| /trunk/main.h |
|---|
| 7,12 → 7,12 |
| #define VERSION_MAJOR 0 |
| #define VERSION_MINOR 23 |
| #define VERSION_PATCH 2 |
| #define VERSION_PATCH 3 |
| #define VERSION_SERIAL_MAJOR 11 |
| #define VERSION_SERIAL_MINOR 0 |
| #define FC_SPI_COMPATIBLE 16 |
| #define FC_SPI_COMPATIBLE 17 |
| #define MK3MAG_I2C_COMPATIBLE 3 |
| // FC STATUS FLAGS |
| /trunk/params.c |
|---|
| 1,17 → 1,20 |
| #include "91x_lib.h" |
| #include "params.h" |
| #include "spi_slave.h" |
| s16 NCParams[255]; |
| void NCParams_Init(void) |
| { |
| NCParams[NCPARAMS_GPS_TARGETSPEED] = 50; // 5.0 m/s |
| NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT] = -1; |
| } |
| u8 NCParams_SetValue(u8 id, s16* pvalue) |
| { |
| NCParams[id] = *pvalue; |
| // Process data |
| if(id == NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT) NewCompassDirectionSetpoint = NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT]; |
| return 1; |
| } |
| /trunk/params.h |
|---|
| 2,7 → 2,8 |
| #define _PARAMS_H |
| // ids 0...255 |
| #define NCPARAMS_GPS_TARGETSPEED 0 |
| #define NCPARAMS_GPS_TARGETSPEED 0 |
| #define NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT 1 |
| extern void NCParams_Init(); |
| extern u8 NCParams_SetValue(u8 id, s16* pvalue); |
| /trunk/spi_slave.c |
|---|
| 102,6 → 102,7 |
| u8 SPI_CommandCounter = 0; |
| s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| s32 HeadFreeStartAngle = 0; |
| s32 NewCompassDirectionSetpoint = -1; |
| s32 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| SPI_Version_t FC_Version; |
| 296,6 → 297,9 |
| ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| // ToFlightCtrl.Param.Byte[7] ist frei |
| ToFlightCtrl.Param.sInt[4] = (s16) NewCompassDirectionSetpoint; |
| NewCompassDirectionSetpoint = -1; // delete the Value |
| break; |
| case SPI_NCCMD_VERSION: |
| /trunk/spi_slave.h |
|---|
| 21,6 → 21,7 |
| extern s32 ToFcGpsZ; |
| extern s32 ToFC_Rotate_C, ToFC_Rotate_S; |
| extern s32 HeadFreeStartAngle; |
| extern s32 NewCompassDirectionSetpoint; |
| extern s32 FC_WP_EventChannel; |
| typedef struct |