WebSVN - NaviCtrl - Blame - Rev 193 - /tags/V0.28m/spi

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
171	ingob	6	// + Nur f�r den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1	ingob	7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
1	ingob	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
1	ingob	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
171	ingob	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1	ingob	29	// + mit unserer Zustimmung zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1	ingob	34	// + this list of conditions and the following disclaimer.
		35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		36	// + from this software without specific prior written permission.
41	ingob	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
1	ingob	38	// + for non-commercial use (directly or indirectly)
41	ingob	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1	ingob	40	// + with our written permission
41	ingob	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		42	// + clearly linked as origin
171	ingob	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1	ingob	44	//
		45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
41	ingob	55	// + POSSIBILITY OF SUCH DAMAGE.
1	ingob	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	57
		58	#include <string.h>
		59	#include "91x_lib.h"
		60	#include "led.h"
		61	#include "GPS.h"
		62	#include "uart1.h"
		63	#include "spi_slave.h"
		64	#include "i2c.h"
119	killagreg	65	#include "timer1.h"
		66	#include "timer2.h"
136	killagreg	67	#include "config.h"
1	ingob	68	#include "main.h"
41	ingob	69	#include "fifo.h"
1	ingob	70
		71
41	ingob	72	#define SPI_RXSYNCBYTE1 0xAA
		73	#define SPI_RXSYNCBYTE2 0x83
		74	#define SPI_TXSYNCBYTE1 0x81
		75	#define SPI_TXSYNCBYTE2 0x55
1	ingob	76
41	ingob	77	//communication packets
		78	volatile FromFlightCtrl_t FromFlightCtrl;
		79	volatile ToFlightCtrl_t ToFlightCtrl;
183	killagreg	80	#define SPI0_TIMEOUT 500 // 500ms
146	killagreg	81	volatile u32 SPI0_Timeout = 0;
1	ingob	82
41	ingob	83	// tx packet buffer
		84	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
		85	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN];
		86	volatile u8 SPI_TxBufferIndex = 0;
		87	u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
1	ingob	88
41	ingob	89	// rx packet buffer
		90	#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
		91	volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN];
		92	volatile u8 SPI_RxBufferIndex = 0;
		93	volatile u8 SPI_RxBuffer_Request = 0;
1	ingob	94	#define SPI_COMMAND_INDEX 0
		95
149	killagreg	96	s32 Kalman_K = 32;
41	ingob	97	s32 Kalman_MaxDrift = 5 * 16;
		98	s32 Kalman_MaxFusion = 64;
148	holgerb	99	s32 ToFcGpsZ = 0;
1	ingob	100
121	killagreg	101	u8 SPI_CommandSequence[] = { SPI_KALMAN };
41	ingob	102	u8 SPI_CommandCounter = 0;
58	killagreg	103
41	ingob	104	SPI_Version_t FC_Version;
1	ingob	105
41	ingob	106	u8 CompassCalStateQueue[10];
		107	fifo_t CompassCalcStateFiFo;
1	ingob	108
41	ingob	109	u8 CompassCalState = 0;
1	ingob	110
41	ingob	111	//--------------------------------------------------------------
		112	void SSP0_IRQHandler(void)
		113	{
		114	static u8 rxchksum = 0;
		115	u8 rxdata;
1	ingob	116
189	killagreg	117	#define SPI_SYNC1 0
		118	#define SPI_SYNC2 1
		119	#define SPI_DATA 2
		120	static u8 SPI_State = SPI_SYNC1;
		121
161	killagreg	122	// clear pending bits
41	ingob	123	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	124	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	125
79	killagreg	126	// while RxFIFO not empty
		127	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		128	{
41	ingob	129	rxdata = SSP0->DR; // catch the received byte
		130	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	131	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	132	{
79	killagreg	133	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		134	{
41	ingob	135	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	136	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		137	SPI_TxBufferIndex++; // pointer to next byte
		138	}
		139	else // end of packet is reached reset and copy data to tx buffer
		140	{
		141	SPI_TxBufferIndex = 0; // reset buffer index
		142	ToFlightCtrl.Chksum = 0; // initialize checksum
		143	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		144	BeepTime = 0; // reset local beeptime
41	ingob	145	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	146	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		147	}
41	ingob	148	}
		149	switch (SPI_State)
		150	{
		151	case SPI_SYNC1:
		152	SPI_RxBufferIndex = 0; // reset buffer index
		153	rxchksum = rxdata; // init checksum
		154	if (rxdata == SPI_RXSYNCBYTE1)
		155	{ // 1st syncbyte ok
		156	SPI_State = SPI_SYNC2; // step to sync2
		157	}
		158	break;
79	killagreg	159	case SPI_SYNC2:
41	ingob	160	if (rxdata == SPI_RXSYNCBYTE2)
		161	{ // 2nd Syncbyte ok
		162	rxchksum += rxdata;
		163	SPI_State = SPI_DATA;
		164	} // 2nd Syncbyte does not match
		165	else
		166	{
		167	SPI_State = SPI_SYNC1; //jump back to sync1
		168	}
		169	break;
		170	case SPI_DATA:
		171	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		172	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		173	{
		174	if (rxdata == rxchksum) // verify checksum byte
		175	{
		176	// copy SPI_RxBuffer -> FromFlightCtrl
		177	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		178	{
		179	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		180	SPI_RxBuffer_Request = 1;
		181	}
146	killagreg	182	// reset timeout counter on good packet
		183	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	184	DebugOut.Analog[13]++;
		185	}
		186	else // bad checksum byte
		187	{
		188	DebugOut.Analog[12]++; // increase SPI chksum error counter
		189	}
		190	SPI_State = SPI_SYNC1; // reset state
		191	}
		192	else // end of packet not reached
		193	{
		194	rxchksum += rxdata; // update checksum
		195	}
		196	break;
		197	default:
		198	SPI_State = SPI_SYNC1;
		199	break;
		200	}
		201	}
1	ingob	202	}
		203
		204	//--------------------------------------------------------------
		205	void SPI0_Init(void)
		206	{
41	ingob	207	GPIO_InitTypeDef GPIO_InitStructure;
		208	SSP_InitTypeDef SSP_InitStructure;
1	ingob	209
110	killagreg	210	UART1_PutString("\r\n SPI init...");
1	ingob	211
41	ingob	212	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		213	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	214
41	ingob	215	GPIO_DeInit(GPIO2);
		216	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		217	GPIO_StructInit(&GPIO_InitStructure);
		218	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		219	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		220	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
		221	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
		222	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		223	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	224
41	ingob	225	// SSP0_MISO pin GPIO2.6
		226	GPIO_StructInit(&GPIO_InitStructure);
		227	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		228	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		229	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
		230	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
		231	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		232	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	233
41	ingob	234	SSP_DeInit(SSP0);
		235	SSP_StructInit(&SSP_InitStructure);
		236	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		237	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		238	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		239	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		240	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		241	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	242
41	ingob	243	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	244	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
189	killagreg	245
41	ingob	246	fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
		247
		248	SSP_Cmd(SSP0, ENABLE);
		249	// initialize the syncbytes in the tx buffer
		250	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		251	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		252	// set the pointer to the checksum byte in the tx buffer
		253	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		254
136	killagreg	255	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	256	VIC_ITCmd(SSP0_ITLine, ENABLE);
		257
146	killagreg	258	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		259
110	killagreg	260	UART1_PutString("ok");
1	ingob	261	}
41	ingob	262
1	ingob	263	//------------------------------------------------------
41	ingob	264	void SPI0_UpdateBuffer(void)
1	ingob	265	{
180	killagreg	266	static u32 timeout = 0;
		267	static u8 counter = 50;
		268
41	ingob	269	if (SPI_RxBuffer_Request)
		270	{
		271	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		272	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
		273	ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
189	killagreg	274	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
41	ingob	275	ToFlightCtrl.GPS_Nick = GPS_Stick.Nick;
		276	ToFlightCtrl.GPS_Roll = GPS_Stick.Roll;
		277	ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw;
		278	// cycle spi commands
		279	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	280	// restart command cycle at the end
41	ingob	281	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1	ingob	282
41	ingob	283	switch (ToFlightCtrl.Command)
		284	{
		285	case SPI_KALMAN:
149	killagreg	286	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	287	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		288	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	289	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
149	killagreg	290	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
161	killagreg	291	break;
58	killagreg	292
41	ingob	293	default:
		294	break;
		295	}
		296	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	297
		298
41	ingob	299	switch(FromFlightCtrl.Command)
		300	{
		301	case SPI_CMD_USER:
		302	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		303	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		304	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		305	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		306	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		307	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		308	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		309	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
		310	if(ClearMKFlags)
		311	{
		312	FC.MKFlags = 0;
		313	ClearMKFlags = 0;
		314	}
		315	FC.MKFlags \|= FromFlightCtrl.Param.Byte[8];
		316	FC.UBat = FromFlightCtrl.Param.Byte[9];
		317	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10];
		318	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11];
79	killagreg	319	DebugOut.Analog[5] = FC.MKFlags;
41	ingob	320	break;
1	ingob	321
193	killagreg	322	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	323	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		324
41	ingob	325	case SPI_CMD_PARAMETER1:
		326	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		327	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		328	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		329	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		330	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		331	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		332	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		333	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	334	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	335	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
		336	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
		337	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	338	break;
1	ingob	339
41	ingob	340	case SPI_CMD_STICK:
		341	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		342	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		343	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		344	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	345	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		346	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		347	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		348	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		349	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		350	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		351	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
		352	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	353	break;
27	holgerb	354
41	ingob	355	case SPI_CMD_MISC:
		356	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		357	{ // put only new CompassCalState into queue to send via I2C
		358	CompassCalState = FromFlightCtrl.Param.Byte[0];
		359	fifo_put(&CompassCalcStateFiFo, CompassCalState);
		360	}
58	killagreg	361	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
79	killagreg	362	NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch
58	killagreg	363	NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3
160	holgerb	364	NaviData.SetpointAltitude = (s16) FromFlightCtrl.Param.Int[2]; // is located at byte 4 and 5
		365	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		366	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		367	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	368	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		369	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
		370	NaviData.Gas = (FC.UBat * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	371	break;
161	killagreg	372
121	killagreg	373	case SPI_CMD_SERVOS:
		374	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		375	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		376	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		377	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	378	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	379	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		380	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		381	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	382	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		383	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	384	break;
1	ingob	385
41	ingob	386	case SPI_CMD_VERSION:
119	killagreg	387	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		388	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		389	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		390	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		391	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
41	ingob	392	break;
1	ingob	393
41	ingob	394	default:
		395	break;
		396	}
1	ingob	397
41	ingob	398	// every time we got new data from the FC via SPI call the navigation routine
		399	GPS_Navigation();
		400	ClearMKFlags = 1;
180	killagreg	401
		402	if(counter)
		403	{
		404	counter--; // count down to enable servo
		405	if(!counter) TIMER2_Init(); // enable Servo Output
		406	}
1	ingob	407
41	ingob	408	SPI_RxBuffer_Request = 0;
180	killagreg	409	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	410
62	killagreg	411	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		412	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	413	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		414	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	415	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	416	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		417	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		418	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		419	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	420	else // no new SPI data
		421	{
		422	if(CheckDelay(timeout) && (counter == 0))
		423	{
		424	TIMER2_Deinit(); // disable Servo Output
		425	counter = 50; // reset counter for enabling Servo Output
		426	}
		427	}
1	ingob	428	}
		429
41	ingob	430	//------------------------------------------------------
		431	void SPI0_GetFlightCtrlVersion(void)
		432	{
154	killagreg	433	u32 timeout;
		434	u8 repeat;
78	holgerb	435	u8 msg[64];
41	ingob	436
154	killagreg	437	UART1_PutString("\r\n Getting Version from FC");
41	ingob	438	FC_Version.Major = 0xFF;
		439	FC_Version.Minor = 0xFF;
		440	FC_Version.Patch = 0xFF;
		441	FC_Version.Compatible = 0xFF;
		442
165	killagreg	443	// polling FC version info
154	killagreg	444	repeat = 0;
41	ingob	445	do
		446	{
154	killagreg	447	timeout = SetDelay(250);
		448	do
		449	{
		450	SPI0_UpdateBuffer();
		451	if (FC_Version.Major != 0xFF) break;
		452	}while (!CheckDelay(timeout));
		453	UART1_PutString(".");
		454	repeat++;
180	killagreg	455	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	456	// if we got it
		457	if (FC_Version.Major != 0xFF)
		458	{
61	holgerb	459	sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10);
110	killagreg	460	UART1_PutString(msg);
41	ingob	461	sprintf(msg, " Compatible: %d", FC_Version.Compatible);
110	killagreg	462	UART1_PutString(msg);
41	ingob	463	}
110	killagreg	464	else UART1_PutString("\n\r No version information from FlightCtrl.");
41	ingob	465	}
		466
		467

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/spi_slave.c @ 402 - Rev 193