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| Rev 903 | Rev 909 | ||
|---|---|---|---|
| Line 15... | Line 15... | ||
| 15 | #include "timer0.h" |
15 | #include "timer0.h" |
| 16 | #include "uart.h" |
16 | #include "uart.h" |
| 17 | #include "fc.h" |
17 | #include "fc.h" |
| 18 | #include "_Settings.h" |
18 | #include "_Settings.h" |
| 19 | #include "rc.h" |
19 | #include "rc.h" |
| 20 | #ifdef USE_KILLAGREG |
20 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| 21 | #include "ubx.h" |
21 | #include "ubx.h" |
| 22 | #endif |
22 | #endif |
| 23 | #if !defined(USE_KILLAGREG) && !defined (USE_NAVICTRL) |
23 | #ifdef USE_MK3MAG |
| 24 | #include "mk3mag.h" |
24 | #include "mk3mag.h" |
| 25 | #endif |
25 | #endif |
| Line 55... | Line 55... | ||
| 55 | ExternControl_t ExternControl; |
55 | ExternControl_t ExternControl; |
| 56 | VersionInfo_t VersionInfo; |
56 | VersionInfo_t VersionInfo; |
| Line 57... | Line 57... | ||
| 57 | 57 | ||
| Line 58... | Line 58... | ||
| 58 | int16_t Debug_Timer; |
58 | int16_t Debug_Timer; |
| 59 | 59 | ||
| 60 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
60 | #ifdef USE_MK3MAG |
| Line 61... | Line 61... | ||
| 61 | int16_t Compass_Timer; |
61 | int16_t Compass_Timer; |
| Line 170... | Line 170... | ||
| 170 | rxd_buffer_locked = FALSE; |
170 | rxd_buffer_locked = FALSE; |
| 171 | txd_complete = TRUE; |
171 | txd_complete = TRUE; |
| Line 172... | Line 172... | ||
| 172 | 172 | ||
| Line 173... | Line 173... | ||
| 173 | Debug_Timer = SetDelay(200); |
173 | Debug_Timer = SetDelay(200); |
| 174 | 174 | ||
| 175 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
175 | #ifdef USE_MK3MAG |
| Line 176... | Line 176... | ||
| 176 | Compass_Timer = SetDelay(220); |
176 | Compass_Timer = SetDelay(220); |
| 177 | #endif |
177 | #endif |
| Line 213... | Line 213... | ||
| 213 | uint8_t crc1, crc2; |
213 | uint8_t crc1, crc2; |
| 214 | uint8_t c; |
214 | uint8_t c; |
| Line 215... | Line 215... | ||
| 215 | 215 | ||
| Line 216... | Line 216... | ||
| 216 | c = UDR0; // catch the received byte |
216 | c = UDR0; // catch the received byte |
| 217 | 217 | ||
| 218 | #ifdef USE_KILLAGREG |
218 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| 219 | // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
219 | // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
| 220 | // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
220 | // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
| 221 | #if defined (__AVR_ATmega644P__) |
221 | #if defined (__AVR_ATmega644P__) |
| 222 | if(BoardRelease == 10) ubx_parser(c); |
222 | if(BoardRelease == 10) ubx_parser(c); |
| 223 | #else |
223 | #else |
| 224 | ubx_parser(c); |
224 | ubx_parser(c); |
| Line 225... | Line 225... | ||
| 225 | #endif |
225 | #endif |
| Line 226... | Line 226... | ||
| 226 | #endif // USE_KILLAGREG |
226 | #endif |
| 227 | 227 | ||
| Line 362... | Line 362... | ||
| 362 | uint8_t tmp_char_arr2[2]; // local char buffer |
362 | uint8_t tmp_char_arr2[2]; // local char buffer |
| Line 363... | Line 363... | ||
| 363 | 363 | ||
| 364 | 364 | ||
| 365 | switch(rxd_buffer[2]) |
365 | switch(rxd_buffer[2]) |
| 366 | { |
366 | { |
| 367 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
367 | #ifdef USE_MK3MAG |
| 368 | case 'K':// Compass value |
368 | case 'K':// Compass value |
| 369 | Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
369 | Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
| 370 | CompassHeading = tmp_int_arr1[0]; |
370 | CompassHeading = tmp_int_arr1[0]; |
| Line 467... | Line 467... | ||
| 467 | { |
467 | { |
| 468 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
468 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| 469 | RequestExternalControl = FALSE; |
469 | RequestExternalControl = FALSE; |
| 470 | } |
470 | } |
| Line 471... | Line 471... | ||
| 471 | 471 | ||
| 472 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
472 | #ifdef USE_MK3MAG |
| 473 | if((CheckDelay(Compass_Timer)) && txd_complete) |
473 | if((CheckDelay(Compass_Timer)) && txd_complete) |
| 474 | { |
474 | { |
| 475 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg |
475 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg |
| 476 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
476 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |