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Rev 56 | Rev 58 | ||
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Line 101... | Line 101... | ||
101 | s32 Kalman_MaxFusion = 64; |
101 | s32 Kalman_MaxFusion = 64; |
102 | u32 CheckSPIOkay = 0; |
102 | u32 CheckSPIOkay = 0; |
Line 103... | Line 103... | ||
103 | 103 | ||
104 | u8 SPI_CommandSequence[] = { SPI_KALMAN };//, SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_KALMAN, SPI_CMD_GPS_TARGET}; |
104 | u8 SPI_CommandSequence[] = { SPI_KALMAN };//, SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_KALMAN, SPI_CMD_GPS_TARGET}; |
105 | u8 SPI_CommandCounter = 0; |
105 | u8 SPI_CommandCounter = 0; |
106 | 106 | ||
Line 107... | Line 107... | ||
107 | SPI_Version_t FC_Version; |
107 | SPI_Version_t FC_Version; |
108 | 108 | ||
Line 295... | Line 295... | ||
295 | case SPI_KALMAN: |
295 | case SPI_KALMAN: |
296 | ToFlightCtrl.Param.Byte[0] = (char) FC_Kalman_K; |
296 | ToFlightCtrl.Param.Byte[0] = (char) FC_Kalman_K; |
297 | ToFlightCtrl.Param.Byte[1] = (char) Kalman_MaxFusion; |
297 | ToFlightCtrl.Param.Byte[1] = (char) Kalman_MaxFusion; |
298 | ToFlightCtrl.Param.Byte[2] = (char) Kalman_MaxDrift; |
298 | ToFlightCtrl.Param.Byte[2] = (char) Kalman_MaxDrift; |
299 | break; |
299 | break; |
300 | 300 | ||
301 | default: |
301 | default: |
302 | break; |
302 | break; |
303 | } |
303 | } |
304 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
304 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
Line 361... | Line 361... | ||
361 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
361 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
362 | { // put only new CompassCalState into queue to send via I2C |
362 | { // put only new CompassCalState into queue to send via I2C |
363 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
363 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
364 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
364 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
365 | } |
365 | } |
366 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; |
366 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
367 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
367 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
368 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
368 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
369 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
369 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
370 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
370 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
371 | break; |
371 | break; |