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59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "gps.h" |
61 | #include "gps.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
64 | #include "i2c.h" |
64 | #include "mk3mag.h" |
65 | #include "timer1.h" |
65 | #include "timer1.h" |
66 | #include "timer2.h" |
66 | #include "timer2.h" |
67 | #include "config.h" |
67 | #include "config.h" |
68 | #include "main.h" |
68 | #include "main.h" |
69 | #include "fifo.h" |
69 | #include "fifo.h" |
Line 280... | Line 280... | ||
280 | 280 | ||
281 | if (SPI_RxBuffer_Request) |
281 | if (SPI_RxBuffer_Request) |
282 | { |
282 | { |
283 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
283 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
284 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
284 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
285 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
285 | ToFlightCtrl.CompassHeading = MK3MAG_Heading.Heading; |
286 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
286 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
287 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
287 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
288 | // cycle spi commands |
288 | // cycle spi commands |
289 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
289 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |