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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 | - | ||
| 5 | 4 | ||
| 6 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
5 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
| 7 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
6 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
| 8 | struct str_ToNaviCtrl ToNaviCtrl; |
7 | struct str_ToNaviCtrl ToNaviCtrl; |
| 9 | struct str_FromNaviCtrl FromNaviCtrl; |
8 | struct str_FromNaviCtrl FromNaviCtrl; |
| 10 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
9 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| 11 | struct str_SPI_VersionInfo NC_Version; |
10 | struct str_SPI_VersionInfo NC_Version; |
| 12 | struct str_GPSInfo GPSInfo; |
11 | struct str_GPSInfo GPSInfo; |
| 13 | 12 | ||
| 14 | unsigned char SPI_BufferIndex; |
13 | unsigned char SPI_BufferIndex; |
| 15 | unsigned char SPI_RxBufferIndex; |
14 | unsigned char SPI_RxBufferIndex; |
| 16 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
15 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
| 17 | 16 | ||
| 18 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
17 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| 19 | unsigned char *SPI_TX_Buffer; |
18 | unsigned char *SPI_TX_Buffer; |
| 20 | 19 | ||
| 21 | unsigned char SPITransferCompleted, SPI_ChkSum; |
20 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| 22 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
21 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| 23 | 22 | ||
| 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}; |
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}; |
| 25 | unsigned char SPI_CommandCounter = 0; |
24 | unsigned char SPI_CommandCounter = 0; |
| 26 | unsigned char NC_ErrorCode = 0; |
25 | unsigned char NC_ErrorCode = 0; |
| 27 | unsigned char NC_GPS_ModeCharacter = ' '; |
26 | unsigned char NC_GPS_ModeCharacter = ' '; |
| 28 | signed int POI_KameraNick = 0; // in 0,1° |
27 | signed int POI_KameraNick = 0; // in 0,1° |
| 29 | vector16_t MagVec = {0,0,0}; |
28 | vector16_t MagVec = {0,0,0}; |
| 30 | 29 | ||
| 31 | #ifdef USE_SPI_COMMUNICATION |
30 | #ifdef USE_SPI_COMMUNICATION |
| 32 | 31 | ||
| 33 | //------------------------------------------------------ |
32 | //------------------------------------------------------ |
| 34 | void SPI_MasterInit(void) |
33 | void SPI_MasterInit(void) |
| 35 | { |
34 | { |
| 36 | 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 |
| 37 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
36 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| 38 | 37 | ||
| 39 | 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 |
| 40 | SPSR = 0;//(1<<SPI2X); |
39 | SPSR = 0;//(1<<SPI2X); |
| 41 | 40 | ||
| 42 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
41 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| 43 | SPITransferCompleted = 1; |
42 | SPITransferCompleted = 1; |
| 44 | 43 | ||
| 45 | //SPDR = 0x00; // dummy write |
44 | //SPDR = 0x00; // dummy write |
| 46 | 45 | ||
| 47 | ToNaviCtrl.Sync1 = 0xAA; |
46 | ToNaviCtrl.Sync1 = 0xAA; |
| 48 | ToNaviCtrl.Sync2 = 0x83; |
47 | ToNaviCtrl.Sync2 = 0x83; |
| 49 | 48 | ||
| 50 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
49 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
| 51 | ToNaviCtrl.IntegralNick = 0; |
50 | ToNaviCtrl.IntegralNick = 0; |
| 52 | ToNaviCtrl.IntegralRoll = 0; |
51 | ToNaviCtrl.IntegralRoll = 0; |
| 53 | FromNaviCtrl_Value.SerialDataOkay = 0; |
52 | FromNaviCtrl_Value.SerialDataOkay = 0; |
| 54 | SPI_RxDataValid = 0; |
53 | SPI_RxDataValid = 0; |
| 55 | 54 | ||
| 56 | } |
55 | } |
| 57 | 56 | ||
| 58 | //------------------------------------------------------ |
57 | //------------------------------------------------------ |
| 59 | void SPI_StartTransmitPacket(void) |
58 | void SPI_StartTransmitPacket(void) |
| 60 | { |
59 | { |
| 61 | //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 |
| 62 | if (!SPITransferCompleted) return; |
61 | if (!SPITransferCompleted) return; |
| 63 | // _delay_us(30); |
62 | // _delay_us(30); |
| 64 | 63 | ||
| 65 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
64 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 66 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
65 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| 67 | 66 | ||
| 68 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
67 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 69 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
68 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 70 | 69 | ||
| 71 | SPITransferCompleted = 0; |
70 | SPITransferCompleted = 0; |
| 72 | UpdateSPI_Buffer(); // update buffer |
71 | UpdateSPI_Buffer(); // update buffer |
| 73 | 72 | ||
| 74 | SPI_BufferIndex = 1; |
73 | SPI_BufferIndex = 1; |
| 75 | //ebugOut.Analog[16]++; |
74 | //ebugOut.Analog[16]++; |
| 76 | // -- Debug-Output --- |
75 | // -- Debug-Output --- |
| 77 | //---- |
76 | //---- |
| 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"); |
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"); |
| 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"); |
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"); |
| 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"); |
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"); |
| 81 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
80 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| 82 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
81 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
| 83 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
82 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 84 | 83 | ||
| 85 | } |
84 | } |
| 86 | 85 | ||
| 87 | //------------------------------------------------------ |
86 | //------------------------------------------------------ |
| 88 | //SIGNAL(SIG_SPI) |
87 | //SIGNAL(SIG_SPI) |
| 89 | void SPI_TransmitByte(void) |
88 | void SPI_TransmitByte(void) |
| 90 | { |
89 | { |
| 91 | static unsigned char SPI_RXState = 0; |
90 | static unsigned char SPI_RXState = 0; |
| 92 | unsigned char rxdata; |
91 | unsigned char rxdata; |
| 93 | static unsigned char rxchksum; |
92 | static unsigned char rxchksum; |
| 94 | 93 | ||
| 95 | if (SPITransferCompleted) return; |
94 | if (SPITransferCompleted) return; |
| 96 | if (!(SPSR & (1 << SPIF))) return; |
95 | if (!(SPSR & (1 << SPIF))) return; |
| 97 | SendSPI = 4; |
96 | SendSPI = 4; |
| 98 | 97 | ||
| 99 | // _delay_us(30); |
98 | // _delay_us(30); |
| 100 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
99 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 101 | 100 | ||
| 102 | rxdata = SPDR; |
101 | rxdata = SPDR; |
| 103 | switch ( SPI_RXState) |
102 | switch ( SPI_RXState) |
| 104 | { |
103 | { |
| 105 | case 0: |
104 | case 0: |
| 106 | 105 | ||
| 107 | SPI_RxBufferIndex = 0; |
106 | SPI_RxBufferIndex = 0; |
| 108 | rxchksum = rxdata; |
107 | rxchksum = rxdata; |
| 109 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
108 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| 110 | 109 | ||
| 111 | break; |
110 | break; |
| 112 | 111 | ||
| 113 | case 1: |
112 | case 1: |
| 114 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
113 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
| 115 | else SPI_RXState = 0; |
114 | else SPI_RXState = 0; |
| 116 | break; |
115 | break; |
| 117 | 116 | ||
| 118 | case 2: |
117 | case 2: |
| 119 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
118 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| 120 | //DebugOut.Analog[19]++; |
119 | //DebugOut.Analog[19]++; |
| 121 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
120 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| 122 | { |
121 | { |
| 123 | 122 | ||
| 124 | if (rxdata == rxchksum) |
123 | if (rxdata == rxchksum) |
| 125 | { |
124 | { |
| 126 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
125 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| 127 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| 128 | SPI_RxDataValid = 1; |
127 | SPI_RxDataValid = 1; |
| 129 | } |
128 | } |
| 130 | else |
129 | else |
| 131 | { |
130 | { |
| 132 | SPI_RxDataValid = 0; |
131 | SPI_RxDataValid = 0; |
| 133 | } |
132 | } |
| 134 | 133 | ||
| 135 | 134 | ||
| 136 | SPI_RXState = 0; |
135 | SPI_RXState = 0; |
| 137 | } |
136 | } |
| 138 | else rxchksum += rxdata; |
137 | else rxchksum += rxdata; |
| 139 | break; |
138 | break; |
| 140 | 139 | ||
| 141 | } |
140 | } |
| 142 | 141 | ||
| 143 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
142 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| 144 | { |
143 | { |
| 145 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
144 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 146 | 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"); |
| 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"); |
146 | 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"); |
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"); |
| 149 | 148 | ||
| 150 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
149 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
| 151 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
150 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
| 152 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
151 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 153 | 152 | ||
| 154 | } |
153 | } |
| 155 | else SPITransferCompleted = 1; |
154 | else SPITransferCompleted = 1; |
| 156 | 155 | ||
| 157 | SPI_BufferIndex++; |
156 | SPI_BufferIndex++; |
| 158 | } |
157 | } |
| 159 | 158 | ||
| 160 | 159 | ||
| 161 | //------------------------------------------------------ |
160 | //------------------------------------------------------ |
| 162 | void UpdateSPI_Buffer(void) |
161 | void UpdateSPI_Buffer(void) |
| 163 | { |
162 | { |
| 164 | signed int tmp; |
163 | signed int tmp; |
| 165 | static unsigned char motorindex; |
164 | static unsigned char motorindex; |
| 166 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
165 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 167 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
166 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 168 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
167 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| 169 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
168 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| 170 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
169 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
| 171 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
170 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
| 172 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
171 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| 173 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
172 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
| 174 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
173 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
| 175 | switch(ToNaviCtrl.Command) // |
174 | switch(ToNaviCtrl.Command) // |
| 176 | { |
175 | { |
| 177 | case SPI_FCCMD_USER: |
176 | case SPI_FCCMD_USER: |
| 178 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
177 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| 179 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
178 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
| 180 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
179 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
| 181 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
180 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
| 182 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
181 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
| 183 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
182 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
| 184 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
183 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
| 185 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
184 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| 186 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
185 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| 187 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
186 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| 188 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
187 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
| 189 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
188 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
| 190 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
189 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
| 191 | break; |
190 | break; |
| 192 | 191 | ||
| 193 | case SPI_FCCMD_ACCU: |
192 | case SPI_FCCMD_ACCU: |
| 194 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
193 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| 195 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
194 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
| 196 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
195 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
| 197 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
196 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
| 198 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
197 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
| 199 | ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig; |
198 | ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig; |
| 200 | ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig; |
199 | ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig; |
| 201 | ToNaviCtrl.Param.Byte[9] = motorindex; |
200 | ToNaviCtrl.Param.Byte[9] = motorindex; |
| 202 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
201 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
| 203 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
202 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
| 204 | motorindex %= 12; |
203 | motorindex %= 12; |
| 205 | break; |
204 | break; |
| 206 | case SPI_FCCMD_PARAMETER1: |
205 | case SPI_FCCMD_PARAMETER1: |
| 207 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
206 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
| 208 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
207 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
| 209 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
208 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| 210 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
209 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
| 211 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
210 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
| 212 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
211 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
| 213 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
212 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| 214 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
213 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
| 215 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
214 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
| 216 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
215 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| 217 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
216 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
| 218 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
217 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| 219 | break; |
218 | break; |
| 220 | 219 | ||
| 221 | case SPI_FCCMD_STICK: |
220 | case SPI_FCCMD_STICK: |
| 222 | cli(); |
221 | cli(); |
| 223 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
222 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 224 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
223 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
| 225 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
224 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 226 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
225 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
| 227 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
226 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 228 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
227 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
| 229 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
228 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 230 | sei(); |
229 | sei(); |
| 231 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
230 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| 232 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
231 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| 233 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
232 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
| 234 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
233 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
| 235 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
234 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
| 236 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
235 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
| 237 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
236 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
| 238 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
237 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
| 239 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
238 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
| 240 | break; |
239 | break; |
| 241 | case SPI_FCCMD_MISC: |
240 | case SPI_FCCMD_MISC: |
| 242 | if(WinkelOut.CalcState > 5) |
241 | if(WinkelOut.CalcState > 5) |
| 243 | { |
242 | { |
| 244 | WinkelOut.CalcState = 0; |
243 | WinkelOut.CalcState = 0; |
| 245 | ToNaviCtrl.Param.Byte[0] = 5; |
244 | ToNaviCtrl.Param.Byte[0] = 5; |
| 246 | } |
245 | } |
| 247 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
246 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
| 248 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
247 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
| 249 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
248 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
| 250 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
249 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
| 251 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
250 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
| 252 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
251 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
| 253 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
252 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
| 254 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
253 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
| 255 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
254 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
| 256 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
255 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| 257 | break; |
256 | break; |
| 258 | case SPI_FCCMD_VERSION: |
257 | case SPI_FCCMD_VERSION: |
| 259 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
258 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 260 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
259 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
| 261 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
260 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
| 262 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
261 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
| 263 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
262 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
| 264 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
263 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
| 265 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
264 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
| 266 | VersionInfo.HardwareError[0] = 0; |
265 | VersionInfo.HardwareError[0] = 0; |
| 267 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
266 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
| 268 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
267 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
| 269 | ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
268 | ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
| 270 | ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
269 | ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
| 271 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
270 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
| 272 | break; |
271 | break; |
| 273 | case SPI_FCCMD_SERVOS: |
272 | case SPI_FCCMD_SERVOS: |
| 274 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
273 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
| 275 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
274 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
| 276 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
275 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
| 277 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
276 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
| 278 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
277 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
| 279 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
278 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
| 280 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
279 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
| 281 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
280 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
| 282 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
281 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
| 283 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
282 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
| 284 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
283 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
| 285 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
284 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
| 286 | break; |
285 | break; |
| 287 | } |
286 | } |
| 288 | 287 | ||
| 289 | if(SPI_RxDataValid) |
288 | if(SPI_RxDataValid) |
| 290 | { |
289 | { |
| 291 | NaviDataOkay = 250; |
290 | NaviDataOkay = 250; |
| 292 | CalculateCompassTimer = 1; |
291 | CalculateCompassTimer = 1; |
| 293 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
292 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
| 294 | { |
293 | { |
| 295 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
294 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
| 296 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
295 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
| 297 | } |
296 | } |
| 298 | 297 | ||
| 299 | // update compass readings |
298 | // update compass readings |
| 300 | // MagVec.x = FromNaviCtrl.MagVecX; |
299 | // MagVec.x = FromNaviCtrl.MagVecX; |
| 301 | // MagVec.y = FromNaviCtrl.MagVecY; |
300 | // MagVec.y = FromNaviCtrl.MagVecY; |
| 302 | // MagVec.z = FromNaviCtrl.MagVecZ; |
301 | // MagVec.z = FromNaviCtrl.MagVecZ; |
| 303 | 302 | ||
| 304 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
303 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| 305 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
304 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 306 | 305 | ||
| 307 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
306 | if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
| 308 | switch (FromNaviCtrl.Command) |
307 | switch (FromNaviCtrl.Command) |
| 309 | { |
308 | { |
| 310 | case SPI_NCCMD_KALMAN: |
309 | case SPI_NCCMD_KALMAN: |
| 311 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
310 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| 312 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
311 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
| 313 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
312 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
| 314 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
313 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
| 315 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
314 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
| 316 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
315 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| 317 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
316 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
| 318 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
317 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
| 319 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
318 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
| 320 | { |
319 | { |
| 321 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
320 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| 322 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
321 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
| 323 | { |
322 | { |
| 324 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
323 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
| 325 | KompassSollWert %= 360; |
324 | KompassSollWert %= 360; |
| 326 | } |
325 | } |
| 327 | } |
326 | } |
| 328 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
327 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
| 329 | break; |
328 | break; |
| 330 | case SPI_NCCMD_VERSION: |
329 | case SPI_NCCMD_VERSION: |
| 331 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
330 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
| 332 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
331 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
| 333 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
332 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
| 334 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
333 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
| 335 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
334 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
| 336 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
335 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| 337 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
336 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
| 338 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
337 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
| 339 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
338 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
| 340 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
339 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
| 341 | break; |
340 | break; |
| 342 | case SPI_NCCMD_GPSINFO: |
341 | case SPI_NCCMD_GPSINFO: |
| 343 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
342 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
| 344 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
343 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
| 345 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
344 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
| 346 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
345 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| 347 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
346 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| 348 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
347 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| 349 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
348 | PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
| 350 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
349 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| 351 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
350 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| 352 | break; |
351 | break; |
| 353 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
352 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 354 | case SPI_NCCMD_HOTT_DATA: |
353 | case SPI_NCCMD_HOTT_DATA: |
| 355 | if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
354 | if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
| 356 | break; |
355 | break; |
| 357 | #endif |
356 | #endif |
| 358 | 357 | ||
| 359 | // 0 = 0,1 |
358 | // 0 = 0,1 |
| 360 | // 1 = 2,3 |
359 | // 1 = 2,3 |
| 361 | // 2 = 4,5 |
360 | // 2 = 4,5 |
| 362 | // 3 = 6,7 |
361 | // 3 = 6,7 |
| 363 | // 4 = 8,9 |
362 | // 4 = 8,9 |
| 364 | // 5 = 10,11 |
363 | // 5 = 10,11 |
| 365 | default: |
364 | default: |
| 366 | break; |
365 | break; |
| 367 | } |
366 | } |
| 368 | } |
367 | } |
| 369 | else |
368 | else |
| 370 | { |
369 | { |
| 371 | // KompassValue = 0; |
370 | // KompassValue = 0; |
| 372 | // KompassRichtung = 0; |
371 | // KompassRichtung = 0; |
| 373 | GPS_Nick = 0; |
372 | GPS_Nick = 0; |
| 374 | GPS_Roll = 0; |
373 | GPS_Roll = 0; |
| 375 | } |
374 | } |
| 376 | } |
375 | } |
| 377 | 376 | ||
| 378 | #endif |
377 | #endif |
| 379 | 378 | ||
| 380 | 379 | ||
| 381 | 380 | ||