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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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 zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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 |
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| 36 | // + from this software without specific prior written permission. |
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| 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 |
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| 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" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 57 | |
| 58 | #include <string.h> |
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| 59 | #include "91x_lib.h" |
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| 60 | #include "led.h" |
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| 215 | killagreg | 61 | #include "gps.h" |
| 41 | ingob | 62 | #include "uart1.h" |
| 63 | #include "spi_slave.h" |
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| 242 | killagreg | 64 | #include "compass.h" |
| 119 | killagreg | 65 | #include "timer1.h" |
| 66 | #include "timer2.h" |
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| 136 | killagreg | 67 | #include "config.h" |
| 1 | ingob | 68 | #include "main.h" |
| 242 | killagreg | 69 | #include "compass.h" |
| 1 | ingob | 70 | |
| 71 | |||
| 41 | ingob | 72 | #define SPI_RXSYNCBYTE1 0xAA |
| 73 | #define SPI_RXSYNCBYTE2 0x83 |
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| 74 | #define SPI_TXSYNCBYTE1 0x81 |
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| 75 | #define SPI_TXSYNCBYTE2 0x55 |
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| 1 | ingob | 76 | |
| 41 | ingob | 77 | //communication packets |
| 215 | killagreg | 78 | FromFlightCtrl_t FromFlightCtrl; |
| 79 | ToFlightCtrl_t ToFlightCtrl; |
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| 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 |
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| 85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
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| 86 | volatile u8 SPI_TxBufferIndex = 0; |
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| 87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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| 1 | ingob | 88 | |
| 41 | ingob | 89 | // rx packet buffer |
| 90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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| 91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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| 92 | volatile u8 SPI_RxBufferIndex = 0; |
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| 93 | volatile u8 SPI_RxBuffer_Request = 0; |
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| 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; |
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| 148 | holgerb | 99 | s32 ToFcGpsZ = 0; |
| 1 | ingob | 100 | |
| 204 | killagreg | 101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
| 41 | ingob | 102 | u8 SPI_CommandCounter = 0; |
| 222 | holgerb | 103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 104 | s32 HeadFreeStartAngle = 0; |
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| 277 | killagreg | 105 | s16 NewCompassDirectionSetpoint = -1; |
| 106 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
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| 58 | killagreg | 107 | |
| 41 | ingob | 108 | SPI_Version_t FC_Version; |
| 1 | ingob | 109 | |
| 41 | ingob | 110 | //-------------------------------------------------------------- |
| 111 | void SSP0_IRQHandler(void) |
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| 112 | { |
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| 113 | static u8 rxchksum = 0; |
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| 114 | u8 rxdata; |
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| 1 | ingob | 115 | |
| 189 | killagreg | 116 | #define SPI_SYNC1 0 |
| 117 | #define SPI_SYNC2 1 |
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| 118 | #define SPI_DATA 2 |
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| 119 | static u8 SPI_State = SPI_SYNC1; |
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| 120 | |||
| 195 | killagreg | 121 | IENABLE; |
| 122 | |||
| 161 | killagreg | 123 | // clear pending bits |
| 41 | ingob | 124 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 125 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 126 | |
| 79 | killagreg | 127 | // while RxFIFO not empty |
| 128 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
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| 129 | { |
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| 41 | ingob | 130 | rxdata = SSP0->DR; // catch the received byte |
| 131 | // Fill TxFIFO while its not full or end of packet is reached |
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| 79 | killagreg | 132 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 161 | killagreg | 133 | { |
| 79 | killagreg | 134 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 135 | { |
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| 41 | ingob | 136 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 137 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 138 | SPI_TxBufferIndex++; // pointer to next byte |
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| 139 | } |
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| 140 | else // end of packet is reached reset and copy data to tx buffer |
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| 141 | { |
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| 142 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 143 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 144 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 145 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 146 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 147 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 148 | } |
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| 41 | ingob | 149 | } |
| 150 | switch (SPI_State) |
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| 151 | { |
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| 152 | case SPI_SYNC1: |
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| 153 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 154 | rxchksum = rxdata; // init checksum |
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| 155 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 156 | { // 1st syncbyte ok |
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| 157 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 158 | } |
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| 159 | break; |
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| 79 | killagreg | 160 | case SPI_SYNC2: |
| 41 | ingob | 161 | if (rxdata == SPI_RXSYNCBYTE2) |
| 162 | { // 2nd Syncbyte ok |
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| 163 | rxchksum += rxdata; |
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| 164 | SPI_State = SPI_DATA; |
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| 165 | } // 2nd Syncbyte does not match |
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| 166 | else |
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| 167 | { |
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| 168 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 169 | } |
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| 170 | break; |
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| 171 | case SPI_DATA: |
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| 172 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 173 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
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| 174 | { |
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| 175 | if (rxdata == rxchksum) // verify checksum byte |
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| 176 | { |
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| 177 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 178 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 179 | { |
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| 180 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 181 | SPI_RxBuffer_Request = 1; |
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| 182 | } |
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| 146 | killagreg | 183 | // reset timeout counter on good packet |
| 184 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 185 | DebugOut.Analog[13]++; |
| 186 | } |
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| 187 | else // bad checksum byte |
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| 188 | { |
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| 189 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 190 | } |
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| 191 | SPI_State = SPI_SYNC1; // reset state |
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| 192 | } |
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| 193 | else // end of packet not reached |
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| 194 | { |
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| 195 | rxchksum += rxdata; // update checksum |
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| 196 | } |
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| 197 | break; |
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| 198 | default: |
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| 199 | SPI_State = SPI_SYNC1; |
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| 200 | break; |
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| 201 | } |
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| 202 | } |
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| 195 | killagreg | 203 | |
| 204 | IDISABLE; |
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| 1 | ingob | 205 | } |
| 206 | |||
| 207 | //-------------------------------------------------------------- |
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| 208 | void SPI0_Init(void) |
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| 209 | { |
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| 41 | ingob | 210 | GPIO_InitTypeDef GPIO_InitStructure; |
| 211 | SSP_InitTypeDef SSP_InitStructure; |
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| 1 | ingob | 212 | |
| 110 | killagreg | 213 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 214 | |
| 41 | ingob | 215 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 216 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 1 | ingob | 217 | |
| 41 | ingob | 218 | GPIO_DeInit(GPIO2); |
| 219 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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| 220 | GPIO_StructInit(&GPIO_InitStructure); |
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| 221 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 222 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 223 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 224 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 225 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 226 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 227 | |
| 41 | ingob | 228 | // SSP0_MISO pin GPIO2.6 |
| 229 | GPIO_StructInit(&GPIO_InitStructure); |
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| 230 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 231 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 232 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 233 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 234 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 235 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 236 | |
| 41 | ingob | 237 | SSP_DeInit(SSP0); |
| 238 | SSP_StructInit(&SSP_InitStructure); |
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| 239 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 240 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 241 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 242 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 243 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 244 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 1 | ingob | 245 | |
| 41 | ingob | 246 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 247 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 202 | killagreg | 248 | |
| 41 | ingob | 249 | SSP_Cmd(SSP0, ENABLE); |
| 250 | // initialize the syncbytes in the tx buffer |
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| 251 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 252 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 253 | // set the pointer to the checksum byte in the tx buffer |
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| 254 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 255 | |||
| 215 | killagreg | 256 | ToFlightCtrl.GPSStick.Nick = 0; |
| 257 | ToFlightCtrl.GPSStick.Roll = 0; |
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| 258 | ToFlightCtrl.GPSStick.Yaw = 0; |
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| 259 | |||
| 136 | killagreg | 260 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 261 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 262 | |||
| 146 | killagreg | 263 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 264 | |||
| 110 | killagreg | 265 | UART1_PutString("ok"); |
| 1 | ingob | 266 | } |
| 41 | ingob | 267 | |
| 222 | holgerb | 268 | |
| 1 | ingob | 269 | //------------------------------------------------------ |
| 41 | ingob | 270 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 271 | { |
| 180 | killagreg | 272 | static u32 timeout = 0; |
| 273 | static u8 counter = 50; |
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| 254 | killagreg | 274 | static u8 CompassCalState = 0; |
| 268 | killagreg | 275 | static u8 FCCalibActive = 0; |
| 202 | killagreg | 276 | |
| 41 | ingob | 277 | if (SPI_RxBuffer_Request) |
| 278 | { |
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| 279 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 280 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 254 | killagreg | 281 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 189 | killagreg | 282 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 228 | holgerb | 283 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 41 | ingob | 284 | // cycle spi commands |
| 285 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 286 | // restart command cycle at the end |
| 41 | ingob | 287 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 1 | ingob | 288 | |
| 41 | ingob | 289 | switch (ToFlightCtrl.Command) |
| 290 | { |
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| 202 | killagreg | 291 | case SPI_NCCMD_KALMAN: |
| 223 | killagreg | 292 | CalcHeadFree(); |
| 149 | killagreg | 293 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 294 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 295 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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| 118 | killagreg | 296 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 149 | killagreg | 297 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 298 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 299 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 276 | holgerb | 300 | // ToFlightCtrl.Param.Byte[7] ist frei |
| 301 | ToFlightCtrl.Param.sInt[4] = (s16) NewCompassDirectionSetpoint; |
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| 302 | NewCompassDirectionSetpoint = -1; // delete the Value |
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| 161 | killagreg | 303 | break; |
| 58 | killagreg | 304 | |
| 202 | killagreg | 305 | case SPI_NCCMD_VERSION: |
| 306 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
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| 307 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
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| 204 | killagreg | 308 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 309 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 264 | killagreg | 310 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 231 | holgerb | 311 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
| 312 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
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| 233 | holgerb | 313 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 202 | killagreg | 314 | break; |
| 223 | killagreg | 315 | |
| 204 | killagreg | 316 | case SPI_NCCMD_GPSINFO: |
| 317 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
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| 318 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
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| 319 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
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| 232 | killagreg | 320 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 258 | holgerb | 321 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 322 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
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| 323 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
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| 204 | killagreg | 324 | break; |
| 41 | ingob | 325 | default: |
| 326 | break; |
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| 327 | } |
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| 328 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
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| 1 | ingob | 329 | |
| 330 | |||
| 41 | ingob | 331 | switch(FromFlightCtrl.Command) |
| 332 | { |
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| 202 | killagreg | 333 | case SPI_FCCMD_USER: |
| 41 | ingob | 334 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 335 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
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| 336 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
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| 337 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
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| 338 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
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| 339 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
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| 340 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
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| 341 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
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| 255 | killagreg | 342 | if(ClearFCStatusFlags) |
| 41 | ingob | 343 | { |
| 255 | killagreg | 344 | FC.StatusFlags = 0; |
| 345 | ClearFCStatusFlags = 0; |
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| 41 | ingob | 346 | } |
| 255 | killagreg | 347 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 268 | killagreg | 348 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
| 349 | { |
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| 350 | Compass_Init(); |
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| 351 | FCCalibActive = 1; |
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| 352 | } |
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| 353 | else |
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| 354 | { |
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| 355 | FCCalibActive = 0; |
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| 356 | } |
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| 223 | killagreg | 357 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 255 | killagreg | 358 | DebugOut.Analog[5] = FC.StatusFlags; |
| 359 | NaviData.FCStatusFlags = FC.StatusFlags; |
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| 223 | killagreg | 360 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| 41 | ingob | 361 | break; |
| 1 | ingob | 362 | |
| 206 | killagreg | 363 | case SPI_FCCMD_ACCU: |
| 223 | killagreg | 364 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 206 | killagreg | 365 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 366 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
| 367 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
||
| 368 | NaviData.UBat = FC.BAT_Voltage; |
||
| 369 | NaviData.Current = FC.BAT_Current; |
||
| 370 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
| 371 | break; |
||
| 372 | |||
| 193 | killagreg | 373 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 190 | killagreg | 374 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 375 | |||
| 202 | killagreg | 376 | case SPI_FCCMD_PARAMETER1: |
| 41 | ingob | 377 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 378 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
| 379 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 380 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 381 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 382 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 383 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 384 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 385 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 386 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 387 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
||
| 388 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
||
| 121 | killagreg | 389 | break; |
| 1 | ingob | 390 | |
| 202 | killagreg | 391 | case SPI_FCCMD_STICK: |
| 41 | ingob | 392 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 393 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 394 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 395 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 396 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 397 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 398 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 399 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 400 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 401 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 402 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 403 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 41 | ingob | 404 | break; |
| 27 | holgerb | 405 | |
| 202 | killagreg | 406 | case SPI_FCCMD_MISC: |
| 41 | ingob | 407 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 408 | { // put only new CompassCalState into queue to send via I2C |
||
| 409 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 254 | killagreg | 410 | Compass_SetCalState(CompassCalState); |
| 41 | ingob | 411 | } |
| 58 | killagreg | 412 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 413 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 414 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3 |
||
| 415 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5 |
||
| 160 | holgerb | 416 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 417 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 418 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 419 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 420 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
| 206 | killagreg | 421 | NaviData.RC_Quality = FC.RC_Quality; |
| 422 | NaviData.RC_RSSI = FC.RC_RSSI; |
||
| 423 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
||
| 41 | ingob | 424 | break; |
| 161 | killagreg | 425 | |
| 202 | killagreg | 426 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 427 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 428 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 429 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 430 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 431 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 432 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 433 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 434 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 435 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 436 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 119 | killagreg | 437 | break; |
| 1 | ingob | 438 | |
| 202 | killagreg | 439 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 440 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 441 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 442 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 443 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 444 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 255 | killagreg | 445 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
| 446 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
||
| 447 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
||
| 448 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
||
| 449 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
||
| 231 | holgerb | 450 | DebugOut.Status[0] |= 0x01; // status of FC Present |
| 232 | killagreg | 451 | DebugOut.Status[0] |= 0x02; // status of BL Present |
| 255 | killagreg | 452 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
| 232 | killagreg | 453 | else DebugOut.Status[1] &= ~0x01; |
| 41 | ingob | 454 | break; |
| 455 | default: |
||
| 204 | killagreg | 456 | break; |
| 41 | ingob | 457 | } |
| 1 | ingob | 458 | |
| 41 | ingob | 459 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 460 | // and update GPSStick that are returned to FC |
| 461 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
||
| 255 | killagreg | 462 | ClearFCStatusFlags = 1; |
| 202 | killagreg | 463 | |
| 180 | killagreg | 464 | if(counter) |
| 465 | { |
||
| 466 | counter--; // count down to enable servo |
||
| 202 | killagreg | 467 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 468 | } |
| 1 | ingob | 469 | |
| 41 | ingob | 470 | SPI_RxBuffer_Request = 0; |
| 180 | killagreg | 471 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 1 | ingob | 472 | |
| 62 | killagreg | 473 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 474 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 61 | holgerb | 475 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 476 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 62 | killagreg | 477 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 79 | killagreg | 478 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 479 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 480 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 481 | } // EOF if(SPI_RxBuffer_Request) |
||
| 180 | killagreg | 482 | else // no new SPI data |
| 202 | killagreg | 483 | { |
| 180 | killagreg | 484 | if(CheckDelay(timeout) && (counter == 0)) |
| 485 | { |
||
| 486 | TIMER2_Deinit(); // disable Servo Output |
||
| 487 | counter = 50; // reset counter for enabling Servo Output |
||
| 488 | } |
||
| 489 | } |
||
| 1 | ingob | 490 | } |
| 491 | |||
| 41 | ingob | 492 | //------------------------------------------------------ |
| 493 | void SPI0_GetFlightCtrlVersion(void) |
||
| 494 | { |
||
| 154 | killagreg | 495 | u32 timeout; |
| 496 | u8 repeat; |
||
| 78 | holgerb | 497 | u8 msg[64]; |
| 41 | ingob | 498 | |
| 242 | killagreg | 499 | UART1_PutString("\r\n Looking for FlightContol"); |
| 41 | ingob | 500 | FC_Version.Major = 0xFF; |
| 501 | FC_Version.Minor = 0xFF; |
||
| 502 | FC_Version.Patch = 0xFF; |
||
| 503 | FC_Version.Compatible = 0xFF; |
||
| 504 | |||
| 165 | killagreg | 505 | // polling FC version info |
| 154 | killagreg | 506 | repeat = 0; |
| 41 | ingob | 507 | do |
| 508 | { |
||
| 154 | killagreg | 509 | timeout = SetDelay(250); |
| 510 | do |
||
| 511 | { |
||
| 512 | SPI0_UpdateBuffer(); |
||
| 513 | if (FC_Version.Major != 0xFF) break; |
||
| 514 | }while (!CheckDelay(timeout)); |
||
| 515 | UART1_PutString("."); |
||
| 516 | repeat++; |
||
| 180 | killagreg | 517 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 518 | // if we got it |
| 519 | if (FC_Version.Major != 0xFF) |
||
| 520 | { |
||
| 242 | killagreg | 521 | sprintf(msg, " FC 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 | 522 | UART1_PutString(msg); |
| 41 | ingob | 523 | } |
| 242 | killagreg | 524 | else UART1_PutString("\n\r not found!"); |
| 41 | ingob | 525 | } |
| 526 | |||
| 527 |