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Rev 1855 | Rev 1856 | ||
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Line 125... | Line 125... | ||
125 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
125 | unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
126 | memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
127 | SPI_RxDataValid = 1; |
127 | SPI_RxDataValid = 1; |
128 | // DebugOut.Analog[26]--; |
128 | // DebugOut.Analog[26]--; |
129 | } |
129 | } |
130 | else |
130 | else |
131 | { |
131 | { |
132 | SPI_RxDataValid = 0; |
132 | SPI_RxDataValid = 0; |
133 | // DebugOut.Analog[26]++; |
133 | // DebugOut.Analog[26]++; |
134 | } |
134 | } |
135 | 135 | ||
Line 136... | Line 136... | ||
136 | 136 | ||
137 | SPI_RXState = 0; |
137 | SPI_RXState = 0; |
138 | } |
138 | } |
139 | else rxchksum += rxdata; |
139 | else rxchksum += rxdata; |
Line 271... | Line 271... | ||
271 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
271 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
272 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
272 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
273 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
273 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
274 | break; |
274 | break; |
275 | } |
275 | } |
276 | 276 | ||
277 | if(SPI_RxDataValid) |
277 | if(SPI_RxDataValid) |
278 | { |
278 | { |
279 | NaviDataOkay = 250; |
279 | NaviDataOkay = 250; |
280 | CalculateCompassTimer = 1; |
280 | CalculateCompassTimer = 1; |
281 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
281 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
Line 283... | Line 283... | ||
283 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
283 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
284 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
284 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
285 | } |
285 | } |
Line 286... | Line 286... | ||
286 | 286 | ||
287 | // update compass readings |
287 | // update compass readings |
288 | // MagVec.x = FromNaviCtrl.MagVecX; |
288 | MagVec.x = FromNaviCtrl.MagVecX; |
289 | // MagVec.y = FromNaviCtrl.MagVecY; |
289 | MagVec.y = FromNaviCtrl.MagVecY; |
Line 290... | Line 290... | ||
290 | // MagVec.z = FromNaviCtrl.MagVecZ; |
290 | MagVec.z = FromNaviCtrl.MagVecZ; |
291 | 291 | ||
Line 292... | Line 292... | ||
292 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
292 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
Line 305... | Line 305... | ||
305 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
305 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
306 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
306 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
307 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
307 | if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
308 | { |
308 | { |
309 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
309 | KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
310 | } |
310 | } |
311 | if(CareFree) POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
311 | if(CareFree) POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
312 | else POI_KameraNick = 0; |
312 | else POI_KameraNick = 0; |
313 | 313 | ||
314 | break; |
314 | break; |
315 | case SPI_NCCMD_VERSION: |
315 | case SPI_NCCMD_VERSION: |
316 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
316 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
317 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
317 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
318 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
318 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
319 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
319 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
320 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
320 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
321 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
321 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
322 | NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
322 | NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
323 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
323 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
324 | break; |
324 | break; |
Line 325... | Line 325... | ||
325 | 325 | ||
326 | case SPI_NCCMD_GPSINFO: |
326 | case SPI_NCCMD_GPSINFO: |
327 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
327 | GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
328 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
328 | GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |