Rev 1702 | Rev 1765 | 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: |