Rev 2346 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2346 | Rev 2348 | ||
|---|---|---|---|
| Line 20... | Line 20... | ||
| 20 | unsigned char SPITransferCompleted, SPI_ChkSum; |
20 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| 21 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
21 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| Line 22... | Line 22... | ||
| 22 | 22 | ||
| 23 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, |
23 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, |
| 24 | SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU, |
24 | SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU, |
| 25 | SPI_FCCMD_STICK, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS, |
25 | SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS, |
| 26 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
26 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU |
| 27 | }; |
27 | }; |
| 28 | unsigned char SPI_CommandCounter = 0; |
28 | unsigned char SPI_CommandCounter = 0; |
| 29 | unsigned char NC_ErrorCode = 0; |
29 | unsigned char NC_ErrorCode = 0; |
| Line 172... | Line 172... | ||
| 172 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
172 | //if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; |
| 173 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
173 | FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| 174 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
174 | ToNaviCtrl.Param.Byte[9] = ActiveParamSet; |
| 175 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
175 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
| 176 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
176 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
| - | 177 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
|
| 177 | break; |
178 | break; |
| 178 | - | ||
| 179 | case SPI_FCCMD_BL_ACCU: |
179 | case SPI_FCCMD_BL_ACCU: |
| 180 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
180 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| 181 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
181 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
| 182 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
182 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
| 183 | ToNaviCtrl.Param.Byte[5] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
183 | ToNaviCtrl.Param.Byte[5] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |