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| Rev 2179 | Rev 2183 | ||
|---|---|---|---|
| Line 18... | Line 18... | ||
| 18 | unsigned char *SPI_TX_Buffer; |
18 | unsigned char *SPI_TX_Buffer; |
| Line 19... | Line 19... | ||
| 19 | 19 | ||
| 20 | unsigned char SPITransferCompleted, SPI_ChkSum; |
20 | unsigned char SPITransferCompleted, SPI_ChkSum; |
| Line 21... | Line 21... | ||
| 21 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
21 | unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| - | 22 | ||
| - | 23 | unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, |
|
| - | 24 | SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, |
|
| - | 25 | SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU, |
|
| 22 | 26 | SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2 |
|
| 23 | unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
27 | }; |
| 24 | unsigned char SPI_CommandCounter = 0; |
28 | unsigned char SPI_CommandCounter = 0; |
| 25 | unsigned char NC_ErrorCode = 0; |
29 | unsigned char NC_ErrorCode = 0; |
| 26 | unsigned char NC_GPS_ModeCharacter = ' '; |
30 | unsigned char NC_GPS_ModeCharacter = ' '; |
| Line 73... | Line 77... | ||
| 73 | 77 | ||
| 74 | SPITransferCompleted = 0; |
78 | SPITransferCompleted = 0; |
| Line 75... | Line 79... | ||
| 75 | UpdateSPI_Buffer(); // update buffer |
79 | UpdateSPI_Buffer(); // update buffer |
| 76 | - | ||
| 77 | SPI_BufferIndex = 1; |
80 | |
| 78 | //ebugOut.Analog[16]++; |
81 | SPI_BufferIndex = 1; |
| 79 | // -- Debug-Output --- |
82 | // -- Debug-Output --- |
| 80 | //---- |
83 | //---- |
| 81 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
84 | asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| Line 218... | Line 221... | ||
| 218 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
221 | ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
| 219 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
222 | ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| 220 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
223 | ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
| 221 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
224 | ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| 222 | break; |
225 | break; |
| - | 226 | case SPI_FCCMD_PARAMETER2: |
|
| - | 227 | ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviOut1Parameter; // Distance between Photo releases |
|
| 223 | 228 | break; |
|
| 224 | case SPI_FCCMD_STICK: |
229 | case SPI_FCCMD_STICK: |
| 225 | cli(); |
230 | cli(); |
| 226 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
231 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| 227 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
232 | ToNaviCtrl.Param.Byte[0] = (char) tmp; |
| 228 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
233 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |