Subversion Repositories FlightCtrl

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// ######################## SPI - FlightCtrl ###################
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// ######################## SPI - FlightCtrl ###################
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#include "main.h"
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#include "main.h"
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#include "eeprom.h"
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#include "eeprom.h"
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4
 
5
//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
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//struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
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//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
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//struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
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struct str_ToNaviCtrl   ToNaviCtrl;
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struct str_ToNaviCtrl   ToNaviCtrl;
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struct str_FromNaviCtrl   FromNaviCtrl;
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struct str_FromNaviCtrl   FromNaviCtrl;
9
struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
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struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
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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;
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signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
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16
 
17
volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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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;
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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};
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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};
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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;
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unsigned char NC_To_FC_Flags = 0;
29
unsigned char NC_To_FC_Flags = 0;
30
unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
30
unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card
31
signed int POI_KameraNick = 0; // in 0,1°
31
signed int POI_KameraNick = 0; // in 0,1°
32
vector16_t MagVec = {0,0,0};
32
vector16_t MagVec = {0,0,0};
33
 
33
 
34
#ifdef USE_SPI_COMMUNICATION
34
#ifdef USE_SPI_COMMUNICATION
35
 
35
 
36
//------------------------------------------------------
36
//------------------------------------------------------
37
void SPI_MasterInit(void)
37
void SPI_MasterInit(void)
38
{
38
{
39
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
39
  DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK);    // Set MOSI and SCK output, all others input
40
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
40
  SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT);
41
 
41
 
42
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
42
  SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE);   // Enable SPI, Master, set clock rate fck/64
43
  SPSR = 0;//(1<<SPI2X);
43
  SPSR = 0;//(1<<SPI2X);
44
 
44
 
45
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
45
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);
46
  SPITransferCompleted = 1;
46
  SPITransferCompleted = 1;
47
 
47
 
48
  //SPDR = 0x00;  // dummy write
48
  //SPDR = 0x00;  // dummy write
49
 
49
 
50
  ToNaviCtrl.Sync1 = 0xAA;
50
  ToNaviCtrl.Sync1 = 0xAA;
51
  ToNaviCtrl.Sync2 = 0x83;
51
  ToNaviCtrl.Sync2 = 0x83;
52
 
52
 
53
  ToNaviCtrl.Command = SPI_FCCMD_USER;
53
  ToNaviCtrl.Command = SPI_FCCMD_USER;
54
  ToNaviCtrl.IntegralNick = 0;
54
  ToNaviCtrl.IntegralNick = 0;
55
  ToNaviCtrl.IntegralRoll = 0;
55
  ToNaviCtrl.IntegralRoll = 0;
56
  FromNaviCtrl_Value.SerialDataOkay = 0;
56
  FromNaviCtrl_Value.SerialDataOkay = 0;
57
  SPI_RxDataValid = 0;
57
  SPI_RxDataValid = 0;
58
 
58
 
59
}
59
}
60
 
60
 
61
//------------------------------------------------------
61
//------------------------------------------------------
62
void SPI_StartTransmitPacket(void)
62
void SPI_StartTransmitPacket(void)
63
{
63
{
64
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
64
   //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return;    // transfer of prev. packet not completed
65
   if (!SPITransferCompleted) return;
65
   if (!SPITransferCompleted) return;
66
//   _delay_us(30);
66
//   _delay_us(30);
67
 
67
 
68
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
68
   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
69
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
69
   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
70
 
70
 
71
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
71
   ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
72
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
72
   if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
73
 
73
 
74
   SPITransferCompleted = 0;
74
   SPITransferCompleted = 0;
75
   UpdateSPI_Buffer();                              // update buffer
75
   UpdateSPI_Buffer();                              // update buffer
76
 
76
 
77
   SPI_BufferIndex = 1;
77
   SPI_BufferIndex = 1;
78
  //ebugOut.Analog[16]++;
78
  //ebugOut.Analog[16]++;
79
   // -- Debug-Output ---
79
   // -- Debug-Output ---
80
   //----
80
   //----
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
   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
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
83
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
83
   asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");         asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
84
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
84
   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
85
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
85
   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
86
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
86
//     SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
87
 
87
 
88
}
88
}
89
 
89
 
90
//------------------------------------------------------
90
//------------------------------------------------------
91
//SIGNAL(SIG_SPI)
91
//SIGNAL(SIG_SPI)
92
void SPI_TransmitByte(void)
92
void SPI_TransmitByte(void)
93
{
93
{
94
   static unsigned char SPI_RXState = 0;
94
   static unsigned char SPI_RXState = 0;
95
   unsigned char rxdata;
95
   unsigned char rxdata;
96
   static unsigned char rxchksum;
96
   static unsigned char rxchksum;
97
 
97
 
98
   if (SPITransferCompleted) return;
98
   if (SPITransferCompleted) return;
99
   if (!(SPSR & (1 << SPIF))) return;
99
   if (!(SPSR & (1 << SPIF))) return;
100
  SendSPI = 4;
100
  SendSPI = 4;
101
 
101
 
102
//   _delay_us(30);
102
//   _delay_us(30);
103
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
103
  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
104
 
104
 
105
  rxdata = SPDR;
105
  rxdata = SPDR;
106
  switch ( SPI_RXState)
106
  switch ( SPI_RXState)
107
  {
107
  {
108
  case 0:
108
  case 0:
109
 
109
 
110
                        SPI_RxBufferIndex = 0;
110
                        SPI_RxBufferIndex = 0;
111
                        rxchksum = rxdata;
111
                        rxchksum = rxdata;
112
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
112
                        if (rxdata == 0x81 )  { SPI_RXState  = 1;  }   // 1. Syncbyte ok
113
 
113
 
114
           break;
114
           break;
115
 
115
 
116
   case 1:
116
   case 1:
117
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
117
                    if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState  = 2;  }   // 2. Syncbyte ok
118
                 else SPI_RXState  = 0;
118
                 else SPI_RXState  = 0;
119
           break;
119
           break;
120
 
120
 
121
   case 2:
121
   case 2:
122
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
122
                   SPI_Buffer[SPI_RxBufferIndex++]= rxdata;             // get data
123
           //DebugOut.Analog[19]++;
123
           //DebugOut.Analog[19]++;
124
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
124
           if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl))
125
                   {
125
                   {
126
 
126
 
127
                if (rxdata == rxchksum)
127
                if (rxdata == rxchksum)
128
                        {
128
                        {
129
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
129
                  unsigned char *ptr = (unsigned char *)&FromNaviCtrl;
130
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
130
                          memcpy(ptr, (unsigned char *) SPI_Buffer,  sizeof(SPI_Buffer));
131
                          SPI_RxDataValid = 1;
131
                          SPI_RxDataValid = 1;
132
                        }
132
                        }
133
                        else
133
                        else
134
                         {
134
                         {
135
                          SPI_RxDataValid = 0;
135
                          SPI_RxDataValid = 0;
136
                         }
136
                         }
137
 
137
 
138
 
138
 
139
                        SPI_RXState  = 0;
139
                        SPI_RXState  = 0;
140
                   }
140
                   }
141
                  else rxchksum += rxdata;
141
                  else rxchksum += rxdata;
142
        break;
142
        break;
143
 
143
 
144
  }
144
  }
145
 
145
 
146
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
146
   if (SPI_BufferIndex < sizeof(ToNaviCtrl))
147
     {
147
     {
148
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
148
           SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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
           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
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");  asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
151
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");       asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
151
           asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");       asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop");
152
 
152
 
153
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
153
           SPDR = SPI_TX_Buffer[SPI_BufferIndex];
154
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
154
           ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex];
155
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
155
        //   SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
156
 
156
 
157
         }
157
         }
158
         else SPITransferCompleted = 1;
158
         else SPITransferCompleted = 1;
159
 
159
 
160
         SPI_BufferIndex++;
160
         SPI_BufferIndex++;
161
}
161
}
162
 
162
 
163
 
163
 
164
//------------------------------------------------------
164
//------------------------------------------------------
165
void UpdateSPI_Buffer(void)
165
void UpdateSPI_Buffer(void)
166
{
166
{
167
  signed int tmp;
167
  signed int tmp;
168
  static unsigned char motorindex;
168
  static unsigned char motorindex;
169
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
169
  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
170
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
170
  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
171
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
171
  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
172
  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
172
  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
173
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
173
  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
174
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
174
  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
175
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
175
  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
176
//  ToNaviCtrl.User8 = Parameter_UserParam8;
176
//  ToNaviCtrl.User8 = Parameter_UserParam8;
177
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
177
//  ToNaviCtrl.CalState = WinkelOut.CalcState;
178
   switch(ToNaviCtrl.Command)  //
178
   switch(ToNaviCtrl.Command)  //
179
   {
179
   {
180
         case SPI_FCCMD_USER:
180
         case SPI_FCCMD_USER:
181
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
181
                                ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
182
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
182
                                ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
183
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
183
                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
184
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
184
                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
185
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
185
                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
186
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
186
                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
187
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
187
                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
188
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
188
                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
189
                                ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
189
                                ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
190
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
190
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
191
                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
191
                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
192
                                ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
192
                                ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
193
                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
193
                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
194
        break;
194
        break;
195
 
195
 
196
     case SPI_FCCMD_ACCU:
196
     case SPI_FCCMD_ACCU:
197
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
197
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
198
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
198
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
199
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
199
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
200
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
200
                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
201
                                ToNaviCtrl.Param.Byte[6] = VarioCharacter;
201
                                ToNaviCtrl.Param.Byte[6] = VarioCharacter;
202
                                ToNaviCtrl.Param.Byte[7] = motorindex;
202
                                ToNaviCtrl.Param.Byte[7] = motorindex;
203
                                ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
203
                                ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
204
                                ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
204
                                ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
205
                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
205
                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
206
                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current;
206
                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current;
207
                                motorindex %= 12;
207
                                motorindex %= 12;
208
        break;
208
        break;
209
         case SPI_FCCMD_PARAMETER1:
209
         case SPI_FCCMD_PARAMETER1:
210
                                ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
210
                                //ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard //MartinR: sowar es
-
 
211
                                ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl;     // MartinR: wird wiederverwendet für GPS free bei HH
-
 
212
                               
211
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
213
                                ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
212
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
214
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
213
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
215
                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
214
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
216
                                ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD;
215
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
217
                                ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC;
216
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
218
                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;
217
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
219
                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;
218
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
220
                ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius;
219
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
221
                ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
220
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
222
                ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation;
221
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
223
                                ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
222
            break;
224
            break;
223
 
225
 
224
         case SPI_FCCMD_STICK:
226
         case SPI_FCCMD_STICK:
225
              cli();
227
              cli();
226
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
228
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
227
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
229
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
228
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
230
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
229
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
231
                                ToNaviCtrl.Param.Byte[1] = (char) tmp;
230
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
232
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
231
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
233
                                ToNaviCtrl.Param.Byte[2] = (char) tmp;
232
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
234
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
233
              sei();
235
              sei();
234
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
236
                                ToNaviCtrl.Param.Byte[3] = (char) tmp;
235
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
237
                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
236
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
238
                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
237
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
239
                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
238
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
240
                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
239
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
241
                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
240
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
242
                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
241
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
243
                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
242
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
244
                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
243
                        break;
245
                        break;
244
                case SPI_FCCMD_MISC:
246
                case SPI_FCCMD_MISC:
245
                        if(WinkelOut.CalcState > 5)
247
                        if(WinkelOut.CalcState > 5)
246
                        {
248
                        {
247
                                WinkelOut.CalcState = 0;
249
                                WinkelOut.CalcState = 0;
248
                                ToNaviCtrl.Param.Byte[0] = 5;
250
                                ToNaviCtrl.Param.Byte[0] = 5;
249
                        }
251
                        }
250
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
252
                        else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState;
251
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
253
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime;
252
                        ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
254
                        ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5);
253
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
255
                        ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
254
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
256
                        ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
255
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
257
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
256
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
258
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
257
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
259
            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
258
            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
260
            ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0];
259
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
261
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
260
                        break;
262
                        break;
261
                case SPI_FCCMD_VERSION:
263
                case SPI_FCCMD_VERSION:
262
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
264
                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
263
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
265
                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
264
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
266
                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
265
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
267
                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
266
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
268
                        ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
267
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
269
                        ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0];
268
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
270
                        ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1];
269
                        VersionInfo.HardwareError[0] = 0;
271
                        VersionInfo.HardwareError[0] = 0;
270
                        VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
272
                        VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER;
271
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused
273
                        ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused
272
                        ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig;
274
                        ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig;
273
                        ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig;
275
                        ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig;
274
                        ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
276
                        ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
275
                        ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
277
                        ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
276
                break;
278
                break;
277
            case SPI_FCCMD_SERVOS:
279
            case SPI_FCCMD_SERVOS:
278
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
280
                ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
279
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
281
                        ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
280
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
282
                        ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
281
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
283
                        ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
282
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
284
                        ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin;
283
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
285
                        ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax;
284
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
286
                        ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl;
285
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
287
                        ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp;
286
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
288
                        ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin;
287
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
289
                        ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax;
288
                        ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
290
                        ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM;
289
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
291
                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter
290
                break;
292
                break;
291
        }
293
        }
292
     
294
     
293
  if(SPI_RxDataValid)
295
  if(SPI_RxDataValid)
294
  {
296
  {
295
        NaviDataOkay = 250;
297
        NaviDataOkay = 250;
296
        CalculateCompassTimer = 1;
298
        CalculateCompassTimer = 1;
297
        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
299
        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
298
        {
300
        {
299
                GPS_Nick = FromNaviCtrl.GPS_Nick;
301
                GPS_Nick = FromNaviCtrl.GPS_Nick;
300
                GPS_Roll = FromNaviCtrl.GPS_Roll;
302
                GPS_Roll = FromNaviCtrl.GPS_Roll;
301
        }
303
        }
302
 
304
 
303
        // update compass readings
305
        // update compass readings
304
//      MagVec.x = FromNaviCtrl.MagVecX;
306
//      MagVec.x = FromNaviCtrl.MagVecX;
305
//      MagVec.y = FromNaviCtrl.MagVecY;
307
//      MagVec.y = FromNaviCtrl.MagVecY;
306
//      MagVec.z = FromNaviCtrl.MagVecZ;
308
//      MagVec.z = FromNaviCtrl.MagVecZ;
307
 
309
 
308
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
310
        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
309
//    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
311
//    KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
310
 
312
 
311
    if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
313
    if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime;
312
          switch (FromNaviCtrl.Command)
314
          switch (FromNaviCtrl.Command)
313
          {
315
          {
314
            case SPI_NCCMD_KALMAN:
316
            case SPI_NCCMD_KALMAN:
315
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
317
                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
316
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
318
                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
317
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
319
                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
318
                        KompassFusion = FromNaviCtrl.Param.sByte[3];
320
                        KompassFusion = FromNaviCtrl.Param.sByte[3];
319
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
321
                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
320
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
322
                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
321
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
323
                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
322
                        GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
324
                        GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7];
323
                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
325
                        if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0)
324
                         {
326
                         {
325
                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
327
                          KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben
326
                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front
328
                          if(EE_Parameter.CamOrientation)  // Kamera angle is not front
327
                           {
329
                           {
328
                            KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
330
                            KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15);
329
                                KompassSollWert %= 360;
331
                                KompassSollWert %= 360;
330
                           }   
332
                           }   
331
                         }
333
                         }
332
                        POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
334
                        POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel
333
                        break;
335
                        break;
334
                case SPI_NCCMD_VERSION:
336
                case SPI_NCCMD_VERSION:
335
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
337
                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
336
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
338
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
337
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
339
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
338
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
340
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
339
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
341
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
340
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
342
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
341
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
343
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
342
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
344
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[7];
343
                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
345
                        NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8];
344
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
346
                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9];
345
                        NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
347
                        NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10];
346
                        NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11];
348
                        NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11];
347
                        break;
349
                        break;
348
                case SPI_NCCMD_GPSINFO:
350
                case SPI_NCCMD_GPSINFO:
349
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
351
                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
350
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
352
                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
351
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
353
                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
352
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
354
                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
353
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
355
                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
354
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
356
                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
355
                        PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
357
                        PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value
356
            FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
358
            FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9];
357
                FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10;  // in cm
359
                FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10;  // in cm
358
                        break;
360
                        break;
359
                case SPI_MISC:
361
                case SPI_MISC:
360
                        EarthMagneticField = FromNaviCtrl.Param.Byte[0];
362
                        EarthMagneticField = FromNaviCtrl.Param.Byte[0];
361
                        EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
363
                        EarthMagneticInclination = FromNaviCtrl.Param.Byte[1];
362
                        EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
364
                        EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2];
363
                        break;
365
                        break;
364
 
366
 
-
 
367
#if ((defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU))
365
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
368
        #warning : "### with Hottmenu ###"
366
                case SPI_NCCMD_HOTT_DATA:
369
                case SPI_NCCMD_HOTT_DATA:
367
                        if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety();
370
                        if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety();
368
                        break;
371
                        break;
369
#endif
372
#endif
370
 
373
 
371
// 0 = 0,1
374
// 0 = 0,1
372
// 1 = 2,3
375
// 1 = 2,3
373
// 2 = 4,5
376
// 2 = 4,5
374
// 3 = 6,7
377
// 3 = 6,7
375
// 4 = 8,9
378
// 4 = 8,9
376
// 5 = 10,11
379
// 5 = 10,11
377
                default:
380
                default:
378
                        break;
381
                        break;
379
          }
382
          }
380
  }
383
  }
381
  else
384
  else
382
  {
385
  {
383
//    KompassValue = 0;
386
//    KompassValue = 0;
384
//    KompassRichtung = 0;
387
//    KompassRichtung = 0;
385
        GPS_Nick = 0;
388
        GPS_Nick = 0;
386
    GPS_Roll = 0;
389
    GPS_Roll = 0;
387
  }
390
  }
388
}
391
}
389
 
392
 
390
#endif
393
#endif
391
 
394
 
392
 
395
 
393
 
396