WebSVN - NaviCtrl - Diff - Rev 222 and 223



        {
                // avoid sending data via SPI during the update of the  ToFlightCtrl structure
                VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
                ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
                DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
                ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
                // cycle spi commands
                ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
                // restart command cycle at the end
                if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;

 
                switch (ToFlightCtrl.Command)
                {
                        case  SPI_NCCMD_KALMAN:
                                CalcHeadFree();
                                ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
                                ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
                                ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
                                ToFlightCtrl.Param.Byte[3]      = (u8) SerialLinkOkay;
                                ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
                                ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
                                ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;

                                break;
 
                        case SPI_NCCMD_VERSION:
                                ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
                                ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
                                ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
                                ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
                                ToFlightCtrl.Param.Byte[4] = BoardRelease;
                                break;
 
                        case SPI_NCCMD_GPSINFO:
                                ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
                                ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;

                                if(ClearFCFlags)
                                {
                                        FC.Flags = 0;
                                        ClearFCFlags = 0;
                                }
                                FC.Flags |= FromFlightCtrl.Param.Byte[8];
                                Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
                                DebugOut.Analog[5] = FC.Flags;
                                NaviData.FCFlags = FC.Flags;
                                HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1°
                                break;

 
                        case SPI_FCCMD_ACCU:
                                FC.BAT_Current = FromFlightCtrl.Param.Int[0];
                                FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
                                FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
                                Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
                                NaviData.UBat = FC.BAT_Voltage;

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/spi_slave.c @ 402 - Rev 222 → 223

Rev 222		Rev 223
Line 281...		Line 281...
281	{	281	{
282	// avoid sending data via SPI during the update of the ToFlightCtrl structure	282	// avoid sending data via SPI during the update of the ToFlightCtrl structure
283	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt	283	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
284	ToFlightCtrl.CompassHeading = I2C_Heading.Heading;	284	ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
285	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;	285	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
286	ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;	286	ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
287	// cycle spi commands	287	// cycle spi commands
288	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];	288	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
289	// restart command cycle at the end	289	// restart command cycle at the end
290	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;	290	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
Line 291...		Line 291...
291		291
292	switch (ToFlightCtrl.Command)	292	switch (ToFlightCtrl.Command)
293	{	293	{
294	case SPI_NCCMD_KALMAN:	294	case SPI_NCCMD_KALMAN:
295	CalcHeadFree();	295	CalcHeadFree();
296	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;	296	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
297	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;	297	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
298	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;	298	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
299	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;	299	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
300	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;	300	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
301	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;	301	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
302	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;	302	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
Line 303...		Line 303...
303	break;	303	break;
304		304
305	case SPI_NCCMD_VERSION:	305	case SPI_NCCMD_VERSION:
306	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;	306	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
307	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;	307	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
308	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;	308	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
309	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;	309	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
310	ToFlightCtrl.Param.Byte[4] = BoardRelease;	310	ToFlightCtrl.Param.Byte[4] = BoardRelease;
311	break;	311	break;
312		312
313	case SPI_NCCMD_GPSINFO:	313	case SPI_NCCMD_GPSINFO:
314	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;	314	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
315	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;	315	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
Line 338...		Line 338...
338	if(ClearFCFlags)	338	if(ClearFCFlags)
339	{	339	{
340	FC.Flags = 0;	340	FC.Flags = 0;
341	ClearFCFlags = 0;	341	ClearFCFlags = 0;
342	}	342	}
343	FC.Flags \|= FromFlightCtrl.Param.Byte[8];	343	FC.Flags \|= FromFlightCtrl.Param.Byte[8];
344	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];	344	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
345	DebugOut.Analog[5] = FC.Flags;	345	DebugOut.Analog[5] = FC.Flags;
346	NaviData.FCFlags = FC.Flags;	346	NaviData.FCFlags = FC.Flags;
347	HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20;	347	HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1°
348	break;	348	break;
Line 349...		Line 349...
349		349
350	case SPI_FCCMD_ACCU:	350	case SPI_FCCMD_ACCU:
351	FC.BAT_Current = FromFlightCtrl.Param.Int[0];	351	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
352	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];	352	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
353	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];	353	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
354	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];	354	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
355	NaviData.UBat = FC.BAT_Voltage;	355	NaviData.UBat = FC.BAT_Voltage;