Subversion Repositories NaviCtrl

Compare Revisions

Ignore whitespace Rev 26 → Rev 27

/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 ",