Rev 1226 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1226 | Rev 1286 | ||
|---|---|---|---|
| Line 157... | Line 157... | ||
| 157 | 157 | ||
| 158 | //------------------------------------------------------ |
158 | //------------------------------------------------------ |
| 159 | void UpdateSPI_Buffer(void) |
159 | void UpdateSPI_Buffer(void) |
| 160 | { |
160 | { |
| 161 | signed int tmp; |
161 | signed int tmp; |
| Line 162... | Line 162... | ||
| 162 | cli(); |
162 | // cli(); // MartinR: Interrupt wird zu lange abgeschaltet (130us). Daher deaktiviert |
| 163 | 163 | ||
| 164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
164 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
165 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| Line 186... | Line 186... | ||
| 186 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
186 | ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
| 187 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
187 | ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
| 188 | ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
188 | ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| 189 | break; |
189 | break; |
| 190 | case SPI_CMD_PARAMETER1: |
190 | case SPI_CMD_PARAMETER1: |
| 191 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
191 | //ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard // MartinR: so war es |
| - | 192 | ToNaviCtrl.Param.Byte[0] = Parameter_NaviGpsModeControl; // MartinR: wird wiederverwendet für GPS free bei HH |
|
| - | 193 | ||
| 192 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
194 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
| 193 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
195 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| 194 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
196 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
| 195 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
197 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
| 196 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
198 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
| Line 237... | Line 239... | ||
| 237 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
239 | ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
| 238 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
240 | ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
| 239 | break; |
241 | break; |
| 240 | } |
242 | } |
| Line 241... | Line 243... | ||
| 241 | 243 | ||
| Line 242... | Line 244... | ||
| 242 | sei(); |
244 | //sei(); // MartinR: Interrupt wird zu lange abgeschaltet (130us). Daher deaktiviert |
| 243 | 245 | ||
| 244 | if(SPI_RxDataValid) |
246 | if(SPI_RxDataValid) |
| 245 | { |
247 | { |