WebSVN - NaviCtrl - Blame - Rev 330 - /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;
330	holgerb	99	s32 Kalman_Kompass = 32;
148	holgerb	100	s32 ToFcGpsZ = 0;
1	ingob	101
329	holgerb	102	u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN};
41	ingob	103	u8 SPI_CommandCounter = 0;
222	holgerb	104	s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;
		105	s32 HeadFreeStartAngle = 0;
277	killagreg	106	s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
286	killagreg	107	u32 ToFC_AltitudeRate = 0;
285	holgerb	108	s32 ToFC_AltitudeSetpoint = 0;
298	holgerb	109	u8 FromFC_VarioCharacter = ' ';
319	holgerb	110	u8 DisableFC_Sticks = 0;
323	holgerb	111	u8 NC_GPS_ModeCharacter = ' ';
329	holgerb	112	u8 FCCalibActive = 0;
330	holgerb	113	u8 FC_is_Calibrated = 0;
58	killagreg	114
41	ingob	115	SPI_Version_t FC_Version;
1	ingob	116
41	ingob	117	//--------------------------------------------------------------
		118	void SSP0_IRQHandler(void)
		119	{
		120	static u8 rxchksum = 0;
		121	u8 rxdata;
1	ingob	122
189	killagreg	123	#define SPI_SYNC1 0
		124	#define SPI_SYNC2 1
		125	#define SPI_DATA 2
		126	static u8 SPI_State = SPI_SYNC1;
		127
195	killagreg	128	IENABLE;
		129
161	killagreg	130	// clear pending bits
41	ingob	131	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	132	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	133
79	killagreg	134	// while RxFIFO not empty
		135	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		136	{
41	ingob	137	rxdata = SSP0->DR; // catch the received byte
		138	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	139	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	140	{
79	killagreg	141	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		142	{
41	ingob	143	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	144	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		145	SPI_TxBufferIndex++; // pointer to next byte
		146	}
		147	else // end of packet is reached reset and copy data to tx buffer
		148	{
		149	SPI_TxBufferIndex = 0; // reset buffer index
		150	ToFlightCtrl.Chksum = 0; // initialize checksum
		151	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		152	BeepTime = 0; // reset local beeptime
41	ingob	153	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	154	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		155	}
41	ingob	156	}
		157	switch (SPI_State)
		158	{
		159	case SPI_SYNC1:
		160	SPI_RxBufferIndex = 0; // reset buffer index
		161	rxchksum = rxdata; // init checksum
		162	if (rxdata == SPI_RXSYNCBYTE1)
		163	{ // 1st syncbyte ok
		164	SPI_State = SPI_SYNC2; // step to sync2
		165	}
		166	break;
79	killagreg	167	case SPI_SYNC2:
41	ingob	168	if (rxdata == SPI_RXSYNCBYTE2)
		169	{ // 2nd Syncbyte ok
		170	rxchksum += rxdata;
		171	SPI_State = SPI_DATA;
		172	} // 2nd Syncbyte does not match
		173	else
		174	{
		175	SPI_State = SPI_SYNC1; //jump back to sync1
		176	}
		177	break;
		178	case SPI_DATA:
		179	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		180	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		181	{
		182	if (rxdata == rxchksum) // verify checksum byte
		183	{
		184	// copy SPI_RxBuffer -> FromFlightCtrl
		185	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		186	{
		187	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		188	SPI_RxBuffer_Request = 1;
		189	}
146	killagreg	190	// reset timeout counter on good packet
		191	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	192	DebugOut.Analog[13]++;
		193	}
		194	else // bad checksum byte
		195	{
		196	DebugOut.Analog[12]++; // increase SPI chksum error counter
		197	}
		198	SPI_State = SPI_SYNC1; // reset state
		199	}
		200	else // end of packet not reached
		201	{
		202	rxchksum += rxdata; // update checksum
		203	}
		204	break;
		205	default:
		206	SPI_State = SPI_SYNC1;
		207	break;
		208	}
		209	}
195	killagreg	210
		211	IDISABLE;
1	ingob	212	}
		213
		214	//--------------------------------------------------------------
		215	void SPI0_Init(void)
		216	{
41	ingob	217	GPIO_InitTypeDef GPIO_InitStructure;
		218	SSP_InitTypeDef SSP_InitStructure;
1	ingob	219
110	killagreg	220	UART1_PutString("\r\n SPI init...");
1	ingob	221
41	ingob	222	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		223	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	224
41	ingob	225	GPIO_DeInit(GPIO2);
		226	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		227	GPIO_StructInit(&GPIO_InitStructure);
		228	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		229	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		230	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	231	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	232	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		233	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	234
41	ingob	235	// SSP0_MISO pin GPIO2.6
		236	GPIO_StructInit(&GPIO_InitStructure);
		237	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		238	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		239	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	240	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	241	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		242	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	243
41	ingob	244	SSP_DeInit(SSP0);
		245	SSP_StructInit(&SSP_InitStructure);
		246	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		247	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		248	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		249	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		250	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		251	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	252
41	ingob	253	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	254	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
202	killagreg	255
41	ingob	256	SSP_Cmd(SSP0, ENABLE);
		257	// initialize the syncbytes in the tx buffer
		258	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		259	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		260	// set the pointer to the checksum byte in the tx buffer
		261	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		262
215	killagreg	263	ToFlightCtrl.GPSStick.Nick = 0;
		264	ToFlightCtrl.GPSStick.Roll = 0;
		265	ToFlightCtrl.GPSStick.Yaw = 0;
		266
136	killagreg	267	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	268	VIC_ITCmd(SSP0_ITLine, ENABLE);
		269
146	killagreg	270	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		271
110	killagreg	272	UART1_PutString("ok");
1	ingob	273	}
41	ingob	274
222	holgerb	275
1	ingob	276	//------------------------------------------------------
41	ingob	277	void SPI0_UpdateBuffer(void)
1	ingob	278	{
180	killagreg	279	static u32 timeout = 0;
329	holgerb	280	static u8 counter = 50,hott_index = 0;
254	killagreg	281	static u8 CompassCalState = 0;
299	killagreg	282	s16 tmp;
329	holgerb	283	s32 i1,i2;
202	killagreg	284
41	ingob	285	if (SPI_RxBuffer_Request)
		286	{
		287	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		288	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
254	killagreg	289	ToFlightCtrl.CompassHeading = Compass_Heading;
189	killagreg	290	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
228	holgerb	291	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
327	holgerb	292	// ToFlightCtrl.MagVecX = MagVector.X;
		293	// ToFlightCtrl.MagVecY = MagVector.Y;
286	killagreg	294	ToFlightCtrl.MagVecZ = MagVector.Z;
284	killagreg	295	ToFlightCtrl.NCStatus = 0;
41	ingob	296	// cycle spi commands
		297	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	298	// restart command cycle at the end
41	ingob	299	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
319	holgerb	300	#define FLAG_GPS_AID 0x01
41	ingob	301	switch (ToFlightCtrl.Command)
		302	{
329	holgerb	303	case SPI_NCCMD_KALMAN: // wird am h�ufigsten bet�tigt
223	killagreg	304	CalcHeadFree();
149	killagreg	305	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	306	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		307	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
330	holgerb	308	ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass;
149	killagreg	309	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	310	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
223	killagreg	311	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
319	holgerb	312	if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00;
280	killagreg	313	if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH)
278	killagreg	314	{
		315	ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth;
280	killagreg	316	CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH;
278	killagreg	317	}
		318	else
280	killagreg	319	{
278	killagreg	320	ToFlightCtrl.Param.sInt[4] = -1;
		321	}
294	holgerb	322
299	killagreg	323	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command
295	killagreg	324	{
299	killagreg	325	ToFlightCtrl.Param.sInt[5] = tmp;
		326	}
		327	else
		328	{
295	killagreg	329	if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active
		330	else ToFlightCtrl.Param.sInt[5] = 0;
		331	}
161	killagreg	332	break;
58	killagreg	333
202	killagreg	334	case SPI_NCCMD_VERSION:
		335	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		336	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	337	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	338	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
264	killagreg	339	ToFlightCtrl.Param.Byte[4] = Version_HW;
231	holgerb	340	ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0];
		341	ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1];
233	holgerb	342	ToFlightCtrl.Param.Byte[7] = ErrorCode;
323	holgerb	343	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
330	holgerb	344	ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;
202	killagreg	345	break;
223	killagreg	346
204	killagreg	347	case SPI_NCCMD_GPSINFO:
		348	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		349	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		350	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
232	killagreg	351	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
258	holgerb	352	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
		353	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
306	holgerb	354	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;
		355	ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
299	killagreg	356	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
		357	{
		358	ToFlightCtrl.Param.Byte[9] = (u8)tmp;
295	killagreg	359	}
299	killagreg	360	else
		361	{
		362	ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate;
		363	}
		364	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp))
		365	{
		366	ToFlightCtrl.Param.sInt[5] = tmp;
		367	}
		368	else
		369	{
		370	ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint;
		371	}
204	killagreg	372	break;
329	holgerb	373	/*
		374	typedef struct
		375	{
		376	unsigned char StartByte; //0 // 0x7C
		377	unsigned char Packet_ID; //1 // 0x89 - Vario ID
		378	unsigned char WarnBeep; //2 // Anzahl der T�ne 0..36
		379	unsigned char Heading; //3 // 1 = 2�
		380	unsigned int Speed; //4+5 // in km/h
		381	unsigned char Lat_North; //6
		382	unsigned char Lat_G; //7
		383	unsigned char Lat_M; //8
		384	unsigned char Lat_Sek1; //9
		385	unsigned char Lat_Sek2; //10
		386	unsigned char Lon_East; //11
		387	unsigned char Lon_G; //12
		388	unsigned char Lon_M; //13
		389	unsigned char Lon_Sek1; //14
		390	unsigned char Lon_Sek2; //15
		391	unsigned int Distance; //16+17 // 9000 = 0m
		392	unsigned int Altitude; //18+19 // 500 = 0m
		393	unsigned int m_sec; //20+21 // 3000 = 0
		394	unsigned int m_3sec; //22+23 // 3000 = 0
		395	unsigned int m_10sec; //24+25 // 3000 = 0
		396	unsigned char NullByte; // 0x00
		397	unsigned char NullByte1; // 0x00
		398	unsigned char EndByte; // 0x7D
		399	} GPSPacket_t;
		400	*/
330	holgerb	401	/*
		402	typedef struct
		403	{
		404	unsigned char StartByte; //0 0x7C
		405	unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID
		406	unsigned char WarnBeep; //2 Anzahl der T�ne 0..36
		407	unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert)
		408	unsigned char VoltageCell2; //4
		409	unsigned char VoltageCell3; //5
		410	unsigned char VoltageCell4; //6
		411	unsigned char VoltageCell5; //7
		412	unsigned char VoltageCell6; //8
		413	unsigned int Battery1; //9 51 = 5,1V
		414	unsigned int Battery2; //11 51 = 5,1V
		415	unsigned char Temperature1; //13 44 = 24�C, 0 = -20�C
		416	unsigned char Temperature2; //14 44 = 24�C, 0 = -20�C
		417	unsigned char FuelPercent; //15
		418	signed int FuelCapacity; //16
		419	unsigned int Rpm;
		420	unsigned int Altitude;
		421	unsigned int m_sec; // 3000 = 0
		422	unsigned char m_3sec; // 120 = 0
		423	unsigned int Current; // 1 = 0.1A
		424	unsigned int InputVoltage; // 66 = 6,6V
		425	unsigned int Capacity; // 1 = 10mAh
		426	unsigned char NullByte1; // 0x00
		427	unsigned char NullByte2; // 0x00
		428	unsigned char EndByte; // 0x7D
		429	} HoTTGeneral_t;
		430	*/
		431	case SPI_NCCMD_HOTT_INFO:
		432	switch(hott_index++)
		433	{
329	holgerb	434	case 0:
		435	//Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden
		436	//53.285788 7.4847269 --> N53� 17.14728 E7� 29.08362 --> N53� 17' 8.837" E7� 29' 5.017"
		437	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
		438	ToFlightCtrl.Param.Byte[0] = 3; // index
		439	ToFlightCtrl.Param.Byte[1] = 9-1; // how many
		440	//-----------------------------
		441	ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2;
		442	i1 = GPSData.Speed_Ground; // in cm/sec
		443	i1 *= 36;
		444	i1 /= 1000;
		445	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		446	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		447	//-----------------------------
		448	if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S
		449	else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
		450	i1 = abs(GPSData.Position.Latitude)/10000000L;
		451	i2 = abs(GPSData.Position.Latitude)%10000000L;
		452	i1 *= 100;
		453	i1 += i2 / 100000;
		454	i2 = i2 % 100000;
		455	i2 /= 10;
		456	ToFlightCtrl.Param.Byte[6] = i1 % 256;
		457	ToFlightCtrl.Param.Byte[7] = i1 / 256;
		458	ToFlightCtrl.Param.Byte[8] = i2 % 256;
		459	ToFlightCtrl.Param.Byte[9] = i2 / 256;
		460	break;
		461	case 1:
		462	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
		463	ToFlightCtrl.Param.Byte[0] = 11; // index
		464	ToFlightCtrl.Param.Byte[1] = 8-1; // how many
		465	//-----------------------------
		466	if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
		467	else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
		468	i1 = abs(GPSData.Position.Longitude)/10000000L;
		469	i2 = abs(GPSData.Position.Longitude)%10000000L;
		470	i1 *= 100;
		471	i1 += i2 / 100000;
		472	i2 = i2 % 100000;
		473	i2 /= 10;
		474	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		475	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		476	ToFlightCtrl.Param.Byte[5] = i2 % 256;
		477	ToFlightCtrl.Param.Byte[6] = i2 / 256;
		478	//-----------------------------
		479	i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m
		480	ToFlightCtrl.Param.Byte[7] = i1 % 256;
		481	ToFlightCtrl.Param.Byte[8] = i1 / 256;
330	holgerb	482	break;
		483	case 2:
		484	ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID;
		485	ToFlightCtrl.Param.Byte[0] = 5; // index
		486	ToFlightCtrl.Param.Byte[1] = 2; // how many
		487	ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2);
		488	ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2;
329	holgerb	489	hott_index = 0;
		490	break;
330	holgerb	491	default:
		492	ToFlightCtrl.Param.Byte[0] = 255;
		493	hott_index = 0;
		494	break;
329	holgerb	495	}
		496	break;
41	ingob	497	default:
		498	break;
285	holgerb	499	// 0 = 0,1
		500	// 1 = 2,3
		501	// 2 = 4,5
		502	// 3 = 6,7
		503	// 4 = 8,9
		504	// 5 = 10,11
41	ingob	505	}
		506	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	507
41	ingob	508	switch(FromFlightCtrl.Command)
		509	{
202	killagreg	510	case SPI_FCCMD_USER:
41	ingob	511	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		512	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		513	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		514	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		515	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		516	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		517	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		518	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
255	killagreg	519	if(ClearFCStatusFlags)
41	ingob	520	{
255	killagreg	521	FC.StatusFlags = 0;
		522	ClearFCStatusFlags = 0;
41	ingob	523	}
255	killagreg	524	FC.StatusFlags \|= FromFlightCtrl.Param.Byte[8];
320	holgerb	525	if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive)
268	killagreg	526	{
326	holgerb	527	HeadFreeStartAngle = Compass_Heading * 10;
268	killagreg	528	Compass_Init();
330	holgerb	529	FCCalibActive = 10;
268	killagreg	530	}
		531	else
		532	{
330	holgerb	533	if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1;
268	killagreg	534	}
329	holgerb	535	if(FC.StatusFlags & FC_STATUS_START)
		536	{
		537	if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else
		538	HeadFreeStartAngle = FromFlightCtrl.GyroHeading;
		539	}
320	holgerb	540
329	holgerb	541	if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
		542	{
		543	if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
		544	{
		545	if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
		546	{
		547	HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1�
		548	}
		549	else // Ansonsten die aktuelle Richtung �bernehmen
		550	HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /+ Parameter.OrientationAngle 150*/) % 3600; // in 0.1�
		551	}
		552	}
320	holgerb	553
326	holgerb	554	//DebugOut.Analog[16] = HeadFreeStartAngle;
		555
223	killagreg	556	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
255	killagreg	557	DebugOut.Analog[5] = FC.StatusFlags;
294	holgerb	558	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
255	killagreg	559	NaviData.FCStatusFlags = FC.StatusFlags;
294	holgerb	560	NaviData.FCStatusFlags2 = FC.StatusFlags2;
321	holgerb	561	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
41	ingob	562	break;
1	ingob	563
206	killagreg	564	case SPI_FCCMD_ACCU:
223	killagreg	565	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
206	killagreg	566	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
		567	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
		568	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
298	holgerb	569	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
320	holgerb	570	Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7];
		571	Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8];
298	holgerb	572	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
		573	{
		574	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
		575	}
206	killagreg	576	NaviData.UBat = FC.BAT_Voltage;
		577	NaviData.Current = FC.BAT_Current;
		578	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		579	break;
		580
193	killagreg	581	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	582	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		583
202	killagreg	584	case SPI_FCCMD_PARAMETER1:
41	ingob	585	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		586	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		587	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		588	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		589	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		590	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		591	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		592	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	593	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	594	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
327	holgerb	595	CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255);
41	ingob	596	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	597	break;
1	ingob	598
202	killagreg	599	case SPI_FCCMD_STICK:
41	ingob	600	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		601	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		602	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		603	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	604	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		605	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		606	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		607	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		608	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		609	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		610	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	611	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	612	break;
27	holgerb	613
202	killagreg	614	case SPI_FCCMD_MISC:
41	ingob	615	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		616	{ // put only new CompassCalState into queue to send via I2C
		617	CompassCalState = FromFlightCtrl.Param.Byte[0];
254	killagreg	618	Compass_SetCalState(CompassCalState);
41	ingob	619	}
58	killagreg	620	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	621	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
287	holgerb	622	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm
		623	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
160	holgerb	624	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		625	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		626	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	627	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		628	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
294	holgerb	629	if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
		630	// NaviData.RC_RSSI = FC.RC_RSSI;
206	killagreg	631	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	632	break;
161	killagreg	633
202	killagreg	634	case SPI_FCCMD_SERVOS:
121	killagreg	635	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		636	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		637	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		638	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	639	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	640	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		641	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		642	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	643	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		644	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	645	break;
1	ingob	646
202	killagreg	647	case SPI_FCCMD_VERSION:
119	killagreg	648	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		649	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		650	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		651	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		652	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
328	holgerb	653	FC.Error[0] \|= FromFlightCtrl.Param.Byte[5];
		654	FC.Error[1] \|= FromFlightCtrl.Param.Byte[6];
		655	FC.Error[2] \|= FromFlightCtrl.Param.Byte[7];
		656	FC.Error[3] \|= FromFlightCtrl.Param.Byte[8];
		657	FC.Error[4] \|= FromFlightCtrl.Param.Byte[9];
320	holgerb	658	Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10];
231	holgerb	659	DebugOut.Status[0] \|= 0x01; // status of FC Present
232	killagreg	660	DebugOut.Status[0] \|= 0x02; // status of BL Present
255	killagreg	661	if(FC.Error[0] \|\| FC.Error[1] \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]) DebugOut.Status[1] \|= 0x01;
232	killagreg	662	else DebugOut.Status[1] &= ~0x01;
41	ingob	663	break;
		664	default:
204	killagreg	665	break;
41	ingob	666	}
1	ingob	667
41	ingob	668	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	669	// and update GPSStick that are returned to FC
		670	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
255	killagreg	671	ClearFCStatusFlags = 1;
202	killagreg	672
180	killagreg	673	if(counter)
		674	{
		675	counter--; // count down to enable servo
202	killagreg	676	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	677	}
1	ingob	678
41	ingob	679	SPI_RxBuffer_Request = 0;
180	killagreg	680	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	681
62	killagreg	682	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		683	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	684	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		685	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	686	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	687	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		688	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		689	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		690	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	691	else // no new SPI data
202	killagreg	692	{
180	killagreg	693	if(CheckDelay(timeout) && (counter == 0))
		694	{
		695	TIMER2_Deinit(); // disable Servo Output
		696	counter = 50; // reset counter for enabling Servo Output
		697	}
		698	}
1	ingob	699	}
		700
41	ingob	701	//------------------------------------------------------
		702	void SPI0_GetFlightCtrlVersion(void)
		703	{
154	killagreg	704	u32 timeout;
		705	u8 repeat;
78	holgerb	706	u8 msg[64];
41	ingob	707
297	ingob	708	UART1_PutString("\r\n Looking for FlightControl");
41	ingob	709	FC_Version.Major = 0xFF;
		710	FC_Version.Minor = 0xFF;
		711	FC_Version.Patch = 0xFF;
		712	FC_Version.Compatible = 0xFF;
		713
165	killagreg	714	// polling FC version info
154	killagreg	715	repeat = 0;
41	ingob	716	do
		717	{
154	killagreg	718	timeout = SetDelay(250);
		719	do
		720	{
		721	SPI0_UpdateBuffer();
		722	if (FC_Version.Major != 0xFF) break;
		723	}while (!CheckDelay(timeout));
		724	UART1_PutString(".");
		725	repeat++;
329	holgerb	726	FCCalibActive = 1;
180	killagreg	727	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	728	// if we got it
		729	if (FC_Version.Major != 0xFF)
		730	{
242	killagreg	731	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	732	UART1_PutString(msg);
41	ingob	733	}
242	killagreg	734	else UART1_PutString("\n\r not found!");
41	ingob	735	}
		736
		737

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/spi_slave.c @ 402 - Rev 330