Rev 1209 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1209 | Rev 1215 | ||
|---|---|---|---|
| Line 14... | Line 14... | ||
| 14 | 14 | ||
| 15 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
15 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| Line 16... | Line 16... | ||
| 16 | unsigned char *SPI_TX_Buffer; |
16 | unsigned char *SPI_TX_Buffer; |
| 17 | 17 | ||
| Line 18... | Line 18... | ||
| 18 | unsigned char SPITransferCompleted, SPI_ChkSum; |
18 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| 19 | unsigned char SPI_RxDataValid; |
19 | unsigned char SPI_RxDataValid,NaviDataOkay = 0; |
| Line 20... | Line 20... | ||
| 20 | 20 | ||
| Line 41... | Line 41... | ||
| 41 | ToNaviCtrl.Sync2 = 0x83; |
41 | ToNaviCtrl.Sync2 = 0x83; |
| Line 42... | Line 42... | ||
| 42 | 42 | ||
| 43 | ToNaviCtrl.Command = SPI_CMD_USER; |
43 | ToNaviCtrl.Command = SPI_CMD_USER; |
| 44 | ToNaviCtrl.IntegralNick = 0; |
44 | ToNaviCtrl.IntegralNick = 0; |
| - | 45 | ToNaviCtrl.IntegralRoll = 0; |
|
| 45 | ToNaviCtrl.IntegralRoll = 0; |
46 | FromNaviCtrl_Value.SerialDataOkay = 0; |
| Line 46... | Line 47... | ||
| 46 | SPI_RxDataValid = 0; |
47 | SPI_RxDataValid = 0; |
| 47 | 48 | ||
| 48 | SPI_VersionInfo.Major = VERSION_MAJOR; |
49 | SPI_VersionInfo.Major = VERSION_MAJOR; |
| Line 238... | Line 239... | ||
| 238 | break; |
239 | break; |
| 239 | } |
240 | } |
| Line 240... | Line 241... | ||
| 240 | 241 | ||
| Line 241... | Line 242... | ||
| 241 | sei(); |
242 | sei(); |
| 242 | 243 | ||
| 243 | if (SPI_RxDataValid) |
244 | if(SPI_RxDataValid) |
| 244 | { |
245 | { |
| 245 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
246 | if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
| 246 | { |
247 | { |
| - | 248 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
|
| 247 | GPS_Nick = FromNaviCtrl.GPS_Nick; |
249 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
| 248 | GPS_Roll = FromNaviCtrl.GPS_Roll; |
250 | NaviDataOkay = 250; |
| 249 | } |
251 | } |
| Line 250... | Line 252... | ||
| 250 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
252 | if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| Line 256... | Line 258... | ||
| 256 | { |
258 | { |
| 257 | case SPI_KALMAN: |
259 | case SPI_KALMAN: |
| 258 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
260 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
| 259 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
261 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
| 260 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
262 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
| - | 263 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
|
| 261 | break; |
264 | break; |
| Line 262... | Line 265... | ||
| 262 | 265 | ||
| 263 | default: |
266 | default: |
| 264 | break; |
267 | break; |
| 265 | } |
268 | } |
| 266 | } |
269 | } |
| 267 | else |
270 | else |
| 268 | { |
271 | { |
| 269 | // KompassValue = 0; |
272 | // KompassValue = 0; |
| 270 | // KompassRichtung = 0; |
- | |
| 271 | 273 | // KompassRichtung = 0; |
|
| 272 | GPS_Nick = 0; |
274 | GPS_Nick = 0; |
| 273 | GPS_Roll = 0; |
275 | GPS_Roll = 0; |
| 274 | } |
276 | } |