Rev 588 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 156 | killagreg | 1 | #include "91x_lib.h" |
| 2 | #include "params.h" |
||
| 276 | holgerb | 3 | #include "spi_slave.h" |
| 278 | killagreg | 4 | #include "waypoints.h" |
| 156 | killagreg | 5 | |
| 6 | s16 NCParams[255]; |
||
| 295 | killagreg | 7 | u8 NCParamState[255]; |
| 156 | killagreg | 8 | |
| 9 | void NCParams_Init(void) |
||
| 10 | { |
||
| 295 | killagreg | 11 | u16 i; |
| 12 | for(i=0; i<256; i++) |
||
| 13 | { |
||
| 14 | NCParamState[i] = NCPARAM_STATE_UNDEFINED; |
||
| 298 | holgerb | 15 | NCParams[i] = 0; |
| 295 | killagreg | 16 | } |
| 156 | killagreg | 17 | NCParams[NCPARAMS_GPS_TARGETSPEED] = 50; // 5.0 m/s |
| 276 | holgerb | 18 | NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT] = -1; |
| 298 | holgerb | 19 | NCParams[NCPARAMS_ALTITUDE_RATE] = 0; |
| 156 | killagreg | 20 | } |
| 21 | |||
| 298 | holgerb | 22 | u8 NCParams_SetValue(u8 id, s16 *pvalue) |
| 156 | killagreg | 23 | { |
| 157 | killagreg | 24 | NCParams[id] = *pvalue; |
| 295 | killagreg | 25 | NCParamState[id] = NCRARAM_STATE_VALID; |
| 278 | killagreg | 26 | |
| 27 | switch(id) |
||
| 28 | { |
||
| 588 | holgerb | 29 | case NCPARAMS_FORCE_NEW_COMPASS_DIRECTION: |
| 30 | CAM_Orientation.UpdateMask |= FORCE_AZIMUTH_ROTATION; |
||
| 31 | // Break fehlt hier absichtlich |
||
| 278 | killagreg | 32 | case NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT: |
| 280 | killagreg | 33 | if(NULL == PointList_GetPOI()) |
| 278 | killagreg | 34 | { |
| 35 | CAM_Orientation.Azimuth = *pvalue; |
||
| 36 | CAM_Orientation.Elevation = 0; |
||
| 588 | holgerb | 37 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 38 | } |
| 39 | break; |
||
| 40 | default: |
||
| 41 | break; |
||
| 42 | } |
||
| 298 | holgerb | 43 | return(NCParamState[id]); |
| 156 | killagreg | 44 | } |
| 45 | |||
| 298 | holgerb | 46 | void NCParams_ClearValue(u8 id) |
| 156 | killagreg | 47 | { |
| 298 | holgerb | 48 | NCParamState[id] = NCPARAM_STATE_UNDEFINED; |
| 49 | } |
||
| 50 | |||
| 51 | |||
| 52 | u8 NCParams_GetValue(u8 id, s16 *pvalue) |
||
| 53 | { |
||
| 157 | killagreg | 54 | if(pvalue == 0) return 0; |
| 295 | killagreg | 55 | if(NCParamState[id] == NCRARAM_STATE_VALID) |
| 56 | { |
||
| 57 | *pvalue = NCParams[id]; |
||
| 58 | } |
||
| 298 | holgerb | 59 | return(NCParamState[id]); |
| 156 | killagreg | 60 | } |
| 298 | holgerb | 61 |