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Line 8... | Line 8... | ||
8 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
8 | struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
Line 9... | Line 9... | ||
9 | 9 | ||
10 | unsigned char SPI_BufferIndex; |
10 | unsigned char SPI_BufferIndex; |
Line 11... | Line 11... | ||
11 | unsigned char SPI_RxBufferIndex; |
11 | unsigned char SPI_RxBufferIndex; |
12 | 12 | ||
Line 13... | Line 13... | ||
13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value)]; |
13 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl_Value) + 8]; |
14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
14 | unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum; |
Line 34... | Line 34... | ||
34 | 34 | ||
35 | ToNaviCtrl_Value.Sync1 = 0xAA; |
35 | ToNaviCtrl_Value.Sync1 = 0xAA; |
Line 36... | Line 36... | ||
36 | ToNaviCtrl_Value.Sync2 = 0x83; |
36 | ToNaviCtrl_Value.Sync2 = 0x83; |
37 | 37 | ||
38 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
38 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
39 | ToNaviCtrl_Value.IntegralNick = 12345; |
39 | ToNaviCtrl_Value.IntegralNick = 0; |
40 | ToNaviCtrl_Value.IntegralRoll = 56789; |
40 | ToNaviCtrl_Value.IntegralRoll = 0; |
41 | ToNaviCtrl_Value.StickNick = 100; |
41 | ToNaviCtrl_Value.StickNick = 0; |
42 | ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll; |
- | |
- | 42 | ToNaviCtrl_Value.StickRoll = 0;//(char) StickRoll; |
|
43 | ToNaviCtrl_Value.StickGier = 200;//(char) StickGier; |
43 | ToNaviCtrl_Value.StickGier = 0;//(char) StickGier; |
44 | 44 | ToNaviCtrl_Value.CalState = 0; |
|
Line 45... | Line 45... | ||
45 | SPI_RxDataValid = 0; |
45 | SPI_RxDataValid = 0; |
46 | } |
46 | } |
Line 162... | Line 162... | ||
162 | static unsigned char i =0; |
162 | static unsigned char i =0; |
163 | cli(); |
163 | cli(); |
164 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
164 | ToNaviCtrl_Value.Command = SPI_CMD_VALUE; |
165 | ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick / 1024); |
165 | ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick / 1024); |
166 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
166 | ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024); |
167 | ToNaviCtrl_Value.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
- | |
168 | ToNaviCtrl_Value.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc); |
- | |
169 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
- | |
170 | ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
167 | ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
171 | ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
168 | ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
172 | ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
169 | ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
173 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
170 | ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
- | 171 | ToNaviCtrl_Value.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
|
- | 172 | ToNaviCtrl_Value.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc); |
|
- | 173 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
|
174 | ToNaviCtrl_Value.User1 = Parameter_UserParam1; |
174 | ToNaviCtrl_Value.User1 = Parameter_UserParam1; |
175 | ToNaviCtrl_Value.User2 = Parameter_UserParam2; |
175 | ToNaviCtrl_Value.User2 = Parameter_UserParam2; |
176 | ToNaviCtrl_Value.User3 = Parameter_UserParam3; |
176 | ToNaviCtrl_Value.User3 = Parameter_UserParam3; |
177 | ToNaviCtrl_Value.User4 = Parameter_UserParam4; |
177 | ToNaviCtrl_Value.User4 = Parameter_UserParam4; |
178 | ToNaviCtrl_Value.User5 = Parameter_UserParam5; |
178 | ToNaviCtrl_Value.User5 = Parameter_UserParam5; |
179 | ToNaviCtrl_Value.User6 = Parameter_UserParam6; |
179 | ToNaviCtrl_Value.User6 = Parameter_UserParam6; |
180 | ToNaviCtrl_Value.User7 = Parameter_UserParam7; |
180 | ToNaviCtrl_Value.User7 = Parameter_UserParam7; |
181 | ToNaviCtrl_Value.User8 = Parameter_UserParam8; |
181 | // ToNaviCtrl_Value.User8 = Parameter_UserParam8; |
- | 182 | ToNaviCtrl_Value.CalState = WinkelOut.CalcState; |
|
182 | sei(); |
183 | sei(); |
Line 183... | Line 184... | ||
183 | 184 | ||
184 | if (SPI_RxDataValid) |
185 | if (SPI_RxDataValid) |
185 | { |
186 | { |
Line 190... | Line 191... | ||
190 | 191 | ||
191 | if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime; |
192 | if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime; |
192 | } |
193 | } |
193 | else |
194 | else |
194 | { |
195 | { |
195 | KompassValue = 0; |
196 | // KompassValue = 0; |
Line 196... | Line 197... | ||
196 | KompassRichtung = 0; |
197 | // KompassRichtung = 0; |
197 | 198 | ||
198 | GPS_Nick = 0; |
199 | GPS_Nick = 0; |
199 | GPS_Roll = 0; |
200 | GPS_Roll = 0; |