Rev 2440 | Rev 2447 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2440 | Rev 2443 | ||
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Line 177... | Line 177... | ||
177 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
177 | ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
178 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
178 | if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
179 | break; |
179 | break; |
180 | case SPI_FCCMD_BL_ACCU: |
180 | case SPI_FCCMD_BL_ACCU: |
181 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
181 | ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
- | 182 | ToNaviCtrl.Param.Byte[2] = motorindex; |
|
182 | ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
183 | ToNaviCtrl.Param.Byte[3] = Capacity.MinOfMaxPWM; |
183 | ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
184 | ToNaviCtrl.Param.Byte[4] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control |
184 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
185 | ToNaviCtrl.Param.Byte[5] = VarioCharacter; |
185 | ToNaviCtrl.Param.Byte[6] = motorindex; |
186 | ToNaviCtrl.Param.Byte[6] = Motor[motorindex].NotReadyCnt; |
186 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
187 | ToNaviCtrl.Param.Byte[7] = Motor[motorindex].Version; |
187 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
188 | ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
188 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
189 | ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
189 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
190 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
190 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
191 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
- | 192 | ||
191 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
193 | if(Mixer.Motor[++motorindex][0] <= 0) // next motor is not used ? |
192 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
194 | while(Mixer.Motor[motorindex][0] <= 0 && motorindex) motorindex = (motorindex + 1) % 13; |
193 | break; |
195 | break; |
194 | case SPI_FCCMD_PARAMETER1: |
196 | case SPI_FCCMD_PARAMETER1: |
195 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
197 | ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
Line 283... | Line 285... | ||
283 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
285 | ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
284 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
286 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
285 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
287 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
286 | break; |
288 | break; |
287 | case SPI_FCCMD_SERVOS: |
289 | case SPI_FCCMD_SERVOS: |
288 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
- | |
289 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
290 | ToNaviCtrl.Param.Int[0] = Capacity.UsedCapacity; // mAh |
290 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
291 | ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
291 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
292 | ToNaviCtrl.Param.Byte[3] = Parameter_ServoRollControl; |
292 | ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
293 | ToNaviCtrl.Param.Byte[4] = DebugOut.Analog[28]; // I2C-Error counter |
293 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
294 | ToNaviCtrl.Param.Byte[5] = RedundanceBlOperation; |
- | 295 | /* |
|
294 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
296 | ToNaviCtrl.Param.Byte[6] = 0; |
295 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
297 | ToNaviCtrl.Param.Byte[7] = 0; |
296 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
298 | ToNaviCtrl.Param.Byte[8] = 0; |
297 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
299 | ToNaviCtrl.Param.Byte[9] = 0; |
298 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
300 | ToNaviCtrl.Param.Byte[10] = 0; |
299 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
301 | ToNaviCtrl.Param.Byte[11] = 0; |
- | 302 | */ |
|
300 | break; |
303 | break; |
301 | } |
304 | } |
Line 302... | Line 305... | ||
302 | 305 | ||
303 | if(SPI_RxDataValid) |
306 | if(SPI_RxDataValid) |