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Line 284... | Line 284... | ||
284 | //------------------------------------------------------ |
284 | //------------------------------------------------------ |
285 | void SPI0_UpdateBuffer(void) |
285 | void SPI0_UpdateBuffer(void) |
286 | { |
286 | { |
287 | static u32 timeout = 0; |
287 | static u32 timeout = 0; |
288 | static u8 counter = 50,hott_index = 0, last_error_code = 0; |
288 | static u8 counter = 50,hott_index = 0, last_error_code = 0; |
289 | s16 tmp; |
289 | s16 tmp, last_wp_event = 0; |
290 | s32 i1,i2; |
290 | s32 i1,i2; |
Line 291... | Line 291... | ||
291 | 291 | ||
292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
293 | if(SPI_RxBuffer_Request) |
293 | if(SPI_RxBuffer_Request) |
Line 301... | Line 301... | ||
301 | ToFlightCtrl.MagVecY = MagVector.Y; |
301 | ToFlightCtrl.MagVecY = MagVector.Y; |
302 | ToFlightCtrl.MagVecZ = MagVector.Z; |
302 | ToFlightCtrl.MagVecZ = MagVector.Z; |
303 | // ToFlightCtrl.NCStatus = 0; |
303 | // ToFlightCtrl.NCStatus = 0; |
304 | // cycle spi commands |
304 | // cycle spi commands |
305 | if(ErrorCode != last_error_code) ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
305 | if(ErrorCode != last_error_code) ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
- | 306 | else |
|
- | 307 | if(FC_WP_EventChannel != last_wp_event) ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
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- | 308 | else |
|
- | 309 | { |
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306 | else ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
310 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
307 | // restart command cycle at the end |
311 | // restart command cycle at the end |
308 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
312 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
309 | 313 | } |
|
310 | last_error_code = ErrorCode; |
314 | last_error_code = ErrorCode; |
- | 315 | last_wp_event = FC_WP_EventChannel; |
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Line 311... | Line 316... | ||
311 | 316 | ||
312 | #define FLAG_GPS_AID 0x01 |
317 | #define FLAG_GPS_AID 0x01 |
313 | switch (ToFlightCtrl.Command) |
318 | switch (ToFlightCtrl.Command) |
314 | { |
319 | { |