WebSVN - NaviCtrl - Blame - Rev 319 - /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"
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"
284	killagreg	69	#include "compass.h"
294	holgerb	70	#include "params.h"
1	ingob	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
215	killagreg	78	FromFlightCtrl_t FromFlightCtrl;
		79	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
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;
277	killagreg	105	s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
286	killagreg	106	u32 ToFC_AltitudeRate = 0;
285	holgerb	107	s32 ToFC_AltitudeSetpoint = 0;
298	holgerb	108	u8 FromFC_VarioCharacter = ' ';
319	holgerb	109	u8 DisableFC_Sticks = 0;
58	killagreg	110
41	ingob	111	SPI_Version_t FC_Version;
1	ingob	112
41	ingob	113	//--------------------------------------------------------------
		114	void SSP0_IRQHandler(void)
		115	{
		116	static u8 rxchksum = 0;
		117	u8 rxdata;
1	ingob	118
189	killagreg	119	#define SPI_SYNC1 0
		120	#define SPI_SYNC2 1
		121	#define SPI_DATA 2
		122	static u8 SPI_State = SPI_SYNC1;
		123
195	killagreg	124	IENABLE;
		125
161	killagreg	126	// clear pending bits
41	ingob	127	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	128	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	129
79	killagreg	130	// while RxFIFO not empty
		131	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		132	{
41	ingob	133	rxdata = SSP0->DR; // catch the received byte
		134	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	135	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	136	{
79	killagreg	137	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		138	{
41	ingob	139	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	140	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		141	SPI_TxBufferIndex++; // pointer to next byte
		142	}
		143	else // end of packet is reached reset and copy data to tx buffer
		144	{
		145	SPI_TxBufferIndex = 0; // reset buffer index
		146	ToFlightCtrl.Chksum = 0; // initialize checksum
		147	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		148	BeepTime = 0; // reset local beeptime
41	ingob	149	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	150	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		151	}
41	ingob	152	}
		153	switch (SPI_State)
		154	{
		155	case SPI_SYNC1:
		156	SPI_RxBufferIndex = 0; // reset buffer index
		157	rxchksum = rxdata; // init checksum
		158	if (rxdata == SPI_RXSYNCBYTE1)
		159	{ // 1st syncbyte ok
		160	SPI_State = SPI_SYNC2; // step to sync2
		161	}
		162	break;
79	killagreg	163	case SPI_SYNC2:
41	ingob	164	if (rxdata == SPI_RXSYNCBYTE2)
		165	{ // 2nd Syncbyte ok
		166	rxchksum += rxdata;
		167	SPI_State = SPI_DATA;
		168	} // 2nd Syncbyte does not match
		169	else
		170	{
		171	SPI_State = SPI_SYNC1; //jump back to sync1
		172	}
		173	break;
		174	case SPI_DATA:
		175	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		176	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		177	{
		178	if (rxdata == rxchksum) // verify checksum byte
		179	{
		180	// copy SPI_RxBuffer -> FromFlightCtrl
		181	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		182	{
		183	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		184	SPI_RxBuffer_Request = 1;
		185	}
146	killagreg	186	// reset timeout counter on good packet
		187	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	188	DebugOut.Analog[13]++;
		189	}
		190	else // bad checksum byte
		191	{
		192	DebugOut.Analog[12]++; // increase SPI chksum error counter
		193	}
		194	SPI_State = SPI_SYNC1; // reset state
		195	}
		196	else // end of packet not reached
		197	{
		198	rxchksum += rxdata; // update checksum
		199	}
		200	break;
		201	default:
		202	SPI_State = SPI_SYNC1;
		203	break;
		204	}
		205	}
195	killagreg	206
		207	IDISABLE;
1	ingob	208	}
		209
		210	//--------------------------------------------------------------
		211	void SPI0_Init(void)
		212	{
41	ingob	213	GPIO_InitTypeDef GPIO_InitStructure;
		214	SSP_InitTypeDef SSP_InitStructure;
1	ingob	215
110	killagreg	216	UART1_PutString("\r\n SPI init...");
1	ingob	217
41	ingob	218	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		219	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	220
41	ingob	221	GPIO_DeInit(GPIO2);
		222	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		223	GPIO_StructInit(&GPIO_InitStructure);
		224	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		225	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		226	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	227	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	228	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		229	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	230
41	ingob	231	// SSP0_MISO pin GPIO2.6
		232	GPIO_StructInit(&GPIO_InitStructure);
		233	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		234	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		235	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	236	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	237	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		238	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	239
41	ingob	240	SSP_DeInit(SSP0);
		241	SSP_StructInit(&SSP_InitStructure);
		242	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		243	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		244	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		245	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		246	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		247	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	248
41	ingob	249	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	250	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
202	killagreg	251
41	ingob	252	SSP_Cmd(SSP0, ENABLE);
		253	// initialize the syncbytes in the tx buffer
		254	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		255	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		256	// set the pointer to the checksum byte in the tx buffer
		257	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		258
215	killagreg	259	ToFlightCtrl.GPSStick.Nick = 0;
		260	ToFlightCtrl.GPSStick.Roll = 0;
		261	ToFlightCtrl.GPSStick.Yaw = 0;
		262
136	killagreg	263	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	264	VIC_ITCmd(SSP0_ITLine, ENABLE);
		265
146	killagreg	266	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		267
110	killagreg	268	UART1_PutString("ok");
1	ingob	269	}
41	ingob	270
222	holgerb	271
1	ingob	272	//------------------------------------------------------
41	ingob	273	void SPI0_UpdateBuffer(void)
1	ingob	274	{
180	killagreg	275	static u32 timeout = 0;
		276	static u8 counter = 50;
254	killagreg	277	static u8 CompassCalState = 0;
268	killagreg	278	static u8 FCCalibActive = 0;
299	killagreg	279	s16 tmp;
202	killagreg	280
41	ingob	281	if (SPI_RxBuffer_Request)
		282	{
		283	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		284	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
254	killagreg	285	ToFlightCtrl.CompassHeading = Compass_Heading;
189	killagreg	286	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
228	holgerb	287	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
286	killagreg	288	ToFlightCtrl.MagVecX = MagVector.X;
		289	ToFlightCtrl.MagVecY = MagVector.Y;
		290	ToFlightCtrl.MagVecZ = MagVector.Z;
284	killagreg	291	ToFlightCtrl.NCStatus = 0;
41	ingob	292	// cycle spi commands
		293	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	294	// restart command cycle at the end
41	ingob	295	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
319	holgerb	296	#define FLAG_GPS_AID 0x01
41	ingob	297	switch (ToFlightCtrl.Command)
		298	{
202	killagreg	299	case SPI_NCCMD_KALMAN:
223	killagreg	300	CalcHeadFree();
149	killagreg	301	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	302	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		303	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	304	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
149	killagreg	305	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	306	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
223	killagreg	307	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
319	holgerb	308	if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00;
280	killagreg	309	if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH)
278	killagreg	310	{
		311	ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth;
280	killagreg	312	CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH;
278	killagreg	313	}
		314	else
280	killagreg	315	{
278	killagreg	316	ToFlightCtrl.Param.sInt[4] = -1;
		317	}
294	holgerb	318
299	killagreg	319	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command
295	killagreg	320	{
299	killagreg	321	ToFlightCtrl.Param.sInt[5] = tmp;
		322	}
		323	else
		324	{
295	killagreg	325	if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active
		326	else ToFlightCtrl.Param.sInt[5] = 0;
		327	}
161	killagreg	328	break;
58	killagreg	329
202	killagreg	330	case SPI_NCCMD_VERSION:
		331	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		332	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	333	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	334	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
264	killagreg	335	ToFlightCtrl.Param.Byte[4] = Version_HW;
231	holgerb	336	ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0];
		337	ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1];
233	holgerb	338	ToFlightCtrl.Param.Byte[7] = ErrorCode;
202	killagreg	339	break;
223	killagreg	340
204	killagreg	341	case SPI_NCCMD_GPSINFO:
		342	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		343	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		344	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
232	killagreg	345	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
258	holgerb	346	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
		347	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
306	holgerb	348	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;
		349	ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
299	killagreg	350	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
		351	{
		352	ToFlightCtrl.Param.Byte[9] = (u8)tmp;
295	killagreg	353	}
299	killagreg	354	else
		355	{
		356	ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate;
		357	}
		358	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp))
		359	{
		360	ToFlightCtrl.Param.sInt[5] = tmp;
		361	}
		362	else
		363	{
		364	ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint;
		365	}
300	holgerb	366	// DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9];
		367	// DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5];
204	killagreg	368	break;
299	killagreg	369
41	ingob	370	default:
		371	break;
285	holgerb	372	// 0 = 0,1
		373	// 1 = 2,3
		374	// 2 = 4,5
		375	// 3 = 6,7
		376	// 4 = 8,9
		377	// 5 = 10,11
41	ingob	378	}
		379	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	380
		381
41	ingob	382	switch(FromFlightCtrl.Command)
		383	{
202	killagreg	384	case SPI_FCCMD_USER:
41	ingob	385	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		386	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		387	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		388	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		389	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		390	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		391	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		392	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
255	killagreg	393	if(ClearFCStatusFlags)
41	ingob	394	{
255	killagreg	395	FC.StatusFlags = 0;
		396	ClearFCStatusFlags = 0;
41	ingob	397	}
255	killagreg	398	FC.StatusFlags \|= FromFlightCtrl.Param.Byte[8];
284	killagreg	399	if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive)
268	killagreg	400	{
		401	Compass_Init();
		402	FCCalibActive = 1;
		403	}
		404	else
		405	{
284	killagreg	406	FCCalibActive = 0;
268	killagreg	407	}
223	killagreg	408	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
255	killagreg	409	DebugOut.Analog[5] = FC.StatusFlags;
294	holgerb	410	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
255	killagreg	411	NaviData.FCStatusFlags = FC.StatusFlags;
294	holgerb	412	NaviData.FCStatusFlags2 = FC.StatusFlags2;
223	killagreg	413	HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1�
41	ingob	414	break;
1	ingob	415
206	killagreg	416	case SPI_FCCMD_ACCU:
223	killagreg	417	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
206	killagreg	418	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
		419	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
		420	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
298	holgerb	421	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
		422	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
		423	{
		424	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
		425	}
		426
206	killagreg	427	NaviData.UBat = FC.BAT_Voltage;
		428	NaviData.Current = FC.BAT_Current;
		429	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		430	break;
		431
193	killagreg	432	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	433	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		434
202	killagreg	435	case SPI_FCCMD_PARAMETER1:
41	ingob	436	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		437	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		438	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		439	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		440	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		441	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		442	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		443	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	444	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	445	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
		446	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
		447	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	448	break;
1	ingob	449
202	killagreg	450	case SPI_FCCMD_STICK:
41	ingob	451	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		452	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		453	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		454	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	455	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		456	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		457	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		458	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		459	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		460	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		461	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	462	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	463	break;
27	holgerb	464
202	killagreg	465	case SPI_FCCMD_MISC:
41	ingob	466	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		467	{ // put only new CompassCalState into queue to send via I2C
		468	CompassCalState = FromFlightCtrl.Param.Byte[0];
254	killagreg	469	Compass_SetCalState(CompassCalState);
41	ingob	470	}
58	killagreg	471	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	472	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
287	holgerb	473	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm
		474	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
160	holgerb	475	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		476	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		477	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	478	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		479	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
294	holgerb	480	if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
		481	// NaviData.RC_RSSI = FC.RC_RSSI;
206	killagreg	482	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	483	break;
161	killagreg	484
202	killagreg	485	case SPI_FCCMD_SERVOS:
121	killagreg	486	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		487	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		488	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		489	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	490	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	491	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		492	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		493	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	494	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		495	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	496	break;
1	ingob	497
202	killagreg	498	case SPI_FCCMD_VERSION:
119	killagreg	499	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		500	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		501	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		502	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		503	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
255	killagreg	504	FC.Error[0] = FromFlightCtrl.Param.Byte[5];
		505	FC.Error[1] = FromFlightCtrl.Param.Byte[6];
		506	FC.Error[2] = FromFlightCtrl.Param.Byte[7];
		507	FC.Error[3] = FromFlightCtrl.Param.Byte[8];
		508	FC.Error[4] = FromFlightCtrl.Param.Byte[9];
231	holgerb	509	DebugOut.Status[0] \|= 0x01; // status of FC Present
232	killagreg	510	DebugOut.Status[0] \|= 0x02; // status of BL Present
255	killagreg	511	if(FC.Error[0] \|\| FC.Error[1] \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]) DebugOut.Status[1] \|= 0x01;
232	killagreg	512	else DebugOut.Status[1] &= ~0x01;
41	ingob	513	break;
		514	default:
204	killagreg	515	break;
41	ingob	516	}
1	ingob	517
41	ingob	518	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	519	// and update GPSStick that are returned to FC
		520	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
255	killagreg	521	ClearFCStatusFlags = 1;
202	killagreg	522
180	killagreg	523	if(counter)
		524	{
		525	counter--; // count down to enable servo
202	killagreg	526	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	527	}
1	ingob	528
41	ingob	529	SPI_RxBuffer_Request = 0;
180	killagreg	530	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	531
62	killagreg	532	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		533	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	534	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		535	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	536	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	537	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		538	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		539	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		540	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	541	else // no new SPI data
202	killagreg	542	{
180	killagreg	543	if(CheckDelay(timeout) && (counter == 0))
		544	{
		545	TIMER2_Deinit(); // disable Servo Output
		546	counter = 50; // reset counter for enabling Servo Output
		547	}
		548	}
1	ingob	549	}
		550
41	ingob	551	//------------------------------------------------------
		552	void SPI0_GetFlightCtrlVersion(void)
		553	{
154	killagreg	554	u32 timeout;
		555	u8 repeat;
78	holgerb	556	u8 msg[64];
41	ingob	557
297	ingob	558	UART1_PutString("\r\n Looking for FlightControl");
41	ingob	559	FC_Version.Major = 0xFF;
		560	FC_Version.Minor = 0xFF;
		561	FC_Version.Patch = 0xFF;
		562	FC_Version.Compatible = 0xFF;
		563
165	killagreg	564	// polling FC version info
154	killagreg	565	repeat = 0;
41	ingob	566	do
		567	{
154	killagreg	568	timeout = SetDelay(250);
		569	do
		570	{
		571	SPI0_UpdateBuffer();
		572	if (FC_Version.Major != 0xFF) break;
		573	}while (!CheckDelay(timeout));
		574	UART1_PutString(".");
		575	repeat++;
180	killagreg	576	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	577	// if we got it
		578	if (FC_Version.Major != 0xFF)
		579	{
242	killagreg	580	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	581	UART1_PutString(msg);
41	ingob	582	}
242	killagreg	583	else UART1_PutString("\n\r not found!");
41	ingob	584	}
		585
		586

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/spi_slave.c @ 402 - Rev 319