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Rev 2377 Rev 2386
Line 61... Line 61...
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  SPI_RxDataValid = 0;
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  SPI_RxDataValid = 0;
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}
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}
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65 
//------------------------------------------------------
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//------------------------------------------------------
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void SPI_StartTransmitPacket(void)
 66 
unsigned char SPI_StartTransmitPacket(void)
67 
{
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{
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   if (!SPITransferCompleted) return;
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   if(!SPITransferCompleted) return(0);
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   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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   SLAVE_SELECT_PORT &=  ~(1 << SPI_SLAVE_SELECT);  // SelectSlave
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   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
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   SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl;
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   SPITransferCompleted = 0;
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   SPITransferCompleted = 0;
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   UpdateSPI_Buffer();                              // update buffer
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   UpdateSPI_Buffer();                              // update buffer
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   SPI_BufferIndex = 1;
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   SPI_BufferIndex = 1;
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   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
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   ToNaviCtrl.Chksum = ToNaviCtrl.Sync1;
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   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
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   SPDR = ToNaviCtrl.Sync1;                  // Start transmission
- 
 
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   return(1);
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}
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}
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//------------------------------------------------------
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//------------------------------------------------------
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//SIGNAL(SIG_SPI)
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//SIGNAL(SIG_SPI)
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   unsigned char rxdata;
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   unsigned char rxdata;
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   static unsigned char rxchksum;
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   static unsigned char rxchksum;
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   if (SPITransferCompleted) return;
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   if (SPITransferCompleted) return;
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   if (!(SPSR & (1 << SPIF))) return;
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   if (!(SPSR & (1 << SPIF))) return;
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  SendSPI = SPI_BYTEGAP;
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  BytegapSPI = SPI_BYTEGAP;
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//   _delay_us(30);
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//   _delay_us(30);
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  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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  SLAVE_SELECT_PORT |=  (1 << SPI_SLAVE_SELECT);   // DeselectSlave
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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] = FC_StatusFlags;
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                                ToNaviCtrl.Param.Byte[8] = FC_StatusFlags;
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//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;
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//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;
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                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
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                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
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                    ToNaviCtrl.Param.Byte[9] = ActiveParamSet;
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                    ToNaviCtrl.Param.Byte[9] = ActiveParamSet;
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                                ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
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                        ToNaviCtrl.Param.Byte[10] = (unsigned char) UBat; // 0.1V
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                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
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                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
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                                if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE;       // Out1 (J16)
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                                if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE;       // Out1 (J16)
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        break;
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        break;
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     case SPI_FCCMD_BL_ACCU:
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     case SPI_FCCMD_BL_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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                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
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                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
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                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
 - 
 
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                                ToNaviCtrl.Param.Byte[5] = GetChannelValue(EE_Parameter.NaviGpsModeChannel);  // GPS-Mode control
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                                ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel);  // GPS-Mode control
184 
                                ToNaviCtrl.Param.Byte[6] = VarioCharacter;
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                                ToNaviCtrl.Param.Byte[5] = VarioCharacter;
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                                ToNaviCtrl.Param.Byte[7] = motorindex;
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                                ToNaviCtrl.Param.Byte[6] = motorindex;
- 
 
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                                ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version;
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                                ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
 187 
                                ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM;
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                                ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
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                                ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State;
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                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
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                                ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature;
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                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current;
 190 
                                ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current;
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                                if(Mixer.Motor[++motorindex][0] == 0) // next motor is not used ?
 191 
                                if(Mixer.Motor[++motorindex][0] == 0) // next motor is not used ?
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                                ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT;
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                                ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT;
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#else
 218 
#else
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                                ToNaviCtrl.Param.Byte[1] = 0;
 219 
                                ToNaviCtrl.Param.Byte[1] = 0;
219 
#endif
 220 
#endif
220 
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.LandingSpeed;
 221 
                                ToNaviCtrl.Param.Byte[2] = EE_Parameter.LandingSpeed;
- 
 
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                                ToNaviCtrl.Param.Byte[3] = EE_Parameter.ComingHomeAltitude;
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            break;
 223 
            break;
222 
         case SPI_FCCMD_STICK:
 224 
         case SPI_FCCMD_STICK:
223 
              cli();
 225 
              cli();
224 
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
 226 
                tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127;
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                                ToNaviCtrl.Param.Byte[0] = (char) tmp;
 227 
                                ToNaviCtrl.Param.Byte[0] = (char) tmp;