| 10,6 → 10,7 |
|---|
| #include "eeprom.h" |
| #include "uart.h" |
| #include "timer0.h" |
| #include "analog.h" |
| |
| #define SPI_TXSYNCBYTE1 0xAA |
| #define SPI_TXSYNCBYTE2 0x83 |
| 42,11 → 43,9 |
|---|
| uint8_t SPITransferCompleted, SPI_ChkSum; |
| uint8_t SPI_RxDataValid; |
| |
| uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
| uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
| uint8_t SPI_CommandCounter = 0; |
| |
| #ifdef USE_SPI_COMMUNICATION |
| |
| /*********************************************/ |
| /* Initialize SPI interface to NaviCtrl */ |
| /*********************************************/ |
| 103,8 → 102,26 |
|---|
| ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
| ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
| ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
| ToNaviCtrl.Param.Byte[8] = MKFlags; |
| MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
| ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat; |
| ToNaviCtrl.Param.Byte[10] = ParamSet.LowVoltageWarning; |
| ToNaviCtrl.Param.Byte[11] = GetActiveParamSet(); |
| break; |
| |
| case SPI_CMD_PARAMETER1: |
| ToNaviCtrl.Param.Byte[0] = FCParam.NaviGpsModeControl; // Parameters for the Naviboard |
| ToNaviCtrl.Param.Byte[1] = FCParam.NaviGpsGain; |
| ToNaviCtrl.Param.Byte[2] = FCParam.NaviGpsP; |
| ToNaviCtrl.Param.Byte[3] = FCParam.NaviGpsI; |
| ToNaviCtrl.Param.Byte[4] = FCParam.NaviGpsD; |
| ToNaviCtrl.Param.Byte[5] = FCParam.NaviGpsACC; |
| ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat; |
| ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold; |
| ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius |
| break; |
| |
| |
| case SPI_CMD_STICK: |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
| 119,7 → 136,6 |
|---|
| ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
| ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
| ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
| ToNaviCtrl.Param.Byte[9] = (uint8_t) MotorsOn; |
| break; |
| |
| case SPI_CMD_CAL_COMPASS: |
| 144,8 → 160,8 |
|---|
| // update gps controls |
| if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| { |
| GPS_Nick = FromNaviCtrl.GPS_Nick; |
| GPS_Roll = FromNaviCtrl.GPS_Roll; |
| GPS_Nick = FromNaviCtrl.GPS_Nick; |
| GPS_Roll = FromNaviCtrl.GPS_Roll; |
| } |
| // update compass readings |
| if(FromNaviCtrl.CompassHeading <= 360) |
| 203,7 → 219,7 |
|---|
| ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| |
| SPITransferCompleted = 0; // tranfer is in progress |
| SPITransferCompleted = 0; // transfer is in progress |
| UpdateSPI_Buffer(); // update data in ToNaviCtrl |
| |
| SPI_TxBufferIndex = 1; //proceed with 2nd byte |
| 309,6 → 325,4 |
|---|
| } |
| |
| |
| #endif //USE_SPI_COMMUNICATION |
| |
| |