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Rev 744 Rev 805
Line 160... Line 160...
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void UpdateSPI_Buffer(void)
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void UpdateSPI_Buffer(void)
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{
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{
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  static unsigned char i =0;
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  static unsigned char i =0;
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  cli();
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  cli();
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  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
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  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
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  ToNaviCtrl_Value.IntegralNick = (int) ( IntegralNick / 1024);
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  ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick / 1024);
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  ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);
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  ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);
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  ToNaviCtrl_Value.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
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  ToNaviCtrl_Value.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc);
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
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  ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]];
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  ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]];
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  ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]];
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  ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]];
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  ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
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  ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
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  ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
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  ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
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  ToNaviCtrl_Value.User1 = Parameter_UserParam1;
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  ToNaviCtrl_Value.User1 = Parameter_UserParam1;