/trunk/main.h |
---|
7,12 → 7,12 |
#define VERSION_MAJOR 0 |
#define VERSION_MINOR 23 |
#define VERSION_PATCH 2 |
#define VERSION_PATCH 3 |
#define VERSION_SERIAL_MAJOR 11 |
#define VERSION_SERIAL_MINOR 0 |
#define FC_SPI_COMPATIBLE 16 |
#define FC_SPI_COMPATIBLE 17 |
#define MK3MAG_I2C_COMPATIBLE 3 |
// FC STATUS FLAGS |
/trunk/params.c |
---|
1,17 → 1,20 |
#include "91x_lib.h" |
#include "params.h" |
#include "spi_slave.h" |
s16 NCParams[255]; |
void NCParams_Init(void) |
{ |
NCParams[NCPARAMS_GPS_TARGETSPEED] = 50; // 5.0 m/s |
NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT] = -1; |
} |
u8 NCParams_SetValue(u8 id, s16* pvalue) |
{ |
NCParams[id] = *pvalue; |
// Process data |
if(id == NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT) NewCompassDirectionSetpoint = NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT]; |
return 1; |
} |
/trunk/params.h |
---|
3,6 → 3,7 |
// ids 0...255 |
#define NCPARAMS_GPS_TARGETSPEED 0 |
#define NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT 1 |
extern void NCParams_Init(); |
extern u8 NCParams_SetValue(u8 id, s16* pvalue); |
/trunk/spi_slave.c |
---|
102,6 → 102,7 |
u8 SPI_CommandCounter = 0; |
s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
s32 HeadFreeStartAngle = 0; |
s32 NewCompassDirectionSetpoint = -1; |
s32 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
SPI_Version_t FC_Version; |
296,6 → 297,9 |
ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
// ToFlightCtrl.Param.Byte[7] ist frei |
ToFlightCtrl.Param.sInt[4] = (s16) NewCompassDirectionSetpoint; |
NewCompassDirectionSetpoint = -1; // delete the Value |
break; |
case SPI_NCCMD_VERSION: |
/trunk/spi_slave.h |
---|
21,6 → 21,7 |
extern s32 ToFcGpsZ; |
extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
extern s32 HeadFreeStartAngle; |
extern s32 NewCompassDirectionSetpoint; |
extern s32 FC_WP_EventChannel; |
typedef struct |