Rev 638 | Rev 659 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 638 | Rev 644 | ||
|---|---|---|---|
| Line 210... | Line 210... | ||
| 210 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
210 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
| 211 | SPI_RxBuffer_Request = 1; |
211 | SPI_RxBuffer_Request = 1; |
| 212 | } |
212 | } |
| 213 | // reset timeout counter on good packet |
213 | // reset timeout counter on good packet |
| 214 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
214 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
| 215 | DebugOut.Analog[13]++; |
215 | // DebugOut.Analog[13]++; |
| 216 | } |
216 | } |
| 217 | else // bad checksum byte |
217 | else // bad checksum byte |
| 218 | { |
218 | { |
| 219 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
219 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
| 220 | } |
220 | } |
| Line 629... | Line 629... | ||
| 629 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
629 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 630 | { |
630 | { |
| 631 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
631 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
| 632 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
632 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
| 633 | Compass_Init(); |
633 | Compass_Init(); |
| 634 | FCCalibActive = 10; |
634 | FCCalibActive = 15; |
| 635 | FC_is_Calibrated = 0; |
635 | FC_is_Calibrated = 0; |
| - | 636 | FreqNewGpsDataIn5Sec = 50; |
|
| 636 | } |
637 | } |
| 637 | else |
638 | else |
| 638 | { |
639 | { |
| 639 | if(FCCalibActive) |
640 | if(FCCalibActive) |
| 640 | { |
641 | { |
| Line 856... | Line 857... | ||
| 856 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[4]; |
857 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[4]; |
| 857 | Parameter.HomeYawMode = ((ServoParams.CompInvert & 0x18) >> 3); |
858 | Parameter.HomeYawMode = ((ServoParams.CompInvert & 0x18) >> 3); |
| 858 | NaviData_Home.LipoCellCount = FromFlightCtrl.Param.Byte[5]; |
859 | NaviData_Home.LipoCellCount = FromFlightCtrl.Param.Byte[5]; |
| 859 | NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
860 | NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
| 860 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
861 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
| - | 862 | Parameter.FailSafeTime = FromFlightCtrl.Param.Byte[9]; |
|
| 861 | // DebugOut.Analog[] = NaviData_Volatile.ShutterCounter; |
863 | // DebugOut.Analog[] = NaviData_Volatile.ShutterCounter; |
| 862 | // 8 |
864 | // 8 |
| 863 | // 9 |
865 | // 9 |
| 864 | // 10 |
866 | // 10 |
| 865 | // 11 |
867 | // 11 |
| Line 919... | Line 921... | ||
| 919 | SPI0_UpdateBuffer(); |
921 | SPI0_UpdateBuffer(); |
| 920 | if (FC_Version.Major != 0xFF) break; |
922 | if (FC_Version.Major != 0xFF) break; |
| 921 | }while (!CheckDelay(timeout)); |
923 | }while (!CheckDelay(timeout)); |
| 922 | UART1_PutString("."); |
924 | UART1_PutString("."); |
| 923 | repeat++; |
925 | repeat++; |
| 924 | FCCalibActive = 1; |
926 | FCCalibActive = 0; |
| 925 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
927 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 926 | // if we got it |
928 | // if we got it |
| 927 | if (FC_Version.Major != 0xFF) |
929 | if (FC_Version.Major != 0xFF) |
| 928 | { |
930 | { |
| 929 | sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
931 | sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |