Subversion Repositories NaviCtrl

Rev

Rev 233 | Rev 242 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 233 Rev 241
Line 59... Line 59...
59 
#include "91x_lib.h"
 59 
#include "91x_lib.h"
60 
#include "led.h"
 60 
#include "led.h"
61 
#include "gps.h"
 61 
#include "gps.h"
62 
#include "uart1.h"
 62 
#include "uart1.h"
63 
#include "spi_slave.h"
 63 
#include "spi_slave.h"
64 
#include "i2c.h"
 64 
#include "mk3mag.h"
65 
#include "timer1.h"
 65 
#include "timer1.h"
66 
#include "timer2.h"
 66 
#include "timer2.h"
67 
#include "config.h"
 67 
#include "config.h"
68 
#include "main.h"
 68 
#include "main.h"
69 
#include "fifo.h"
 69 
#include "fifo.h"
Line 280... Line 280...
280 
 
 280 
 
281 
        if (SPI_RxBuffer_Request)
 281 
        if (SPI_RxBuffer_Request)
282 
        {
 282 
        {
283 
                // avoid sending data via SPI during the update of the  ToFlightCtrl structure
 283 
                // avoid sending data via SPI during the update of the  ToFlightCtrl structure
284 
                VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
 284 
                VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
285 
                ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
 285 
                ToFlightCtrl.CompassHeading = MK3MAG_Heading.Heading;
286 
                DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
 286 
                DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
287 
                if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
 287 
                if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
288 
                // cycle spi commands
 288 
                // cycle spi commands
289 
                ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
 289 
                ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];