| /trunk/main.h |
|---|
| 7,7 → 7,7 |
| #define VERSION_MAJOR 0 |
| #define VERSION_MINOR 23 |
| #define VERSION_PATCH 12 |
| #define VERSION_PATCH 14 |
| // 0 = A |
| // 1 = B |
| // 2 = C |
| 21,6 → 21,8 |
| // 10 = k |
| // 11 = L |
| // 12 = M |
| // 13 = N |
| // 14 = o |
| #define VERSION_SERIAL_MAJOR 11 |
| #define VERSION_SERIAL_MINOR 0 |
| /trunk/params.c |
|---|
| 12,13 → 12,14 |
| for(i=0; i<256; i++) |
| { |
| NCParamState[i] = NCPARAM_STATE_UNDEFINED; |
| NCParams[i] = 0; |
| } |
| NCParams[NCPARAMS_GPS_TARGETSPEED] = 50; // 5.0 m/s |
| NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT] = -1; |
| NCParams[NCPARAMS_ALTITUDE_RATE] = -1; |
| NCParams[NCPARAMS_ALTITUDE_RATE] = 0; |
| } |
| u8 NCParams_SetValue(u8 id, s16* pvalue) |
| u8 NCParams_SetValue(u8 id, s16 *pvalue) |
| { |
| NCParams[id] = *pvalue; |
| NCParamState[id] = NCRARAM_STATE_VALID; |
| 37,15 → 38,26 |
| default: |
| break; |
| } |
| return NCParamState[id]; |
| return(NCParamState[id]); |
| } |
| u8 NCParams_GetValue(u8 id, s16* pvalue) |
| void NCParams_ClearValue(u8 id) |
| { |
| NCParamState[id] = NCPARAM_STATE_UNDEFINED; |
| } |
| u8 NCParams_GetValue(u8 id, s16 *pvalue) |
| { |
| if(pvalue == 0) return 0; |
| if(NCParamState[id] == NCRARAM_STATE_VALID) |
| { |
| *pvalue = NCParams[id]; |
| } |
| return NCParamState[id]; |
| return(NCParamState[id]); |
| } |
| s16 NCParams_GetValue_NoCheck(u8 id) |
| { |
| return(NCParams[id]); |
| } |
| /trunk/params.h |
|---|
| 12,7 → 12,9 |
| #define NCRARAM_STATE_VALID 1 |
| extern void NCParams_Init(); |
| extern u8 NCParams_SetValue(u8 id, s16* pvalue); |
| extern u8 NCParams_GetValue(u8 id, s16* pvalue); |
| extern u8 NCParams_SetValue(u8 id, s16 *pvalue); |
| extern u8 NCParams_GetValue(u8 id, s16 *pvalue); |
| extern void NCParams_ClearValue(u8 id); |
| extern s16 NCParams_GetValue_NoCheck(u8 id); |
| #endif // _PARAMS_H |
| /trunk/spi_slave.c |
|---|
| 105,6 → 105,7 |
| s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| u32 ToFC_AltitudeRate = 0; |
| s32 ToFC_AltitudeSetpoint = 0; |
| u8 FromFC_VarioCharacter = ' '; |
| SPI_Version_t FC_Version; |
| 341,18 → 342,21 |
| ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
| { |
| s16 tmp; |
| if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| // if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| if(NCRARAM_STATE_VALID == NCParams_GetValue(3, &tmp)) |
| { |
| ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
| } |
| else |
| { |
| ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
| ToFlightCtrl.Param.Byte[9] = (u8) ToFC_AltitudeRate; |
| } |
| if(NCRARAM_STATE_VALID != NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &(ToFlightCtrl.Param.sInt[5]))) |
| { |
| ToFlightCtrl.Param.sInt[5] = (s16) ToFC_AltitudeSetpoint; |
| } |
| DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
| DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
| } |
| break; |
| default: |
| 406,6 → 410,12 |
| FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
| Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
| FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| { |
| NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
| } |
| NaviData.UBat = FC.BAT_Voltage; |
| NaviData.Current = FC.BAT_Current; |
| NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
| /trunk/uart1.c |
|---|
| 632,8 → 632,9 |
| if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| s16 ParamValue; |
| NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
| s16 ParamValue; |
| ParamValue = NCParams_GetValue_NoCheck(UART1_Request_ParameterId); |
| //NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
| //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
| //UART1_PutString(text); |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |