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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
| 41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 40 | // + with our written permission |
| 41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 57 | |
| 58 | #include <string.h> |
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| 59 | #include "91x_lib.h" |
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| 60 | #include "led.h" |
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| 215 | killagreg | 61 | #include "gps.h" |
| 41 | ingob | 62 | #include "uart1.h" |
| 63 | #include "spi_slave.h" |
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| 64 | #include "i2c.h" |
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| 119 | killagreg | 65 | #include "timer1.h" |
| 66 | #include "timer2.h" |
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| 136 | killagreg | 67 | #include "config.h" |
| 1 | ingob | 68 | #include "main.h" |
| 41 | ingob | 69 | #include "fifo.h" |
| 1 | ingob | 70 | |
| 71 | |||
| 41 | ingob | 72 | #define SPI_RXSYNCBYTE1 0xAA |
| 73 | #define SPI_RXSYNCBYTE2 0x83 |
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| 74 | #define SPI_TXSYNCBYTE1 0x81 |
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| 75 | #define SPI_TXSYNCBYTE2 0x55 |
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| 1 | ingob | 76 | |
| 41 | ingob | 77 | //communication packets |
| 215 | killagreg | 78 | FromFlightCtrl_t FromFlightCtrl; |
| 79 | ToFlightCtrl_t ToFlightCtrl; |
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| 183 | killagreg | 80 | #define SPI0_TIMEOUT 500 // 500ms |
| 146 | killagreg | 81 | volatile u32 SPI0_Timeout = 0; |
| 1 | ingob | 82 | |
| 41 | ingob | 83 | // tx packet buffer |
| 84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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| 85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
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| 86 | volatile u8 SPI_TxBufferIndex = 0; |
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| 87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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| 1 | ingob | 88 | |
| 41 | ingob | 89 | // rx packet buffer |
| 90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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| 91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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| 92 | volatile u8 SPI_RxBufferIndex = 0; |
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| 93 | volatile u8 SPI_RxBuffer_Request = 0; |
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| 1 | ingob | 94 | #define SPI_COMMAND_INDEX 0 |
| 231 | holgerb | 95 | volatile u8 FC_ErrorCode[5] = {0,0,0,0,0}; |
| 1 | ingob | 96 | |
| 149 | killagreg | 97 | s32 Kalman_K = 32; |
| 41 | ingob | 98 | s32 Kalman_MaxDrift = 5 * 16; |
| 99 | s32 Kalman_MaxFusion = 64; |
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| 148 | holgerb | 100 | s32 ToFcGpsZ = 0; |
| 1 | ingob | 101 | |
| 204 | killagreg | 102 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, 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; |
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| 58 | killagreg | 106 | |
| 41 | ingob | 107 | SPI_Version_t FC_Version; |
| 1 | ingob | 108 | |
| 41 | ingob | 109 | u8 CompassCalStateQueue[10]; |
| 110 | fifo_t CompassCalcStateFiFo; |
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| 1 | ingob | 111 | |
| 41 | ingob | 112 | u8 CompassCalState = 0; |
| 1 | ingob | 113 | |
| 41 | ingob | 114 | //-------------------------------------------------------------- |
| 115 | void SSP0_IRQHandler(void) |
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| 116 | { |
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| 117 | static u8 rxchksum = 0; |
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| 118 | u8 rxdata; |
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| 1 | ingob | 119 | |
| 189 | killagreg | 120 | #define SPI_SYNC1 0 |
| 121 | #define SPI_SYNC2 1 |
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| 122 | #define SPI_DATA 2 |
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| 123 | static u8 SPI_State = SPI_SYNC1; |
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| 124 | |||
| 195 | killagreg | 125 | IENABLE; |
| 126 | |||
| 161 | killagreg | 127 | // clear pending bits |
| 41 | ingob | 128 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 129 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 130 | |
| 79 | killagreg | 131 | // while RxFIFO not empty |
| 132 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
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| 133 | { |
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| 41 | ingob | 134 | rxdata = SSP0->DR; // catch the received byte |
| 135 | // Fill TxFIFO while its not full or end of packet is reached |
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| 79 | killagreg | 136 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 161 | killagreg | 137 | { |
| 79 | killagreg | 138 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 139 | { |
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| 41 | ingob | 140 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 141 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 142 | SPI_TxBufferIndex++; // pointer to next byte |
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| 143 | } |
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| 144 | else // end of packet is reached reset and copy data to tx buffer |
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| 145 | { |
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| 146 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 147 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 148 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 149 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 150 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 151 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 152 | } |
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| 41 | ingob | 153 | } |
| 154 | switch (SPI_State) |
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| 155 | { |
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| 156 | case SPI_SYNC1: |
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| 157 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 158 | rxchksum = rxdata; // init checksum |
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| 159 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 160 | { // 1st syncbyte ok |
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| 161 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 162 | } |
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| 163 | break; |
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| 79 | killagreg | 164 | case SPI_SYNC2: |
| 41 | ingob | 165 | if (rxdata == SPI_RXSYNCBYTE2) |
| 166 | { // 2nd Syncbyte ok |
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| 167 | rxchksum += rxdata; |
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| 168 | SPI_State = SPI_DATA; |
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| 169 | } // 2nd Syncbyte does not match |
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| 170 | else |
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| 171 | { |
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| 172 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 173 | } |
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| 174 | break; |
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| 175 | case SPI_DATA: |
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| 176 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 177 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
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| 178 | { |
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| 179 | if (rxdata == rxchksum) // verify checksum byte |
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| 180 | { |
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| 181 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 182 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 183 | { |
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| 184 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 185 | SPI_RxBuffer_Request = 1; |
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| 186 | } |
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| 146 | killagreg | 187 | // reset timeout counter on good packet |
| 188 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 189 | DebugOut.Analog[13]++; |
| 190 | } |
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| 191 | else // bad checksum byte |
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| 192 | { |
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| 193 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 194 | } |
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| 195 | SPI_State = SPI_SYNC1; // reset state |
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| 196 | } |
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| 197 | else // end of packet not reached |
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| 198 | { |
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| 199 | rxchksum += rxdata; // update checksum |
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| 200 | } |
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| 201 | break; |
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| 202 | default: |
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| 203 | SPI_State = SPI_SYNC1; |
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| 204 | break; |
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| 205 | } |
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| 206 | } |
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| 195 | killagreg | 207 | |
| 208 | IDISABLE; |
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| 1 | ingob | 209 | } |
| 210 | |||
| 211 | //-------------------------------------------------------------- |
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| 212 | void SPI0_Init(void) |
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| 213 | { |
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| 41 | ingob | 214 | GPIO_InitTypeDef GPIO_InitStructure; |
| 215 | SSP_InitTypeDef SSP_InitStructure; |
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| 1 | ingob | 216 | |
| 110 | killagreg | 217 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 218 | |
| 41 | ingob | 219 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 220 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 1 | ingob | 221 | |
| 41 | ingob | 222 | GPIO_DeInit(GPIO2); |
| 223 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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| 224 | GPIO_StructInit(&GPIO_InitStructure); |
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| 225 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 226 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 227 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 228 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 229 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 230 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 231 | |
| 41 | ingob | 232 | // SSP0_MISO pin GPIO2.6 |
| 233 | GPIO_StructInit(&GPIO_InitStructure); |
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| 234 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 235 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 236 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 237 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 238 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 239 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 240 | |
| 41 | ingob | 241 | SSP_DeInit(SSP0); |
| 242 | SSP_StructInit(&SSP_InitStructure); |
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| 243 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 244 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 245 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 246 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 247 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 248 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 1 | ingob | 249 | |
| 41 | ingob | 250 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 251 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 202 | killagreg | 252 | |
| 41 | ingob | 253 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
| 254 | |||
| 255 | SSP_Cmd(SSP0, ENABLE); |
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| 256 | // initialize the syncbytes in the tx buffer |
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| 257 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 258 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 259 | // set the pointer to the checksum byte in the tx buffer |
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| 260 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 261 | |||
| 215 | killagreg | 262 | ToFlightCtrl.GPSStick.Nick = 0; |
| 263 | ToFlightCtrl.GPSStick.Roll = 0; |
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| 264 | ToFlightCtrl.GPSStick.Yaw = 0; |
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| 265 | |||
| 136 | killagreg | 266 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 267 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 268 | |||
| 146 | killagreg | 269 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 270 | |||
| 110 | killagreg | 271 | UART1_PutString("ok"); |
| 1 | ingob | 272 | } |
| 41 | ingob | 273 | |
| 222 | holgerb | 274 | |
| 1 | ingob | 275 | //------------------------------------------------------ |
| 41 | ingob | 276 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 277 | { |
| 180 | killagreg | 278 | static u32 timeout = 0; |
| 279 | static u8 counter = 50; |
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| 202 | killagreg | 280 | |
| 41 | ingob | 281 | if (SPI_RxBuffer_Request) |
| 282 | { |
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| 283 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 284 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 285 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
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| 189 | killagreg | 286 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 228 | holgerb | 287 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 41 | ingob | 288 | // cycle spi commands |
| 289 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 290 | // restart command cycle at the end |
| 41 | ingob | 291 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 1 | ingob | 292 | |
| 41 | ingob | 293 | switch (ToFlightCtrl.Command) |
| 294 | { |
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| 202 | killagreg | 295 | case SPI_NCCMD_KALMAN: |
| 223 | killagreg | 296 | CalcHeadFree(); |
| 149 | killagreg | 297 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 298 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 299 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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| 118 | killagreg | 300 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 149 | killagreg | 301 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 302 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 303 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 161 | killagreg | 304 | break; |
| 58 | killagreg | 305 | |
| 202 | killagreg | 306 | case SPI_NCCMD_VERSION: |
| 307 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
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| 308 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
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| 204 | killagreg | 309 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 310 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 218 | killagreg | 311 | ToFlightCtrl.Param.Byte[4] = BoardRelease; |
| 231 | holgerb | 312 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
| 313 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
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| 233 | holgerb | 314 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 202 | killagreg | 315 | break; |
| 223 | killagreg | 316 | |
| 204 | killagreg | 317 | case SPI_NCCMD_GPSINFO: |
| 318 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
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| 319 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
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| 320 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
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| 232 | killagreg | 321 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 205 | killagreg | 322 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm |
| 228 | holgerb | 323 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg |
| 204 | killagreg | 324 | break; |
| 41 | ingob | 325 | default: |
| 326 | break; |
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| 327 | } |
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| 328 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
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| 1 | ingob | 329 | |
| 330 | |||
| 41 | ingob | 331 | switch(FromFlightCtrl.Command) |
| 332 | { |
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| 202 | killagreg | 333 | case SPI_FCCMD_USER: |
| 41 | ingob | 334 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 335 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
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| 336 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
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| 337 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
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| 338 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
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| 339 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
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| 340 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
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| 341 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
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| 199 | killagreg | 342 | if(ClearFCFlags) |
| 41 | ingob | 343 | { |
| 199 | killagreg | 344 | FC.Flags = 0; |
| 345 | ClearFCFlags = 0; |
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| 41 | ingob | 346 | } |
| 223 | killagreg | 347 | FC.Flags |= FromFlightCtrl.Param.Byte[8]; |
| 348 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
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| 199 | killagreg | 349 | DebugOut.Analog[5] = FC.Flags; |
| 206 | killagreg | 350 | NaviData.FCFlags = FC.Flags; |
| 223 | killagreg | 351 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| 41 | ingob | 352 | break; |
| 1 | ingob | 353 | |
| 206 | killagreg | 354 | case SPI_FCCMD_ACCU: |
| 223 | killagreg | 355 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 206 | killagreg | 356 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 357 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
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| 358 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
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| 359 | NaviData.UBat = FC.BAT_Voltage; |
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| 360 | NaviData.Current = FC.BAT_Current; |
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| 361 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
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| 362 | break; |
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| 363 | |||
| 193 | killagreg | 364 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 190 | killagreg | 365 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 366 | |||
| 202 | killagreg | 367 | case SPI_FCCMD_PARAMETER1: |
| 41 | ingob | 368 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 369 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
| 370 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 371 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 372 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 373 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 374 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 375 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 376 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 377 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 378 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
||
| 379 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
||
| 121 | killagreg | 380 | break; |
| 1 | ingob | 381 | |
| 202 | killagreg | 382 | case SPI_FCCMD_STICK: |
| 41 | ingob | 383 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 384 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 385 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 386 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 387 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 388 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 389 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 390 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 391 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 392 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 393 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 394 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 41 | ingob | 395 | break; |
| 27 | holgerb | 396 | |
| 202 | killagreg | 397 | case SPI_FCCMD_MISC: |
| 41 | ingob | 398 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 399 | { // put only new CompassCalState into queue to send via I2C |
||
| 400 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 401 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
||
| 402 | } |
||
| 58 | killagreg | 403 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 404 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 405 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3 |
||
| 406 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5 |
||
| 160 | holgerb | 407 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 408 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 409 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 410 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 411 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
| 206 | killagreg | 412 | NaviData.RC_Quality = FC.RC_Quality; |
| 413 | NaviData.RC_RSSI = FC.RC_RSSI; |
||
| 414 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
||
| 41 | ingob | 415 | break; |
| 161 | killagreg | 416 | |
| 202 | killagreg | 417 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 418 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 419 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 420 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 421 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 422 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 423 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 424 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 425 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 426 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 427 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 119 | killagreg | 428 | break; |
| 1 | ingob | 429 | |
| 202 | killagreg | 430 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 431 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 432 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 433 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 434 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 435 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 231 | holgerb | 436 | FC_ErrorCode[0] = FromFlightCtrl.Param.Byte[5]; |
| 437 | FC_ErrorCode[1] = FromFlightCtrl.Param.Byte[6]; |
||
| 438 | FC_ErrorCode[2] = FromFlightCtrl.Param.Byte[7]; |
||
| 439 | DebugOut.Status[0] |= 0x01; // status of FC Present |
||
| 232 | killagreg | 440 | DebugOut.Status[0] |= 0x02; // status of BL Present |
| 441 | if(FC_ErrorCode[0] || FC_ErrorCode[1] || FC_ErrorCode[2]) DebugOut.Status[1] |= 0x01; |
||
| 442 | else DebugOut.Status[1] &= ~0x01; |
||
| 41 | ingob | 443 | break; |
| 444 | default: |
||
| 204 | killagreg | 445 | break; |
| 41 | ingob | 446 | } |
| 1 | ingob | 447 | |
| 41 | ingob | 448 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 449 | // and update GPSStick that are returned to FC |
| 450 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
||
| 199 | killagreg | 451 | ClearFCFlags = 1; |
| 202 | killagreg | 452 | |
| 180 | killagreg | 453 | if(counter) |
| 454 | { |
||
| 455 | counter--; // count down to enable servo |
||
| 202 | killagreg | 456 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 457 | } |
| 1 | ingob | 458 | |
| 41 | ingob | 459 | SPI_RxBuffer_Request = 0; |
| 180 | killagreg | 460 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 1 | ingob | 461 | |
| 62 | killagreg | 462 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 463 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 61 | holgerb | 464 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 465 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 62 | killagreg | 466 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 79 | killagreg | 467 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 468 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 469 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 470 | } // EOF if(SPI_RxBuffer_Request) |
||
| 180 | killagreg | 471 | else // no new SPI data |
| 202 | killagreg | 472 | { |
| 180 | killagreg | 473 | if(CheckDelay(timeout) && (counter == 0)) |
| 474 | { |
||
| 475 | TIMER2_Deinit(); // disable Servo Output |
||
| 476 | counter = 50; // reset counter for enabling Servo Output |
||
| 477 | } |
||
| 478 | } |
||
| 1 | ingob | 479 | } |
| 480 | |||
| 41 | ingob | 481 | //------------------------------------------------------ |
| 482 | void SPI0_GetFlightCtrlVersion(void) |
||
| 483 | { |
||
| 154 | killagreg | 484 | u32 timeout; |
| 485 | u8 repeat; |
||
| 78 | holgerb | 486 | u8 msg[64]; |
| 41 | ingob | 487 | |
| 154 | killagreg | 488 | UART1_PutString("\r\n Getting Version from FC"); |
| 41 | ingob | 489 | FC_Version.Major = 0xFF; |
| 490 | FC_Version.Minor = 0xFF; |
||
| 491 | FC_Version.Patch = 0xFF; |
||
| 492 | FC_Version.Compatible = 0xFF; |
||
| 493 | |||
| 165 | killagreg | 494 | // polling FC version info |
| 154 | killagreg | 495 | repeat = 0; |
| 41 | ingob | 496 | do |
| 497 | { |
||
| 154 | killagreg | 498 | timeout = SetDelay(250); |
| 499 | do |
||
| 500 | { |
||
| 501 | SPI0_UpdateBuffer(); |
||
| 502 | if (FC_Version.Major != 0xFF) break; |
||
| 503 | }while (!CheckDelay(timeout)); |
||
| 504 | UART1_PutString("."); |
||
| 505 | repeat++; |
||
| 180 | killagreg | 506 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 507 | // if we got it |
| 508 | if (FC_Version.Major != 0xFF) |
||
| 509 | { |
||
| 61 | holgerb | 510 | sprintf(msg, "\n\r FlightCtrl 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 | 511 | UART1_PutString(msg); |
| 41 | ingob | 512 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
| 110 | killagreg | 513 | UART1_PutString(msg); |
| 41 | ingob | 514 | } |
| 110 | killagreg | 515 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
| 41 | ingob | 516 | } |
| 517 | |||
| 518 |