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Rev 882 Rev 921
Line 14... Line 14...
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unsigned char *SPI_TX_Buffer;
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unsigned char *SPI_TX_Buffer;
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unsigned char SPITransferCompleted, SPI_ChkSum;
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unsigned char SPITransferCompleted, SPI_ChkSum;
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unsigned char SPI_RxDataValid;
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unsigned char SPI_RxDataValid;
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unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS };
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unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS};
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unsigned char SPI_CommandCounter = 0;
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unsigned char SPI_CommandCounter = 0;
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                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
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                                ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
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                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
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                                ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
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                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
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                                ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
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                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
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                                ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
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                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
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                                ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
- 
 
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                                ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
- 
 
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                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
- 
 
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                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
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                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
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                    ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung;
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                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
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        break;
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         case SPI_CMD_PARAMETER1:
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                                ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
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                                ToNaviCtrl.Param.Byte[1] = Parameter_NaviGpsGain;    
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                                ToNaviCtrl.Param.Byte[2] = Parameter_NaviGpsP;        
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                                ToNaviCtrl.Param.Byte[3] = Parameter_NaviGpsI;        
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                                ToNaviCtrl.Param.Byte[4] = Parameter_NaviGpsD;        
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                                ToNaviCtrl.Param.Byte[5] = Parameter_NaviGpsACC;        
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                                ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat;        
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                ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold;        
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                ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius
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            break;
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            break;
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         case SPI_CMD_STICK:
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         case SPI_CMD_STICK:
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                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
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                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
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                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
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                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
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                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
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                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
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                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
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                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
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                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
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                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
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                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
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                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
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 - 
 
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            break;
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            break;
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         case SPI_CMD_CAL_COMPASS:
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         case SPI_CMD_CAL_COMPASS:
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                if(WinkelOut.CalcState > 5)  
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                if(WinkelOut.CalcState > 5)  
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                  {
 213 
                  {
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                    WinkelOut.CalcState = 0;    
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                    WinkelOut.CalcState = 0;