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Rev 1 | Rev 27 | ||
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Line 76... | Line 76... | ||
76 | volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
76 | volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
Line 77... | Line 77... | ||
77 | 77 | ||
78 | unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
78 | unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
Line 79... | Line -... | ||
79 | unsigned char SPI_CommandCounter = 0; |
- | |
80 | 79 | unsigned char SPI_CommandCounter = 0; |
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81 | 80 | ||
82 | //-------------------------------------------------------------- |
81 | //-------------------------------------------------------------- |
83 | void SSP0_IRQHandler(void) |
82 | void SSP0_IRQHandler(void) |
84 | { |
83 | { |
Line 247... | Line 246... | ||
247 | 246 | ||
248 | } |
247 | } |
249 | //------------------------------------------------------ |
248 | //------------------------------------------------------ |
250 | void UpdateSPI_Buffer(void) |
249 | void UpdateSPI_Buffer(void) |
- | 250 | { |
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251 | { |
251 | if(CompassUpdateActiv) return; // testweise deaktiviert |
252 | if (SPI_RXUpdatebufferRequest) |
252 | if(SPI_RXUpdatebufferRequest) |
253 | { |
- | |
254 | if (CompassUpdateActiv) return; // testweise deaktiviert |
253 | { |
255 | 254 | ||
Line 256... | Line 255... | ||
256 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
255 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
257 | 256 | ||
258 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
257 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
Line 308... | Line 307... | ||
308 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
307 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
309 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
308 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
310 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
309 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
311 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
310 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
312 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
311 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
- | 312 | Parameter_UserParam8 = FromFlightCtrl.Param.Byte[7]; |
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- | 313 | if(ClearFlags) {MikroKopterFlags = 0; ClearFlags = 0;}; |
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- | 314 | MikroKopterFlags |= (s32) FromFlightCtrl.Param.Byte[8]; |
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- | 315 | UBat = FromFlightCtrl.Param.Byte[9]; |
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- | 316 | UndervoltageLevel = FromFlightCtrl.Param.Byte[10]; |
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- | 317 | ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
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- | 318 | //DebugOut.Analog[7] = MikroKopterFlags; |
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- | 319 | if(MikroKopterFlags & 0x004) DebugOut.Analog[8]++; |
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- | 320 | break; |
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- | 321 | ||
- | 322 | case SPI_CMD_PARAMETER1: |
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- | 323 | Parameter_NaviGpsModeControl = FromFlightCtrl.Param.Byte[0]; |
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- | 324 | Parameter_NaviGpsGain = FromFlightCtrl.Param.Byte[1]; |
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- | 325 | Parameter_NaviGpsP = FromFlightCtrl.Param.Byte[2]; |
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- | 326 | Parameter_NaviGpsI = FromFlightCtrl.Param.Byte[3]; |
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- | 327 | Parameter_NaviGpsD = FromFlightCtrl.Param.Byte[4]; |
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- | 328 | Parameter_NaviGpsACC = FromFlightCtrl.Param.Byte[5]; |
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- | 329 | Parameter_NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
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- | 330 | Parameter_NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
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- | 331 | Parameter_RadiusAlert = FromFlightCtrl.Param.Byte[8]; |
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313 | break; |
332 | break; |
314 | case SPI_CMD_STICK: |
333 | case SPI_CMD_STICK: |
315 | DebugOut.Analog[8]++; |
- | |
316 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
334 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
317 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
335 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
318 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
336 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
319 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
337 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
320 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
338 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |