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434 | case I2C_CMD_READ_HEADING: |
434 | case I2C_CMD_READ_HEADING: |
435 | DebugOut.Analog[10] = I2C_Heading.Heading; |
435 | DebugOut.Analog[10] = I2C_Heading.Heading; |
436 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
436 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
437 | I2C_RxBufferSize = sizeof(I2C_Heading); |
437 | I2C_RxBufferSize = sizeof(I2C_Heading); |
438 | // updat atitude from spi rx buffer |
438 | // updat atitude from spi rx buffer |
439 | I2C_WriteAttitude.Roll = FromFlightCtrl.IntegralRoll; |
439 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
440 | I2C_WriteAttitude.Nick = FromFlightCtrl.IntegralNick; |
440 | I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
441 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
441 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
442 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
442 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
443 | break; |
443 | break; |
444 | default: // unknown command id |
444 | default: // unknown command id |
445 | I2C_RxBuffer = NULL; |
445 | I2C_RxBuffer = NULL; |