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| Rev 241 | Rev 242 | ||
|---|---|---|---|
| Line 59... | Line 59... | ||
| 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 "mk3mag.h" |
64 | #include "compass.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" |
| - | 70 | #include "compass.h" |
|
| Line 70... | Line 71... | ||
| 70 | 71 | ||
| 71 | 72 | ||
| 72 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE1 0xAA |
| Line 280... | Line 281... | ||
| 280 | 281 | ||
| 281 | if (SPI_RxBuffer_Request) |
282 | if (SPI_RxBuffer_Request) |
| 282 | { |
283 | { |
| 283 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
284 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| 284 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
285 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| 285 | ToFlightCtrl.CompassHeading = MK3MAG_Heading.Heading; |
286 | ToFlightCtrl.CompassHeading = CompassHeading; |
| 286 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
287 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 287 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
288 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 288 | // cycle spi commands |
289 | // cycle spi commands |
| 289 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
290 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| Line 483... | Line 484... | ||
| 483 | { |
484 | { |
| 484 | u32 timeout; |
485 | u32 timeout; |
| 485 | u8 repeat; |
486 | u8 repeat; |
| 486 | u8 msg[64]; |
487 | u8 msg[64]; |
| Line 487... | Line 488... | ||
| 487 | 488 | ||
| 488 | UART1_PutString("\r\n Getting Version from FC"); |
489 | UART1_PutString("\r\n Looking for FlightContol"); |
| 489 | FC_Version.Major = 0xFF; |
490 | FC_Version.Major = 0xFF; |
| 490 | FC_Version.Minor = 0xFF; |
491 | FC_Version.Minor = 0xFF; |
| 491 | FC_Version.Patch = 0xFF; |
492 | FC_Version.Patch = 0xFF; |
| Line 505... | Line 506... | ||
| 505 | repeat++; |
506 | repeat++; |
| 506 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
507 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 507 | // if we got it |
508 | // if we got it |
| 508 | if (FC_Version.Major != 0xFF) |
509 | if (FC_Version.Major != 0xFF) |
| 509 | { |
510 | { |
| 510 | 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); |
511 | sprintf(msg, " FC 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); |
| 511 | UART1_PutString(msg); |
- | |
| 512 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
- | |
| 513 | UART1_PutString(msg); |
512 | UART1_PutString(msg); |
| 514 | } |
513 | } |
| 515 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
514 | else UART1_PutString("\n\r not found!"); |
| 516 | } |
515 | } |