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• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/spi.c @ 1644

  → /branches/dongfang_FC_rewrite/spi.c @ 1645

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1644 → Rev 1645

/branches/dongfang_FC_rewrite/spi.c
59,7 → 59,7
#include "timer0.h"
#include "analog.h"
#include "attitude.h"
#include "GPScontrol.h"
#include "GPSControl.h"
#include "flight.h"
//-----------------------------------------
126,11 → 126,11
#define SPI_RXSYNCBYTE2 0x55
typedef enum
{
SPI_SYNC1,
SPI_SYNC2,
SPI_DATA
} SPI_RXState_t;
{
SPI_SYNC1,
SPI_SYNC2,
SPI_DATA
} SPI_RXState_t;
// data exchange packets to and From NaviCtrl
200,15 → 200,15
cli(); // stop all interrupts to avoid writing of new data during update of that packet.
// update content of packet to NaviCtrl
ToNaviCtrl.IntegralNick = (int16_t)((10 * pitchAngle) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
ToNaviCtrl.IntegralRoll = (int16_t)((10 * rollAngle) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
ToNaviCtrl.IntegralNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
ToNaviCtrl.IntegralRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
ToNaviCtrl.GyroHeading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1°
ToNaviCtrl.GyroNick = pitchRate_PID; // TODO: Which one should it be??
ToNaviCtrl.GyroRoll = rollRate_PID;
ToNaviCtrl.GyroNick = rate_PID[PITCH]; // TODO: Which one should it be??
ToNaviCtrl.GyroRoll = rate_PID[ROLL];
ToNaviCtrl.GyroYaw = yawRate;
ToNaviCtrl.AccNick = 0; // ((int16_t) 10 * ACC_AMPLIFY * (NaviAccNick / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1°
ToNaviCtrl.AccRoll = 0; // ((int16_t) 10 * ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1°
naviCntAcc = 0; naviAccPitch = 0; naviAccRoll = 0;
// naviCntAcc = 0; naviAccPitch = 0; naviAccRoll = 0;
switch(ToNaviCtrl.Command) {
case SPI_CMD_USER:
260,7 → 260,7
compassCalState = 0;
}
ToNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime;
ToNaviCtrl.Param.Int[1] = readingHeight; // at address of Byte 2 and 3
ToNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3
ToNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit;
ToNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit;
ToNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit;