Rev 397 | Rev 405 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 397 | Rev 399 | ||
|---|---|---|---|
| Line 287... | Line 287... | ||
| 287 | static u32 timeout = 0; |
287 | static u32 timeout = 0; |
| 288 | static u8 counter = 50,hott_index = 0; |
288 | static u8 counter = 50,hott_index = 0; |
| 289 | s16 tmp; |
289 | s16 tmp; |
| 290 | s32 i1,i2; |
290 | s32 i1,i2; |
| Line 291... | Line -... | ||
| 291 | - | ||
| 292 | 291 | ||
| 293 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
| 294 | if(SPI_RxBuffer_Request) |
293 | if(SPI_RxBuffer_Request) |
| 295 | { |
294 | { |
| 296 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
295 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| Line 303... | Line 302... | ||
| 303 | ToFlightCtrl.MagVecZ = MagVector.Z; |
302 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 304 | ToFlightCtrl.NCStatus = 0; |
303 | ToFlightCtrl.NCStatus = 0; |
| 305 | // cycle spi commands |
304 | // cycle spi commands |
| 306 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
305 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 307 | // restart command cycle at the end |
306 | // restart command cycle at the end |
| 308 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
307 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| - | 308 | ||
| 309 | #define FLAG_GPS_AID 0x01 |
309 | #define FLAG_GPS_AID 0x01 |
| 310 | switch (ToFlightCtrl.Command) |
310 | switch (ToFlightCtrl.Command) |
| 311 | { |
311 | { |
| 312 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
312 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 313 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
313 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |