| /trunk/i2c.c |
|---|
| 262,7 → 262,7 |
| { |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| LED_GRN_OFF; |
| // LED_GRN_OFF; |
| I2C_State = I2C_STATE_IDLE; |
| I2C_Error = I2C_ERROR_NONE; |
| return; |
| 341,7 → 341,7 |
| { // stop communication |
| I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| LED_GRN_OFF; |
| // LED_GRN_OFF; |
| I2C_State = I2C_STATE_IDLE; // ready for new actions |
| I2C_Error = I2C_ERROR_NONE; |
| } |
| 365,7 → 365,7 |
| I2C1_Timeout = SetDelay(I2C1_TIMEOUT); |
| DebugOut.Analog[15]++; |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| LED_GRN_OFF; |
| // LED_GRN_OFF; |
| I2C_State = I2C_STATE_IDLE; |
| I2C_Error = I2C_ERROR_NONE; |
| return; |
| /trunk/main.h |
|---|
| 14,7 → 14,7 |
| #define VERSION_MAJOR 0 |
| #define VERSION_MINOR 25 |
| #define VERSION_PATCH 1 |
| #define VERSION_PATCH 4 |
| // 0 = A |
| // 1 = B |
| // 2 = C |
| /trunk/ncmag.c |
|---|
| 570,12 → 570,13 |
| if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
| { |
| Compass_Heading = -1; |
| DebugOut.Analog[14]++; // count I2C error |
| return; |
| } |
| if(CheckDelay(TimerUpdate)) |
| { |
| if(++send_config == 100) // every two seconds |
| if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
| if(++send_config == 25) // 500ms |
| { |
| send_config = 0; |
| MagConfig.mode = MODE_CONTINUOUS; |
| 589,7 → 590,7 |
| Compass_UpdateCalState(); |
| if(Compass_CalState) NCMAG_Calibrate(); |
| NCMAG_GetMagVector(); //Get new data; |
| if(send_config == 99) TimerUpdate = SetDelay(5); // next event is the re-configuration |
| if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
| else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| } |
| } |
| /trunk/spi_slave.c |
|---|
| 400,21 → 400,21 |
| FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| { |
| HeadFreeStartAngle = Compass_Heading * 10; |
| Compass_Init(); |
| FCCalibActive = 1; |
| HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
| } |
| else |
| { |
| FCCalibActive = 0; |
| } |
| if(FC.StatusFlags & FC_STATUS_START) HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
| if(FC.StatusFlags & FC_STATUS_START) if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
| if((Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) && (NCFlags & NC_FLAG_GPS_OK)) |
| if((Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE)) |
| { |
| if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
| { |
| if(NaviData.HomePositionDeviation.Distance > 200) // nur bei ausreichender Distance -> 20m |
| if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
| { |
| HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
| } |
| 423,6 → 423,8 |
| } |
| } |
| //DebugOut.Analog[16] = HeadFreeStartAngle; |
| Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| DebugOut.Analog[5] = FC.StatusFlags; |
| FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| /trunk/uart1.c |
|---|
| 149,7 → 149,7 |
| "SPI Okay ", |
| "I2C Error ", |
| "I2C Okay ", //15 |
| " ",// "Kalman_K ", |
| "16 ",// "Kalman_K ", |
| "ACC_Speed_N ", |
| "ACC_Speed_E ", |
| "Speed_z ",// "GPS ACC ", |