| 68,8 → 68,8 |
|---|
| volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
| volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
| |
| volatile uint8_t I2C_PrimRxBuffer[10]; |
| |
| |
| struct I2C_Heading_t I2C_Heading; |
| struct I2C_WriteAttitude_t I2C_WriteAttitude; |
| struct I2C_Mag_t I2C_Mag; |
| 185,9 → 185,7 |
|---|
| I2C_TxBufferSize = sizeof(I2C_Heading); |
| I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
| I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
| // update heading from global variable |
| I2C_Heading.Heading = Heading; |
| // copy current attitude from I2C rx buffer to uart rx buffer (this is used for the calulation of the heading) |
| ExternData.Attitude[NICK] = I2C_WriteAttitude.Nick; |
| ExternData.Attitude[ROLL] = I2C_WriteAttitude.Roll; |
| break; |
| 205,16 → 203,27 |
|---|
| { |
| // fill receiver buffer with the byte that has been received |
| // if buffer exist and there is still some free space |
| if((I2C_RxBuffer != 0) && (Rx_Idx < I2C_RxBufferSize)) |
| if(Rx_Idx < I2C_RxBufferSize) |
| { |
| I2C_RxBuffer[Rx_Idx] = data; |
| I2C_PrimRxBuffer[Rx_Idx] = data; |
| crc += data; |
| } |
| else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transferred |
| { |
| else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
| { // if checksum matched |
| if(crc == data) |
| { // and RxBuffer exist |
| if(I2C_RxBuffer != 0) |
| { // copy data to rx buffer |
| for(data = 0; data < I2C_RxBufferSize; data++) |
| { |
| I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
| } |
| } |
| DebugOut.Analog[31]++; |
| } |
| else |
| { |
| // copy primary rx buffer to target |
| DebugOut.Analog[30]++; |
| } |
| } |
| // else ignore data |