Rev 264 | Rev 276 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 264 | Rev 268 | ||
|---|---|---|---|
| Line 269... | Line 269... | ||
| 269 | void SPI0_UpdateBuffer(void) |
269 | void SPI0_UpdateBuffer(void) |
| 270 | { |
270 | { |
| 271 | static u32 timeout = 0; |
271 | static u32 timeout = 0; |
| 272 | static u8 counter = 50; |
272 | static u8 counter = 50; |
| 273 | static u8 CompassCalState = 0; |
273 | static u8 CompassCalState = 0; |
| - | 274 | static u8 FCCalibActive = 0; |
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| Line 274... | Line 275... | ||
| 274 | 275 | ||
| 275 | if (SPI_RxBuffer_Request) |
276 | if (SPI_RxBuffer_Request) |
| 276 | { |
277 | { |
| 277 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
278 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| Line 338... | Line 339... | ||
| 338 | { |
339 | { |
| 339 | FC.StatusFlags = 0; |
340 | FC.StatusFlags = 0; |
| 340 | ClearFCStatusFlags = 0; |
341 | ClearFCStatusFlags = 0; |
| 341 | } |
342 | } |
| 342 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
343 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| - | 344 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
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| - | 345 | { |
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| - | 346 | Compass_Init(); |
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| - | 347 | FCCalibActive = 1; |
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| - | 348 | } |
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| - | 349 | else |
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| - | 350 | { |
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| - | 351 | FCCalibActive = 0; |
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| - | 352 | } |
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| 343 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
353 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 344 | DebugOut.Analog[5] = FC.StatusFlags; |
354 | DebugOut.Analog[5] = FC.StatusFlags; |
| 345 | NaviData.FCStatusFlags = FC.StatusFlags; |
355 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 346 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
356 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| 347 | break; |
357 | break; |