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| Rev 1945 | Rev 1948 | ||
|---|---|---|---|
| Line 160... | Line 160... | ||
| 160 | 160 | ||
| 161 | //------------------------------------------------------ |
161 | //------------------------------------------------------ |
| 162 | void UpdateSPI_Buffer(void) |
162 | void UpdateSPI_Buffer(void) |
| 163 | { |
163 | { |
| - | 164 | signed int tmp; |
|
| 164 | signed int tmp; |
165 | static unsigned char motorindex; |
| 165 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
166 | ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 166 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
167 | ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| 167 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
168 | ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| 168 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
169 | ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| Line 195... | Line 196... | ||
| 195 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
196 | ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
| 196 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
197 | ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
| 197 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
198 | ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
| 198 | ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig; |
199 | ToNaviCtrl.Param.Byte[7] = Parameter_GlobalConfig; |
| 199 | ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig; |
200 | ToNaviCtrl.Param.Byte[8] = Parameter_ExtraConfig; |
| - | 201 | ToNaviCtrl.Param.Byte[9] = motorindex; |
|
| - | 202 | ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
|
| - | 203 | ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
|
| - | 204 | motorindex %= 12; |
|
| 200 | break; |
205 | break; |
| 201 | - | ||
| 202 | case SPI_FCCMD_PARAMETER1: |
206 | case SPI_FCCMD_PARAMETER1: |
| 203 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
207 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
| 204 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
208 | ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
| 205 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
209 | ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| 206 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
210 | ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
| Line 275... | Line 279... | ||
| 275 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
279 | ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
| 276 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
280 | ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
| 277 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
281 | ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
| 278 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
282 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
| 279 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
283 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
| - | 284 | ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
|
| - | 285 | ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
|
| 280 | break; |
286 | break; |
| 281 | } |
287 | } |
| Line 282... | Line 288... | ||
| 282 | 288 | ||
| 283 | if(SPI_RxDataValid) |
289 | if(SPI_RxDataValid) |