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Rev 386 | Rev 388 | ||
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Line 293... | Line 293... | ||
293 | if(SPI_RxBuffer_Request) |
293 | if(SPI_RxBuffer_Request) |
294 | { |
294 | { |
295 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
295 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
296 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
296 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
297 | ToFlightCtrl.CompassHeading = Compass_Heading; |
297 | ToFlightCtrl.CompassHeading = Compass_Heading; |
298 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
- | |
299 | //ToFlightCtrl.CompassHeading %= 360; |
- | |
300 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
298 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
301 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
299 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
302 | // ToFlightCtrl.MagVecX = MagVector.X; |
300 | // ToFlightCtrl.MagVecX = MagVector.X; |
303 | // ToFlightCtrl.MagVecY = MagVector.Y; |
301 | // ToFlightCtrl.MagVecY = MagVector.Y; |
304 | ToFlightCtrl.MagVecZ = MagVector.Z; |
302 | ToFlightCtrl.MagVecZ = MagVector.Z; |
Line 399... | Line 397... | ||
399 | else |
397 | else |
400 | { |
398 | { |
401 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
399 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
402 | } |
400 | } |
403 | break; |
401 | break; |
404 | /* |
- | |
405 | typedef struct |
- | |
406 | { |
- | |
407 | unsigned char StartByte; //0 // 0x7C |
- | |
408 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
- | |
409 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
- | |
410 | unsigned char Heading; //3 // 1 = 2° |
- | |
411 | unsigned int Speed; //4+5 // in km/h |
- | |
412 | unsigned char Lat_North; //6 |
- | |
413 | unsigned char Lat_G; //7 |
- | |
414 | unsigned char Lat_M; //8 |
- | |
415 | unsigned char Lat_Sek1; //9 |
- | |
416 | unsigned char Lat_Sek2; //10 |
- | |
417 | unsigned char Lon_East; //11 |
- | |
418 | unsigned char Lon_G; //12 |
- | |
419 | unsigned char Lon_M; //13 |
- | |
420 | unsigned char Lon_Sek1; //14 |
- | |
421 | unsigned char Lon_Sek2; //15 |
- | |
422 | unsigned int Distance; //16+17 // 9000 = 0m |
- | |
423 | unsigned int Altitude; //18+19 // 500 = 0m |
- | |
424 | unsigned int m_sec; //20+21 // 3000 = 0 |
- | |
425 | unsigned int m_3sec; //22+23 // 3000 = 0 |
- | |
426 | unsigned int m_10sec; //24+25 // 3000 = 0 |
- | |
427 | unsigned char NullByte; // 0x00 |
- | |
428 | unsigned char NullByte1; // 0x00 |
- | |
429 | unsigned char EndByte; // 0x7D |
- | |
430 | } GPSPacket_t; |
- | |
431 | */ |
- | |
432 | /* |
- | |
433 | typedef struct |
- | |
434 | { |
- | |
435 | unsigned char StartByte; //0 0x7C |
- | |
436 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
- | |
437 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
- | |
438 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
- | |
439 | unsigned char VoltageCell2; //4 |
- | |
440 | unsigned char VoltageCell3; //5 |
- | |
441 | unsigned char VoltageCell4; //6 |
- | |
442 | unsigned char VoltageCell5; //7 |
- | |
443 | unsigned char VoltageCell6; //8 |
- | |
444 | unsigned int Battery1; //9 51 = 5,1V |
- | |
445 | unsigned int Battery2; //11 51 = 5,1V |
- | |
446 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
- | |
447 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
- | |
448 | unsigned char FuelPercent; //15 |
- | |
449 | signed int FuelCapacity; //16 |
- | |
450 | unsigned int Rpm; |
- | |
451 | unsigned int Altitude; |
- | |
452 | unsigned int m_sec; // 3000 = 0 |
- | |
453 | unsigned char m_3sec; // 120 = 0 |
- | |
454 | unsigned int Current; // 1 = 0.1A |
- | |
455 | unsigned int InputVoltage; // 66 = 6,6V |
- | |
456 | unsigned int Capacity; // 1 = 10mAh |
- | |
457 | unsigned char NullByte1; // 0x00 |
- | |
458 | unsigned char NullByte2; // 0x00 |
- | |
459 | unsigned char EndByte; // 0x7D |
- | |
460 | } HoTTGeneral_t; |
- | |
461 | */ |
- | |
462 | case SPI_NCCMD_HOTT_INFO: |
402 | case SPI_NCCMD_HOTT_INFO: |
463 | switch(hott_index++) |
403 | switch(hott_index++) |
464 | { |
404 | { |
465 | case 0: |
405 | case 0: |
466 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
406 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
Line 580... | Line 520... | ||
580 | else // Ansonsten die aktuelle Richtung übernehmen |
520 | else // Ansonsten die aktuelle Richtung übernehmen |
581 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
521 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
582 | } |
522 | } |
583 | } |
523 | } |
Line 584... | Line -... | ||
584 | - | ||
585 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
- | |
586 | 524 | ||
587 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
525 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
588 | DebugOut.Analog[5] = FC.StatusFlags; |
526 | DebugOut.Analog[5] = FC.StatusFlags; |
589 | NaviData.FCStatusFlags = FC.StatusFlags; |
527 | NaviData.FCStatusFlags = FC.StatusFlags; |
590 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
528 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
Line 729... | Line 667... | ||
729 | 667 | ||
730 | 668 | ||
731 | /* |
669 | /* |
732 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
733 | */ |
- | |
734 | /* |
- | |
735 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
- | |
736 | else |
- | |
737 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
- | |
738 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
- | |
739 | BL_MinOfMaxPWM = 255; |
670 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
740 | */ |
671 | */ |
741 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
672 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
742 | ClearFCStatusFlags = 1; |
673 | ClearFCStatusFlags = 1; |
743 | if(counter) |
674 | if(counter) |