxdata; |
140 | break; |
140 | break; |
141 | 141 | ||
142 | } |
142 | } |
143 | 143 | ||
144 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
144 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
145 | { |
145 | { |
146 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
146 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
147 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
147 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
148 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
148 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
149 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
149 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
150 | 150 | ||
151 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
151 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
152 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
152 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
153 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
153 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
154 | 154 | ||
155 | } |
155 | } |
156 | else SPITransferCompleted = 1; |
156 | else SPITransferCompleted = 1; |
157 | 157 | ||
158 | SPI_BufferIndex++; |
158 | SPI_BufferIndex++; |
159 | } |
159 | } |
160 | 160 | ||
161 | 161 | ||
162 | //------------------------------------------------------ |
162 | //------------------------------------------------------ |
163 | void UpdateSPI_Buffer(void) |
163 | void UpdateSPI_Buffer(void) |
164 | { |
164 | { |
165 | signed int tmp; |
165 | signed int tmp; |
166 | static unsigned char motorindex; |
166 | static unsigned char motorindex; |
167 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
167 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
168 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
168 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
169 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
169 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
170 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
170 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
171 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
171 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
172 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
172 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
173 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
173 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
174 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
174 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
175 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
175 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
176 | switch(ToNaviCtrl.Command) // |
176 | switch(ToNaviCtrl.Command) // |
177 | { |
177 | { |
178 | case SPI_FCCMD_USER: |
178 | case SPI_FCCMD_USER: |
179 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
179 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
180 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
180 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
181 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
181 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
182 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
182 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
183 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
183 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
184 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
184 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
185 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
185 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
186 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
186 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
187 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
187 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
188 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
188 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
189 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
189 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
190 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
190 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
191 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
191 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
192 | break; |
192 | break; |
193 | 193 | ||
194 | case SPI_FCCMD_ACCU: |
194 | case SPI_FCCMD_ACCU: |
195 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
195 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
196 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
196 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
197 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
197 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
198 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
198 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
199 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
199 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
200 | ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig; |
200 | ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig; |
201 | ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig; |
201 | ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig; |
202 | ToNaviCtrl.Param.Byte[9] = motorindex; |
202 | ToNaviCtrl.Param.Byte[9] = motorindex; |
203 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
203 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
204 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
204 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
205 | motorindex %= 12; |
205 | motorindex %= 12; |
206 | break; |
206 | break; |
207 | case SPI_FCCMD_PARAMETER1: |
207 | case SPI_FCCMD_PARAMETER1: |
208 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
208 | //ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard //MartinR: sowar es |
- | 209 | ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl; // MartinR: wird wiederverwendet für GPS free bei HH |
|
- | 210 | ||
209 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
211 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
210 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
212 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
211 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
213 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
212 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
214 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
213 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
215 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
214 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
216 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
215 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
217 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
216 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
218 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
217 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
219 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
218 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
220 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
219 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
221 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
220 | break; |
222 | break; |
221 | 223 | ||
222 | case SPI_FCCMD_STICK: |
224 | case SPI_FCCMD_STICK: |
223 | cli(); |
225 | cli(); |
224 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
226 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
225 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
227 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
226 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
228 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
227 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
229 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
228 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
230 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
229 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
231 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
230 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
232 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
231 | sei(); |
233 | sei(); |
232 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
234 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
233 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
235 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
234 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
236 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
235 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
237 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
236 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
238 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
237 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
239 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
238 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
240 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
239 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
241 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
240 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
242 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
241 | break; |
243 | break; |
242 | case SPI_FCCMD_MISC: |
244 | case SPI_FCCMD_MISC: |
243 | if(WinkelOut.CalcState > 5) |
245 | if(WinkelOut.CalcState > 5) |
244 | { |
246 | { |
245 | WinkelOut.CalcState = 0; |
247 | WinkelOut.CalcState = 0; |
246 | ToNaviCtrl.Param.Byte[0] = 5; |
248 | ToNaviCtrl.Param.Byte[0] = 5; |
247 | } |
249 | } |
248 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
250 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
249 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
251 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
250 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
252 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
251 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
253 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
252 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
254 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
253 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
255 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
254 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
256 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
255 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
257 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
256 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
258 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
257 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
259 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
258 | break; |
260 | break; |
259 | case SPI_FCCMD_VERSION: |
261 | case SPI_FCCMD_VERSION: |
260 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
262 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
261 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
263 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
262 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
264 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
263 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
265 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
264 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
266 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
265 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
267 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
266 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
268 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
267 | VersionInfo.HardwareError[0] = 0; |
269 | VersionInfo.HardwareError[0] = 0; |
268 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
270 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
269 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
271 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
270 | ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
272 | ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
271 | ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
273 | ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
272 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
274 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
273 | break; |
275 | break; |
274 | case SPI_FCCMD_SERVOS: |
276 | case SPI_FCCMD_SERVOS: |
275 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
277 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
276 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
278 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
277 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
279 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
278 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
280 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
279 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
281 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
280 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
282 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
281 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
283 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
282 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
284 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
283 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
285 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
284 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
286 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
285 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
287 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
286 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
288 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
287 | break; |
289 | break; |
288 | } |
290 | } |
289 | 291 | ||
290 | if(SPI_RxDataValid) |
292 | if(SPI_RxDataValid) |
291 | { |
293 | { |
292 | NaviDataOkay = 250; |
294 | NaviDataOkay = 250; |
293 | CalculateCompassTimer = 1; |
295 | CalculateCompassTimer = 1; |
294 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
296 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
295 | { |
297 | { |
296 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
298 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
297 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
299 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
298 | } |
300 | } |
299 | 301 | ||
300 | // update compass readings |
302 | // update compass readings |
301 | // MagVec.x = FromNaviCtrl.MagVecX; |
303 | // MagVec.x = FromNaviCtrl.MagVecX; |
302 | // MagVec.y = FromNaviCtrl.MagVecY; |
304 | // MagVec.y = FromNaviCtrl.MagVecY; |
303 | // MagVec.z = FromNaviCtrl.MagVecZ; |
305 | // MagVec.z = FromNaviCtrl.MagVecZ; |
304 | 306 | ||
305 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
307 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
306 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
308 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
307 | 309 | ||
308 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
310 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
309 | switch (FromNaviCtrl.Command) |
311 | switch (FromNaviCtrl.Command) |
310 | { |
312 | { |
311 | case SPI_NCCMD_KALMAN: |
313 | case SPI_NCCMD_KALMAN: |
312 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
314 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
313 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
315 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
314 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
316 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
315 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
317 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
316 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
318 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
317 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
319 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
318 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
320 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
319 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
321 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
320 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
322 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
321 | { |
323 | { |
322 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
324 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
323 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
325 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
324 | { |
326 | { |
325 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
327 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
326 | KompassSollWert %= 360; |
328 | KompassSollWert %= 360; |
327 | } |
329 | } |
328 | } |
330 | } |
329 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
331 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
330 | break; |
332 | break; |
331 | case SPI_NCCMD_VERSION: |
333 | case SPI_NCCMD_VERSION: |
332 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
334 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
333 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
335 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
334 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
336 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
335 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
337 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
336 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
338 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
337 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
339 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
338 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
340 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
339 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
341 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
340 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
342 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
341 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
343 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
342 | // = FromNaviCtrl.Param.Byte[10]; |
344 | // = FromNaviCtrl.Param.Byte[10]; |
343 | // = FromNaviCtrl.Param.Byte[11]; |
345 | // = FromNaviCtrl.Param.Byte[11]; |
344 | break; |
346 | break; |
345 | case SPI_NCCMD_GPSINFO: |
347 | case SPI_NCCMD_GPSINFO: |
346 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
348 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
347 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
349 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
348 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
350 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
349 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
351 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
350 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
352 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
351 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
353 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
352 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
354 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
353 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
355 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
354 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
356 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
355 | break; |
357 | break; |
356 | case SPI_MISC: |
358 | case SPI_MISC: |
357 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
359 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
358 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
360 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
359 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
361 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
360 | break; |
362 | break; |
361 | 363 | ||
362 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
364 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
363 | case SPI_NCCMD_HOTT_DATA: |
365 | case SPI_NCCMD_HOTT_DATA: |
364 | if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
366 | if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
365 | break; |
367 | break; |
366 | #endif |
368 | #endif |
367 | 369 | ||
368 | // 0 = 0,1 |
370 | // 0 = 0,1 |
369 | // 1 = 2,3 |
371 | // 1 = 2,3 |
370 | // 2 = 4,5 |
372 | // 2 = 4,5 |
371 | // 3 = 6,7 |
373 | // 3 = 6,7 |
372 | // 4 = 8,9 |
374 | // 4 = 8,9 |
373 | // 5 = 10,11 |
375 | // 5 = 10,11 |
374 | default: |
376 | default: |
375 | break; |
377 | break; |
376 | } |
378 | } |
377 | } |
379 | } |
378 | else |
380 | else |
379 | { |
381 | { |
380 | // KompassValue = 0; |
382 | // KompassValue = 0; |
381 | // KompassRichtung = 0; |
383 | // KompassRichtung = 0; |
382 | GPS_Nick = 0; |
384 | GPS_Nick = 0; |
383 | GPS_Roll = 0; |
385 | GPS_Roll = 0; |
384 | } |
386 | } |
385 | } |
387 | } |
386 | 388 | ||
387 | #endif |
389 | #endif |
388 | 390 | ||
389 | 391 | ||
390 | 392 |