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| Rev 886 | Rev 908 | ||
|---|---|---|---|
| Line 15... | Line 15... | ||
| 15 | #include "timer0.h" |
15 | #include "timer0.h" |
| 16 | #include "uart.h" |
16 | #include "uart.h" |
| 17 | #include "fc.h" |
17 | #include "fc.h" |
| 18 | #include "_Settings.h" |
18 | #include "_Settings.h" |
| 19 | #include "rc.h" |
19 | #include "rc.h" |
| 20 | #ifdef USE_KILLAGREG |
20 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| 21 | #include "ubx.h" |
21 | #include "ubx.h" |
| 22 | #endif |
22 | #endif |
| 23 | #if !defined(USE_KILLAGREG) && !defined (USE_NAVICTRL) |
23 | #ifdef USE_MK3MAG |
| 24 | #include "mk3mag.h" |
24 | #include "mk3mag.h" |
| 25 | #endif |
25 | #endif |
| Line 55... | Line 55... | ||
| 55 | ExternControl_t ExternControl; |
55 | ExternControl_t ExternControl; |
| 56 | VersionInfo_t VersionInfo; |
56 | VersionInfo_t VersionInfo; |
| Line 57... | Line 57... | ||
| 57 | 57 | ||
| Line 58... | Line 58... | ||
| 58 | int16_t Debug_Timer; |
58 | int16_t Debug_Timer; |
| 59 | 59 | ||
| 60 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
60 | #ifdef USE_MK3MAG |
| Line 61... | Line 61... | ||
| 61 | int16_t Compass_Timer; |
61 | int16_t Compass_Timer; |
| Line 161... | Line 161... | ||
| 161 | rxd_buffer_locked = FALSE; |
161 | rxd_buffer_locked = FALSE; |
| 162 | txd_complete = TRUE; |
162 | txd_complete = TRUE; |
| Line 163... | Line 163... | ||
| 163 | 163 | ||
| Line 164... | Line 164... | ||
| 164 | Debug_Timer = SetDelay(200); |
164 | Debug_Timer = SetDelay(200); |
| 165 | 165 | ||
| 166 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
166 | #ifdef USE_MK3MAG |
| Line 167... | Line 167... | ||
| 167 | Compass_Timer = SetDelay(220); |
167 | Compass_Timer = SetDelay(220); |
| 168 | #endif |
168 | #endif |
| Line 204... | Line 204... | ||
| 204 | uint8_t crc1, crc2; |
204 | uint8_t crc1, crc2; |
| 205 | uint8_t c; |
205 | uint8_t c; |
| Line 206... | Line 206... | ||
| 206 | 206 | ||
| Line 207... | Line 207... | ||
| 207 | c = UDR0; // catch the received byte |
207 | c = UDR0; // catch the received byte |
| 208 | 208 | ||
| 209 | #ifdef USE_KILLAGREG |
209 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| 210 | // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
210 | // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
| 211 | // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
211 | // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
| 212 | #if defined (__AVR_ATmega644P__) |
212 | #if defined (__AVR_ATmega644P__) |
| 213 | if(BoardRelease == 10) ubx_parser(c); |
213 | if(BoardRelease == 10) ubx_parser(c); |
| 214 | #else |
214 | #else |
| 215 | ubx_parser(c); |
215 | ubx_parser(c); |
| Line 216... | Line 216... | ||
| 216 | #endif |
216 | #endif |
| Line 217... | Line 217... | ||
| 217 | #endif // USE_KILLAGREG |
217 | #endif |
| 218 | 218 | ||
| Line 353... | Line 353... | ||
| 353 | uint8_t tmp_char_arr2[2]; // local char buffer |
353 | uint8_t tmp_char_arr2[2]; // local char buffer |
| Line 354... | Line 354... | ||
| 354 | 354 | ||
| 355 | 355 | ||
| 356 | switch(rxd_buffer[2]) |
356 | switch(rxd_buffer[2]) |
| 357 | { |
357 | { |
| 358 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
358 | #ifdef USE_MK3MAG |
| 359 | case 'K':// Compass value |
359 | case 'K':// Compass value |
| 360 | Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
360 | Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
| 361 | CompassHeading = tmp_int_arr1[0]; |
361 | CompassHeading = tmp_int_arr1[0]; |
| Line 458... | Line 458... | ||
| 458 | { |
458 | { |
| 459 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
459 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| 460 | RequestExternalControl = FALSE; |
460 | RequestExternalControl = FALSE; |
| 461 | } |
461 | } |
| Line 462... | Line 462... | ||
| 462 | 462 | ||
| 463 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
463 | #ifdef USE_MK3MAG |
| 464 | if((CheckDelay(Compass_Timer)) && txd_complete) |
464 | if((CheckDelay(Compass_Timer)) && txd_complete) |
| 465 | { |
465 | { |
| 466 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg |
466 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg |
| 467 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
467 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |