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| Rev 823 | Rev 846 | ||
|---|---|---|---|
| Line 149... | Line 149... | ||
| 149 | 149 | ||
| 150 | //------------------------------------------------------ |
150 | //------------------------------------------------------ |
| 151 | void UpdateSPI_Buffer(void) |
151 | void UpdateSPI_Buffer(void) |
| 152 | { |
152 | { |
| - | 153 | static unsigned char i =0; |
|
| 153 | static unsigned char i =0; |
154 | signed int tmp; |
| Line 154... | Line 155... | ||
| 154 | cli(); |
155 | cli(); |
| 155 | 156 | ||
| 156 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 1024); |
157 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108); |
| 157 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 1024); |
158 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108); |
| 158 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
159 | ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
| 159 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
160 | ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
| 160 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc); |
161 | ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
| 161 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
162 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| Line 162... | Line 163... | ||
| 162 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
163 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
| Line 173... | Line 174... | ||
| 173 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
174 | ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
| 174 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
175 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
| 175 | break; |
176 | break; |
| Line 176... | Line 177... | ||
| 176 | 177 | ||
| - | 178 | case SPI_CMD_STICK: |
|
| 177 | case SPI_CMD_STICK: |
179 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127; |
| - | 180 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
|
| 178 | ToNaviCtrl.Param.Byte[0] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; |
181 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127; |
| - | 182 | ToNaviCtrl.Param.Byte[1] = (char) tmp; |
|
| 179 | ToNaviCtrl.Param.Byte[1] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
183 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127; |
| - | 184 | ToNaviCtrl.Param.Byte[2] = (char) tmp; |
|
| 180 | ToNaviCtrl.Param.Byte[2] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
185 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 128) tmp = 128; else if(tmp < -127) tmp = -127; |
| 181 | ToNaviCtrl.Param.Byte[3] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
186 | ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| 182 | ToNaviCtrl.Param.Byte[4] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]; |
187 | ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
| 183 | ToNaviCtrl.Param.Byte[5] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]; |
188 | ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
| 184 | ToNaviCtrl.Param.Byte[6] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]; |
189 | ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
| Line 185... | Line 190... | ||
| 185 | ToNaviCtrl.Param.Byte[7] = (char) PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]; |
190 | ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
| 186 | 191 | ||
| 187 | break; |
192 | break; |
| 188 | case SPI_CMD_CAL_COMPASS: |
193 | case SPI_CMD_CAL_COMPASS: |