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