139,7 → 139,7 |
ToNaviCtrl_t ToNaviCtrl; |
FromNaviCtrl_t FromNaviCtrl; |
|
SPI_VersionInfo_t SPI_VersionInfo; |
SPI_VersionInfo_t NC_Version; |
|
// rx packet buffer |
#define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
158,7 → 158,7 |
uint8_t NCSerialDataOkay = 0; |
int8_t NCGpsZ = 0; |
|
uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION, SPI_CMD_SERVOS}; |
uint8_t SPI_CommandSequence[] = { SPI_FCCMD_USER, SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_SERVOS}; |
uint8_t SPI_CommandCounter = 0; |
|
/*********************************************/ |
180,7 → 180,7 |
ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
|
ToNaviCtrl.Command = SPI_CMD_USER; |
ToNaviCtrl.Command = SPI_FCCMD_USER; |
ToNaviCtrl.IntegralNick = 0; |
ToNaviCtrl.IntegralRoll = 0; |
NCSerialDataOkay = 0; |
187,11 → 187,6 |
NCDataOkay = 0; |
|
SPI_RxDataValid = 0; |
|
SPI_VersionInfo.Major = VERSION_MAJOR; |
SPI_VersionInfo.Minor = VERSION_MINOR; |
SPI_VersionInfo.Patch = VERSION_PATCH; |
SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
} |
|
|
215,7 → 210,7 |
|
switch(ToNaviCtrl.Command) |
{ |
case SPI_CMD_USER: |
case SPI_FCCMD_USER: |
ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
231,7 → 226,7 |
ToNaviCtrl.Param.Byte[11] = GetActiveParamSet(); |
break; |
|
case SPI_CMD_PARAMETER1: |
case SPI_FCCMD_PARAMETER1: |
ToNaviCtrl.Param.Byte[0] = ParamSet.NaviGpsModeControl; // Parameters for the Naviboard |
ToNaviCtrl.Param.Byte[1] = ParamSet.NaviGpsGain; |
ToNaviCtrl.Param.Byte[2] = ParamSet.NaviGpsP; |
247,7 → 242,7 |
break; |
|
|
case SPI_CMD_STICK: |
case SPI_FCCMD_STICK: |
cli(); |
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; |
268,7 → 263,7 |
ToNaviCtrl.Param.Byte[11] = (uint8_t) Poti[7]; |
break; |
|
case SPI_CMD_MISC: |
case SPI_FCCMD_MISC: |
ToNaviCtrl.Param.Byte[0] = CompassCalState; |
if(CompassCalState > 4) |
{ // jump from 5 to 0 |
285,15 → 280,15 |
ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; // gasmixfraction |
break; |
|
case SPI_CMD_VERSION: |
ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
case SPI_FCCMD_VERSION: |
ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
ToNaviCtrl.Param.Byte[4] = BoardRelease; |
break; |
|
case SPI_CMD_SERVOS: |
case SPI_FCCMD_SERVOS: |
ToNaviCtrl.Param.Byte[0] = ParamSet.ServoRefresh; // Parameters for the Servo Control |
ToNaviCtrl.Param.Byte[1] = ParamSet.ServoCompInvert; |
ToNaviCtrl.Param.Byte[2] = FCParam.ServoNickControl; |
333,7 → 328,7 |
switch (FromNaviCtrl.Command) |
{ |
|
case SPI_KALMAN: |
case SPI_NCCMD_KALMAN: |
FCParam.KalmanK = FromNaviCtrl.Param.sByte[0]; |
FCParam.KalmanMaxFusion = FromNaviCtrl.Param.sByte[1]; |
FCParam.KalmanMaxDrift = FromNaviCtrl.Param.sByte[2]; |
341,6 → 336,14 |
NCGpsZ = FromNaviCtrl.Param.sByte[4]; |
break; |
|
case SPI_NCCMD_VERSION: |
NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
break; |
|
default: |
break; |
} |