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| Rev 228 | Rev 231 | ||
|---|---|---|---|
| Line 90... | Line 90... | ||
| 90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
| 91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| 92 | volatile u8 SPI_RxBufferIndex = 0; |
92 | volatile u8 SPI_RxBufferIndex = 0; |
| 93 | volatile u8 SPI_RxBuffer_Request = 0; |
93 | volatile u8 SPI_RxBuffer_Request = 0; |
| 94 | #define SPI_COMMAND_INDEX 0 |
94 | #define SPI_COMMAND_INDEX 0 |
| - | 95 | volatile u8 FC_ErrorCode[5] = {0,0,0,0,0}; |
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| Line 95... | Line 96... | ||
| 95 | 96 | ||
| 96 | s32 Kalman_K = 32; |
97 | s32 Kalman_K = 32; |
| 97 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxDrift = 5 * 16; |
| 98 | s32 Kalman_MaxFusion = 64; |
99 | s32 Kalman_MaxFusion = 64; |
| Line 306... | Line 307... | ||
| 306 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
307 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 307 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
308 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
| 308 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
309 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 309 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
310 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 310 | ToFlightCtrl.Param.Byte[4] = BoardRelease; |
311 | ToFlightCtrl.Param.Byte[4] = BoardRelease; |
| - | 312 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
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| - | 313 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
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| 311 | break; |
314 | break; |
| Line 312... | Line 315... | ||
| 312 | 315 | ||
| 313 | case SPI_NCCMD_GPSINFO: |
316 | case SPI_NCCMD_GPSINFO: |
| 314 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
317 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
| Line 427... | Line 430... | ||
| 427 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
430 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 428 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
431 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
| 429 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
432 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| 430 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
433 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| 431 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
434 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
| - | 435 | FC_ErrorCode[0] = FromFlightCtrl.Param.Byte[5]; |
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| - | 436 | FC_ErrorCode[1] = FromFlightCtrl.Param.Byte[6]; |
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| - | 437 | FC_ErrorCode[2] = FromFlightCtrl.Param.Byte[7]; |
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| - | 438 | DebugOut.Status[0] |= 0x01; // status of FC Present |
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| - | 439 | DebugOut.Status[0] |= 0x02; // status of BL Present |
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| - | 440 | if(FC_ErrorCode[0] || FC_ErrorCode[1] || FC_ErrorCode[2]) DebugOut.Status[1] |= 0x01; else DebugOut.Status[1] &= ~0x01; |
|
| 432 | break; |
441 | break; |
| 433 | - | ||
| 434 | default: |
442 | default: |
| 435 | break; |
443 | break; |
| 436 | } |
444 | } |
| Line 437... | Line 445... | ||
| 437 | 445 | ||