/trunk/kml.c |
---|
354,4 → 354,4 |
KML_LineStringAddPoint(gps_data , doc); |
} |
} |
/trunk/main.c |
---|
75,6 → 75,7 |
u8 Parameter_UserParam6; |
u8 Parameter_UserParam7; |
u8 Parameter_UserParam8; |
//++++++++++++++++++++++++++++++++++++++++++++++++++ |
s32 FC_StickNick; |
s32 FC_StickRoll; |
s32 FC_StickGier; |
83,7 → 84,29 |
s32 FC_Poti2; |
s32 FC_Poti3; |
s32 FC_Poti4; |
//++++++++++++++++++++++++++++++++++++++++++++++++++ |
s32 SenderOkay = 0; |
s32 UBat = 0; |
s32 UndervoltageLevel = 0; |
s32 ActiveSetting = 1; |
//++++++++++++++++++++++++++++++++++++++++++++++++++ |
s32 Parameter_NaviGpsModeControl = 128; |
s32 Parameter_NaviGpsGain = 0; |
s32 Parameter_NaviGpsP = 90; |
s32 Parameter_NaviGpsI = 0; |
s32 Parameter_NaviGpsD = 90; |
s32 Parameter_NaviGpsACC = 0; |
s32 Parameter_NaviGpsMinSat = 3; |
s32 Parameter_NaviStickThreshold = 8; |
s32 Parameter_RadiusAlert = 15; |
//++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define FLAG_MOTOR_RUN 1 |
#define FLAG_FLY 2 |
#define FLAG_CALIBRATE 4 |
#define FLAG_START 8 |
u32 MikroKopterFlags; |
u32 ClearFlags = 1; |
//++++++++++++++++++++++++++++++++++++++++++++++++++ |
u8 text[20]; |
//---------------------------------------------------------------------------------------------------- |
263,7 → 286,6 |
if(CheckDelay(KmlAddPointDelay)) |
{ |
KmlAddPointDelay = SetDelay(500); |
switch(kml_state) |
{ |
case 0: |
280,6 → 302,7 |
else |
{ |
InitFat16(); |
if(str_Volume.state != INITIALIZED) KmlAddPointDelay = SetDelay(5000); // try again in 5 sek |
} |
} |
break; // document.state will be changed to DOC_OPENED automatic. |
/trunk/main.h |
---|
38,6 → 38,7 |
extern u8 BeepTime; |
void InitInterrupt(void); |
extern u8 text[20]; |
extern u8 Parameter_UserParam1; |
extern u8 Parameter_UserParam2; |
extern u8 Parameter_UserParam3; |
55,4 → 56,25 |
extern s32 FC_Poti3; |
extern s32 FC_Poti4; |
extern s32 SenderOkay; |
extern u8 text[20]; |
extern s32 UBat; |
extern s32 UndervoltageLevel; |
extern s32 ActiveSetting; |
//++++++++++++++++++++++++++++++++++++++++++++++++++ |
extern s32 Parameter_NaviGpsModeControl; |
extern s32 Parameter_NaviGpsGain; |
extern s32 Parameter_NaviGpsP; |
extern s32 Parameter_NaviGpsI; |
extern s32 Parameter_NaviGpsD; |
extern s32 Parameter_NaviGpsACC; |
extern s32 Parameter_NaviGpsMinSat; |
extern s32 Parameter_NaviStickThreshold; |
extern s32 Parameter_RadiusAlert; |
//++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define FLAG_MOTOR_RUN 1 |
#define FLAG_FLY 2 |
#define FLAG_CALIBRATE 4 |
#define FLAG_START 8 |
extern u32 MikroKopterFlags; |
extern u32 ClearFlags; |
//++++++++++++++++++++++++++++++++++++++++++++++++++ |
/trunk/sdc.c |
---|
601,9 → 601,8 |
c_size |= ((u32)SDCardInfo.CSD[8])<<8; //CSD[08] -> [63:56] |
c_size |= (u32)SDCardInfo.CSD[9]; //CSD[09] -> [55:48]; |
SDCardInfo.Capacity = (c_size + 1)* 512L * 1024L; |
break; |
default: //unknown CSD Version |
break; |
default: //unknown CSD Version |
SDCardInfo.Capacity = 0; |
break; |
} |
636,7 → 635,7 |
SDCardInfo.Valid = 0; |
result = SD_ERROR_NOCARD; |
} |
if(result != SD_SUCCESS) SerialPutString("nok"); |
// if(result != SD_SUCCESS) SerialPutString("nok "); |
return(result); |
} |
/trunk/spi_slave.c |
---|
78,7 → 78,6 |
unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
unsigned char SPI_CommandCounter = 0; |
//-------------------------------------------------------------- |
void SSP0_IRQHandler(void) |
{ |
249,10 → 248,10 |
//------------------------------------------------------ |
void UpdateSPI_Buffer(void) |
{ |
if (SPI_RXUpdatebufferRequest) |
if(CompassUpdateActiv) return; // testweise deaktiviert |
if(SPI_RXUpdatebufferRequest) |
{ |
if (CompassUpdateActiv) return; // testweise deaktiviert |
VIC_ITCmd(SSP0_ITLine, DISABLE); |
ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
310,9 → 309,28 |
Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
Parameter_UserParam8 = FromFlightCtrl.Param.Byte[7]; |
if(ClearFlags) {MikroKopterFlags = 0; ClearFlags = 0;}; |
MikroKopterFlags |= (s32) FromFlightCtrl.Param.Byte[8]; |
UBat = FromFlightCtrl.Param.Byte[9]; |
UndervoltageLevel = FromFlightCtrl.Param.Byte[10]; |
ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
//DebugOut.Analog[7] = MikroKopterFlags; |
if(MikroKopterFlags & 0x004) DebugOut.Analog[8]++; |
break; |
case SPI_CMD_PARAMETER1: |
Parameter_NaviGpsModeControl = FromFlightCtrl.Param.Byte[0]; |
Parameter_NaviGpsGain = FromFlightCtrl.Param.Byte[1]; |
Parameter_NaviGpsP = FromFlightCtrl.Param.Byte[2]; |
Parameter_NaviGpsI = FromFlightCtrl.Param.Byte[3]; |
Parameter_NaviGpsD = FromFlightCtrl.Param.Byte[4]; |
Parameter_NaviGpsACC = FromFlightCtrl.Param.Byte[5]; |
Parameter_NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
Parameter_NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
Parameter_RadiusAlert = FromFlightCtrl.Param.Byte[8]; |
break; |
case SPI_CMD_STICK: |
DebugOut.Analog[8]++; |
FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
/trunk/spi_slave.h |
---|
3,13 → 3,13 |
#define SPI_PROTOCOL_COMP 1 |
#define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
// IMPORTANT: no syncbytes in structure ! |
#define SPI_CMD_USER 10 |
#define SPI_CMD_STICK 11 |
#define SPI_CMD_CAL_COMPASS 12 |
#define SPI_CMD_USER 10 |
#define SPI_CMD_STICK 11 |
#define SPI_CMD_CAL_COMPASS 12 |
#define SPI_CMD_PARAMETER1 13 |
struct str_FromFlightCtrl |
{ |
/trunk/uart.c |
---|
114,7 → 114,7 |
"ACC_Speed_N ", |
"ACC_Speed_E ", |
" ", |
" ", //20 |
" ", // 20 |
// "Distance_N ", |
// "Distance_E ", //20 |
"N_Speed ", |