Rev 60 | Rev 62 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 60 | Rev 61 | ||
|---|---|---|---|
| Line 373... | Line 373... | ||
| 373 | case SPI_CMD_VERSION: |
373 | case SPI_CMD_VERSION: |
| 374 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
374 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 375 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
375 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
| 376 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
376 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| 377 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
377 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| - | 378 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
|
| 378 | break; |
379 | break; |
| Line 379... | Line 380... | ||
| 379 | 380 | ||
| 380 | default: |
381 | default: |
| 381 | break; |
382 | break; |
| Line 387... | Line 388... | ||
| 387 | 388 | ||
| Line 388... | Line 389... | ||
| 388 | SPI_RxBuffer_Request = 0; |
389 | SPI_RxBuffer_Request = 0; |
| 389 | 390 | ||
| 390 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
391 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
| 391 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
392 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
| 392 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
393 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 393 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
- | |
| - | 394 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
|
| - | 395 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10; |
|
| - | 396 | Data3D.Winkel[0] = FromFlightCtrl.IntegralNick; |
|
| 394 | DebugOut.Analog[25] = FromFlightCtrl.GyroHeading; |
397 | Data3D.Winkel[1] = FromFlightCtrl.IntegralRoll; |
| 395 | 398 | Data3D.Winkel[2] = FromFlightCtrl.GyroHeading; |
|
| Line 396... | Line 399... | ||
| 396 | } // EOF if(SPI_RxBuffer_Request) |
399 | } // EOF if(SPI_RxBuffer_Request) |
| 397 | } |
400 | } |
| Line 415... | Line 418... | ||
| 415 | if (FC_Version.Major != 0xFF) break; |
418 | if (FC_Version.Major != 0xFF) break; |
| 416 | }while (!CheckDelay(timeout)); |
419 | }while (!CheckDelay(timeout)); |
| 417 | // if we got it |
420 | // if we got it |
| 418 | if (FC_Version.Major != 0xFF) |
421 | if (FC_Version.Major != 0xFF) |
| 419 | { |
422 | { |
| 420 | sprintf(msg, "\n\r FlightCtrl V%d.%d%c", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch); |
423 | 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); |
| 421 | SerialPutString(msg); |
424 | SerialPutString(msg); |
| 422 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
425 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
| 423 | SerialPutString(msg); |
426 | SerialPutString(msg); |
| 424 | } |
427 | } |
| 425 | else SerialPutString("\n\r No version information from FlightCtrl."); |
428 | else SerialPutString("\n\r No version information from FlightCtrl."); |