Rev 1221 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1221 | Rev 1222 | ||
|---|---|---|---|
| Line 150... | Line 150... | ||
| 150 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
150 | #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
| 151 | uint8_t *SPI_TxBuffer; |
151 | uint8_t *SPI_TxBuffer; |
| 152 | uint8_t SPI_TxBufferIndex = 0; |
152 | uint8_t SPI_TxBufferIndex = 0; |
| Line 153... | Line 153... | ||
| 153 | 153 | ||
| 154 | uint8_t SPITransferCompleted, SPI_ChkSum; |
154 | uint8_t SPITransferCompleted, SPI_ChkSum; |
| - | 155 | uint8_t SPI_RxDataValid = 0; |
|
| - | 156 | uint8_t NCDataOkay = 0; |
|
| Line 155... | Line 157... | ||
| 155 | uint8_t SPI_RxDataValid; |
157 | uint8_t NCSerialDataOkay = 0; |
| 156 | 158 | ||
| Line 157... | Line 159... | ||
| 157 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
159 | uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
| Line 177... | Line 179... | ||
| 177 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
179 | ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
| Line 178... | Line 180... | ||
| 178 | 180 | ||
| 179 | ToNaviCtrl.Command = SPI_CMD_USER; |
181 | ToNaviCtrl.Command = SPI_CMD_USER; |
| 180 | ToNaviCtrl.IntegralNick = 0; |
182 | ToNaviCtrl.IntegralNick = 0; |
| - | 183 | ToNaviCtrl.IntegralRoll = 0; |
|
| - | 184 | NCSerialDataOkay = 0; |
|
| Line 181... | Line 185... | ||
| 181 | ToNaviCtrl.IntegralRoll = 0; |
185 | NCDataOkay = 0; |
| Line 182... | Line 186... | ||
| 182 | 186 | ||
| 183 | SPI_RxDataValid = 0; |
187 | SPI_RxDataValid = 0; |
| Line 292... | Line 296... | ||
| 292 | // update gps controls |
296 | // update gps controls |
| 293 | if(abs(FromNaviCtrl.GPSStickNick) < 512 && abs(FromNaviCtrl.GPSStickRoll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
297 | if(abs(FromNaviCtrl.GPSStickNick) < 512 && abs(FromNaviCtrl.GPSStickRoll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| 294 | { |
298 | { |
| 295 | GPSStickNick = FromNaviCtrl.GPSStickNick; |
299 | GPSStickNick = FromNaviCtrl.GPSStickNick; |
| 296 | GPSStickRoll = FromNaviCtrl.GPSStickRoll; |
300 | GPSStickRoll = FromNaviCtrl.GPSStickRoll; |
| - | 301 | NCDataOkay = 250; |
|
| 297 | } |
302 | } |
| 298 | // update compass readings |
303 | // update compass readings |
| 299 | if(FromNaviCtrl.CompassHeading <= 360) |
304 | if(FromNaviCtrl.CompassHeading <= 360) |
| 300 | { |
305 | { |
| 301 | CompassHeading = FromNaviCtrl.CompassHeading; |
306 | CompassHeading = FromNaviCtrl.CompassHeading; |
| Line 309... | Line 314... | ||
| 309 | { |
314 | { |
| 310 | case SPI_KALMAN: |
315 | case SPI_KALMAN: |
| 311 | FCParam.KalmanK = FromNaviCtrl.Param.Byte[0]; |
316 | FCParam.KalmanK = FromNaviCtrl.Param.Byte[0]; |
| 312 | FCParam.KalmanMaxFusion = FromNaviCtrl.Param.Byte[1]; |
317 | FCParam.KalmanMaxFusion = FromNaviCtrl.Param.Byte[1]; |
| 313 | FCParam.KalmanMaxDrift = FromNaviCtrl.Param.Byte[2]; |
318 | FCParam.KalmanMaxDrift = FromNaviCtrl.Param.Byte[2]; |
| - | 319 | NCSerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
|
| - | 320 | DebugOut.Analog[29] = NCSerialDataOkay; |
|
| 314 | break; |
321 | break; |
| Line 315... | Line 322... | ||
| 315 | 322 | ||
| 316 | default: |
323 | default: |
| 317 | break; |
324 | break; |