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| Rev 280 | Rev 284 | ||
|---|---|---|---|
| Line 64... | Line 64... | ||
| 64 | #include "compass.h" |
64 | #include "compass.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 "compass.h" |
69 | #include "compass.h" |
| Line 70... | Line 70... | ||
| 70 | 70 | ||
| 71 | 71 | ||
| 72 | #define SPI_RXSYNCBYTE1 0xAA |
72 | #define SPI_RXSYNCBYTE1 0xAA |
| Line 278... | Line 278... | ||
| 278 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
278 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 279 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
279 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 280 | ToFlightCtrl.CompassHeading = Compass_Heading; |
280 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 281 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
281 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 282 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
282 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| - | 283 | ToFlightCtrl.MagVecX = MagVector.X; |
|
| - | 284 | ToFlightCtrl.MagVecY = MagVector.Y; |
|
| - | 285 | ToFlightCtrl.MagVecZ = MagVector.Z; |
|
| - | 286 | ToFlightCtrl.NCStatus = 0; |
|
| 283 | // cycle spi commands |
287 | // cycle spi commands |
| 284 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
288 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 285 | // restart command cycle at the end |
289 | // restart command cycle at the end |
| 286 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
290 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| Line 349... | Line 353... | ||
| 349 | { |
353 | { |
| 350 | FC.StatusFlags = 0; |
354 | FC.StatusFlags = 0; |
| 351 | ClearFCStatusFlags = 0; |
355 | ClearFCStatusFlags = 0; |
| 352 | } |
356 | } |
| 353 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
357 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 354 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
358 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
| 355 | { |
359 | { |
| 356 | Compass_Init(); |
360 | Compass_Init(); |
| 357 | FCCalibActive = 1; |
361 | FCCalibActive = 1; |
| 358 | } |
362 | } |
| 359 | else |
363 | else |
| 360 | { |
364 | { |
| 361 | FCCalibActive = 0; |
365 | FCCalibActive = 0; |
| 362 | } |
366 | } |
| 363 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
367 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 364 | DebugOut.Analog[5] = FC.StatusFlags; |
368 | DebugOut.Analog[5] = FC.StatusFlags; |
| 365 | NaviData.FCStatusFlags = FC.StatusFlags; |
369 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 366 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
370 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |