WebSVN - FlightCtrl - Diff - Rev 2346 and 2348



unsigned char SPITransferCompleted, SPI_ChkSum;
unsigned char SPI_RxDataValid,NaviDataOkay = 250;

 
unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1,
                                                                                SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU,
                                        SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS,
                                                                                SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU
                                                                                };
unsigned char SPI_CommandCounter = 0;
unsigned char NC_ErrorCode = 0;

//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;
                FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START);
                    ToNaviCtrl.Param.Byte[9] = ActiveParamSet;
                                ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
                                ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
                                if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE;       // Out1 (J16)
        break;
 
     case SPI_FCCMD_BL_ACCU:
                        ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
                        ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
                        ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
                                ToNaviCtrl.Param.Byte[5] = GetChannelValue(EE_Parameter.NaviGpsModeChannel);  // GPS-Mode control 

Subversion Repositories FlightCtrl

(root)/tags/V2.06a/spi.c @ 2661 - Rev 2346 → 2348

Rev 2346		Rev 2348
Line 20...		Line 20...
20	unsigned char SPITransferCompleted, SPI_ChkSum;	20	unsigned char SPITransferCompleted, SPI_ChkSum;
21	unsigned char SPI_RxDataValid,NaviDataOkay = 250;	21	unsigned char SPI_RxDataValid,NaviDataOkay = 250;
Line 22...		Line 22...
22		22
23	unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1,	23	unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1,
24	SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU,	24	SPI_FCCMD_STICK, SPI_FCCMD_VERSION, SPI_FCCMD_BL_ACCU,
25	SPI_FCCMD_STICK, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS,	25	SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_MISC,SPI_FCCMD_SERVOS,
26	SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU	26	SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2, SPI_FCCMD_BL_ACCU
27	};	27	};
28	unsigned char SPI_CommandCounter = 0;	28	unsigned char SPI_CommandCounter = 0;
29	unsigned char NC_ErrorCode = 0;	29	unsigned char NC_ErrorCode = 0;
Line 172...		Line 172...
172	//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;	172	//if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY;
173	FC_StatusFlags &= ~(FC_STATUS_CALIBRATE \| FC_STATUS_START);	173	FC_StatusFlags &= ~(FC_STATUS_CALIBRATE \| FC_STATUS_START);
174	ToNaviCtrl.Param.Byte[9] = ActiveParamSet;	174	ToNaviCtrl.Param.Byte[9] = ActiveParamSet;
175	ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;	175	ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude;
176	ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;	176	ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2;
-		177	if(!(PORTC & (1<<PORTC2))) FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16)
177	break;	178	break;
178		-
179	case SPI_FCCMD_BL_ACCU:	179	case SPI_FCCMD_BL_ACCU:
180	ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A	180	ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A
181	ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh	181	ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh
182	ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V	182	ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V
183	ToNaviCtrl.Param.Byte[5] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control	183	ToNaviCtrl.Param.Byte[5] = GetChannelValue(EE_Parameter.NaviGpsModeChannel); // GPS-Mode control