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Rev 518 | Rev 530 | ||
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Line 116... | Line 116... | ||
116 | u8 FCCalibActive = 0; |
116 | u8 FCCalibActive = 0; |
117 | u8 FC_is_Calibrated = 0; |
117 | u8 FC_is_Calibrated = 0; |
118 | Motor_t Motor[12]; |
118 | Motor_t Motor[12]; |
119 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
119 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
120 | u8 NC_To_FC_Flags = 0; |
120 | u8 NC_To_FC_Flags = 0; |
121 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
121 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
- | 122 | u8 Logging_BL_MinOfMaxPWM = 255; |
|
- | 123 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
|
122 | u32 FC_I2C_ErrorConter; |
124 | u32 FC_I2C_ErrorConter; |
123 | SPI_Version_t FC_Version; |
125 | SPI_Version_t FC_Version; |
124 | s16 POI_KameraNick = 0; |
126 | s16 POI_KameraNick = 0; |
125 | u8 NC_Wait_for_LED = 0; |
127 | u8 NC_Wait_for_LED = 0; |
126 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
128 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
127 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
129 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
128 | s16 CompassSetpoint = 0; // in 0,1° |
130 | s16 CompassSetpoint = 0; // in 0,1° |
- | 131 | u8 AmountOfMotors = 0; |
|
Line 129... | Line 132... | ||
129 | 132 | ||
130 | //-------------------------------------------------------------- |
133 | //-------------------------------------------------------------- |
131 | void SSP0_IRQHandler(void) |
134 | void SSP0_IRQHandler(void) |
132 | { |
135 | { |
Line 657... | Line 660... | ||
657 | break; |
660 | break; |
Line 658... | Line 661... | ||
658 | 661 | ||
659 | case SPI_FCCMD_BL_ACCU: |
662 | case SPI_FCCMD_BL_ACCU: |
660 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
663 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
- | 664 | DebugOut.Analog[8] = FC.BAT_Current; |
|
661 | DebugOut.Analog[8] = FC.BAT_Current; |
665 | if(AmountOfMotors < FromFlightCtrl.Param.Byte[2]+1) AmountOfMotors = FromFlightCtrl.Param.Byte[2]+1; |
- | 666 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
|
- | 667 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
|
662 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
668 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
663 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
669 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
- | 670 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
|
664 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
671 | Motor[FromFlightCtrl.Param.Byte[2]].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
665 | Motor_Version[FromFlightCtrl.Param.Byte[6]] = FromFlightCtrl.Param.Byte[7]; |
672 | Motor_Version[FromFlightCtrl.Param.Byte[2]] = FromFlightCtrl.Param.Byte[7]; |
666 | Motor[FromFlightCtrl.Param.Byte[6]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
673 | Motor[FromFlightCtrl.Param.Byte[2]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
667 | Motor[FromFlightCtrl.Param.Byte[6]].State = FromFlightCtrl.Param.Byte[9]; |
674 | Motor[FromFlightCtrl.Param.Byte[2]].State = FromFlightCtrl.Param.Byte[9]; |
668 | Motor[FromFlightCtrl.Param.Byte[6]].Temperature = FromFlightCtrl.Param.Byte[10]; |
675 | Motor[FromFlightCtrl.Param.Byte[2]].Temperature = FromFlightCtrl.Param.Byte[10]; |
669 | Motor[FromFlightCtrl.Param.Byte[6]].Current = FromFlightCtrl.Param.Byte[11]; |
676 | Motor[FromFlightCtrl.Param.Byte[2]].Current = FromFlightCtrl.Param.Byte[11]; |
670 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
677 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
671 | { |
678 | { |
672 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
679 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
673 | } |
680 | } |
Line 744... | Line 751... | ||
744 | // NaviData.RC_RSSI = FC.RC_RSSI; |
751 | // NaviData.RC_RSSI = FC.RC_RSSI; |
745 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
752 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
746 | break; |
753 | break; |
Line 747... | Line 754... | ||
747 | 754 | ||
748 | case SPI_FCCMD_SERVOS: |
- | |
749 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
755 | case SPI_FCCMD_SERVOS: |
750 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
756 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0]; |
751 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
- | |
752 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
- | |
753 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
- | |
754 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
757 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
755 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
- | |
756 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
- | |
757 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
- | |
758 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
758 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[3]; |
759 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
759 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[4]; |
760 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[11]; |
760 | FC.RedundanceBlOperation = FromFlightCtrl.Param.Byte[5]; |
Line 761... | Line 761... | ||
761 | break; |
761 | break; |
762 | 762 | ||
763 | case SPI_FCCMD_VERSION: |
763 | case SPI_FCCMD_VERSION: |