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Rev 60 | Rev 61 | ||
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Line 373... | Line 373... | ||
373 | case SPI_CMD_VERSION: |
373 | case SPI_CMD_VERSION: |
374 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
374 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
375 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
375 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
376 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
376 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
377 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
377 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
- | 378 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
|
378 | break; |
379 | break; |
Line 379... | Line 380... | ||
379 | 380 | ||
380 | default: |
381 | default: |
381 | break; |
382 | break; |
Line 387... | Line 388... | ||
387 | 388 | ||
Line 388... | Line 389... | ||
388 | SPI_RxBuffer_Request = 0; |
389 | SPI_RxBuffer_Request = 0; |
389 | 390 | ||
390 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
391 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
391 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
392 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
392 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
393 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
393 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
- | |
- | 394 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
|
- | 395 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10; |
|
- | 396 | Data3D.Winkel[0] = FromFlightCtrl.IntegralNick; |
|
394 | DebugOut.Analog[25] = FromFlightCtrl.GyroHeading; |
397 | Data3D.Winkel[1] = FromFlightCtrl.IntegralRoll; |
395 | 398 | Data3D.Winkel[2] = FromFlightCtrl.GyroHeading; |
|
Line 396... | Line 399... | ||
396 | } // EOF if(SPI_RxBuffer_Request) |
399 | } // EOF if(SPI_RxBuffer_Request) |
397 | } |
400 | } |
Line 415... | Line 418... | ||
415 | if (FC_Version.Major != 0xFF) break; |
418 | if (FC_Version.Major != 0xFF) break; |
416 | }while (!CheckDelay(timeout)); |
419 | }while (!CheckDelay(timeout)); |
417 | // if we got it |
420 | // if we got it |
418 | if (FC_Version.Major != 0xFF) |
421 | if (FC_Version.Major != 0xFF) |
419 | { |
422 | { |
420 | sprintf(msg, "\n\r FlightCtrl V%d.%d%c", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch); |
423 | sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
421 | SerialPutString(msg); |
424 | SerialPutString(msg); |
422 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
425 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
423 | SerialPutString(msg); |
426 | SerialPutString(msg); |
424 | } |
427 | } |
425 | else SerialPutString("\n\r No version information from FlightCtrl."); |
428 | else SerialPutString("\n\r No version information from FlightCtrl."); |