Rev 1662 | Rev 1667 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1662 | Rev 1664 | ||
---|---|---|---|
Line 11... | Line 11... | ||
11 | struct str_SPI_VersionInfo NC_Version; |
11 | struct str_SPI_VersionInfo NC_Version; |
12 | struct str_GPSInfo GPSInfo; |
12 | struct str_GPSInfo GPSInfo; |
Line 13... | Line 13... | ||
13 | 13 | ||
14 | unsigned char SPI_BufferIndex; |
14 | unsigned char SPI_BufferIndex; |
- | 15 | unsigned char SPI_RxBufferIndex; |
|
Line 15... | Line 16... | ||
15 | unsigned char SPI_RxBufferIndex; |
16 | signed char FromNC_Rotate_C = 8, FromNC_Rotate_S = 0; |
16 | 17 | ||
Line 17... | Line 18... | ||
17 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
18 | volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
Line 156... | Line 157... | ||
156 | { |
157 | { |
157 | signed int tmp; |
158 | signed int tmp; |
158 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
159 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
159 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
160 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
160 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
161 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
- | 162 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
|
161 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
163 | ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
162 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
164 | ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
163 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
165 | NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
164 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
166 | // ToNaviCtrl.User8 = Parameter_UserParam8; |
165 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
167 | // ToNaviCtrl.CalState = WinkelOut.CalcState; |
Line 175... | Line 177... | ||
175 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
177 | ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
176 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
178 | ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
177 | ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
179 | ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
178 | FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
180 | FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
179 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
181 | ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
- | 182 | ToNaviCtrl.Param.Byte[10] = ControlHeading * 8; |
|
180 | break; |
183 | break; |
Line 181... | Line 184... | ||
181 | 184 | ||
182 | case SPI_FCCMD_ACCU: |
185 | case SPI_FCCMD_ACCU: |
183 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
186 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
Line 279... | Line 282... | ||
279 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
282 | FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
280 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
283 | FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
281 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
284 | FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
282 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
285 | FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
283 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
286 | FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
- | 287 | FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
|
- | 288 | FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
|
284 | break; |
289 | break; |
Line 285... | Line 290... | ||
285 | 290 | ||
286 | case SPI_NCCMD_VERSION: |
291 | case SPI_NCCMD_VERSION: |
287 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
292 | NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |