Rev 1702 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1702 | Rev 1703 | ||
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Line 21... | Line 21... | ||
21 | unsigned char SPITransferCompleted, SPI_ChkSum; |
21 | unsigned char SPITransferCompleted, SPI_ChkSum; |
22 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
22 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
Line 23... | Line 23... | ||
23 | 23 | ||
24 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
24 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
- | 25 | unsigned char SPI_CommandCounter = 0; |
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Line 25... | Line 26... | ||
25 | unsigned char SPI_CommandCounter = 0; |
26 | unsigned char NC_ErrorCode = 0; |
Line 26... | Line 27... | ||
26 | 27 | ||
27 | #ifdef USE_SPI_COMMUNICATION |
28 | #ifdef USE_SPI_COMMUNICATION |
Line 296... | Line 297... | ||
296 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
297 | NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
297 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
298 | NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
298 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
299 | NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
299 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
300 | NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
300 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
301 | DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
- | 302 | NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
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301 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
303 | DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
302 | break; |
304 | break; |
Line 303... | Line 305... | ||
303 | 305 | ||
304 | case SPI_NCCMD_GPSINFO: |
306 | case SPI_NCCMD_GPSINFO: |