WebSVN - NaviCtrl - Blame - Rev 487 - /tags/V2.16a/spi

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + www.MikroKopter.com
		6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
360	holgerb	7	// + Software Nutzungsbedingungen (english version: see below)
		8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
		9	// + Der Lizenzgeber r�umt dem Kunden ein nicht-ausschlie�liches, zeitlich und r�umlich* unbeschr�nktes Recht ein, die im den
		10	// + Mikrocontroller verwendete Firmware f�r die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
		11	// + - nachfolgend Software genannt - nur f�r private Zwecke zu nutzen.
		12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zul�ssig.
1	ingob	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
360	holgerb	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich gesch�tzt. Alle Rechte an der Software sowie an sonstigen im
		15	// + Rahmen der Vertragsanbahnung und Vertragsdurchf�hrung �berlassenen Unterlagen stehen im Verh�ltnis der Vertragspartner ausschlie�lich dem Lizenzgeber zu.
		16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
		17	// + sonstige der Programmidentifikation dienenden Merkmale d�rfen vom Kunden nicht ver�ndert oder unkenntlich gemacht werden.
		18	// + Der Kunde trifft angemessene Vorkehrungen f�r den sicheren Einsatz der Software. Er wird die Software gr�ndlich auf deren
		19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
		20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zul�ssig - begrenzt in H�he des typischen und vorhersehbaren
		21	// + Schadens. Die gesetzliche Haftung bei Personensch�den und nach dem Produkthaftungsgesetz bleibt unber�hrt. Dem Lizenzgeber steht jedoch der Einwand
		22	// + des Mitverschuldens offen.
		23	// + Der Kunde trifft angemessene Vorkehrungen f�r den Fall, dass die Software ganz oder teilweise nicht ordnungsgem�� arbeitet.
		24	// + Er wird die Software gr�ndlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
		25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
		26	// + Der Kunde ist dar�ber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchf�hrung erforderlichen Umfang
		27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte �bermittelt.
		28	// + *) Die r�umliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
		29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
		30	// + Hinweis: Informationen �ber erweiterte Nutzungsrechte (wie z.B. Nutzung f�r nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verf�gbar.
1	ingob	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
360	holgerb	32	// + Software LICENSING TERMS
1	ingob	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
360	holgerb	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
		35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
		36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
		37	// + The Software may only be used with the Licensor's products.
		38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
		39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
		40	// + agreement shall be the property of the Licensor.
		41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
		42	// + features that can be used to identify the program may not be altered or defaced by the customer.
		43	// + The customer shall be responsible for taking reasonable precautions
		44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
		45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
		46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
		47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
		48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
		49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
		50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
		51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
		52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
		53	// + #### END OF LICENSING TERMS ####
		54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
1	ingob	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	56
		57	#include <string.h>
331	holgerb	58	#include <math.h>
41	ingob	59	#include "91x_lib.h"
		60	#include "led.h"
215	killagreg	61	#include "gps.h"
41	ingob	62	#include "uart1.h"
		63	#include "spi_slave.h"
242	killagreg	64	#include "compass.h"
119	killagreg	65	#include "timer1.h"
		66	#include "timer2.h"
136	killagreg	67	#include "config.h"
1	ingob	68	#include "main.h"
483	holgerb	69	#include "compass.h"
294	holgerb	70	#include "params.h"
483	holgerb	71	#include "stdlib.h"
426	holgerb	72	#include "settings.h"
483	holgerb	73	#include "ncmag.h"
1	ingob	74
41	ingob	75	#define SPI_RXSYNCBYTE1 0xAA
		76	#define SPI_RXSYNCBYTE2 0x83
		77	#define SPI_TXSYNCBYTE1 0x81
		78	#define SPI_TXSYNCBYTE2 0x55
1	ingob	79
41	ingob	80	//communication packets
215	killagreg	81	FromFlightCtrl_t FromFlightCtrl;
		82	ToFlightCtrl_t ToFlightCtrl;
397	holgerb	83	#define SPI0_TIMEOUT 2500 //ms
146	killagreg	84	volatile u32 SPI0_Timeout = 0;
338	holgerb	85	u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0;
397	holgerb	86	u8 SpeakHoTT = 0;
1	ingob	87
41	ingob	88	// tx packet buffer
		89	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
378	holgerb	90	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10];
41	ingob	91	volatile u8 SPI_TxBufferIndex = 0;
		92	u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
1	ingob	93
41	ingob	94	// rx packet buffer
		95	#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
378	holgerb	96	volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10];
41	ingob	97	volatile u8 SPI_RxBufferIndex = 0;
		98	volatile u8 SPI_RxBuffer_Request = 0;
1	ingob	99	#define SPI_COMMAND_INDEX 0
		100
149	killagreg	101	s32 Kalman_K = 32;
41	ingob	102	s32 Kalman_MaxDrift = 5 * 16;
		103	s32 Kalman_MaxFusion = 64;
330	holgerb	104	s32 Kalman_Kompass = 32;
148	holgerb	105	s32 ToFcGpsZ = 0;
392	holgerb	106	u8 CompassCalState = 0;
1	ingob	107
419	holgerb	108	u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION };
41	ingob	109	u8 SPI_CommandCounter = 0;
222	holgerb	110	s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;
		111	s32 HeadFreeStartAngle = 0;
421	holgerb	112	s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
286	killagreg	113	u32 ToFC_AltitudeRate = 0;
285	holgerb	114	s32 ToFC_AltitudeSetpoint = 0;
298	holgerb	115	u8 FromFC_VarioCharacter = ' ';
331	holgerb	116	u8 GPS_Aid_StickMultiplikator = 0;
323	holgerb	117	u8 NC_GPS_ModeCharacter = ' ';
329	holgerb	118	u8 FCCalibActive = 0;
330	holgerb	119	u8 FC_is_Calibrated = 0;
358	holgerb	120	Motor_t Motor[12];
471	holgerb	121	u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
351	holgerb	122	u8 NC_To_FC_Flags = 0;
338	holgerb	123	u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
		124	u32 FC_I2C_ErrorConter;
41	ingob	125	SPI_Version_t FC_Version;
351	holgerb	126	s16 POI_KameraNick = 0;
460	holgerb	127	u8 NC_Wait_for_LED = 0;
463	holgerb	128	s16 GyroCompassCorrected = 0; // corrected with the magnetic declination
487	holgerb	129	u8 FromFC_LowVoltageHomeActive = 0;
1	ingob	130
41	ingob	131	//--------------------------------------------------------------
		132	void SSP0_IRQHandler(void)
		133	{
		134	static u8 rxchksum = 0;
		135	u8 rxdata;
1	ingob	136
189	killagreg	137	#define SPI_SYNC1 0
		138	#define SPI_SYNC2 1
		139	#define SPI_DATA 2
		140	static u8 SPI_State = SPI_SYNC1;
378	holgerb	141	//IENABLE;
189	killagreg	142
161	killagreg	143	// clear pending bits
41	ingob	144	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	145	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	146
79	killagreg	147	// while RxFIFO not empty
378	holgerb	148	while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
79	killagreg	149	{
41	ingob	150	rxdata = SSP0->DR; // catch the received byte
		151	// Fill TxFIFO while its not full or end of packet is reached
378	holgerb	152	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	153	{
79	killagreg	154	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		155	{
41	ingob	156	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	157	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
378	holgerb	158	if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication!
79	killagreg	159	SPI_TxBufferIndex++; // pointer to next byte
		160	}
		161	else // end of packet is reached reset and copy data to tx buffer
		162	{
		163	SPI_TxBufferIndex = 0; // reset buffer index
		164	ToFlightCtrl.Chksum = 0; // initialize checksum
		165	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		166	BeepTime = 0; // reset local beeptime
41	ingob	167	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	168	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		169	}
41	ingob	170	}
		171	switch (SPI_State)
		172	{
		173	case SPI_SYNC1:
		174	SPI_RxBufferIndex = 0; // reset buffer index
		175	rxchksum = rxdata; // init checksum
		176	if (rxdata == SPI_RXSYNCBYTE1)
		177	{ // 1st syncbyte ok
		178	SPI_State = SPI_SYNC2; // step to sync2
		179	}
		180	break;
79	killagreg	181	case SPI_SYNC2:
41	ingob	182	if (rxdata == SPI_RXSYNCBYTE2)
		183	{ // 2nd Syncbyte ok
		184	rxchksum += rxdata;
		185	SPI_State = SPI_DATA;
		186	} // 2nd Syncbyte does not match
		187	else
		188	{
		189	SPI_State = SPI_SYNC1; //jump back to sync1
		190	}
		191	break;
		192	case SPI_DATA:
		193	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
378	holgerb	194	if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
41	ingob	195	{
		196	if (rxdata == rxchksum) // verify checksum byte
		197	{
		198	// copy SPI_RxBuffer -> FromFlightCtrl
		199	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		200	{
		201	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		202	SPI_RxBuffer_Request = 1;
		203	}
146	killagreg	204	// reset timeout counter on good packet
		205	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	206	DebugOut.Analog[13]++;
		207	}
		208	else // bad checksum byte
		209	{
		210	DebugOut.Analog[12]++; // increase SPI chksum error counter
		211	}
		212	SPI_State = SPI_SYNC1; // reset state
		213	}
		214	else // end of packet not reached
		215	{
		216	rxchksum += rxdata; // update checksum
		217	}
		218	break;
		219	default:
		220	SPI_State = SPI_SYNC1;
		221	break;
		222	}
		223	}
195	killagreg	224
378	holgerb	225	// IDISABLE;
		226	VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
1	ingob	227	}
		228
		229	//--------------------------------------------------------------
		230	void SPI0_Init(void)
		231	{
41	ingob	232	GPIO_InitTypeDef GPIO_InitStructure;
		233	SSP_InitTypeDef SSP_InitStructure;
1	ingob	234
110	killagreg	235	UART1_PutString("\r\n SPI init...");
1	ingob	236
41	ingob	237	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		238	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	239
41	ingob	240	GPIO_DeInit(GPIO2);
		241	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		242	GPIO_StructInit(&GPIO_InitStructure);
		243	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		244	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		245	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	246	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	247	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		248	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	249
41	ingob	250	// SSP0_MISO pin GPIO2.6
		251	GPIO_StructInit(&GPIO_InitStructure);
		252	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		253	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		254	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	255	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	256	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		257	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	258
41	ingob	259	SSP_DeInit(SSP0);
		260	SSP_StructInit(&SSP_InitStructure);
		261	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		262	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		263	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		264	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		265	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		266	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	267
41	ingob	268	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	269	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
41	ingob	270	SSP_Cmd(SSP0, ENABLE);
		271	// initialize the syncbytes in the tx buffer
		272	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		273	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		274	// set the pointer to the checksum byte in the tx buffer
		275	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		276
215	killagreg	277	ToFlightCtrl.GPSStick.Nick = 0;
		278	ToFlightCtrl.GPSStick.Roll = 0;
419	holgerb	279	// ToFlightCtrl.GPSStick.Yaw = 0;
215	killagreg	280
136	killagreg	281	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	282	VIC_ITCmd(SSP0_ITLine, ENABLE);
		283
146	killagreg	284	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		285
110	killagreg	286	UART1_PutString("ok");
1	ingob	287	}
41	ingob	288
222	holgerb	289
1	ingob	290	//------------------------------------------------------
41	ingob	291	void SPI0_UpdateBuffer(void)
1	ingob	292	{
180	killagreg	293	static u32 timeout = 0;
426	holgerb	294	static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0;
		295	static s16 last_wp_event = 0;
		296	s16 tmp;
329	holgerb	297	s32 i1,i2;
462	holgerb	298	/*
		299	union
		300	{
		301	unsigned char Byte[4];
		302	unsigned int Int[2];
		303	unsigned long Long;
		304	} Temp;
		305	*/
378	holgerb	306	SPIWatchDog = 3500; // stop communication to FC after this timeout
		307	if(SPI_RxBuffer_Request)
41	ingob	308	{
		309	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		310	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
254	killagreg	311	ToFlightCtrl.CompassHeading = Compass_Heading;
189	killagreg	312	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
475	holgerb	313	GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset - GeoMagDec) % 3600;
228	holgerb	314	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
419	holgerb	315	ToFlightCtrl.MagVecX = MagVector.X;
		316	ToFlightCtrl.MagVecY = MagVector.Y;
286	killagreg	317	ToFlightCtrl.MagVecZ = MagVector.Z;
419	holgerb	318	// ToFlightCtrl.NCStatus = 0;
41	ingob	319	// cycle spi commands
426	holgerb	320	if(ErrorCode != last_error_code && enable_injecting)
		321	{
		322	ToFlightCtrl.Command = SPI_NCCMD_VERSION;
		323	last_error_code = ErrorCode;
		324	enable_injecting = 0;
		325	}
420	holgerb	326	else
426	holgerb	327	if(FC_WP_EventChannel != last_wp_event && enable_injecting)
		328	{
		329	ToFlightCtrl.Command = SPI_NCCMD_GPSINFO;
		330	last_wp_event = FC_WP_EventChannel;
		331	enable_injecting = 0;
		332	}
420	holgerb	333	else
		334	{
		335	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	336	// restart command cycle at the end
420	holgerb	337	if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
426	holgerb	338	if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1;
420	holgerb	339	}
419	holgerb	340
319	holgerb	341	#define FLAG_GPS_AID 0x01
41	ingob	342	switch (ToFlightCtrl.Command)
		343	{
329	holgerb	344	case SPI_NCCMD_KALMAN: // wird am h�ufigsten bet�tigt
149	killagreg	345	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	346	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		347	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
330	holgerb	348	ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass;
149	killagreg	349	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	350	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
223	killagreg	351	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
331	holgerb	352	ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator;
280	killagreg	353	if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH)
278	killagreg	354	{
		355	ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth;
280	killagreg	356	CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH;
278	killagreg	357	}
		358	else
280	killagreg	359	{
278	killagreg	360	ToFlightCtrl.Param.sInt[4] = -1;
		361	}
294	holgerb	362
299	killagreg	363	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command
295	killagreg	364	{
351	holgerb	365	POI_KameraNick = tmp;
299	killagreg	366	}
		367	else
		368	{
348	holgerb	369	//if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active
351	holgerb	370	POI_KameraNick = CAM_Orientation.Elevation;
348	holgerb	371	//else ToFlightCtrl.Param.sInt[5] = 0;
295	killagreg	372	}
351	holgerb	373	ToFlightCtrl.Param.sInt[5] = POI_KameraNick;
161	killagreg	374	break;
58	killagreg	375
202	killagreg	376	case SPI_NCCMD_VERSION:
355	holgerb	377	//+++++++++++++++++++++++++++++++++++++++++++++++++++
		378	//+ higher than the maximum allowed altitude
		379	//+++++++++++++++++++++++++++++++++++++++++++++++++++
202	killagreg	380	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		381	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	382	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	383	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
264	killagreg	384	ToFlightCtrl.Param.Byte[4] = Version_HW;
338	holgerb	385	ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen;
		386	ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed;
454	holgerb	387	ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben)
323	holgerb	388	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
330	holgerb	389	ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;
351	holgerb	390	ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags;
355	holgerb	391	if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work
		392	else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude;
202	killagreg	393	break;
342	holgerb	394	case SPI_MISC:
		395	ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5;
		396	ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination;
		397	ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic;
397	holgerb	398	ToFlightCtrl.Param.Byte[3] = SpeakHoTT;
419	holgerb	399	ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
		400	ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints
		401	ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10;
		402	ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
342	holgerb	403	ToFlightCtrl.Param.Byte[9] = 0;
		404	ToFlightCtrl.Param.Byte[10] = 0;
		405	ToFlightCtrl.Param.Byte[11] = 0;
397	holgerb	406	SpeakHoTT = 0;
342	holgerb	407	break;
223	killagreg	408
204	killagreg	409	case SPI_NCCMD_GPSINFO:
		410	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		411	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		412	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
232	killagreg	413	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
258	holgerb	414	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
		415	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
454	holgerb	416	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben)
421	holgerb	417	if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged
457	holgerb	418	// ++++++++++++++++++++++++++++++++++
		419	// Waypoint event +++++++++++++++++++
		420	// ++++++++++++++++++++++++++++++++++
		421	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp))
		422	{
		423	ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127);
		424	NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE);
		425	NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER);
		426	}
		427	else
		428	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp))
		429	{
		430	ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127);
		431	if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER);
		432	}
		433	else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
419	holgerb	434	FC_WP_EventChannel = 0; // the GPS-Routine will set it again
457	holgerb	435	// ++++++++++++++++++++++++++++++++++
299	killagreg	436	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
		437	{
		438	ToFlightCtrl.Param.Byte[9] = (u8)tmp;
295	killagreg	439	}
299	killagreg	440	else
		441	{
		442	ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate;
		443	}
		444	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp))
		445	{
		446	ToFlightCtrl.Param.sInt[5] = tmp;
		447	}
		448	else
		449	{
		450	ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint;
		451	}
204	killagreg	452	break;
330	holgerb	453	case SPI_NCCMD_HOTT_INFO:
		454	switch(hott_index++)
		455	{
329	holgerb	456	case 0:
		457	//Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden
462	holgerb	458	//53.28 5788 7.4847269 --> N53� 17.14728 E7� 29.08362 --> N53� 17' 8.837" E7� 29' 5.017"
329	holgerb	459	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
397	holgerb	460	ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
329	holgerb	461	ToFlightCtrl.Param.Byte[1] = 9-1; // how many
		462	//-----------------------------
463	holgerb	463	ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2;
329	holgerb	464	i1 = GPSData.Speed_Ground; // in cm/sec
		465	i1 *= 36;
		466	i1 /= 1000;
		467	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		468	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		469	//-----------------------------
405	holgerb	470	if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S
329	holgerb	471	else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
		472	i1 = abs(GPSData.Position.Latitude)/10000000L;
		473	i2 = abs(GPSData.Position.Latitude)%10000000L;
397	holgerb	474	if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;}
329	holgerb	475	i1 *= 100;
460	holgerb	476	// Minuten
		477	i2 *= 6;
		478	i2 /= 10;
329	holgerb	479	i1 += i2 / 100000;
		480	i2 = i2 % 100000;
		481	i2 /= 10;
		482	ToFlightCtrl.Param.Byte[6] = i1 % 256;
		483	ToFlightCtrl.Param.Byte[7] = i1 / 256;
		484	ToFlightCtrl.Param.Byte[8] = i2 % 256;
		485	ToFlightCtrl.Param.Byte[9] = i2 / 256;
		486	break;
		487	case 1:
		488	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
397	holgerb	489	ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
329	holgerb	490	ToFlightCtrl.Param.Byte[1] = 8-1; // how many
		491	//-----------------------------
		492	if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
		493	else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
		494	i1 = abs(GPSData.Position.Longitude)/10000000L;
		495	i2 = abs(GPSData.Position.Longitude)%10000000L;
397	holgerb	496	if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;}
329	holgerb	497	i1 *= 100;
460	holgerb	498	// Minuten
		499	i2 *= 6;
		500	i2 /= 10;
329	holgerb	501	i1 += i2 / 100000;
		502	i2 = i2 % 100000;
		503	i2 /= 10;
		504	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		505	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		506	ToFlightCtrl.Param.Byte[5] = i2 % 256;
		507	ToFlightCtrl.Param.Byte[6] = i2 / 256;
		508	//-----------------------------
		509	i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m
		510	ToFlightCtrl.Param.Byte[7] = i1 % 256;
		511	ToFlightCtrl.Param.Byte[8] = i1 / 256;
330	holgerb	512	break;
		513	case 2:
		514	ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID;
397	holgerb	515	ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
330	holgerb	516	ToFlightCtrl.Param.Byte[1] = 2; // how many
		517	ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2);
		518	ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2;
329	holgerb	519	break;
462	holgerb	520	case 3:
		521	ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1;
		522	ToFlightCtrl.Param.Byte[0] = 0; // index
		523	ToFlightCtrl.Param.Byte[1] = 4; // how many
		524	//JetiExData[14].Value = 53 * 0x10000 + 23467;
		525	if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40;
		526	else ToFlightCtrl.Param.Byte[5] = 0x00;
		527	ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L;
		528	i2 = abs(GPSData.Position.Latitude)%10000000L;
		529	i2 *= 6;
		530	i2 /= 1000;
		531	ToFlightCtrl.Param.Byte[3] = i2 / 256;
		532	ToFlightCtrl.Param.Byte[2] = i2 % 256;
		533	break;
		534	case 4:
		535	ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2;
		536	ToFlightCtrl.Param.Byte[0] = 0; // index
		537	ToFlightCtrl.Param.Byte[1] = 4; // how many
		538	if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60;
		539	else ToFlightCtrl.Param.Byte[5] = 0x20;
		540	ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L;
		541	i2 = abs(GPSData.Position.Longitude)%10000000L;
		542	i2 *= 6;
		543	i2 /= 1000;
		544	ToFlightCtrl.Param.Byte[3] = i2 / 256;
		545	ToFlightCtrl.Param.Byte[2] = i2 % 256;
		546	hott_index = 0;
		547	break;
330	holgerb	548	default:
		549	ToFlightCtrl.Param.Byte[0] = 255;
		550	hott_index = 0;
		551	break;
329	holgerb	552	}
		553	break;
41	ingob	554	default:
		555	break;
285	holgerb	556	// 0 = 0,1
		557	// 1 = 2,3
		558	// 2 = 4,5
		559	// 3 = 6,7
		560	// 4 = 8,9
		561	// 5 = 10,11
41	ingob	562	}
		563	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
		564	switch(FromFlightCtrl.Command)
		565	{
202	killagreg	566	case SPI_FCCMD_USER:
41	ingob	567	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		568	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		569	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		570	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		571	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		572	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		573	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		574	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
255	killagreg	575	if(ClearFCStatusFlags)
41	ingob	576	{
255	killagreg	577	FC.StatusFlags = 0;
		578	ClearFCStatusFlags = 0;
41	ingob	579	}
255	killagreg	580	FC.StatusFlags \|= FromFlightCtrl.Param.Byte[8];
320	holgerb	581	if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive)
268	killagreg	582	{
463	holgerb	583	HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600;
268	killagreg	584	Compass_Init();
330	holgerb	585	FCCalibActive = 10;
338	holgerb	586	FC_is_Calibrated = 0;
268	killagreg	587	}
		588	else
		589	{
483	holgerb	590	if(FCCalibActive)
		591	{
		592	if(--FCCalibActive == 0)
		593	{
		594	FC_is_Calibrated = 1;
		595	ExtCompassOrientation = GetExtCompassOrientation();
		596	if(ExtCompassOrientation != Calibration.Version / 16) NCMAG_IsCalibrated = 0;
		597	}
		598	}
268	killagreg	599	}
329	holgerb	600	if(FC.StatusFlags & FC_STATUS_START)
483	holgerb	601	{
		602	if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else
		603	HeadFreeStartAngle = GyroCompassCorrected;
		604	}
320	holgerb	605
483	holgerb	606	if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
		607	{
		608	if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
		609	{
		610	if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
		611	{
		612	HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1�
		613	}
		614	else // Ansonsten die aktuelle Richtung �bernehmen
		615	HeadFreeStartAngle = GyroCompassCorrected; // in 0.1�
329	holgerb	616	}
		617	}
223	killagreg	618	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
471	holgerb	619	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10];
480	holgerb	620	DebugOut.Analog[7] = FC.BAT_Voltage;
255	killagreg	621	DebugOut.Analog[5] = FC.StatusFlags;
360	holgerb	622	NaviData.FCStatusFlags = FC.StatusFlags;
475	holgerb	623	if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY;
294	holgerb	624	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
360	holgerb	625	NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE \| FC_STATUS2_OUT2_ACTIVE)) \| (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE \| FC_STATUS2_OUT2_ACTIVE)));
		626
		627	if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 \|= FC_STATUS2_OUT1_ACTIVE;
		628	else
		629	if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE;
		630
		631	if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 \|= FC_STATUS2_OUT2_ACTIVE;
		632	else
		633	if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE;
		634
338	holgerb	635	Logging_FCStatusFlags1 \|= FC.StatusFlags;
		636	Logging_FCStatusFlags2 \|= FC.StatusFlags2;
41	ingob	637	break;
1	ingob	638
454	holgerb	639	case SPI_FCCMD_BL_ACCU:
223	killagreg	640	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
480	holgerb	641	DebugOut.Analog[8] = FC.BAT_Current;
206	killagreg	642	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
471	holgerb	643	Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4];
		644	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5];
		645	Motor_Version[FromFlightCtrl.Param.Byte[6]] = FromFlightCtrl.Param.Byte[7];
		646	Motor[FromFlightCtrl.Param.Byte[6]].MaxPWM = FromFlightCtrl.Param.Byte[8];
		647	Motor[FromFlightCtrl.Param.Byte[6]].State = FromFlightCtrl.Param.Byte[9];
		648	Motor[FromFlightCtrl.Param.Byte[6]].Temperature = FromFlightCtrl.Param.Byte[10];
		649	Motor[FromFlightCtrl.Param.Byte[6]].Current = FromFlightCtrl.Param.Byte[11];
298	holgerb	650	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
		651	{
		652	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
		653	}
206	killagreg	654	NaviData.UBat = FC.BAT_Voltage;
		655	NaviData.Current = FC.BAT_Current;
		656	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		657	break;
202	killagreg	658	case SPI_FCCMD_PARAMETER1:
454	holgerb	659	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0];
41	ingob	660	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		661	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		662	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		663	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		664	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		665	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		666	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	667	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	668	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
327	holgerb	669	CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255);
41	ingob	670	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	671	break;
419	holgerb	672	case SPI_FCCMD_PARAMETER2:
		673	CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255);
436	holgerb	674	if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging
454	holgerb	675	Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2];
483	holgerb	676	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3];
487	holgerb	677	FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4];
419	holgerb	678	break;
202	killagreg	679	case SPI_FCCMD_STICK:
41	ingob	680	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		681	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		682	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		683	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	684	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		685	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		686	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		687	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		688	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		689	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		690	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	691	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
426	holgerb	692	CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value
41	ingob	693	break;
27	holgerb	694
202	killagreg	695	case SPI_FCCMD_MISC:
41	ingob	696	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		697	{ // put only new CompassCalState into queue to send via I2C
392	holgerb	698	// if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 \|\| FromFlightCtrl.Param.Byte[0] == 0)
378	holgerb	699	{
		700	CompassCalState = FromFlightCtrl.Param.Byte[0];
		701	Compass_SetCalState(CompassCalState);
		702	}
392	holgerb	703	// else CompassCalState = 0;
41	ingob	704	}
58	killagreg	705	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	706	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
287	holgerb	707	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm
		708	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
160	holgerb	709	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		710	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		711	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	712	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
454	holgerb	713	NaviData.RC_Quality = FC.RC_Quality;
461	holgerb	714	NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10];
454	holgerb	715	// FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
		716	// if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
294	holgerb	717	// NaviData.RC_RSSI = FC.RC_RSSI;
206	killagreg	718	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	719	break;
161	killagreg	720
202	killagreg	721	case SPI_FCCMD_SERVOS:
121	killagreg	722	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		723	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		724	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		725	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	726	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	727	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		728	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		729	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	730	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		731	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
338	holgerb	732	BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10];
419	holgerb	733	FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[11];
119	killagreg	734	break;
1	ingob	735
202	killagreg	736	case SPI_FCCMD_VERSION:
119	killagreg	737	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		738	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		739	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		740	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		741	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
328	holgerb	742	FC.Error[0] \|= FromFlightCtrl.Param.Byte[5];
		743	FC.Error[1] \|= FromFlightCtrl.Param.Byte[6];
475	holgerb	744	if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188)
		745	{
483	holgerb	746	FC.FromFC_DisableDeclination = 1;
		747	FC.FromFC_CompassOffset = 10 * (signed char) ((unsigned char) FromFlightCtrl.Param.Byte[7] - 128);
		748	GeoMagDec = 0;
475	holgerb	749	}
		750	else
		751	{
483	holgerb	752	FC.FromFC_DisableDeclination = 0;
		753	FC.FromFC_CompassOffset = 10 * (signed char) FromFlightCtrl.Param.Byte[7];
475	holgerb	754	}
358	holgerb	755	Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8];
		756	Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9];
320	holgerb	757	Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10];
350	holgerb	758	Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11];
338	holgerb	759	DebugOut.StatusGreen \|= AMPEL_FC; // status of FC Present
		760	DebugOut.StatusGreen \|= AMPEL_BL; // status of BL Present
455	holgerb	761	if(FC.Error[0] \|\| FC.Error[1] /* \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]*/) DebugOut.StatusRed \|= AMPEL_FC;
338	holgerb	762	else DebugOut.StatusRed &= ~AMPEL_FC;
41	ingob	763	break;
		764	default:
204	killagreg	765	break;
41	ingob	766	}
378	holgerb	767	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		768	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
		769	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		770	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
		771	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
		772	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		773	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		774	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
41	ingob	775	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	776	// and update GPSStick that are returned to FC
378	holgerb	777	SPI_RxBuffer_Request = 0;
215	killagreg	778	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
255	killagreg	779	ClearFCStatusFlags = 1;
180	killagreg	780	if(counter)
		781	{
		782	counter--; // count down to enable servo
202	killagreg	783	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	784	}
		785	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	786
79	killagreg	787	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	788	else // no new SPI data
202	killagreg	789	{
180	killagreg	790	if(CheckDelay(timeout) && (counter == 0))
		791	{
		792	TIMER2_Deinit(); // disable Servo Output
		793	counter = 50; // reset counter for enabling Servo Output
		794	}
		795	}
1	ingob	796	}
		797
41	ingob	798	//------------------------------------------------------
		799	void SPI0_GetFlightCtrlVersion(void)
		800	{
154	killagreg	801	u32 timeout;
		802	u8 repeat;
78	holgerb	803	u8 msg[64];
41	ingob	804
297	ingob	805	UART1_PutString("\r\n Looking for FlightControl");
41	ingob	806	FC_Version.Major = 0xFF;
		807	FC_Version.Minor = 0xFF;
		808	FC_Version.Patch = 0xFF;
		809	FC_Version.Compatible = 0xFF;
		810
165	killagreg	811	// polling FC version info
154	killagreg	812	repeat = 0;
41	ingob	813	do
		814	{
154	killagreg	815	timeout = SetDelay(250);
		816	do
		817	{
		818	SPI0_UpdateBuffer();
		819	if (FC_Version.Major != 0xFF) break;
		820	}while (!CheckDelay(timeout));
		821	UART1_PutString(".");
		822	repeat++;
483	holgerb	823	// FCCalibActive = 1;
180	killagreg	824	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	825	// if we got it
		826	if (FC_Version.Major != 0xFF)
		827	{
486	holgerb	828	sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10);
110	killagreg	829	UART1_PutString(msg);
41	ingob	830	}
242	killagreg	831	else UART1_PutString("\n\r not found!");
41	ingob	832	}
		833
		834

Subversion Repositories NaviCtrl

(root)/tags/V2.16a/spi_slave.c @ 796 - Rev 487