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Rev 255 | Rev 258 | ||
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100 | 100 | ||
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
102 | u8 SPI_CommandCounter = 0; |
102 | u8 SPI_CommandCounter = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
- | 104 | s32 HeadFreeStartAngle = 0; |
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Line 104... | Line 105... | ||
104 | s32 HeadFreeStartAngle = 0; |
105 | s32 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
Line 105... | Line 106... | ||
105 | 106 | ||
106 | SPI_Version_t FC_Version; |
107 | SPI_Version_t FC_Version; |
Line 310... | Line 311... | ||
310 | case SPI_NCCMD_GPSINFO: |
311 | case SPI_NCCMD_GPSINFO: |
311 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
312 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
312 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
313 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
313 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
314 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
314 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
315 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
315 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm |
316 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
316 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg |
317 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
- | 318 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
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317 | break; |
319 | break; |
318 | default: |
320 | default: |
319 | break; |
321 | break; |
320 | } |
322 | } |
321 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
323 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |