WebSVN - NaviCtrl - Blame - Rev 331 - /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>
331	holgerb	59	#include <math.h>
41	ingob	60	#include "91x_lib.h"
		61	#include "led.h"
215	killagreg	62	#include "gps.h"
41	ingob	63	#include "uart1.h"
		64	#include "spi_slave.h"
242	killagreg	65	#include "compass.h"
119	killagreg	66	#include "timer1.h"
		67	#include "timer2.h"
136	killagreg	68	#include "config.h"
1	ingob	69	#include "main.h"
284	killagreg	70	#include "compass.h"
294	holgerb	71	#include "params.h"
1	ingob	72
41	ingob	73	#define SPI_RXSYNCBYTE1 0xAA
		74	#define SPI_RXSYNCBYTE2 0x83
		75	#define SPI_TXSYNCBYTE1 0x81
		76	#define SPI_TXSYNCBYTE2 0x55
1	ingob	77
41	ingob	78	//communication packets
215	killagreg	79	FromFlightCtrl_t FromFlightCtrl;
		80	ToFlightCtrl_t ToFlightCtrl;
183	killagreg	81	#define SPI0_TIMEOUT 500 // 500ms
146	killagreg	82	volatile u32 SPI0_Timeout = 0;
1	ingob	83
41	ingob	84	// tx packet buffer
		85	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
		86	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN];
		87	volatile u8 SPI_TxBufferIndex = 0;
		88	u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
1	ingob	89
41	ingob	90	// rx packet buffer
		91	#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
		92	volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN];
		93	volatile u8 SPI_RxBufferIndex = 0;
		94	volatile u8 SPI_RxBuffer_Request = 0;
1	ingob	95	#define SPI_COMMAND_INDEX 0
		96
149	killagreg	97	s32 Kalman_K = 32;
41	ingob	98	s32 Kalman_MaxDrift = 5 * 16;
		99	s32 Kalman_MaxFusion = 64;
330	holgerb	100	s32 Kalman_Kompass = 32;
148	holgerb	101	s32 ToFcGpsZ = 0;
1	ingob	102
329	holgerb	103	u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN};
41	ingob	104	u8 SPI_CommandCounter = 0;
222	holgerb	105	s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;
		106	s32 HeadFreeStartAngle = 0;
277	killagreg	107	s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
286	killagreg	108	u32 ToFC_AltitudeRate = 0;
285	holgerb	109	s32 ToFC_AltitudeSetpoint = 0;
298	holgerb	110	u8 FromFC_VarioCharacter = ' ';
331	holgerb	111	u8 GPS_Aid_StickMultiplikator = 0;
323	holgerb	112	u8 NC_GPS_ModeCharacter = ' ';
329	holgerb	113	u8 FCCalibActive = 0;
330	holgerb	114	u8 FC_is_Calibrated = 0;
58	killagreg	115
41	ingob	116	SPI_Version_t FC_Version;
1	ingob	117
41	ingob	118	//--------------------------------------------------------------
		119	void SSP0_IRQHandler(void)
		120	{
		121	static u8 rxchksum = 0;
		122	u8 rxdata;
1	ingob	123
189	killagreg	124	#define SPI_SYNC1 0
		125	#define SPI_SYNC2 1
		126	#define SPI_DATA 2
		127	static u8 SPI_State = SPI_SYNC1;
		128
195	killagreg	129	IENABLE;
		130
161	killagreg	131	// clear pending bits
41	ingob	132	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	133	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	134
79	killagreg	135	// while RxFIFO not empty
		136	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		137	{
41	ingob	138	rxdata = SSP0->DR; // catch the received byte
		139	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	140	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	141	{
79	killagreg	142	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		143	{
41	ingob	144	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	145	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		146	SPI_TxBufferIndex++; // pointer to next byte
		147	}
		148	else // end of packet is reached reset and copy data to tx buffer
		149	{
		150	SPI_TxBufferIndex = 0; // reset buffer index
		151	ToFlightCtrl.Chksum = 0; // initialize checksum
		152	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		153	BeepTime = 0; // reset local beeptime
41	ingob	154	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	155	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		156	}
41	ingob	157	}
		158	switch (SPI_State)
		159	{
		160	case SPI_SYNC1:
		161	SPI_RxBufferIndex = 0; // reset buffer index
		162	rxchksum = rxdata; // init checksum
		163	if (rxdata == SPI_RXSYNCBYTE1)
		164	{ // 1st syncbyte ok
		165	SPI_State = SPI_SYNC2; // step to sync2
		166	}
		167	break;
79	killagreg	168	case SPI_SYNC2:
41	ingob	169	if (rxdata == SPI_RXSYNCBYTE2)
		170	{ // 2nd Syncbyte ok
		171	rxchksum += rxdata;
		172	SPI_State = SPI_DATA;
		173	} // 2nd Syncbyte does not match
		174	else
		175	{
		176	SPI_State = SPI_SYNC1; //jump back to sync1
		177	}
		178	break;
		179	case SPI_DATA:
		180	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		181	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		182	{
		183	if (rxdata == rxchksum) // verify checksum byte
		184	{
		185	// copy SPI_RxBuffer -> FromFlightCtrl
		186	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		187	{
		188	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		189	SPI_RxBuffer_Request = 1;
		190	}
146	killagreg	191	// reset timeout counter on good packet
		192	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	193	DebugOut.Analog[13]++;
		194	}
		195	else // bad checksum byte
		196	{
		197	DebugOut.Analog[12]++; // increase SPI chksum error counter
		198	}
		199	SPI_State = SPI_SYNC1; // reset state
		200	}
		201	else // end of packet not reached
		202	{
		203	rxchksum += rxdata; // update checksum
		204	}
		205	break;
		206	default:
		207	SPI_State = SPI_SYNC1;
		208	break;
		209	}
		210	}
195	killagreg	211
		212	IDISABLE;
1	ingob	213	}
		214
		215	//--------------------------------------------------------------
		216	void SPI0_Init(void)
		217	{
41	ingob	218	GPIO_InitTypeDef GPIO_InitStructure;
		219	SSP_InitTypeDef SSP_InitStructure;
1	ingob	220
110	killagreg	221	UART1_PutString("\r\n SPI init...");
1	ingob	222
41	ingob	223	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		224	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	225
41	ingob	226	GPIO_DeInit(GPIO2);
		227	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		228	GPIO_StructInit(&GPIO_InitStructure);
		229	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		230	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		231	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	232	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	233	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		234	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	235
41	ingob	236	// SSP0_MISO pin GPIO2.6
		237	GPIO_StructInit(&GPIO_InitStructure);
		238	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		239	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		240	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	241	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	242	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		243	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	244
41	ingob	245	SSP_DeInit(SSP0);
		246	SSP_StructInit(&SSP_InitStructure);
		247	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		248	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		249	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		250	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		251	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		252	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	253
41	ingob	254	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	255	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
202	killagreg	256
41	ingob	257	SSP_Cmd(SSP0, ENABLE);
		258	// initialize the syncbytes in the tx buffer
		259	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		260	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		261	// set the pointer to the checksum byte in the tx buffer
		262	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		263
215	killagreg	264	ToFlightCtrl.GPSStick.Nick = 0;
		265	ToFlightCtrl.GPSStick.Roll = 0;
		266	ToFlightCtrl.GPSStick.Yaw = 0;
		267
136	killagreg	268	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	269	VIC_ITCmd(SSP0_ITLine, ENABLE);
		270
146	killagreg	271	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		272
110	killagreg	273	UART1_PutString("ok");
1	ingob	274	}
41	ingob	275
222	holgerb	276
1	ingob	277	//------------------------------------------------------
41	ingob	278	void SPI0_UpdateBuffer(void)
1	ingob	279	{
180	killagreg	280	static u32 timeout = 0;
329	holgerb	281	static u8 counter = 50,hott_index = 0;
254	killagreg	282	static u8 CompassCalState = 0;
299	killagreg	283	s16 tmp;
329	holgerb	284	s32 i1,i2;
202	killagreg	285
41	ingob	286	if (SPI_RxBuffer_Request)
		287	{
		288	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		289	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
254	killagreg	290	ToFlightCtrl.CompassHeading = Compass_Heading;
189	killagreg	291	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
228	holgerb	292	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
327	holgerb	293	// ToFlightCtrl.MagVecX = MagVector.X;
		294	// ToFlightCtrl.MagVecY = MagVector.Y;
286	killagreg	295	ToFlightCtrl.MagVecZ = MagVector.Z;
284	killagreg	296	ToFlightCtrl.NCStatus = 0;
41	ingob	297	// cycle spi commands
		298	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	299	// restart command cycle at the end
41	ingob	300	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
319	holgerb	301	#define FLAG_GPS_AID 0x01
41	ingob	302	switch (ToFlightCtrl.Command)
		303	{
329	holgerb	304	case SPI_NCCMD_KALMAN: // wird am h�ufigsten bet�tigt
223	killagreg	305	CalcHeadFree();
149	killagreg	306	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	307	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		308	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
330	holgerb	309	ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass;
149	killagreg	310	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	311	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
223	killagreg	312	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
331	holgerb	313	ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator;
280	killagreg	314	if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH)
278	killagreg	315	{
		316	ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth;
280	killagreg	317	CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH;
278	killagreg	318	}
		319	else
280	killagreg	320	{
278	killagreg	321	ToFlightCtrl.Param.sInt[4] = -1;
		322	}
294	holgerb	323
299	killagreg	324	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command
295	killagreg	325	{
299	killagreg	326	ToFlightCtrl.Param.sInt[5] = tmp;
		327	}
		328	else
		329	{
295	killagreg	330	if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active
		331	else ToFlightCtrl.Param.sInt[5] = 0;
		332	}
161	killagreg	333	break;
58	killagreg	334
202	killagreg	335	case SPI_NCCMD_VERSION:
		336	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		337	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	338	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	339	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
264	killagreg	340	ToFlightCtrl.Param.Byte[4] = Version_HW;
231	holgerb	341	ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0];
		342	ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1];
233	holgerb	343	ToFlightCtrl.Param.Byte[7] = ErrorCode;
323	holgerb	344	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
330	holgerb	345	ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;
202	killagreg	346	break;
223	killagreg	347
204	killagreg	348	case SPI_NCCMD_GPSINFO:
		349	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		350	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		351	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
232	killagreg	352	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
258	holgerb	353	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
		354	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
306	holgerb	355	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;
		356	ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
299	killagreg	357	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
		358	{
		359	ToFlightCtrl.Param.Byte[9] = (u8)tmp;
295	killagreg	360	}
299	killagreg	361	else
		362	{
		363	ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate;
		364	}
		365	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp))
		366	{
		367	ToFlightCtrl.Param.sInt[5] = tmp;
		368	}
		369	else
		370	{
		371	ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint;
		372	}
204	killagreg	373	break;
329	holgerb	374	/*
		375	typedef struct
		376	{
		377	unsigned char StartByte; //0 // 0x7C
		378	unsigned char Packet_ID; //1 // 0x89 - Vario ID
		379	unsigned char WarnBeep; //2 // Anzahl der T�ne 0..36
		380	unsigned char Heading; //3 // 1 = 2�
		381	unsigned int Speed; //4+5 // in km/h
		382	unsigned char Lat_North; //6
		383	unsigned char Lat_G; //7
		384	unsigned char Lat_M; //8
		385	unsigned char Lat_Sek1; //9
		386	unsigned char Lat_Sek2; //10
		387	unsigned char Lon_East; //11
		388	unsigned char Lon_G; //12
		389	unsigned char Lon_M; //13
		390	unsigned char Lon_Sek1; //14
		391	unsigned char Lon_Sek2; //15
		392	unsigned int Distance; //16+17 // 9000 = 0m
		393	unsigned int Altitude; //18+19 // 500 = 0m
		394	unsigned int m_sec; //20+21 // 3000 = 0
		395	unsigned int m_3sec; //22+23 // 3000 = 0
		396	unsigned int m_10sec; //24+25 // 3000 = 0
		397	unsigned char NullByte; // 0x00
		398	unsigned char NullByte1; // 0x00
		399	unsigned char EndByte; // 0x7D
		400	} GPSPacket_t;
		401	*/
330	holgerb	402	/*
		403	typedef struct
		404	{
		405	unsigned char StartByte; //0 0x7C
		406	unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID
		407	unsigned char WarnBeep; //2 Anzahl der T�ne 0..36
		408	unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert)
		409	unsigned char VoltageCell2; //4
		410	unsigned char VoltageCell3; //5
		411	unsigned char VoltageCell4; //6
		412	unsigned char VoltageCell5; //7
		413	unsigned char VoltageCell6; //8
		414	unsigned int Battery1; //9 51 = 5,1V
		415	unsigned int Battery2; //11 51 = 5,1V
		416	unsigned char Temperature1; //13 44 = 24�C, 0 = -20�C
		417	unsigned char Temperature2; //14 44 = 24�C, 0 = -20�C
		418	unsigned char FuelPercent; //15
		419	signed int FuelCapacity; //16
		420	unsigned int Rpm;
		421	unsigned int Altitude;
		422	unsigned int m_sec; // 3000 = 0
		423	unsigned char m_3sec; // 120 = 0
		424	unsigned int Current; // 1 = 0.1A
		425	unsigned int InputVoltage; // 66 = 6,6V
		426	unsigned int Capacity; // 1 = 10mAh
		427	unsigned char NullByte1; // 0x00
		428	unsigned char NullByte2; // 0x00
		429	unsigned char EndByte; // 0x7D
		430	} HoTTGeneral_t;
		431	*/
		432	case SPI_NCCMD_HOTT_INFO:
		433	switch(hott_index++)
		434	{
329	holgerb	435	case 0:
		436	//Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden
		437	//53.285788 7.4847269 --> N53� 17.14728 E7� 29.08362 --> N53� 17' 8.837" E7� 29' 5.017"
		438	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
		439	ToFlightCtrl.Param.Byte[0] = 3; // index
		440	ToFlightCtrl.Param.Byte[1] = 9-1; // how many
		441	//-----------------------------
		442	ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2;
		443	i1 = GPSData.Speed_Ground; // in cm/sec
		444	i1 *= 36;
		445	i1 /= 1000;
		446	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		447	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		448	//-----------------------------
		449	if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S
		450	else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
		451	i1 = abs(GPSData.Position.Latitude)/10000000L;
		452	i2 = abs(GPSData.Position.Latitude)%10000000L;
		453	i1 *= 100;
		454	i1 += i2 / 100000;
		455	i2 = i2 % 100000;
		456	i2 /= 10;
		457	ToFlightCtrl.Param.Byte[6] = i1 % 256;
		458	ToFlightCtrl.Param.Byte[7] = i1 / 256;
		459	ToFlightCtrl.Param.Byte[8] = i2 % 256;
		460	ToFlightCtrl.Param.Byte[9] = i2 / 256;
		461	break;
		462	case 1:
		463	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
		464	ToFlightCtrl.Param.Byte[0] = 11; // index
		465	ToFlightCtrl.Param.Byte[1] = 8-1; // how many
		466	//-----------------------------
		467	if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
		468	else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
		469	i1 = abs(GPSData.Position.Longitude)/10000000L;
		470	i2 = abs(GPSData.Position.Longitude)%10000000L;
		471	i1 *= 100;
		472	i1 += i2 / 100000;
		473	i2 = i2 % 100000;
		474	i2 /= 10;
		475	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		476	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		477	ToFlightCtrl.Param.Byte[5] = i2 % 256;
		478	ToFlightCtrl.Param.Byte[6] = i2 / 256;
		479	//-----------------------------
		480	i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m
		481	ToFlightCtrl.Param.Byte[7] = i1 % 256;
		482	ToFlightCtrl.Param.Byte[8] = i1 / 256;
330	holgerb	483	break;
		484	case 2:
		485	ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID;
		486	ToFlightCtrl.Param.Byte[0] = 5; // index
		487	ToFlightCtrl.Param.Byte[1] = 2; // how many
		488	ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2);
		489	ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2;
329	holgerb	490	hott_index = 0;
		491	break;
330	holgerb	492	default:
		493	ToFlightCtrl.Param.Byte[0] = 255;
		494	hott_index = 0;
		495	break;
329	holgerb	496	}
		497	break;
41	ingob	498	default:
		499	break;
285	holgerb	500	// 0 = 0,1
		501	// 1 = 2,3
		502	// 2 = 4,5
		503	// 3 = 6,7
		504	// 4 = 8,9
		505	// 5 = 10,11
41	ingob	506	}
		507	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	508
41	ingob	509	switch(FromFlightCtrl.Command)
		510	{
202	killagreg	511	case SPI_FCCMD_USER:
41	ingob	512	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		513	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		514	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		515	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		516	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		517	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		518	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		519	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
255	killagreg	520	if(ClearFCStatusFlags)
41	ingob	521	{
255	killagreg	522	FC.StatusFlags = 0;
		523	ClearFCStatusFlags = 0;
41	ingob	524	}
255	killagreg	525	FC.StatusFlags \|= FromFlightCtrl.Param.Byte[8];
320	holgerb	526	if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive)
268	killagreg	527	{
326	holgerb	528	HeadFreeStartAngle = Compass_Heading * 10;
268	killagreg	529	Compass_Init();
330	holgerb	530	FCCalibActive = 10;
268	killagreg	531	}
		532	else
		533	{
330	holgerb	534	if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1;
268	killagreg	535	}
329	holgerb	536	if(FC.StatusFlags & FC_STATUS_START)
		537	{
		538	if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else
		539	HeadFreeStartAngle = FromFlightCtrl.GyroHeading;
		540	}
320	holgerb	541
329	holgerb	542	if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
		543	{
		544	if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
		545	{
		546	if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
		547	{
		548	HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1�
		549	}
		550	else // Ansonsten die aktuelle Richtung �bernehmen
		551	HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /+ Parameter.OrientationAngle 150*/) % 3600; // in 0.1�
		552	}
		553	}
320	holgerb	554
326	holgerb	555	//DebugOut.Analog[16] = HeadFreeStartAngle;
		556
223	killagreg	557	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
255	killagreg	558	DebugOut.Analog[5] = FC.StatusFlags;
294	holgerb	559	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
255	killagreg	560	NaviData.FCStatusFlags = FC.StatusFlags;
294	holgerb	561	NaviData.FCStatusFlags2 = FC.StatusFlags2;
321	holgerb	562	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
41	ingob	563	break;
1	ingob	564
206	killagreg	565	case SPI_FCCMD_ACCU:
223	killagreg	566	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
206	killagreg	567	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
		568	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
		569	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
298	holgerb	570	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
320	holgerb	571	Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7];
		572	Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8];
298	holgerb	573	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
		574	{
		575	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
		576	}
206	killagreg	577	NaviData.UBat = FC.BAT_Voltage;
		578	NaviData.Current = FC.BAT_Current;
		579	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		580	break;
		581
193	killagreg	582	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	583	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		584
202	killagreg	585	case SPI_FCCMD_PARAMETER1:
41	ingob	586	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		587	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		588	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		589	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		590	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		591	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		592	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		593	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	594	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	595	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
327	holgerb	596	CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255);
41	ingob	597	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	598	break;
1	ingob	599
202	killagreg	600	case SPI_FCCMD_STICK:
41	ingob	601	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		602	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		603	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		604	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	605	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		606	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		607	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		608	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		609	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		610	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		611	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	612	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	613	break;
27	holgerb	614
202	killagreg	615	case SPI_FCCMD_MISC:
41	ingob	616	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		617	{ // put only new CompassCalState into queue to send via I2C
		618	CompassCalState = FromFlightCtrl.Param.Byte[0];
254	killagreg	619	Compass_SetCalState(CompassCalState);
41	ingob	620	}
58	killagreg	621	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	622	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
287	holgerb	623	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm
		624	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
160	holgerb	625	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		626	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		627	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	628	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		629	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
294	holgerb	630	if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
		631	// NaviData.RC_RSSI = FC.RC_RSSI;
206	killagreg	632	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	633	break;
161	killagreg	634
202	killagreg	635	case SPI_FCCMD_SERVOS:
121	killagreg	636	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		637	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		638	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		639	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	640	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	641	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		642	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		643	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	644	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		645	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	646	break;
1	ingob	647
202	killagreg	648	case SPI_FCCMD_VERSION:
119	killagreg	649	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		650	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		651	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		652	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		653	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
328	holgerb	654	FC.Error[0] \|= FromFlightCtrl.Param.Byte[5];
		655	FC.Error[1] \|= FromFlightCtrl.Param.Byte[6];
		656	FC.Error[2] \|= FromFlightCtrl.Param.Byte[7];
		657	FC.Error[3] \|= FromFlightCtrl.Param.Byte[8];
		658	FC.Error[4] \|= FromFlightCtrl.Param.Byte[9];
320	holgerb	659	Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10];
231	holgerb	660	DebugOut.Status[0] \|= 0x01; // status of FC Present
232	killagreg	661	DebugOut.Status[0] \|= 0x02; // status of BL Present
255	killagreg	662	if(FC.Error[0] \|\| FC.Error[1] \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]) DebugOut.Status[1] \|= 0x01;
232	killagreg	663	else DebugOut.Status[1] &= ~0x01;
41	ingob	664	break;
		665	default:
204	killagreg	666	break;
41	ingob	667	}
1	ingob	668
41	ingob	669	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	670	// and update GPSStick that are returned to FC
		671	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
255	killagreg	672	ClearFCStatusFlags = 1;
202	killagreg	673
180	killagreg	674	if(counter)
		675	{
		676	counter--; // count down to enable servo
202	killagreg	677	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	678	}
1	ingob	679
41	ingob	680	SPI_RxBuffer_Request = 0;
180	killagreg	681	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	682
62	killagreg	683	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		684	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	685	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		686	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	687	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	688	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		689	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		690	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		691	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	692	else // no new SPI data
202	killagreg	693	{
180	killagreg	694	if(CheckDelay(timeout) && (counter == 0))
		695	{
		696	TIMER2_Deinit(); // disable Servo Output
		697	counter = 50; // reset counter for enabling Servo Output
		698	}
		699	}
1	ingob	700	}
		701
41	ingob	702	//------------------------------------------------------
		703	void SPI0_GetFlightCtrlVersion(void)
		704	{
154	killagreg	705	u32 timeout;
		706	u8 repeat;
78	holgerb	707	u8 msg[64];
41	ingob	708
297	ingob	709	UART1_PutString("\r\n Looking for FlightControl");
41	ingob	710	FC_Version.Major = 0xFF;
		711	FC_Version.Minor = 0xFF;
		712	FC_Version.Patch = 0xFF;
		713	FC_Version.Compatible = 0xFF;
		714
165	killagreg	715	// polling FC version info
154	killagreg	716	repeat = 0;
41	ingob	717	do
		718	{
154	killagreg	719	timeout = SetDelay(250);
		720	do
		721	{
		722	SPI0_UpdateBuffer();
		723	if (FC_Version.Major != 0xFF) break;
		724	}while (!CheckDelay(timeout));
		725	UART1_PutString(".");
		726	repeat++;
329	holgerb	727	FCCalibActive = 1;
180	killagreg	728	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	729	// if we got it
		730	if (FC_Version.Major != 0xFF)
		731	{
242	killagreg	732	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	733	UART1_PutString(msg);
41	ingob	734	}
242	killagreg	735	else UART1_PutString("\n\r not found!");
41	ingob	736	}
		737
		738

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/spi_slave.c @ 402 - Rev 331