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| Rev 611 | Rev 618 | ||
|---|---|---|---|
| Line 81... | Line 81... | ||
| 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; |
85 | u32 LoggingGasFilter = 0, LoggingGasCnt = 0; |
| - | 86 | u8 Out1TriggerUpdateBlocked = 0; |
|
| - | 87 | u8 Out1TriggerUpdateNewData = 0; |
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| Line 86... | Line 88... | ||
| 86 | 88 | ||
| 87 | // tx packet buffer |
89 | // tx packet buffer |
| 88 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
90 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
| 89 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
91 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
| Line 427... | Line 429... | ||
| 427 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
429 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
| 428 | if(FC_WP_EventChannel) |
430 | if(FC_WP_EventChannel) |
| 429 | { |
431 | { |
| 430 | LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
432 | LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
| 431 | NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
433 | NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
| - | 434 | Out1TriggerUpdateBlocked = 3; // makes sure that the right trigger-pos is sent in command 18 |
|
| - | 435 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
|
| - | 436 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
|
| 432 | } |
437 | } |
| 433 | FC_WP_EventChannel_Processed = 1; |
438 | FC_WP_EventChannel_Processed = 1; |
| 434 | // ++++++++++++++++++++++++++++++++++ |
439 | // ++++++++++++++++++++++++++++++++++ |
| 435 | // Waypoint event +++++++++++++++++++ |
440 | // Waypoint event +++++++++++++++++++ |
| 436 | // ++++++++++++++++++++++++++++++++++ |
441 | // ++++++++++++++++++++++++++++++++++ |
| Line 688... | Line 693... | ||
| 688 | //0x40 |
693 | //0x40 |
| 689 | //0x20 |
694 | //0x20 |
| 690 | //0x10 |
695 | //0x10 |
| 691 | if(FromFlightCtrl.Param.Byte[2] & 0x80) // this Flag marks a changed Out1 |
696 | if(FromFlightCtrl.Param.Byte[2] & 0x80) // this Flag marks a changed Out1 |
| 692 | { |
697 | { |
| - | 698 | Out1TriggerUpdateNewData = 1; |
|
| - | 699 | if(!Out1TriggerUpdateBlocked) |
|
| - | 700 | { |
|
| 693 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
701 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
| 694 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
702 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
| - | 703 | } |
|
| 695 | NaviData_Out1Trigger.Altimeter = NaviData.Altimeter; |
704 | Out1TriggerUpdateBlocked = 0; |
| 696 | } |
705 | } |
| - | 706 | if(Out1TriggerUpdateBlocked) Out1TriggerUpdateBlocked--; |
|
| 697 | index = FromFlightCtrl.Param.Byte[2] & 0x0f; //MAX_MOTORS |
707 | index = FromFlightCtrl.Param.Byte[2] & 0x0f; //MAX_MOTORS |
| 698 | Motor[index].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
708 | Motor[index].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
| 699 | Motor_Version[index] = FromFlightCtrl.Param.Byte[7]; |
709 | Motor_Version[index] = FromFlightCtrl.Param.Byte[7]; |
| 700 | Motor[index].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
710 | Motor[index].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
| 701 | Motor[index].State = FromFlightCtrl.Param.Byte[9]; |
711 | Motor[index].State = FromFlightCtrl.Param.Byte[9]; |