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//------------------------------------------------------------------------------------------------------------------ #ifdef USE_DIR // dno:0(dir), 1(pitch), 2(roll) UINT get_dir(BYTE dno) { U_UINT d; BYTE adrs = DIR_ADRS; BYTE n = 0; d.W = 999; if (i2c_recv(adrs, 6) == false) return(d.W); n = 0; gU_Dat[0].H = gI2C_Buf[n++]; gU_Dat[0].L = gI2C_Buf[n++]; gU_Dat[1].H = gI2C_Buf[n++]; gU_Dat[1].L = gI2C_Buf[n++]; gU_Dat[2].H = gI2C_Buf[n++]; gU_Dat[2].L = gI2C_Buf[n++]; dno = dno < 3 ? dno : 0; d.W = gU_Dat[dno].W; return(d.W / 10); } //------------------------------------------------------------------------------------------------------------------ |
//------------------------------------------------------------------------------------------------------------------ #ifdef USE_DIR // dno:0(dir), 1(pitch), 2(roll) UINT get_dir(BYTE dno) { U_UINT d; BYTE adrs = DIR_ADRS; BYTE n = 0; d.W = 999; gI2C_Buf[n++] = 0x20 + dno * 2; if (i2c_send(adrs, n) == false) return(d.W); if (i2c_recv(adrs, 2) == false) return(d.W); n = 0; d.H = gI2C_Buf[n++]; d.L = gI2C_Buf[n++]; if (0 < dno){ d.W += 90; } return(d.W); } //------------------------------------------------------------------------------------------------------------------ |
//------------------------------------------------------------------------------------------------------------------ #ifdef USE_DIR // "D:ddd,ppp,rrr" + CRLF void put_dir(void) { char str[5 + 1]; BYTE n; get_dir(3); tx_putc('D'); tx_putc(':'); for (n = 0; n < 3; n++){ sprintf(str, (ROMC *)"%03u", gU_Dat[n].W / 10); tx_puts(str); if (n < 2) tx_putc(','); } tx_putsX((ROMC *)"\r\n"); } #endif //------------------------------------------------------------------------------------------------------------------ |
//------------------------------------------------------------------------------------------------------------------ #ifdef USE_DIR // "D:ddd,ppp,rrr" + CRLF void put_dir(void) { char str[3 + 1]; BYTE n; tx_putc('D'); tx_putc(':'); for (n = 0; n < 3; n++){ sprintf(str, (ROMC *)"%03u", get_dir(n)); tx_puts(str); if (n < 2) tx_putc(','); } tx_putsX((ROMC *)"\r\n"); } #endif //------------------------------------------------------------------------------------------------------------------ |