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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 | #include "uart.h" |
4 | #include "uart.h" |
5 | 5 | ||
6 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
6 | //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
7 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
7 | //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
8 | struct str_ToNaviCtrl ToNaviCtrl; |
8 | struct str_ToNaviCtrl ToNaviCtrl; |
9 | struct str_FromNaviCtrl FromNaviCtrl; |
9 | struct str_FromNaviCtrl FromNaviCtrl; |
10 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
10 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
11 | struct str_SPI_VersionInfo NC_Version; |
11 | struct str_SPI_VersionInfo NC_Version; |
12 | struct str_GPSInfo GPSInfo; |
12 | struct str_GPSInfo GPSInfo; |
13 | 13 | ||
14 | unsigned char SPI_BufferIndex; |
14 | unsigned char SPI_BufferIndex; |
15 | unsigned char SPI_RxBufferIndex; |
15 | unsigned char SPI_RxBufferIndex; |
16 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
16 | signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
17 | signed char FromNC_WP_EventChannel_New = 0; |
17 | signed char FromNC_WP_EventChannel_New = 0; |
18 | 18 | ||
19 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
19 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
20 | unsigned char *SPI_TX_Buffer; |
20 | unsigned char *SPI_TX_Buffer; |
21 | 21 | ||
22 | unsigned char SPITransferCompleted, SPI_ChkSum; |
22 | unsigned char SPITransferCompleted, SPI_ChkSum; |
23 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
23 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
24 | 24 | ||
25 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW,SPI_FCCMD_BL_ACCU, |
25 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_SLOW,SPI_FCCMD_BL_ACCU, |
26 | SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_BL_ACCU, |
26 | SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_BL_ACCU, |
27 | SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_BL_ACCU, |
27 | SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_BL_ACCU, |
28 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
28 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
29 | }; |
29 | }; |
30 | unsigned char SPI_CommandCounter = 0; |
30 | unsigned char SPI_CommandCounter = 0; |
31 | unsigned char NC_ErrorCode = 0; |
31 | unsigned char NC_ErrorCode = 0; |
32 | unsigned char NC_GPS_ModeCharacter = ' '; |
32 | unsigned char NC_GPS_ModeCharacter = ' '; |
33 | unsigned char EarthMagneticField = 0; |
33 | unsigned char EarthMagneticField = 0; |
34 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
34 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
35 | unsigned char NC_To_FC_Flags = 0; |
35 | unsigned char NC_To_FC_Flags = 0; |
36 | unsigned char NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
36 | unsigned char NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
37 | //unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
37 | //unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
38 | signed int POI_KameraNick = 0; // in 0,1° |
38 | signed int POI_KameraNick = 0; // in 0,1° |
39 | vector16_t MagVec = {0,0,0}; |
39 | vector16_t MagVec = {0,0,0}; |
40 | 40 | ||
41 | #ifdef USE_SPI_COMMUNICATION |
41 | #ifdef USE_SPI_COMMUNICATION |
42 | 42 | ||
43 | //------------------------------------------------------ |
43 | //------------------------------------------------------ |
44 | void SPI_MasterInit(void) |
44 | void SPI_MasterInit(void) |
45 | { |
45 | { |
46 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
46 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
47 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
47 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
48 | 48 | ||
49 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
49 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
50 | SPSR = 0;//(1<<SPI2X); |
50 | SPSR = 0;//(1<<SPI2X); |
51 | 51 | ||
52 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
52 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
53 | SPITransferCompleted = 1; |
53 | SPITransferCompleted = 1; |
54 | 54 | ||
55 | //SPDR = 0x00; // dummy write |
55 | //SPDR = 0x00; // dummy write |
56 | 56 | ||
57 | ToNaviCtrl.Sync1 = 0xAA; |
57 | ToNaviCtrl.Sync1 = 0xAA; |
58 | ToNaviCtrl.Sync2 = 0x83; |
58 | ToNaviCtrl.Sync2 = 0x83; |
59 | 59 | ||
60 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
60 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
61 | ToNaviCtrl.IntegralNick = 0; |
61 | ToNaviCtrl.IntegralNick = 0; |
62 | ToNaviCtrl.IntegralRoll = 0; |
62 | ToNaviCtrl.IntegralRoll = 0; |
63 | FromNaviCtrl_Value.SerialDataOkay = 0; |
63 | FromNaviCtrl_Value.SerialDataOkay = 0; |
64 | SPI_RxDataValid = 0; |
64 | SPI_RxDataValid = 0; |
65 | 65 | ||
66 | } |
66 | } |
67 | 67 | ||
68 | //------------------------------------------------------ |
68 | //------------------------------------------------------ |
69 | unsigned char SPI_StartTransmitPacket(void) |
69 | unsigned char SPI_StartTransmitPacket(void) |
70 | { |
70 | { |
71 | if(!SPITransferCompleted) return(0); |
71 | if(!SPITransferCompleted) return(0); |
72 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
72 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
73 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
73 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
74 | 74 | ||
75 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
75 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
76 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
76 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
77 | 77 | ||
78 | SPITransferCompleted = 0; |
78 | SPITransferCompleted = 0; |
79 | UpdateSPI_Buffer(); // update buffer |
79 | UpdateSPI_Buffer(); // update buffer |
80 | SPI_BufferIndex = 1; |
80 | SPI_BufferIndex = 1; |
81 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
81 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
82 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
82 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
83 | return(1); |
83 | return(1); |
84 | } |
84 | } |
85 | 85 | ||
86 | //------------------------------------------------------ |
86 | //------------------------------------------------------ |
87 | //SIaNAL(SIG_SPI) |
87 | //SIaNAL(SIG_SPI) |
88 | void SPI_TransmitByte(void) |
88 | void SPI_TransmitByte(void) |
89 | { |
89 | { |
90 | static unsigned char SPI_RXState = 0; |
90 | static unsigned char SPI_RXState = 0; |
91 | unsigned char rxdata; |
91 | unsigned char rxdata; |
92 | static unsigned char rxchksum; |
92 | static unsigned char rxchksum; |
93 | 93 | ||
94 | if (SPITransferCompleted) return; |
94 | if (SPITransferCompleted) return; |
95 | if (!(SPSR & (1 << SPIF))) return; |
95 | if (!(SPSR & (1 << SPIF))) return; |
96 | BytegapSPI = SPI_BYTEGAP; |
96 | BytegapSPI = SPI_BYTEGAP; |
97 | // _delay_us(30); |
97 | // _delay_us(30); |
98 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
98 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
99 | 99 | ||
100 | rxdata = SPDR; |
100 | rxdata = SPDR; |
101 | switch ( SPI_RXState) |
101 | switch ( SPI_RXState) |
102 | { |
102 | { |
103 | case 0: |
103 | case 0: |
104 | SPI_RxBufferIndex = 0; |
104 | SPI_RxBufferIndex = 0; |
105 | rxchksum = rxdata; |
105 | rxchksum = rxdata; |
106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
106 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
107 | 107 | ||
108 | break; |
108 | break; |
109 | 109 | ||
110 | case 1: |
110 | case 1: |
111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
111 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
112 | else SPI_RXState = 0; |
112 | else SPI_RXState = 0; |
113 | break; |
113 | break; |
114 | 114 | ||
115 | case 2: |
115 | case 2: |
116 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
116 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
117 | //DebugOut.Analog[19]++; |
117 | //DebugOut.Analog[19]++; |
118 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
118 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
119 | { |
119 | { |
120 | if (rxdata == rxchksum) |
120 | if (rxdata == rxchksum) |
121 | { |
121 | { |
122 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
122 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
123 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
123 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
124 | SPI_RxDataValid = 1; |
124 | SPI_RxDataValid = 1; |
125 | } |
125 | } |
126 | else |
126 | else |
127 | { |
127 | { |
128 | SPI_RxDataValid = 0; |
128 | SPI_RxDataValid = 0; |
129 | } |
129 | } |
130 | SPI_RXState = 0; |
130 | SPI_RXState = 0; |
131 | } |
131 | } |
132 | else rxchksum += rxdata; |
132 | else rxchksum += rxdata; |
133 | break; |
133 | break; |
134 | 134 | ||
135 | } |
135 | } |
136 | 136 | ||
137 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
137 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
138 | { |
138 | { |
139 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
139 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
140 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
140 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
141 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
141 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
142 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
142 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
143 | } |
143 | } |
144 | else SPITransferCompleted = 1; |
144 | else SPITransferCompleted = 1; |
145 | 145 | ||
146 | SPI_BufferIndex++; |
146 | SPI_BufferIndex++; |
147 | } |
147 | } |
148 | 148 | ||
149 | 149 | ||
150 | //------------------------------------------------------ |
150 | //------------------------------------------------------ |
151 | void UpdateSPI_Buffer(void) |
151 | void UpdateSPI_Buffer(void) |
152 | { |
152 | { |
153 | // signed int tmp; |
153 | // signed int tmp; |
154 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0; |
154 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION, slow_command = 0; |
155 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
155 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
156 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
156 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
157 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
157 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
158 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
158 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
159 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
159 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
160 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
160 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
161 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
161 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
162 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
162 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
163 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
163 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
164 | switch(ToNaviCtrl.Command) // |
164 | switch(ToNaviCtrl.Command) // |
165 | { |
165 | { |
166 | case SPI_FCCMD_USER: |
166 | case SPI_FCCMD_USER: |
167 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
167 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
168 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
168 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
169 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
169 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
170 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
170 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
171 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
171 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
172 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
172 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
173 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
173 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
174 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
174 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
175 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
175 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
176 | ToNaviCtrl.Param.Byte[9] = FC_StatusFlags2; |
176 | ToNaviCtrl.Param.Byte[9] = FC_StatusFlags2; |
177 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
177 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
178 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
178 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
179 | ToNaviCtrl.Param.Int[5] = UBat; // 10 & 11 |
179 | ToNaviCtrl.Param.Int[5] = UBat; // 10 & 11 |
180 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
180 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
181 | break; |
181 | break; |
182 | case SPI_FCCMD_BL_ACCU: |
182 | case SPI_FCCMD_BL_ACCU: |
183 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
183 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
184 | ToNaviCtrl.Param.Byte[2] = motorindex | Out1ChangedFlag; // 0x80 this Flag marks a changed Out1 |
184 | ToNaviCtrl.Param.Byte[2] = motorindex | Out1ChangedFlag; // 0x80 this Flag marks a changed Out1 |
185 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
185 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
186 | ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
186 | ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
187 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
187 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
188 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
188 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
189 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
189 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
190 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
190 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
191 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
191 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
192 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
192 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
193 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
193 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
194 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
194 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
195 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
195 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
196 | Out1ChangedFlag = 0; |
196 | Out1ChangedFlag = 0; |
197 | break; |
197 | break; |
198 | case SPI_FCCMD_SLOW: |
198 | case SPI_FCCMD_SLOW: |
199 | switch(slow_command) |
199 | switch(slow_command) |
200 | { |
200 | { |
201 | case 0: |
201 | case 0: |
202 | ToNaviCtrl.Command = SPI_FCCMD_VERSION; |
202 | ToNaviCtrl.Command = SPI_FCCMD_VERSION; |
203 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
203 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
204 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
204 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
205 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
205 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
206 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
206 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
207 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
207 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
208 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.LandingSpeed; |
208 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.LandingSpeed; |
209 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude; |
209 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.ComingHomeAltitude; |
210 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes; |
210 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.AutoPhotoAtitudes; |
211 | ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware; |
211 | ToNaviCtrl.Param.Byte[8] = VersionInfo.BL_Firmware; |
212 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
212 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
213 | ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11 |
213 | ToNaviCtrl.Param.Int[5] = FlugMinutenGesamt; // 10 & 11 |
214 | slow_command++; |
214 | slow_command++; |
215 | break; |
215 | break; |
216 | case 1: |
216 | case 1: |
217 | ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; |
217 | ToNaviCtrl.Command = SPI_FCCMD_PARAMETER1; |
218 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
218 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
219 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
219 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
220 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
220 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
221 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
221 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
222 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
222 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
223 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
223 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsA; |
224 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
224 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
225 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
225 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
226 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
226 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviMaxFlyingRange; |
227 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
227 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
228 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
228 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
229 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
229 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
230 | slow_command++; |
230 | slow_command++; |
231 | break; |
231 | break; |
232 | case 2: |
232 | case 2: |
233 | ToNaviCtrl.Command = SPI_FCCMD_SLOW2; |
233 | ToNaviCtrl.Command = SPI_FCCMD_SLOW2; |
234 | ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1 |
234 | ToNaviCtrl.Param.Int[0] = BoatNeutralNick; // 0 & 1 |
235 | ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3 |
235 | ToNaviCtrl.Param.Int[1] = BoatNeutralRoll; // 2 & 3 |
236 | ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5 |
236 | ToNaviCtrl.Param.Int[2] = BoatNeutralGier; // 4 & 5 |
237 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation; |
237 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.CamOrientation; |
238 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
238 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.CompassOffset; |
239 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
239 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
240 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
240 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
241 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
241 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
242 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
242 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
243 | slow_command++; |
243 | slow_command++; |
244 | break; |
244 | break; |
245 | case 3: |
245 | case 3: |
246 | ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
246 | ToNaviCtrl.Command = SPI_FCCMD_SLOW3; |
247 | ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
247 | ToNaviCtrl.Param.Byte[0] = Parameter_ServoNickControl; |
248 | ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
248 | ToNaviCtrl.Param.Byte[1] = Parameter_ServoRollControl; |
249 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
249 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviDescendRange; // in 10m |
250 | ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
250 | ToNaviCtrl.Param.Byte[3] = Parameter_MaximumAltitude; |
251 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert; |
251 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoCompInvert; |
252 | ToNaviCtrl.Param.Byte[5] = LipoCells; |
252 | ToNaviCtrl.Param.Byte[5] = LipoCells; |
253 | ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7 |
253 | ToNaviCtrl.Param.Int[3] = ShutterCounter; // 6 & 7 |
254 | ToNaviCtrl.Param.Byte[8] = 0; |
254 | ToNaviCtrl.Param.Byte[8] = 0; |
255 | ToNaviCtrl.Param.Byte[9] = 0; |
255 | ToNaviCtrl.Param.Byte[9] = 0; |
256 | ToNaviCtrl.Param.Byte[10] = 0; |
256 | ToNaviCtrl.Param.Byte[10] = 0; |
257 | ToNaviCtrl.Param.Byte[11] = 0; |
257 | ToNaviCtrl.Param.Byte[11] = 0; |
258 | slow_command++; |
258 | slow_command++; |
259 | break; |
259 | break; |
260 | default: |
260 | default: |
261 | ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; |
261 | ToNaviCtrl.Command = SPI_FCCMD_NEUTRAL; |
262 | ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
262 | ToNaviCtrl.Param.Int[0] = AdNeutralNick; // 0 & 1 |
263 | ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
263 | ToNaviCtrl.Param.Int[1] = AdNeutralRoll; // 2 & 3 |
264 | ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
264 | ToNaviCtrl.Param.Int[2] = AdNeutralGier; // 4 & 5 |
265 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
265 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.Driftkomp; |
266 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime; |
266 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviPH_LoginTime; |
267 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver; |
267 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.Receiver; |
268 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit; |
268 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviGpsPLimit; |
269 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit; |
269 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviGpsILimit; |
270 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit; |
270 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviGpsDLimit; |
271 | slow_command = 0; |
271 | slow_command = 0; |
272 | break; |
272 | break; |
273 | } |
273 | } |
274 | break; |
274 | break; |
275 | case SPI_FCCMD_PARAMETER2: |
275 | case SPI_FCCMD_PARAMETER2: |
276 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
276 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.AutoPhotoDistance; // Distance between Photo releases |
277 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
277 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
278 | // create the ToNC_SpeakHoTT |
278 | // create the ToNC_SpeakHoTT |
279 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
279 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
280 | { |
280 | { |
281 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
281 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
282 | else HoTT_Waring(); |
282 | else HoTT_Waring(); |
283 | } |
283 | } |
284 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
284 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
285 | #else |
285 | #else |
286 | ToNaviCtrl.Param.Byte[1] = 0; |
286 | ToNaviCtrl.Param.Byte[1] = 0; |
287 | #endif |
287 | #endif |
288 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3 |
288 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh // 2 & 3 |
289 | ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
289 | ToNaviCtrl.Param.Byte[4] = LowVoltageHomeActive; |
290 | ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
290 | ToNaviCtrl.Param.Byte[5] = ToNC_Load_WP_List; |
291 | ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
291 | ToNaviCtrl.Param.Byte[6] = ToNC_Load_SingePoint; |
292 | ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
292 | ToNaviCtrl.Param.Byte[7] = ToNC_Store_SingePoint; |
293 | ToNC_Load_WP_List = 0; |
293 | ToNC_Load_WP_List = 0; |
294 | ToNC_Load_SingePoint = 0; |
294 | ToNC_Load_SingePoint = 0; |
295 | ToNC_Store_SingePoint = 0; |
295 | ToNC_Store_SingePoint = 0; |
296 | if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
296 | if(Parameter_KompassWirkung) ToNaviCtrl.Param.sInt[4] = KompassSollWert; // Pos. 8 & 9 |
297 | else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
297 | else ToNaviCtrl.Param.sInt[4] = ErsatzKompassInGrad; // answer with the compass value if the Compass effect is zero |
298 | ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3; |
298 | ToNaviCtrl.Param.Byte[10] = FC_StatusFlags3; |
299 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
299 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.SingleWpSpeed; |
300 | break; |
300 | break; |
301 | case SPI_FCCMD_STICK: |
301 | case SPI_FCCMD_STICK: |
302 | /* |
302 | /* |
303 | cli(); |
303 | cli(); |
304 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
304 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
305 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
305 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
306 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
306 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
307 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
307 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
308 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
308 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
309 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
309 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
310 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
310 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
311 | sei(); |
311 | sei(); |
312 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
312 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
313 | */ |
313 | */ |
314 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
314 | ToNaviCtrl.Param.Byte[0] = ChannelGas; |
315 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
315 | ToNaviCtrl.Param.Byte[1] = ChannelYaw; |
316 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
316 | ToNaviCtrl.Param.Byte[2] = ChannelRoll; |
317 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
317 | ToNaviCtrl.Param.Byte[3] = ChannelNick; |
318 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
318 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
319 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
319 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
320 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
320 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
321 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
321 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
322 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
322 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
323 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
323 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
324 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
324 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
325 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
325 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
326 | break; |
326 | break; |
327 | case SPI_FCCMD_MISC: |
327 | case SPI_FCCMD_MISC: |
328 | if(WinkelOut.CalcState >= 5) |
328 | if(WinkelOut.CalcState >= 5) |
329 | { |
329 | { |
330 | WinkelOut.CalcState = 0; |
330 | WinkelOut.CalcState = 0; |
331 | ToNaviCtrl.Param.Byte[0] = 5; |
331 | ToNaviCtrl.Param.Byte[0] = 5; |
332 | } |
332 | } |
333 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
333 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
334 | ToNaviCtrl.Param.Byte[1] = HoverGas / 4; |
334 | ToNaviCtrl.Param.Byte[1] = HoverGas / 4; |
335 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3 |
335 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); //2 & 3 |
336 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5 |
336 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); //4 & 5 |
337 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0]; |
337 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[0]; |
338 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1]; |
338 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[1]; |
339 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
339 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
340 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
340 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
341 | ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter |
341 | ToNaviCtrl.Param.Byte[8] = DebugOut.Analog[28]; // I2C-Error counter |
342 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
342 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
343 | ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
343 | ToNaviCtrl.Param.Byte[10] = NC_Wait_for_LED; |
344 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
344 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
345 | break; |
345 | break; |
346 | } |
346 | } |
347 | 347 | ||
348 | if(SPI_RxDataValid) |
348 | if(SPI_RxDataValid) |
349 | { |
349 | { |
350 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
350 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
351 | oldcommand = FromNaviCtrl.Command; |
351 | oldcommand = FromNaviCtrl.Command; |
352 | CalculateCompassTimer = 1; |
352 | CalculateCompassTimer = 1; |
353 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
353 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
354 | { |
354 | { |
355 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
355 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
356 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
356 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
357 | } |
357 | } |
358 | 358 | ||
359 | // update compass readings |
359 | // update compass readings |
360 | // MagVec.x = FromNaviCtrl.MagVecX; |
360 | // MagVec.x = FromNaviCtrl.MagVecX; |
361 | // MagVec.y = FromNaviCtrl.MagVecY; |
361 | // MagVec.y = FromNaviCtrl.MagVecY; |
362 | // MagVec.z = FromNaviCtrl.MagVecZ; |
362 | // MagVec.z = FromNaviCtrl.MagVecZ; |
363 | 363 | ||
364 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
364 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
365 | 365 | ||
366 | if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
366 | if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
367 | switch (FromNaviCtrl.Command) |
367 | switch (FromNaviCtrl.Command) |
368 | { |
368 | { |
369 | case SPI_NCCMD_KALMAN: |
369 | case SPI_NCCMD_KALMAN: |
370 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
370 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
371 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
371 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
372 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
372 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
373 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
373 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
374 | if(FromNaviCtrl.Param.Byte[4] & 0x01) NCForcesNewDirection = 1; |
374 | if(FromNaviCtrl.Param.Byte[4] & 0x01) NCForcesNewDirection = 1; |
375 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
375 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
376 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
376 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
377 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
377 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
378 | if(FromNaviCtrl.Param.sInt[4] >= 0) |
378 | if(FromNaviCtrl.Param.sInt[4] >= 0) |
379 | { |
379 | { |
380 | NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
380 | NC_CompassSetpoint = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
381 | } |
381 | } |
382 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
382 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
383 | break; |
383 | break; |
384 | case SPI_NCCMD_VERSION: |
384 | case SPI_NCCMD_VERSION: |
385 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
385 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
386 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
386 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
387 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
387 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
388 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
388 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
389 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
389 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
390 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
390 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
391 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
391 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
392 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
392 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
393 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
393 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
394 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
394 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
395 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
395 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
396 | //NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
396 | //NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
397 | break; |
397 | break; |
398 | case SPI_NCCMD_GPSINFO: |
398 | case SPI_NCCMD_GPSINFO: |
399 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
399 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
400 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
400 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
401 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
401 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
402 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
402 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
403 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
403 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
404 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
404 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
405 | if((signed char) PPM_in[WP_EVENT_PPM_IN] == -127) // zuletzt war der WP-Event auf Null |
- | |
406 | { |
- | |
407 | if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
405 | if(!FromNC_WP_EventChannel_New) FromNC_WP_EventChannel_New = (unsigned char) FromNaviCtrl.Param.Byte[8] + 127; // zwischenspeichern, damit keiner verpasst wird |
408 | } |
- | |
409 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
406 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
410 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
407 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
411 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
408 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
412 | break; |
409 | break; |
413 | case SPI_MISC: |
410 | case SPI_MISC: |
414 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
411 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
415 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
412 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
416 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
413 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
417 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
414 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
418 | if(FromNaviCtrl.Param.Byte[3]) |
415 | if(FromNaviCtrl.Param.Byte[3]) |
419 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
416 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
420 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
417 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
421 | #endif |
418 | #endif |
422 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
419 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
423 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
420 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
424 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
421 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
425 | NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
422 | NaviData_MaxWpListIndex = FromNaviCtrl.Param.Byte[9]; |
426 | CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
423 | CompassCorrected = FromNaviCtrl.Param.sInt[5]; // Bytes 10 & 11 |
427 | break; |
424 | break; |
428 | 425 | ||
429 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
426 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
430 | case SPI_NCCMD_HOTT_DATA: |
427 | case SPI_NCCMD_HOTT_DATA: |
431 | //if(EE_Parameter.Receiver == RECEIVER_HOTT) |
428 | //if(EE_Parameter.Receiver == RECEIVER_HOTT) |
432 | NC_Fills_HoTT_Telemety(); |
429 | NC_Fills_HoTT_Telemety(); |
433 | break; |
430 | break; |
434 | #endif |
431 | #endif |
435 | 432 | ||
436 | // 0 = 0,1 |
433 | // 0 = 0,1 |
437 | // 1 = 2,3 |
434 | // 1 = 2,3 |
438 | // 2 = 4,5 |
435 | // 2 = 4,5 |
439 | // 3 = 6,7 |
436 | // 3 = 6,7 |
440 | // 4 = 8,9 |
437 | // 4 = 8,9 |
441 | // 5 = 10,11 |
438 | // 5 = 10,11 |
442 | default: |
439 | default: |
443 | break; |
440 | break; |
444 | } |
441 | } |
445 | } |
442 | } |
446 | else |
443 | else |
447 | { |
444 | { |
448 | // KompassValue = 0; |
445 | // KompassValue = 0; |
449 | // KompassRichtung = 0; |
446 | // KompassRichtung = 0; |
450 | GPS_Nick = 0; |
447 | GPS_Nick = 0; |
451 | GPS_Roll = 0; |
448 | GPS_Roll = 0; |
452 | } |
449 | } |
453 | } |
450 | } |
454 | 451 | ||
455 | #endif |
452 | #endif |
456 | 453 | ||
457 | 454 | ||
458 | 455 |