Subversion Repositories FlightCtrl

Rev

Rev 1702 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1702 Rev 1703
Line 21... Line 21...
21
unsigned char SPITransferCompleted, SPI_ChkSum;
21
unsigned char SPITransferCompleted, SPI_ChkSum;
22
unsigned char SPI_RxDataValid,NaviDataOkay = 250;
22
unsigned char SPI_RxDataValid,NaviDataOkay = 250;
Line 23... Line 23...
23
 
23
 
24
unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU};
24
unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU};
-
 
25
unsigned char SPI_CommandCounter = 0;
Line 25... Line 26...
25
unsigned char SPI_CommandCounter = 0;
26
unsigned char NC_ErrorCode = 0;
Line 26... Line 27...
26
 
27
 
27
#ifdef USE_SPI_COMMUNICATION
28
#ifdef USE_SPI_COMMUNICATION
Line 296... Line 297...
296
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
297
                        NC_Version.Minor = FromNaviCtrl.Param.Byte[1];
297
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
298
                        NC_Version.Patch = FromNaviCtrl.Param.Byte[2];
298
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
299
                        NC_Version.Compatible = FromNaviCtrl.Param.Byte[3];
299
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
300
                        NC_Version.Hardware = FromNaviCtrl.Param.Byte[4];
300
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
301
                        DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5];
-
 
302
                        NC_ErrorCode = FromNaviCtrl.Param.Byte[6];
301
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
303
                        DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08));
302
                        break;
304
                        break;
Line 303... Line 305...
303
 
305
 
304
                case SPI_NCCMD_GPSINFO:
306
                case SPI_NCCMD_GPSINFO: