WebSVN - NaviCtrl - Diff - Rev 577 and 578



ToFlightCtrl_t     ToFlightCtrl;
#define SPI0_TIMEOUT     2500  //ms
volatile u32 SPI0_Timeout = 0;
u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0;
u8 SpeakHoTT = 0;
u32 LoggingGasFilter = 0, LoggingGasCnt = 0;

 
// tx packet buffer
#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10];

s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
s16 CompassSetpoint = 0;          // in 0,1°
s16 SimulatedDirection = 0;     // only for flight simulation
u8 AmountOfMotors = 0;
u16 FlugMinutenGesamt;
 
u8 HoverGas = 0;
//--------------------------------------------------------------
void SSP0_IRQHandler(void)
{
        static u8 rxchksum = 0;
        u8 rxdata;

                                ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints
                                ToFlightCtrl.Param.Int[3] =  NaviData.TargetPositionDeviation.Distance / 10;
                                ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
                                ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex;
                                ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11
 
                                SpeakHoTT = 0;
                                break;

 
                        case SPI_NCCMD_GPSINFO:

                                CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
                                FC.RC_Quality   = FromFlightCtrl.Param.Byte[9];
                                NaviData.RC_Quality = FC.RC_Quality;
                                NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10];
                                NaviData.Gas    = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
                                LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11];
                                LoggingGasCnt++;
                                break;

 
                        case SPI_FCCMD_SERVOS:
                                FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0];

                                break;
                        case SPI_FCCMD_NEUTRAL:
                                FC.AdNeutralNick = FromFlightCtrl.Param.Int[0];
                                FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1];
                                FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2];
                                Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6];    
                                HoverGas = FromFlightCtrl.Param.Byte[7];
                                break;
                        default:
                                break;
                }
                DebugOut.Analog[0] = FromFlightCtrl.AngleNick;

Rev 577	Rev 578
Line 80...	Line 80...
80	ToFlightCtrl_t ToFlightCtrl;	80	ToFlightCtrl_t ToFlightCtrl;
81	#define SPI0_TIMEOUT 2500 //ms	81	#define SPI0_TIMEOUT 2500 //ms
82	volatile u32 SPI0_Timeout = 0;	82	volatile u32 SPI0_Timeout = 0;
83	u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0;	83	u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0;
84	u8 SpeakHoTT = 0;	84	u8 SpeakHoTT = 0;
-		85	u32 LoggingGasFilter = 0, LoggingGasCnt = 0;
Line 85...	Line 86...
85		86
86	// tx packet buffer	87	// tx packet buffer
87	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization	88	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
88	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10];	89	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10];
Line 129...	Line 130...
129	s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination	130	s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination
130	s16 CompassSetpoint = 0; // in 0,1°	131	s16 CompassSetpoint = 0; // in 0,1°
131	s16 SimulatedDirection = 0; // only for flight simulation	132	s16 SimulatedDirection = 0; // only for flight simulation
132	u8 AmountOfMotors = 0;	133	u8 AmountOfMotors = 0;
133	u16 FlugMinutenGesamt;	134	u16 FlugMinutenGesamt;
134		-
-		135	u8 HoverGas = 0;
135	//--------------------------------------------------------------	136	//--------------------------------------------------------------
136	void SSP0_IRQHandler(void)	137	void SSP0_IRQHandler(void)
137	{	138	{
138	static u8 rxchksum = 0;	139	static u8 rxchksum = 0;
139	u8 rxdata;	140	u8 rxdata;
Line 407...	Line 408...
407	ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints	408	ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints
408	ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10;	409	ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10;
409	ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached	410	ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
410	ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex;	411	ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex;
411	ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11	412	ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11
-		413
412	SpeakHoTT = 0;	414	SpeakHoTT = 0;
413	break;	415	break;
Line 414...	Line 416...
414		416
415	case SPI_NCCMD_GPSINFO:	417	case SPI_NCCMD_GPSINFO:
Line 755...	Line 757...
755	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);	757	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
756	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];	758	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
757	NaviData.RC_Quality = FC.RC_Quality;	759	NaviData.RC_Quality = FC.RC_Quality;
758	NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10];	760	NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10];
759	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;	761	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
-		762	LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11];
-		763	LoggingGasCnt++;
760	break;	764	break;
Line 761...	Line 765...
761		765
762	case SPI_FCCMD_SERVOS:	766	case SPI_FCCMD_SERVOS:
763	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0];	767	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0];
Line 802...	Line 806...
802	break;	806	break;
803	case SPI_FCCMD_NEUTRAL:	807	case SPI_FCCMD_NEUTRAL:
804	FC.AdNeutralNick = FromFlightCtrl.Param.Int[0];	808	FC.AdNeutralNick = FromFlightCtrl.Param.Int[0];
805	FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1];	809	FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1];
806	FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2];	810	FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2];
807	Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6];	811	Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6];
-		812	HoverGas = FromFlightCtrl.Param.Byte[7];
808	break;	813	break;
809	default:	814	default:
810	break;	815	break;
811	}	816	}
812	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;	817	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;

Subversion Repositories NaviCtrl

(root)/tags/V2.10c/spi_slave.c @ 641 - Rev 577 → 578