Rev 419 | Rev 421 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 419 | Rev 420 | ||
|---|---|---|---|
| Line 284... | Line 284... | ||
| 284 | //------------------------------------------------------ |
284 | //------------------------------------------------------ |
| 285 | void SPI0_UpdateBuffer(void) |
285 | void SPI0_UpdateBuffer(void) |
| 286 | { |
286 | { |
| 287 | static u32 timeout = 0; |
287 | static u32 timeout = 0; |
| 288 | static u8 counter = 50,hott_index = 0, last_error_code = 0; |
288 | static u8 counter = 50,hott_index = 0, last_error_code = 0; |
| 289 | s16 tmp; |
289 | s16 tmp, last_wp_event = 0; |
| 290 | s32 i1,i2; |
290 | s32 i1,i2; |
| Line 291... | Line 291... | ||
| 291 | 291 | ||
| 292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
| 293 | if(SPI_RxBuffer_Request) |
293 | if(SPI_RxBuffer_Request) |
| Line 301... | Line 301... | ||
| 301 | ToFlightCtrl.MagVecY = MagVector.Y; |
301 | ToFlightCtrl.MagVecY = MagVector.Y; |
| 302 | ToFlightCtrl.MagVecZ = MagVector.Z; |
302 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 303 | // ToFlightCtrl.NCStatus = 0; |
303 | // ToFlightCtrl.NCStatus = 0; |
| 304 | // cycle spi commands |
304 | // cycle spi commands |
| 305 | if(ErrorCode != last_error_code) ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
305 | if(ErrorCode != last_error_code) ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
| - | 306 | else |
|
| - | 307 | if(FC_WP_EventChannel != last_wp_event) ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
|
| - | 308 | else |
|
| - | 309 | { |
|
| 306 | else ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
310 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| 307 | // restart command cycle at the end |
311 | // restart command cycle at the end |
| 308 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
312 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 309 | 313 | } |
|
| 310 | last_error_code = ErrorCode; |
314 | last_error_code = ErrorCode; |
| - | 315 | last_wp_event = FC_WP_EventChannel; |
|
| Line 311... | Line 316... | ||
| 311 | 316 | ||
| 312 | #define FLAG_GPS_AID 0x01 |
317 | #define FLAG_GPS_AID 0x01 |
| 313 | switch (ToFlightCtrl.Command) |
318 | switch (ToFlightCtrl.Command) |
| 314 | { |
319 | { |