Rev 12 | Rev 17 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 12 | Rev 16 | ||
|---|---|---|---|
| Line 69... | Line 69... | ||
| 69 | struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
69 | struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
| 70 | struct str_I2C_Mag I2C_Mag; |
70 | struct str_I2C_Mag I2C_Mag; |
| 71 | struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
71 | struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
| 72 | struct str_I2C_Version I2C_Version; |
72 | struct str_I2C_Version I2C_Version; |
| 73 | struct str_I2C_WriteCal I2C_WriteCal; |
73 | struct str_I2C_WriteCal I2C_WriteCal; |
| 74 | - | ||
| - | 74 | struct str_I2C_Acc I2C_Acc; |
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| Line 75... | Line 75... | ||
| 75 | 75 | ||
| 76 | 76 | ||
| 77 | //############################################################################ |
77 | //############################################################################ |
| Line 142... | Line 142... | ||
| 142 | I2C_Mag.MagX = MagnetN; |
142 | I2C_Mag.MagX = MagnetN; |
| 143 | I2C_Mag.MagY = MagnetR; |
143 | I2C_Mag.MagY = MagnetR; |
| 144 | I2C_Mag.MagZ = MagnetZ; |
144 | I2C_Mag.MagZ = MagnetZ; |
| Line 145... | Line 145... | ||
| 145 | 145 | ||
| - | 146 | break; |
|
| - | 147 | case I2C_CMD_READ_ACC: |
|
| - | 148 | I2C_TxBuffer = (unsigned char *)&I2C_Acc; |
|
| - | 149 | I2C_TxBufferSize = sizeof(I2C_Acc); |
|
| - | 150 | I2C_RxBufferSize = 0; |
|
| - | 151 | I2C_Acc.AccN = RawAccN; |
|
| - | 152 | I2C_Acc.AccR = RawAccR; |
|
| - | 153 | I2C_Acc.AccZ = RawAccZ; |
|
| 146 | break; |
154 | break; |
| 147 | case I2C_CMD_READ_HEADING: |
155 | case I2C_CMD_READ_HEADING: |
| 148 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
156 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
| 149 | I2C_TxBufferSize = sizeof(I2C_Heading); |
157 | I2C_TxBufferSize = sizeof(I2C_Heading); |
| 150 | I2C_RxBuffer = (unsigned char *)&I2C_WriteNickRoll; |
158 | I2C_RxBuffer = (unsigned char *)&I2C_WriteNickRoll; |
| Line 151... | Line 159... | ||
| 151 | I2C_RxBufferSize = sizeof(I2C_WriteNickRoll); |
159 | I2C_RxBufferSize = sizeof(I2C_WriteNickRoll); |
| 152 | 160 | ||
| 153 | I2C_Heading.Heading = Heading; |
161 | I2C_Heading.Heading = Heading; |
| - | 162 | ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick; |
|
| - | 163 | ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
|
| - | 164 | AngleSource = 1; |
|
| - | 165 | break; |
|
| - | 166 | case I2C_CMD_READ_HEADING_INTERNAL: |
|
| - | 167 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
|
| - | 168 | I2C_TxBufferSize = sizeof(I2C_Heading); |
|
| - | 169 | I2C_RxBufferSize = 0; |
|
| - | 170 | ||
| - | 171 | I2C_Heading.Heading = Heading; |
|
| - | 172 | ExternData.Winkel[NICK] = 0; |
|
| 154 | ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick; |
173 | ExternData.Winkel[ROLL] = 0; |
| - | 174 | AngleSource = 0; |
|
| 155 | ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
175 | break; |
| 156 | break; |
176 | |
| 157 | } |
177 | } |
| 158 | } |
178 | } |
| 159 | else |
179 | else |