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Rev 1662 Rev 1664
Line 11... Line 11...
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struct str_SPI_VersionInfo NC_Version;
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struct str_SPI_VersionInfo NC_Version;
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struct str_GPSInfo GPSInfo;
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struct str_GPSInfo GPSInfo;
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unsigned char              SPI_BufferIndex;
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unsigned char              SPI_BufferIndex;
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unsigned char              SPI_RxBufferIndex;
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unsigned char              SPI_RxBufferIndex;
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signed char FromNC_Rotate_C = 8, FromNC_Rotate_S = 0;
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volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
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{
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{
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  signed int tmp;
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  signed int tmp;
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  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
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  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
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  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
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  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
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  ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4;
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  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
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  ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4;
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
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//  ToNaviCtrl.User8 = Parameter_UserParam8;
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//  ToNaviCtrl.User8 = Parameter_UserParam8;
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//  ToNaviCtrl.CalState = WinkelOut.CalcState;
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//  ToNaviCtrl.CalState = WinkelOut.CalcState;
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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[7] = Parameter_UserParam8;
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                                ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags;
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                                ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags;
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                FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START);
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                FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START);
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                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
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                    ToNaviCtrl.Param.Byte[9] = GetActiveParamSet();
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                                ToNaviCtrl.Param.Byte[10] = ControlHeading * 8;
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        break;
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        break;
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     case SPI_FCCMD_ACCU:
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     case SPI_FCCMD_ACCU:
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                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
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                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
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                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
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                        FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
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                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
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                        FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
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                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
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                        FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
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                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
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                        FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
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                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
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                        FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4];
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                        FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5];
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                        FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6];
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                        break;
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                        break;
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                case SPI_NCCMD_VERSION:
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                case SPI_NCCMD_VERSION:
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                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];
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                        NC_Version.Major = FromNaviCtrl.Param.Byte[0];