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| Rev 2340 | Rev 2341 | ||
|---|---|---|---|
| 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, |
23 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, |
| 24 | SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, |
24 | SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU, |
| 25 | SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU, |
25 | SPI_FCCMD_STICK, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS, |
| 26 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2 |
26 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
| 27 | }; |
27 | }; |
| 28 | unsigned char SPI_CommandCounter = 0; |
28 | unsigned char SPI_CommandCounter = 0; |
| 29 | unsigned char NC_ErrorCode = 0; |
29 | unsigned char NC_ErrorCode = 0; |
| 30 | unsigned char NC_GPS_ModeCharacter = ' '; |
30 | unsigned char NC_GPS_ModeCharacter = ' '; |
| 31 | unsigned char EarthMagneticField = 0; |
31 | unsigned char EarthMagneticField = 0; |
| 32 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
32 | unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
| 33 | unsigned char NC_To_FC_Flags = 0; |
33 | unsigned char NC_To_FC_Flags = 0; |
| 34 | unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
34 | unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
| 35 | signed int POI_KameraNick = 0; // in 0,1° |
35 | signed int POI_KameraNick = 0; // in 0,1° |
| 36 | vector16_t MagVec = {0,0,0}; |
36 | vector16_t MagVec = {0,0,0}; |
| 37 | 37 | ||
| 38 | #ifdef USE_SPI_COMMUNICATION |
38 | #ifdef USE_SPI_COMMUNICATION |
| 39 | 39 | ||
| 40 | //------------------------------------------------------ |
40 | //------------------------------------------------------ |
| 41 | void SPI_MasterInit(void) |
41 | void SPI_MasterInit(void) |
| 42 | { |
42 | { |
| 43 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
43 | DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| 44 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
44 | SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| 45 | 45 | ||
| 46 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
46 | SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| 47 | SPSR = 0;//(1<<SPI2X); |
47 | SPSR = 0;//(1<<SPI2X); |
| 48 | 48 | ||
| 49 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
49 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| 50 | SPITransferCompleted = 1; |
50 | SPITransferCompleted = 1; |
| 51 | 51 | ||
| 52 | //SPDR = 0x00; // dummy write |
52 | //SPDR = 0x00; // dummy write |
| 53 | 53 | ||
| 54 | ToNaviCtrl.Sync1 = 0xAA; |
54 | ToNaviCtrl.Sync1 = 0xAA; |
| 55 | ToNaviCtrl.Sync2 = 0x83; |
55 | ToNaviCtrl.Sync2 = 0x83; |
| 56 | 56 | ||
| 57 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
57 | ToNaviCtrl.Command = SPI_FCCMD_USER; |
| 58 | ToNaviCtrl.IntegralNick = 0; |
58 | ToNaviCtrl.IntegralNick = 0; |
| 59 | ToNaviCtrl.IntegralRoll = 0; |
59 | ToNaviCtrl.IntegralRoll = 0; |
| 60 | FromNaviCtrl_Value.SerialDataOkay = 0; |
60 | FromNaviCtrl_Value.SerialDataOkay = 0; |
| 61 | SPI_RxDataValid = 0; |
61 | SPI_RxDataValid = 0; |
| 62 | 62 | ||
| 63 | } |
63 | } |
| 64 | 64 | ||
| 65 | //------------------------------------------------------ |
65 | //------------------------------------------------------ |
| 66 | void SPI_StartTransmitPacket(void) |
66 | void SPI_StartTransmitPacket(void) |
| 67 | { |
67 | { |
| 68 | //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
- | |
| 69 | if (!SPITransferCompleted) return; |
68 | if (!SPITransferCompleted) return; |
| 70 | // _delay_us(30); |
- | |
| 71 | - | ||
| 72 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
69 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 73 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
70 | SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| 74 | 71 | ||
| 75 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
72 | ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 76 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
73 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 77 | 74 | ||
| 78 | SPITransferCompleted = 0; |
75 | SPITransferCompleted = 0; |
| 79 | UpdateSPI_Buffer(); // update buffer |
76 | UpdateSPI_Buffer(); // update buffer |
| 80 | - | ||
| 81 | SPI_BufferIndex = 1; |
77 | SPI_BufferIndex = 1; |
| 82 | // -- Debug-Output --- |
- | |
| 83 | //---- |
- | |
| 84 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 85 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 86 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 87 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
78 | ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| 88 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
79 | SPDR = ToNaviCtrl.Sync1; // Start transmission |
| 89 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| 90 | - | ||
| 91 | } |
80 | } |
| 92 | 81 | ||
| 93 | //------------------------------------------------------ |
82 | //------------------------------------------------------ |
| 94 | //SIGNAL(SIG_SPI) |
83 | //SIGNAL(SIG_SPI) |
| 95 | void SPI_TransmitByte(void) |
84 | void SPI_TransmitByte(void) |
| 96 | { |
85 | { |
| 97 | static unsigned char SPI_RXState = 0; |
86 | static unsigned char SPI_RXState = 0; |
| 98 | unsigned char rxdata; |
87 | unsigned char rxdata; |
| 99 | static unsigned char rxchksum; |
88 | static unsigned char rxchksum; |
| 100 | 89 | ||
| 101 | if (SPITransferCompleted) return; |
90 | if (SPITransferCompleted) return; |
| 102 | if (!(SPSR & (1 << SPIF))) return; |
91 | if (!(SPSR & (1 << SPIF))) return; |
| 103 | SendSPI = 4; |
92 | SendSPI = SPI_BYTEGAP; |
| 104 | - | ||
| 105 | // _delay_us(30); |
93 | // _delay_us(30); |
| 106 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
94 | SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| 107 | 95 | ||
| 108 | rxdata = SPDR; |
96 | rxdata = SPDR; |
| 109 | switch ( SPI_RXState) |
97 | switch ( SPI_RXState) |
| 110 | { |
98 | { |
| 111 | case 0: |
99 | case 0: |
| 112 | - | ||
| 113 | SPI_RxBufferIndex = 0; |
100 | SPI_RxBufferIndex = 0; |
| 114 | rxchksum = rxdata; |
101 | rxchksum = rxdata; |
| 115 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
102 | if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| 116 | 103 | ||
| 117 | break; |
104 | break; |
| 118 | 105 | ||
| 119 | case 1: |
106 | case 1: |
| 120 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
107 | if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
| 121 | else SPI_RXState = 0; |
108 | else SPI_RXState = 0; |
| 122 | break; |
109 | break; |
| 123 | 110 | ||
| 124 | case 2: |
111 | case 2: |
| 125 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
112 | SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| 126 | //DebugOut.Analog[19]++; |
113 | //DebugOut.Analog[19]++; |
| 127 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
114 | if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| 128 | { |
115 | { |
| 129 | - | ||
| 130 | if (rxdata == rxchksum) |
116 | if (rxdata == rxchksum) |
| 131 | { |
117 | { |
| 132 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
118 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| 133 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
119 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| 134 | SPI_RxDataValid = 1; |
120 | SPI_RxDataValid = 1; |
| 135 | } |
121 | } |
| 136 | else |
122 | else |
| 137 | { |
123 | { |
| 138 | SPI_RxDataValid = 0; |
124 | SPI_RxDataValid = 0; |
| 139 | } |
125 | } |
| 140 | - | ||
| 141 | - | ||
| 142 | SPI_RXState = 0; |
126 | SPI_RXState = 0; |
| 143 | } |
127 | } |
| 144 | else rxchksum += rxdata; |
128 | else rxchksum += rxdata; |
| 145 | break; |
129 | break; |
| 146 | 130 | ||
| 147 | } |
131 | } |
| 148 | 132 | ||
| 149 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
133 | if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| 150 | { |
134 | { |
| 151 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
135 | SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| 152 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
136 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| 153 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 154 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
- | |
| 155 | - | ||
| 156 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
137 | SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
| 157 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
138 | ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
| 158 | // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
- | |
| 159 | - | ||
| 160 | } |
139 | } |
| 161 | else SPITransferCompleted = 1; |
140 | else SPITransferCompleted = 1; |
| 162 | 141 | ||
| 163 | SPI_BufferIndex++; |
142 | SPI_BufferIndex++; |
| 164 | } |
143 | } |
| 165 | 144 | ||
| 166 | 145 | ||
| 167 | //------------------------------------------------------ |
146 | //------------------------------------------------------ |
| 168 | void UpdateSPI_Buffer(void) |
147 | void UpdateSPI_Buffer(void) |
| 169 | { |
148 | { |
| 170 | signed int tmp; |
149 | signed int tmp; |
| 171 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION; |
150 | static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION; |
| 172 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
151 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 173 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
152 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 174 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
153 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| 175 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
154 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| 176 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
155 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
| 177 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
156 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
| 178 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
157 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| 179 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
158 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
| 180 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
159 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
| 181 | switch(ToNaviCtrl.Command) // |
160 | switch(ToNaviCtrl.Command) // |
| 182 | { |
161 | { |
| 183 | case SPI_FCCMD_USER: |
162 | case SPI_FCCMD_USER: |
| 184 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
163 | ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| 185 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
164 | ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
| 186 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
165 | ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
| 187 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
166 | ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
| 188 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
167 | ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
| 189 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
168 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
| 190 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
169 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
| 191 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
170 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| 192 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
171 | ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| 193 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
172 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
| 194 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
173 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| 195 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
174 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
| 196 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
175 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
| 197 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
176 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
| 198 | break; |
177 | break; |
| 199 | 178 | ||
| 200 | case SPI_FCCMD_ACCU: |
179 | case SPI_FCCMD_BL_ACCU: |
| 201 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
180 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| 202 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
181 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
| 203 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
182 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
| 204 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
183 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsModeControl; // GPS-Mode |
| 205 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
184 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
| 206 | ToNaviCtrl.Param.Byte[7] = motorindex; |
185 | ToNaviCtrl.Param.Byte[7] = motorindex; |
| 207 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
186 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
| 208 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
187 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
| 209 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
188 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
| 210 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
189 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
| 211 | motorindex %= 12; |
190 | motorindex %= 12; |
| 212 | break; |
191 | break; |
| 213 | case SPI_FCCMD_PARAMETER1: |
192 | case SPI_FCCMD_PARAMETER1: |
| 214 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
193 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
| 215 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
194 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; // Parameters for the Naviboard |
| 216 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
195 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| 217 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
196 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
| 218 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
197 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
| 219 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
198 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
| 220 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
199 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| 221 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
200 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
| 222 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
201 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
| 223 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
202 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| 224 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
203 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
| 225 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
204 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| 226 | break; |
205 | break; |
| 227 | case SPI_FCCMD_PARAMETER2: |
206 | case SPI_FCCMD_PARAMETER2: |
| 228 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviOut1Parameter; // Distance between Photo releases |
207 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviOut1Parameter; // Distance between Photo releases |
| 229 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
208 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 230 | // create the ToNC_SpeakHoTT |
209 | // create the ToNC_SpeakHoTT |
| 231 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
210 | if(EE_Parameter.Receiver != RECEIVER_HOTT) |
| 232 | { |
211 | { |
| 233 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
212 | if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
| 234 | else HoTT_Waring(); |
213 | else HoTT_Waring(); |
| 235 | } |
214 | } |
| 236 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
215 | ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
| 237 | #else |
216 | #else |
| 238 | ToNaviCtrl.Param.Byte[1] = 0; |
217 | ToNaviCtrl.Param.Byte[1] = 0; |
| 239 | #endif |
218 | #endif |
| 240 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.LandingSpeed; |
219 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.LandingSpeed; |
| 241 | break; |
220 | break; |
| 242 | case SPI_FCCMD_STICK: |
221 | case SPI_FCCMD_STICK: |
| 243 | cli(); |
222 | cli(); |
| 244 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
223 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 245 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
224 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
| 246 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
225 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 247 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
226 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
| 248 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
227 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 249 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
228 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
| 250 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
229 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 251 | sei(); |
230 | sei(); |
| 252 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
231 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| 253 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
232 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| 254 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
233 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
| 255 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
234 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
| 256 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
235 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
| 257 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
236 | ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
| 258 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
237 | ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
| 259 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
238 | ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
| 260 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
239 | ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
| 261 | break; |
240 | break; |
| 262 | case SPI_FCCMD_MISC: |
241 | case SPI_FCCMD_MISC: |
| 263 | if(WinkelOut.CalcState > 5) |
242 | if(WinkelOut.CalcState > 5) |
| 264 | { |
243 | { |
| 265 | WinkelOut.CalcState = 0; |
244 | WinkelOut.CalcState = 0; |
| 266 | ToNaviCtrl.Param.Byte[0] = 5; |
245 | ToNaviCtrl.Param.Byte[0] = 5; |
| 267 | } |
246 | } |
| 268 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
247 | else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
| 269 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
248 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
| 270 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
249 | ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
| 271 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
250 | ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
| 272 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
251 | ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
| 273 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
252 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
| 274 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
253 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
| 275 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
254 | ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
| 276 | ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
255 | // ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; // ACT RSSI |
| - | 256 | ToNaviCtrl.Param.Byte[10] = 0; |
|
| 277 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
257 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| 278 | break; |
258 | break; |
| 279 | case SPI_FCCMD_VERSION: |
259 | case SPI_FCCMD_VERSION: |
| 280 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
260 | ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 281 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
261 | ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
| 282 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
262 | ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
| 283 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
263 | ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
| 284 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
264 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
| 285 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
265 | ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
| 286 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
266 | ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
| 287 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
267 | VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
| 288 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
268 | VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
| 289 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused |
269 | ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused |
| 290 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
270 | ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
| 291 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
271 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
| 292 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
272 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
| 293 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
273 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
| 294 | break; |
274 | break; |
| 295 | case SPI_FCCMD_SERVOS: |
275 | case SPI_FCCMD_SERVOS: |
| 296 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
276 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
| 297 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
277 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
| 298 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
278 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
| 299 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
279 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
| 300 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
280 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
| 301 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
281 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
| 302 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
282 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
| 303 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
283 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
| 304 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
284 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
| 305 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
285 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
| 306 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
286 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
| 307 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
287 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
| 308 | break; |
288 | break; |
| 309 | } |
289 | } |
| 310 | 290 | ||
| 311 | if(SPI_RxDataValid) |
291 | if(SPI_RxDataValid) |
| 312 | { |
292 | { |
| 313 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
293 | if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
| 314 | oldcommand = FromNaviCtrl.Command; |
294 | oldcommand = FromNaviCtrl.Command; |
| 315 | CalculateCompassTimer = 1; |
295 | CalculateCompassTimer = 1; |
| 316 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
296 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
| 317 | { |
297 | { |
| 318 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
298 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
| 319 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
299 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
| 320 | } |
300 | } |
| 321 | 301 | ||
| 322 | // update compass readings |
302 | // update compass readings |
| 323 | // MagVec.x = FromNaviCtrl.MagVecX; |
303 | // MagVec.x = FromNaviCtrl.MagVecX; |
| 324 | // MagVec.y = FromNaviCtrl.MagVecY; |
304 | // MagVec.y = FromNaviCtrl.MagVecY; |
| 325 | // MagVec.z = FromNaviCtrl.MagVecZ; |
305 | // MagVec.z = FromNaviCtrl.MagVecZ; |
| 326 | 306 | ||
| 327 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
307 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| 328 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
308 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 329 | 309 | ||
| 330 | if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
310 | if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
| 331 | switch (FromNaviCtrl.Command) |
311 | switch (FromNaviCtrl.Command) |
| 332 | { |
312 | { |
| 333 | case SPI_NCCMD_KALMAN: |
313 | case SPI_NCCMD_KALMAN: |
| 334 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
314 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| 335 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
315 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
| 336 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
316 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
| 337 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
317 | KompassFusion = FromNaviCtrl.Param.sByte[3]; |
| 338 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
318 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
| 339 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
319 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| 340 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
320 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
| 341 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
321 | GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
| 342 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
322 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
| 343 | { |
323 | { |
| 344 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
324 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| 345 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
325 | if(EE_Parameter.CamOrientation) // Kamera angle is not front |
| 346 | { |
326 | { |
| 347 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
327 | KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
| 348 | KompassSollWert %= 360; |
328 | KompassSollWert %= 360; |
| 349 | } |
329 | } |
| 350 | } |
330 | } |
| 351 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
331 | POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
| 352 | break; |
332 | break; |
| 353 | case SPI_NCCMD_VERSION: |
333 | case SPI_NCCMD_VERSION: |
| 354 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
334 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
| 355 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
335 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
| 356 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
336 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
| 357 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
337 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
| 358 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
338 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
| 359 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
339 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| 360 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
340 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
| 361 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
341 | NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
| 362 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
342 | NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
| 363 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
343 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
| 364 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
344 | NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
| 365 | NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
345 | NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
| 366 | break; |
346 | break; |
| 367 | case SPI_NCCMD_GPSINFO: |
347 | case SPI_NCCMD_GPSINFO: |
| 368 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
348 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
| 369 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
349 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
| 370 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
350 | GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
| 371 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
351 | GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| 372 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
352 | GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| 373 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
353 | GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| 374 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
354 | PPM_in[WP_EVENT_PPM_IN] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
| 375 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
355 | FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| 376 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
356 | FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| 377 | break; |
357 | break; |
| 378 | case SPI_MISC: |
358 | case SPI_MISC: |
| 379 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
359 | EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
| 380 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
360 | EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
| 381 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
361 | EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
| 382 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
362 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 383 | if(FromNaviCtrl.Param.Byte[3]) |
363 | if(FromNaviCtrl.Param.Byte[3]) |
| 384 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
364 | if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
| 385 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
365 | NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
| 386 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
366 | NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
| 387 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
367 | NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
| 388 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
368 | NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
| 389 | #endif |
369 | #endif |
| 390 | break; |
370 | break; |
| 391 | 371 | ||
| 392 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
372 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 393 | case SPI_NCCMD_HOTT_DATA: |
373 | case SPI_NCCMD_HOTT_DATA: |
| 394 | if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
374 | if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
| 395 | break; |
375 | break; |
| 396 | #endif |
376 | #endif |
| 397 | 377 | ||
| 398 | // 0 = 0,1 |
378 | // 0 = 0,1 |
| 399 | // 1 = 2,3 |
379 | // 1 = 2,3 |
| 400 | // 2 = 4,5 |
380 | // 2 = 4,5 |
| 401 | // 3 = 6,7 |
381 | // 3 = 6,7 |
| 402 | // 4 = 8,9 |
382 | // 4 = 8,9 |
| 403 | // 5 = 10,11 |
383 | // 5 = 10,11 |
| 404 | default: |
384 | default: |
| 405 | break; |
385 | break; |
| 406 | } |
386 | } |
| 407 | } |
387 | } |
| 408 | else |
388 | else |
| 409 | { |
389 | { |
| 410 | // KompassValue = 0; |
390 | // KompassValue = 0; |
| 411 | // KompassRichtung = 0; |
391 | // KompassRichtung = 0; |
| 412 | GPS_Nick = 0; |
392 | GPS_Nick = 0; |
| 413 | GPS_Roll = 0; |
393 | GPS_Roll = 0; |
| 414 | } |
394 | } |
| 415 | } |
395 | } |
| 416 | 396 | ||
| 417 | #endif |
397 | #endif |
| 418 | 398 | ||
| 419 | 399 | ||
| 420 | 400 | ||