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Rev 864 | Rev 865 | ||
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Line 152... | Line 152... | ||
152 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
152 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
153 | str_HugeBlockFromFC HugeBlockFromFC; |
153 | str_HugeBlockFromFC HugeBlockFromFC; |
154 | str_HugeBlockToFC HugeBlockToFC; |
154 | str_HugeBlockToFC HugeBlockToFC; |
155 | u8 CamCtrlCharacter =' '; |
155 | u8 CamCtrlCharacter =' '; |
Line 156... | Line 156... | ||
156 | 156 | ||
157 | s16 NickServoValue; |
157 | s16 NickServoValue = 128 * 64;; |
158 | s16 FromFC_ServoRollControl = 128; |
158 | s16 FromFC_ServoRollControl = 128; |
Line 159... | Line 159... | ||
159 | s16 FromFC_ServoNickControl = 128; |
159 | s16 FromFC_ServoNickControl = 128; |
160 | 160 | ||
Line 307... | Line 307... | ||
307 | void SPI0_Init(void) |
307 | void SPI0_Init(void) |
308 | { |
308 | { |
309 | GPIO_InitTypeDef GPIO_InitStructure; |
309 | GPIO_InitTypeDef GPIO_InitStructure; |
310 | SSP_InitTypeDef SSP_InitStructure; |
310 | SSP_InitTypeDef SSP_InitStructure; |
Line 311... | Line 311... | ||
311 | 311 | ||
Line 312... | Line 312... | ||
312 | UART1_PutString("\r\n SPI init..."); |
312 | // UART1_PutString("\r\n SPI init..."); |
313 | 313 | ||
Line 314... | Line 314... | ||
314 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
314 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
Line 360... | Line 360... | ||
360 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
360 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
Line 361... | Line 361... | ||
361 | 361 | ||
362 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
362 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
363 | EE_Parameter.Revision = 0; |
363 | EE_Parameter.Revision = 0; |
364 | sprintf(EE_Parameter.Name,"???%c",0); |
364 | sprintf(EE_Parameter.Name,"???%c",0); |
365 | UART1_PutString("ok"); |
365 | // UART1_PutString("ok"); |
Line 366... | Line 366... | ||
366 | } |
366 | } |
367 | 367 | ||
Line 439... | Line 439... | ||
439 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
439 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
440 | ToFlightCtrl.Param.Byte[4] = 0; // siehe bitcodiert unten |
440 | ToFlightCtrl.Param.Byte[4] = 0; // siehe bitcodiert unten |
441 | if(DebugUART == UART2) ToFlightCtrl.Param.Byte[4] = KM_BIT_UART; // informs the FC to listen to the UART |
441 | if(DebugUART == UART2) ToFlightCtrl.Param.Byte[4] = KM_BIT_UART; // informs the FC to listen to the UART |
442 | if(IO1_Function == IO1FUNC_PARACHUTE) |
442 | if(IO1_Function == IO1FUNC_PARACHUTE) |
443 | { |
443 | { |
444 | if(ToFC_Parachute_Off > 5) ToFlightCtrl.Param.Byte[4] |= KM_BIT_SLOW; // informs the FC to listen to the UART |
444 | if(ToFC_Parachute_Off > 5) ToFlightCtrl.Param.Byte[4] |= KM_BIT_SLOW; |
445 | if(ToFC_Parachute_Off > 300) ToFlightCtrl.Param.Byte[4] |= KM_BIT_OFF; // informs the FC to listen to the UART |
445 | if(ToFC_Parachute_Off > 300) ToFlightCtrl.Param.Byte[4] |= KM_BIT_OFF; |
446 | } |
446 | } |
447 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
447 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
448 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
448 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
449 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
449 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
450 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
450 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
Line 1029... | Line 1029... | ||
1029 | if(UART_VersionInfo.HWMajor >= 30) NaviData_Volatile.ShutterCounter = TrigLogging.Count; |
1029 | if(UART_VersionInfo.HWMajor >= 30) NaviData_Volatile.ShutterCounter = TrigLogging.Count; |
1030 | else NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
1030 | else NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
1031 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
1031 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
1032 | Parameter.FailSafeTime = FromFlightCtrl.Param.Byte[9]; |
1032 | Parameter.FailSafeTime = FromFlightCtrl.Param.Byte[9]; |
1033 | FromFC_ExternalCtrlCfg = FromFlightCtrl.Param.Byte[10]; |
1033 | FromFC_ExternalCtrlCfg = FromFlightCtrl.Param.Byte[10]; |
1034 | // DebugOut.Analog[] = NaviData_Volatile.ShutterCounter; |
1034 | FromFC_ExternalCtrlSwitch = FromFlightCtrl.Param.Byte[11]; |
1035 | // 8 |
- | |
1036 | // 9 |
- | |
1037 | // 10 |
- | |
1038 | // 11 |
- | |
1039 | break; |
1035 | break; |
Line 1040... | Line 1036... | ||
1040 | 1036 | ||
1041 | default: |
1037 | default: |
1042 | break; |
1038 | break; |