Rev 368 | Rev 378 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
| 3 | /*#######################################################################################*/ |
||
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 5 | // + www.MikroKopter.com |
||
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
||
| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
||
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
| 1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
||
| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
||
| 22 | // + des Mitverschuldens offen. |
||
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
| 1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 32 | // + Software LICENSING TERMS |
| 1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
||
| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
||
| 37 | // + The Software may only be used with the Licensor's products. |
||
| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
| 40 | // + agreement shall be the property of the Licensor. |
||
| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
| 43 | // + The customer shall be responsible for taking reasonable precautions |
||
| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
| 53 | // + #### END OF LICENSING TERMS #### |
||
| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
| 1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 56 | |
| 57 | #include <string.h> |
||
| 331 | holgerb | 58 | #include <math.h> |
| 41 | ingob | 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" |
| 369 | holgerb | 71 | #include "stdlib.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; |
| 338 | holgerb | 83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| 1 | ingob | 84 | |
| 41 | ingob | 85 | // tx packet buffer |
| 86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
||
| 87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
||
| 88 | volatile u8 SPI_TxBufferIndex = 0; |
||
| 89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
||
| 1 | ingob | 90 | |
| 41 | ingob | 91 | // rx packet buffer |
| 92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
||
| 93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
||
| 94 | volatile u8 SPI_RxBufferIndex = 0; |
||
| 95 | volatile u8 SPI_RxBuffer_Request = 0; |
||
| 1 | ingob | 96 | #define SPI_COMMAND_INDEX 0 |
| 97 | |||
| 149 | killagreg | 98 | s32 Kalman_K = 32; |
| 41 | ingob | 99 | s32 Kalman_MaxDrift = 5 * 16; |
| 100 | s32 Kalman_MaxFusion = 64; |
||
| 330 | holgerb | 101 | s32 Kalman_Kompass = 32; |
| 148 | holgerb | 102 | s32 ToFcGpsZ = 0; |
| 1 | ingob | 103 | |
| 342 | holgerb | 104 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN }; |
| 41 | ingob | 105 | u8 SPI_CommandCounter = 0; |
| 222 | holgerb | 106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 107 | s32 HeadFreeStartAngle = 0; |
||
| 277 | killagreg | 108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 286 | killagreg | 109 | u32 ToFC_AltitudeRate = 0; |
| 285 | holgerb | 110 | s32 ToFC_AltitudeSetpoint = 0; |
| 298 | holgerb | 111 | u8 FromFC_VarioCharacter = ' '; |
| 331 | holgerb | 112 | u8 GPS_Aid_StickMultiplikator = 0; |
| 323 | holgerb | 113 | u8 NC_GPS_ModeCharacter = ' '; |
| 329 | holgerb | 114 | u8 FCCalibActive = 0; |
| 330 | holgerb | 115 | u8 FC_is_Calibrated = 0; |
| 358 | holgerb | 116 | Motor_t Motor[12]; |
| 351 | holgerb | 117 | u8 NC_To_FC_Flags = 0; |
| 338 | holgerb | 118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 119 | u32 FC_I2C_ErrorConter; |
||
| 41 | ingob | 120 | SPI_Version_t FC_Version; |
| 351 | holgerb | 121 | s16 POI_KameraNick = 0; |
| 1 | ingob | 122 | |
| 41 | ingob | 123 | //-------------------------------------------------------------- |
| 124 | void SSP0_IRQHandler(void) |
||
| 125 | { |
||
| 126 | static u8 rxchksum = 0; |
||
| 127 | u8 rxdata; |
||
| 1 | ingob | 128 | |
| 189 | killagreg | 129 | #define SPI_SYNC1 0 |
| 130 | #define SPI_SYNC2 1 |
||
| 131 | #define SPI_DATA 2 |
||
| 132 | static u8 SPI_State = SPI_SYNC1; |
||
| 133 | |||
| 195 | killagreg | 134 | IENABLE; |
| 135 | |||
| 161 | killagreg | 136 | // clear pending bits |
| 41 | ingob | 137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 138 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 139 | |
| 79 | killagreg | 140 | // while RxFIFO not empty |
| 362 | holgerb | 141 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET && (SD_WatchDog)) |
| 79 | killagreg | 142 | { |
| 41 | ingob | 143 | rxdata = SSP0->DR; // catch the received byte |
| 144 | // Fill TxFIFO while its not full or end of packet is reached |
||
| 362 | holgerb | 145 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET && (SD_WatchDog)) |
| 161 | killagreg | 146 | { |
| 79 | killagreg | 147 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 148 | { |
||
| 41 | ingob | 149 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 150 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 362 | holgerb | 151 | if(MainWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
| 79 | killagreg | 152 | SPI_TxBufferIndex++; // pointer to next byte |
| 153 | } |
||
| 154 | else // end of packet is reached reset and copy data to tx buffer |
||
| 155 | { |
||
| 156 | SPI_TxBufferIndex = 0; // reset buffer index |
||
| 157 | ToFlightCtrl.Chksum = 0; // initialize checksum |
||
| 158 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
||
| 159 | BeepTime = 0; // reset local beeptime |
||
| 41 | ingob | 160 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 161 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 162 | } |
||
| 41 | ingob | 163 | } |
| 164 | switch (SPI_State) |
||
| 165 | { |
||
| 166 | case SPI_SYNC1: |
||
| 167 | SPI_RxBufferIndex = 0; // reset buffer index |
||
| 168 | rxchksum = rxdata; // init checksum |
||
| 169 | if (rxdata == SPI_RXSYNCBYTE1) |
||
| 170 | { // 1st syncbyte ok |
||
| 171 | SPI_State = SPI_SYNC2; // step to sync2 |
||
| 172 | } |
||
| 173 | break; |
||
| 79 | killagreg | 174 | case SPI_SYNC2: |
| 41 | ingob | 175 | if (rxdata == SPI_RXSYNCBYTE2) |
| 176 | { // 2nd Syncbyte ok |
||
| 177 | rxchksum += rxdata; |
||
| 178 | SPI_State = SPI_DATA; |
||
| 179 | } // 2nd Syncbyte does not match |
||
| 180 | else |
||
| 181 | { |
||
| 182 | SPI_State = SPI_SYNC1; //jump back to sync1 |
||
| 183 | } |
||
| 184 | break; |
||
| 185 | case SPI_DATA: |
||
| 186 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
||
| 187 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
||
| 188 | { |
||
| 189 | if (rxdata == rxchksum) // verify checksum byte |
||
| 190 | { |
||
| 191 | // copy SPI_RxBuffer -> FromFlightCtrl |
||
| 192 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
||
| 193 | { |
||
| 194 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
||
| 195 | SPI_RxBuffer_Request = 1; |
||
| 196 | } |
||
| 146 | killagreg | 197 | // reset timeout counter on good packet |
| 198 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
||
| 41 | ingob | 199 | DebugOut.Analog[13]++; |
| 200 | } |
||
| 201 | else // bad checksum byte |
||
| 202 | { |
||
| 203 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
||
| 204 | } |
||
| 205 | SPI_State = SPI_SYNC1; // reset state |
||
| 206 | } |
||
| 207 | else // end of packet not reached |
||
| 208 | { |
||
| 209 | rxchksum += rxdata; // update checksum |
||
| 210 | } |
||
| 211 | break; |
||
| 212 | default: |
||
| 213 | SPI_State = SPI_SYNC1; |
||
| 214 | break; |
||
| 215 | } |
||
| 216 | } |
||
| 195 | killagreg | 217 | |
| 218 | IDISABLE; |
||
| 1 | ingob | 219 | } |
| 220 | |||
| 221 | //-------------------------------------------------------------- |
||
| 222 | void SPI0_Init(void) |
||
| 223 | { |
||
| 41 | ingob | 224 | GPIO_InitTypeDef GPIO_InitStructure; |
| 225 | SSP_InitTypeDef SSP_InitStructure; |
||
| 1 | ingob | 226 | |
| 110 | killagreg | 227 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 228 | |
| 41 | ingob | 229 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 230 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
||
| 1 | ingob | 231 | |
| 41 | ingob | 232 | GPIO_DeInit(GPIO2); |
| 233 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
||
| 234 | GPIO_StructInit(&GPIO_InitStructure); |
||
| 235 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
||
| 236 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
||
| 237 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
||
| 196 | killagreg | 238 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 239 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 240 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
||
| 1 | ingob | 241 | |
| 41 | ingob | 242 | // SSP0_MISO pin GPIO2.6 |
| 243 | GPIO_StructInit(&GPIO_InitStructure); |
||
| 244 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
||
| 245 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
||
| 246 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
||
| 196 | killagreg | 247 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 248 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 249 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
||
| 1 | ingob | 250 | |
| 41 | ingob | 251 | SSP_DeInit(SSP0); |
| 252 | SSP_StructInit(&SSP_InitStructure); |
||
| 253 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
||
| 254 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
||
| 255 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
||
| 256 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
||
| 257 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
||
| 258 | SSP_InitStructure.SSP_ClockRate = 0; |
||
| 1 | ingob | 259 | |
| 41 | ingob | 260 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 261 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 202 | killagreg | 262 | |
| 41 | ingob | 263 | SSP_Cmd(SSP0, ENABLE); |
| 264 | // initialize the syncbytes in the tx buffer |
||
| 265 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
||
| 266 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
||
| 267 | // set the pointer to the checksum byte in the tx buffer |
||
| 268 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
||
| 269 | |||
| 215 | killagreg | 270 | ToFlightCtrl.GPSStick.Nick = 0; |
| 271 | ToFlightCtrl.GPSStick.Roll = 0; |
||
| 272 | ToFlightCtrl.GPSStick.Yaw = 0; |
||
| 273 | |||
| 136 | killagreg | 274 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 275 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 276 | |||
| 146 | killagreg | 277 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 278 | |||
| 110 | killagreg | 279 | UART1_PutString("ok"); |
| 1 | ingob | 280 | } |
| 41 | ingob | 281 | |
| 222 | holgerb | 282 | |
| 1 | ingob | 283 | //------------------------------------------------------ |
| 41 | ingob | 284 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 285 | { |
| 180 | killagreg | 286 | static u32 timeout = 0; |
| 329 | holgerb | 287 | static u8 counter = 50,hott_index = 0; |
| 254 | killagreg | 288 | static u8 CompassCalState = 0; |
| 299 | killagreg | 289 | s16 tmp; |
| 329 | holgerb | 290 | s32 i1,i2; |
| 202 | killagreg | 291 | |
| 41 | ingob | 292 | if (SPI_RxBuffer_Request) |
| 293 | { |
||
| 294 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
||
| 295 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
||
| 254 | killagreg | 296 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 345 | holgerb | 297 | |
| 298 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
||
| 342 | holgerb | 299 | //ToFlightCtrl.CompassHeading %= 360; |
| 345 | holgerb | 300 | |
| 189 | killagreg | 301 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 228 | holgerb | 302 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 327 | holgerb | 303 | // ToFlightCtrl.MagVecX = MagVector.X; |
| 304 | // ToFlightCtrl.MagVecY = MagVector.Y; |
||
| 286 | killagreg | 305 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 284 | killagreg | 306 | ToFlightCtrl.NCStatus = 0; |
| 41 | ingob | 307 | // cycle spi commands |
| 308 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
||
| 118 | killagreg | 309 | // restart command cycle at the end |
| 41 | ingob | 310 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 319 | holgerb | 311 | #define FLAG_GPS_AID 0x01 |
| 41 | ingob | 312 | switch (ToFlightCtrl.Command) |
| 313 | { |
||
| 329 | holgerb | 314 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 223 | killagreg | 315 | CalcHeadFree(); |
| 149 | killagreg | 316 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 317 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 318 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
||
| 330 | holgerb | 319 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 149 | killagreg | 320 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 321 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 322 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 331 | holgerb | 323 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 280 | killagreg | 324 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 278 | killagreg | 325 | { |
| 326 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
||
| 280 | killagreg | 327 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 328 | } |
| 329 | else |
||
| 280 | killagreg | 330 | { |
| 278 | killagreg | 331 | ToFlightCtrl.Param.sInt[4] = -1; |
| 332 | } |
||
| 294 | holgerb | 333 | |
| 299 | killagreg | 334 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 295 | killagreg | 335 | { |
| 351 | holgerb | 336 | POI_KameraNick = tmp; |
| 299 | killagreg | 337 | } |
| 338 | else |
||
| 339 | { |
||
| 348 | holgerb | 340 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 351 | holgerb | 341 | POI_KameraNick = CAM_Orientation.Elevation; |
| 348 | holgerb | 342 | //else ToFlightCtrl.Param.sInt[5] = 0; |
| 295 | killagreg | 343 | } |
| 351 | holgerb | 344 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| 161 | killagreg | 345 | break; |
| 58 | killagreg | 346 | |
| 202 | killagreg | 347 | case SPI_NCCMD_VERSION: |
| 355 | holgerb | 348 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 349 | //+ higher than the maximum allowed altitude |
||
| 350 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 202 | killagreg | 351 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 352 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
| 204 | killagreg | 353 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 354 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 264 | killagreg | 355 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 338 | holgerb | 356 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 357 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
| 233 | holgerb | 358 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 323 | holgerb | 359 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 330 | holgerb | 360 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 351 | holgerb | 361 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| 355 | holgerb | 362 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 363 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
| 202 | killagreg | 364 | break; |
| 342 | holgerb | 365 | case SPI_MISC: |
| 366 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
| 367 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
| 368 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
| 369 | ToFlightCtrl.Param.Byte[3] = 0; |
||
| 370 | ToFlightCtrl.Param.Byte[4] = 0; |
||
| 371 | ToFlightCtrl.Param.Byte[5] = 0; |
||
| 372 | ToFlightCtrl.Param.Byte[6] = 0; |
||
| 373 | ToFlightCtrl.Param.Byte[7] = 0; |
||
| 374 | ToFlightCtrl.Param.Byte[8] = 0; |
||
| 375 | ToFlightCtrl.Param.Byte[9] = 0; |
||
| 376 | ToFlightCtrl.Param.Byte[10] = 0; |
||
| 377 | ToFlightCtrl.Param.Byte[11] = 0; |
||
| 378 | break; |
||
| 223 | killagreg | 379 | |
| 204 | killagreg | 380 | case SPI_NCCMD_GPSINFO: |
| 381 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
| 382 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
| 383 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
| 232 | killagreg | 384 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 258 | holgerb | 385 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 386 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
| 306 | holgerb | 387 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
| 388 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
| 299 | killagreg | 389 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 390 | { |
||
| 391 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
| 295 | killagreg | 392 | } |
| 299 | killagreg | 393 | else |
| 394 | { |
||
| 395 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
| 396 | } |
||
| 397 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
| 398 | { |
||
| 399 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
| 400 | } |
||
| 401 | else |
||
| 402 | { |
||
| 403 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
| 404 | } |
||
| 204 | killagreg | 405 | break; |
| 329 | holgerb | 406 | /* |
| 407 | typedef struct |
||
| 408 | { |
||
| 409 | unsigned char StartByte; //0 // 0x7C |
||
| 410 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
||
| 411 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
||
| 412 | unsigned char Heading; //3 // 1 = 2° |
||
| 413 | unsigned int Speed; //4+5 // in km/h |
||
| 414 | unsigned char Lat_North; //6 |
||
| 415 | unsigned char Lat_G; //7 |
||
| 416 | unsigned char Lat_M; //8 |
||
| 417 | unsigned char Lat_Sek1; //9 |
||
| 418 | unsigned char Lat_Sek2; //10 |
||
| 419 | unsigned char Lon_East; //11 |
||
| 420 | unsigned char Lon_G; //12 |
||
| 421 | unsigned char Lon_M; //13 |
||
| 422 | unsigned char Lon_Sek1; //14 |
||
| 423 | unsigned char Lon_Sek2; //15 |
||
| 424 | unsigned int Distance; //16+17 // 9000 = 0m |
||
| 425 | unsigned int Altitude; //18+19 // 500 = 0m |
||
| 426 | unsigned int m_sec; //20+21 // 3000 = 0 |
||
| 427 | unsigned int m_3sec; //22+23 // 3000 = 0 |
||
| 428 | unsigned int m_10sec; //24+25 // 3000 = 0 |
||
| 429 | unsigned char NullByte; // 0x00 |
||
| 430 | unsigned char NullByte1; // 0x00 |
||
| 431 | unsigned char EndByte; // 0x7D |
||
| 432 | } GPSPacket_t; |
||
| 433 | */ |
||
| 330 | holgerb | 434 | /* |
| 435 | typedef struct |
||
| 436 | { |
||
| 437 | unsigned char StartByte; //0 0x7C |
||
| 438 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
||
| 439 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
||
| 440 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
||
| 441 | unsigned char VoltageCell2; //4 |
||
| 442 | unsigned char VoltageCell3; //5 |
||
| 443 | unsigned char VoltageCell4; //6 |
||
| 444 | unsigned char VoltageCell5; //7 |
||
| 445 | unsigned char VoltageCell6; //8 |
||
| 446 | unsigned int Battery1; //9 51 = 5,1V |
||
| 447 | unsigned int Battery2; //11 51 = 5,1V |
||
| 448 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
||
| 449 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
||
| 450 | unsigned char FuelPercent; //15 |
||
| 451 | signed int FuelCapacity; //16 |
||
| 452 | unsigned int Rpm; |
||
| 453 | unsigned int Altitude; |
||
| 454 | unsigned int m_sec; // 3000 = 0 |
||
| 455 | unsigned char m_3sec; // 120 = 0 |
||
| 456 | unsigned int Current; // 1 = 0.1A |
||
| 457 | unsigned int InputVoltage; // 66 = 6,6V |
||
| 458 | unsigned int Capacity; // 1 = 10mAh |
||
| 459 | unsigned char NullByte1; // 0x00 |
||
| 460 | unsigned char NullByte2; // 0x00 |
||
| 461 | unsigned char EndByte; // 0x7D |
||
| 462 | } HoTTGeneral_t; |
||
| 463 | */ |
||
| 464 | case SPI_NCCMD_HOTT_INFO: |
||
| 465 | switch(hott_index++) |
||
| 466 | { |
||
| 329 | holgerb | 467 | case 0: |
| 468 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
| 469 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
||
| 470 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 471 | ToFlightCtrl.Param.Byte[0] = 3; // index |
||
| 472 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
||
| 473 | //----------------------------- |
||
| 474 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
||
| 475 | i1 = GPSData.Speed_Ground; // in cm/sec |
||
| 476 | i1 *= 36; |
||
| 477 | i1 /= 1000; |
||
| 478 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 479 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 480 | //----------------------------- |
||
| 481 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
||
| 482 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
| 483 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
| 484 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 485 | i1 *= 100; |
||
| 486 | i1 += i2 / 100000; |
||
| 487 | i2 = i2 % 100000; |
||
| 488 | i2 /= 10; |
||
| 489 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
| 490 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
| 491 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
| 492 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
| 493 | break; |
||
| 494 | case 1: |
||
| 495 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 496 | ToFlightCtrl.Param.Byte[0] = 11; // index |
||
| 497 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
| 498 | //----------------------------- |
||
| 499 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
| 500 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
| 501 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
| 502 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 503 | i1 *= 100; |
||
| 504 | i1 += i2 / 100000; |
||
| 505 | i2 = i2 % 100000; |
||
| 506 | i2 /= 10; |
||
| 507 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 508 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 509 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
| 510 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
| 511 | //----------------------------- |
||
| 512 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
||
| 513 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
||
| 514 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
| 330 | holgerb | 515 | break; |
| 516 | case 2: |
||
| 517 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
| 518 | ToFlightCtrl.Param.Byte[0] = 5; // index |
||
| 519 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
||
| 520 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
||
| 521 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
||
| 329 | holgerb | 522 | hott_index = 0; |
| 523 | break; |
||
| 330 | holgerb | 524 | default: |
| 525 | ToFlightCtrl.Param.Byte[0] = 255; |
||
| 526 | hott_index = 0; |
||
| 527 | break; |
||
| 329 | holgerb | 528 | } |
| 529 | break; |
||
| 41 | ingob | 530 | default: |
| 531 | break; |
||
| 285 | holgerb | 532 | // 0 = 0,1 |
| 533 | // 1 = 2,3 |
||
| 534 | // 2 = 4,5 |
||
| 535 | // 3 = 6,7 |
||
| 536 | // 4 = 8,9 |
||
| 537 | // 5 = 10,11 |
||
| 41 | ingob | 538 | } |
| 539 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
| 1 | ingob | 540 | |
| 41 | ingob | 541 | switch(FromFlightCtrl.Command) |
| 542 | { |
||
| 202 | killagreg | 543 | case SPI_FCCMD_USER: |
| 41 | ingob | 544 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 545 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
| 546 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
| 547 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
| 548 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
| 549 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
| 550 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
| 551 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
| 255 | killagreg | 552 | if(ClearFCStatusFlags) |
| 41 | ingob | 553 | { |
| 255 | killagreg | 554 | FC.StatusFlags = 0; |
| 555 | ClearFCStatusFlags = 0; |
||
| 41 | ingob | 556 | } |
| 255 | killagreg | 557 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 320 | holgerb | 558 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 268 | killagreg | 559 | { |
| 326 | holgerb | 560 | HeadFreeStartAngle = Compass_Heading * 10; |
| 268 | killagreg | 561 | Compass_Init(); |
| 330 | holgerb | 562 | FCCalibActive = 10; |
| 338 | holgerb | 563 | FC_is_Calibrated = 0; |
| 268 | killagreg | 564 | } |
| 565 | else |
||
| 566 | { |
||
| 330 | holgerb | 567 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
| 268 | killagreg | 568 | } |
| 329 | holgerb | 569 | if(FC.StatusFlags & FC_STATUS_START) |
| 570 | { |
||
| 571 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
||
| 572 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
||
| 573 | } |
||
| 320 | holgerb | 574 | |
| 329 | holgerb | 575 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| 576 | { |
||
| 577 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
| 578 | { |
||
| 579 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
| 580 | { |
||
| 581 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
| 582 | } |
||
| 583 | else // Ansonsten die aktuelle Richtung übernehmen |
||
| 584 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
||
| 585 | } |
||
| 586 | } |
||
| 320 | holgerb | 587 | |
| 326 | holgerb | 588 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
| 589 | |||
| 223 | killagreg | 590 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 255 | killagreg | 591 | DebugOut.Analog[5] = FC.StatusFlags; |
| 360 | holgerb | 592 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 294 | holgerb | 593 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 360 | holgerb | 594 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
| 595 | |||
| 596 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
| 597 | else |
||
| 598 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
||
| 599 | |||
| 600 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
| 601 | else |
||
| 602 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
||
| 603 | |||
| 338 | holgerb | 604 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
| 605 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
| 321 | holgerb | 606 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
| 41 | ingob | 607 | break; |
| 1 | ingob | 608 | |
| 206 | killagreg | 609 | case SPI_FCCMD_ACCU: |
| 223 | killagreg | 610 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 206 | killagreg | 611 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 612 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
| 613 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
||
| 298 | holgerb | 614 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| 358 | holgerb | 615 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
| 616 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
||
| 617 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
| 618 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
||
| 298 | holgerb | 619 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| 620 | { |
||
| 621 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
| 622 | } |
||
| 206 | killagreg | 623 | NaviData.UBat = FC.BAT_Voltage; |
| 624 | NaviData.Current = FC.BAT_Current; |
||
| 625 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
| 626 | break; |
||
| 627 | |||
| 193 | killagreg | 628 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 190 | killagreg | 629 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 630 | |||
| 202 | killagreg | 631 | case SPI_FCCMD_PARAMETER1: |
| 41 | ingob | 632 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 633 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
| 634 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 635 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 636 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 637 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 638 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 639 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 640 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 641 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 327 | holgerb | 642 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 41 | ingob | 643 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 121 | killagreg | 644 | break; |
| 1 | ingob | 645 | |
| 202 | killagreg | 646 | case SPI_FCCMD_STICK: |
| 41 | ingob | 647 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 648 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 649 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 650 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 651 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 652 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 653 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 654 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 655 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 656 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 657 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 658 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 41 | ingob | 659 | break; |
| 27 | holgerb | 660 | |
| 202 | killagreg | 661 | case SPI_FCCMD_MISC: |
| 41 | ingob | 662 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 663 | { // put only new CompassCalState into queue to send via I2C |
||
| 664 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 254 | killagreg | 665 | Compass_SetCalState(CompassCalState); |
| 41 | ingob | 666 | } |
| 58 | killagreg | 667 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 668 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 287 | holgerb | 669 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 670 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
| 160 | holgerb | 671 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 672 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 673 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 674 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 675 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
| 294 | holgerb | 676 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 677 | // NaviData.RC_RSSI = FC.RC_RSSI; |
||
| 206 | killagreg | 678 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 41 | ingob | 679 | break; |
| 161 | killagreg | 680 | |
| 202 | killagreg | 681 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 682 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 683 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 684 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 685 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 686 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 687 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 688 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 689 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 690 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 691 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 338 | holgerb | 692 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
| 119 | killagreg | 693 | break; |
| 1 | ingob | 694 | |
| 202 | killagreg | 695 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 696 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 697 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 698 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 699 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 700 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 328 | holgerb | 701 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 702 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
| 703 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
||
| 358 | holgerb | 704 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| 705 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
| 320 | holgerb | 706 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 350 | holgerb | 707 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| 338 | holgerb | 708 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 709 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
| 710 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
||
| 711 | else DebugOut.StatusRed &= ~AMPEL_FC; |
||
| 41 | ingob | 712 | break; |
| 713 | default: |
||
| 204 | killagreg | 714 | break; |
| 41 | ingob | 715 | } |
| 352 | holgerb | 716 | |
| 350 | holgerb | 717 | /* |
| 348 | holgerb | 718 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 350 | holgerb | 719 | */ |
| 361 | holgerb | 720 | |
| 41 | ingob | 721 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 722 | // and update GPSStick that are returned to FC |
| 723 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
||
| 255 | killagreg | 724 | ClearFCStatusFlags = 1; |
| 202 | killagreg | 725 | |
| 180 | killagreg | 726 | if(counter) |
| 727 | { |
||
| 728 | counter--; // count down to enable servo |
||
| 202 | killagreg | 729 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 730 | } |
| 1 | ingob | 731 | |
| 41 | ingob | 732 | SPI_RxBuffer_Request = 0; |
| 180 | killagreg | 733 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 1 | ingob | 734 | |
| 62 | killagreg | 735 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 736 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 61 | holgerb | 737 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 738 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 62 | killagreg | 739 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 79 | killagreg | 740 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 741 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 742 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 743 | } // EOF if(SPI_RxBuffer_Request) |
||
| 180 | killagreg | 744 | else // no new SPI data |
| 202 | killagreg | 745 | { |
| 180 | killagreg | 746 | if(CheckDelay(timeout) && (counter == 0)) |
| 747 | { |
||
| 748 | TIMER2_Deinit(); // disable Servo Output |
||
| 749 | counter = 50; // reset counter for enabling Servo Output |
||
| 750 | } |
||
| 751 | } |
||
| 1 | ingob | 752 | } |
| 753 | |||
| 41 | ingob | 754 | //------------------------------------------------------ |
| 755 | void SPI0_GetFlightCtrlVersion(void) |
||
| 756 | { |
||
| 154 | killagreg | 757 | u32 timeout; |
| 758 | u8 repeat; |
||
| 78 | holgerb | 759 | u8 msg[64]; |
| 41 | ingob | 760 | |
| 297 | ingob | 761 | UART1_PutString("\r\n Looking for FlightControl"); |
| 41 | ingob | 762 | FC_Version.Major = 0xFF; |
| 763 | FC_Version.Minor = 0xFF; |
||
| 764 | FC_Version.Patch = 0xFF; |
||
| 765 | FC_Version.Compatible = 0xFF; |
||
| 766 | |||
| 165 | killagreg | 767 | // polling FC version info |
| 154 | killagreg | 768 | repeat = 0; |
| 41 | ingob | 769 | do |
| 770 | { |
||
| 154 | killagreg | 771 | timeout = SetDelay(250); |
| 772 | do |
||
| 773 | { |
||
| 774 | SPI0_UpdateBuffer(); |
||
| 775 | if (FC_Version.Major != 0xFF) break; |
||
| 776 | }while (!CheckDelay(timeout)); |
||
| 777 | UART1_PutString("."); |
||
| 778 | repeat++; |
||
| 329 | holgerb | 779 | FCCalibActive = 1; |
| 180 | killagreg | 780 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 781 | // if we got it |
| 782 | if (FC_Version.Major != 0xFF) |
||
| 783 | { |
||
| 242 | killagreg | 784 | 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 | 785 | UART1_PutString(msg); |
| 41 | ingob | 786 | } |
| 242 | killagreg | 787 | else UART1_PutString("\n\r not found!"); |
| 41 | ingob | 788 | } |
| 789 | |||
| 790 |