Rev 280 | Rev 285 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 280 | Rev 284 | ||
|---|---|---|---|
| Line 278... | Line 278... | ||
| 278 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
278 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 279 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
279 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 280 | ToFlightCtrl.CompassHeading = Compass_Heading; |
280 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 281 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
281 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 282 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
282 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| - | 283 | ToFlightCtrl.MagVecX = MagVector.X; |
|
| - | 284 | ToFlightCtrl.MagVecY = MagVector.Y; |
|
| - | 285 | ToFlightCtrl.MagVecZ = MagVector.Z; |
|
| - | 286 | ToFlightCtrl.NCStatus = 0; |
|
| 283 | // cycle spi commands |
287 | // cycle spi commands |
| 284 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
288 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 285 | // restart command cycle at the end |
289 | // restart command cycle at the end |
| 286 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
290 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |