WebSVN - FlightCtrl - Diff - Rev 1378 and 1550 - /branches/V0.78g

 //struct str_ToNaviCtrl_Version   ToNaviCtrl_Version;
 //struct str_FromNaviCtrl_Version   FromNaviCtrl_Version;
 struct str_ToNaviCtrl   ToNaviCtrl;
 struct str_FromNaviCtrl   FromNaviCtrl;
 struct str_FromNaviCtrl_Value FromNaviCtrl_Value;
-struct str_SPI_VersionInfo SPI_VersionInfo;
+struct str_SPI_VersionInfo NC_Version;
+struct str_GPSInfo GPSInfo;
 unsigned char              SPI_BufferIndex;
 unsigned char              SPI_RxBufferIndex;
 volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
 unsigned char *SPI_TX_Buffer;
 unsigned char SPITransferCompleted, SPI_ChkSum;
 unsigned char SPI_RxDataValid,NaviDataOkay = 0;
   //SPDR = 0x00;  // dummy write
   ToNaviCtrl.Sync1 = 0xAA;
   ToNaviCtrl.Sync2 = 0x83;
-  ToNaviCtrl.Command = SPI_CMD_USER;
+  ToNaviCtrl.Command = SPI_FCCMD_USER;
   ToNaviCtrl.IntegralNick = 0;
   ToNaviCtrl.IntegralRoll = 0;
-  FromNaviCtrl_Value.SerialDataOkay = 0;
-  SPI_RxDataValid = 0;
-  SPI_VersionInfo.Major = VERSION_MAJOR;
-  SPI_VersionInfo.Minor = VERSION_MINOR;
+  FromNaviCtrl_Value.SerialDataOkay = 0;
-  SPI_VersionInfo.Patch = VERSION_PATCH;
+  SPI_RxDataValid = 0;
   SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE;
+}
   NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
 //  ToNaviCtrl.User8 = Parameter_UserParam8;
 //  ToNaviCtrl.CalState = WinkelOut.CalcState;
    switch(ToNaviCtrl.Command)  //
+   {
-         case SPI_CMD_USER:
+         case SPI_FCCMD_USER:
                                 ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1;
                                 ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2;
                                 ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3;
                                 ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4;
                                 ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5;
                                 ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6;
                                 ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7;
                                 ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8;
-                                ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags;
+                                ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags;
-                MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START);
+                FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START);
-                    ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat;
-                    ToNaviCtrl.Param.Byte[10] =(unsigned char) BattLowVoltageWarning;
-                    ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
+                    ToNaviCtrl.Param.Byte[9] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
         break;
+     case SPI_FCCMD_ACCU:
+                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
+                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
+                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
+                        ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V
+        break;
-         case SPI_CMD_PARAMETER1:
+         case SPI_FCCMD_PARAMETER1:
                                 ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl;     // Parameters for the Naviboard
                                 ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain;
                                 ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP;
                                 ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI;
                 ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection;
                 ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation;
                                 ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation;
             break;
-         case SPI_CMD_STICK:
+         case SPI_FCCMD_STICK:
               cli();
                 tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
                                 ToNaviCtrl.Param.Byte[0] = (char) tmp;
                 tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
                                 ToNaviCtrl.Param.Byte[1] = (char) tmp;
                 tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
                                 ToNaviCtrl.Param.Byte[2] = (char) tmp;
                 tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
               sei();
                                 ToNaviCtrl.Param.Byte[3] = (char) tmp;
-                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1;
+                                ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0];
-                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2;
+                                ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1];
-                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
+                                ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2];
-                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
+                    ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3];
-                    ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
+                                ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4];
-                    ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderRSSI;
+                                ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5];
+                                ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6];
-                                ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4; //GasMischanteil
+                                ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7];
                         break;
-                case SPI_CMD_MISC:
+                case SPI_FCCMD_MISC:
                         if(WinkelOut.CalcState > 5)
+                        {
                                 WinkelOut.CalcState = 0;
                                 ToNaviCtrl.Param.Byte[0] = 5;
                         ToNaviCtrl.Param.Int[1] = DebugOut.Analog[5];// = HoehenWert/5;
                         ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5);
                         ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit;
                         ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit;
                         ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit;
+            ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay;
+            ToNaviCtrl.Param.Byte[10] = (unsigned char) SenderRSSI;
+                        ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil
                         break;
-                case SPI_CMD_VERSION:
+                case SPI_FCCMD_VERSION:
-                        ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major;
+                        ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR;
-                        ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor;
+                        ToNaviCtrl.Param.Byte[1] = VERSION_MINOR;
-                        ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch;
+                        ToNaviCtrl.Param.Byte[2] = VERSION_PATCH;
-                        ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible;
+                        ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE;
                         ToNaviCtrl.Param.Byte[4] = PlatinenVersion;
                 break;
-            case SPI_CMD_SERVOS:
+            case SPI_FCCMD_SERVOS:
                 ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control
                         ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert;
                         ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl;
                         ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp;
     if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
           switch (FromNaviCtrl.Command)
+          {
-            case SPI_KALMAN:
+            case SPI_NCCMD_KALMAN:
                         FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
                         FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
                         FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
                         FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
+                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
+                        break;
+                case SPI_NCCMD_VERSION:
+                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
+                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
+                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
+                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
+                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
+                        break;
+                case SPI_NCCMD_GPSINFO:
+                        GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
+                        GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
+                        GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
+                        GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
-                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
+                        GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
                         break;
                 default:
-                  break;
+                        break;
+          }
+  }

Subversion Repositories FlightCtrl

(root)/branches/V0.78g_WKN-hef/spi.c @ 1553 - Rev 1378 → 1550