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| Rev 350 | Rev 351 | ||
|---|---|---|---|
| Line 113... | Line 113... | ||
| 113 | u8 NC_GPS_ModeCharacter = ' '; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
| 114 | u8 FCCalibActive = 0; |
114 | u8 FCCalibActive = 0; |
| 115 | u8 FC_is_Calibrated = 0; |
115 | u8 FC_is_Calibrated = 0; |
| 116 | u8 MotorCurrent[12]; |
116 | u8 MotorCurrent[12]; |
| 117 | u8 MotorTemperature[12]; |
117 | u8 MotorTemperature[12]; |
| - | 118 | u8 NC_To_FC_Flags = 0; |
|
| 118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
119 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 119 | u32 FC_I2C_ErrorConter; |
120 | u32 FC_I2C_ErrorConter; |
| 120 | SPI_Version_t FC_Version; |
121 | SPI_Version_t FC_Version; |
| - | 122 | s16 POI_KameraNick = 0; |
|
| Line 121... | Line 123... | ||
| 121 | 123 | ||
| 122 | //-------------------------------------------------------------- |
124 | //-------------------------------------------------------------- |
| 123 | void SSP0_IRQHandler(void) |
125 | void SSP0_IRQHandler(void) |
| 124 | { |
126 | { |
| Line 329... | Line 331... | ||
| 329 | ToFlightCtrl.Param.sInt[4] = -1; |
331 | ToFlightCtrl.Param.sInt[4] = -1; |
| 330 | } |
332 | } |
| Line 331... | Line 333... | ||
| 331 | 333 | ||
| 332 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
334 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 333 | { |
335 | { |
| 334 | ToFlightCtrl.Param.sInt[5] = tmp; |
336 | POI_KameraNick = tmp; |
| 335 | } |
337 | } |
| 336 | else |
338 | else |
| 337 | { |
339 | { |
| 338 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
340 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 339 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
341 | POI_KameraNick = CAM_Orientation.Elevation; |
| 340 | //else ToFlightCtrl.Param.sInt[5] = 0; |
342 | //else ToFlightCtrl.Param.sInt[5] = 0; |
| - | 343 | } |
|
| 341 | } |
344 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| Line 342... | Line 345... | ||
| 342 | break; |
345 | break; |
| 343 | 346 | ||
| 344 | case SPI_NCCMD_VERSION: |
347 | case SPI_NCCMD_VERSION: |
| Line 350... | Line 353... | ||
| 350 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
353 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 351 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
354 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
| 352 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
355 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 353 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
356 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 354 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
357 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 355 | ToFlightCtrl.Param.Byte[10] = 0; |
358 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| 356 | ToFlightCtrl.Param.Byte[11] = 0; |
359 | ToFlightCtrl.Param.Byte[11] = 0; |
| 357 | break; |
360 | break; |
| 358 | case SPI_MISC: |
361 | case SPI_MISC: |
| 359 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
362 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
| 360 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
363 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
| Line 695... | Line 698... | ||
| 695 | else DebugOut.StatusRed &= ~AMPEL_FC; |
698 | else DebugOut.StatusRed &= ~AMPEL_FC; |
| 696 | break; |
699 | break; |
| 697 | default: |
700 | default: |
| 698 | break; |
701 | break; |
| 699 | } |
702 | } |
| 700 | - | ||
| 701 | /* |
703 | /* |
| 702 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
704 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 703 | // Einkommentieren, falls der Flug simultert werden soll |
705 | // Einkommentieren, falls der Flug simultert werden soll |
| 704 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
706 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
| 705 | else |
707 | else |
| 706 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
708 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
| 707 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
709 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
| 708 | BL_MinOfMaxPWM = 255; |
710 | BL_MinOfMaxPWM = 255; |
| 709 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 710 | */ |
712 | */ |
| 711 | - | ||
| 712 | // every time we got new data from the FC via SPI call the navigation routine |
713 | // every time we got new data from the FC via SPI call the navigation routine |
| 713 | // and update GPSStick that are returned to FC |
714 | // and update GPSStick that are returned to FC |
| 714 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
715 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 715 | ClearFCStatusFlags = 1; |
716 | ClearFCStatusFlags = 1; |