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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 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 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. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 360 | holgerb | 22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 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 - |
| 489 | killagreg | 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 |
| 360 | holgerb | 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. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 56 | |
| 57 | #include <string.h> |
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| 331 | holgerb | 58 | #include <math.h> |
| 489 | killagreg | 59 | #include <stdlib.h> |
| 41 | ingob | 60 | #include "91x_lib.h" |
| 61 | #include "led.h" |
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| 215 | killagreg | 62 | #include "gps.h" |
| 41 | ingob | 63 | #include "uart1.h" |
| 64 | #include "spi_slave.h" |
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| 242 | killagreg | 65 | #include "compass.h" |
| 119 | killagreg | 66 | #include "timer1.h" |
| 67 | #include "timer2.h" |
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| 136 | killagreg | 68 | #include "config.h" |
| 1 | ingob | 69 | #include "main.h" |
| 294 | holgerb | 70 | #include "params.h" |
| 426 | holgerb | 71 | #include "settings.h" |
| 1 | ingob | 72 | |
| 41 | ingob | 73 | #define SPI_RXSYNCBYTE1 0xAA |
| 74 | #define SPI_RXSYNCBYTE2 0x83 |
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| 75 | #define SPI_TXSYNCBYTE1 0x81 |
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| 76 | #define SPI_TXSYNCBYTE2 0x55 |
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| 1 | ingob | 77 | |
| 41 | ingob | 78 | //communication packets |
| 215 | killagreg | 79 | FromFlightCtrl_t FromFlightCtrl; |
| 80 | ToFlightCtrl_t ToFlightCtrl; |
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| 397 | holgerb | 81 | #define SPI0_TIMEOUT 2500 //ms |
| 146 | killagreg | 82 | volatile u32 SPI0_Timeout = 0; |
| 338 | holgerb | 83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| 489 | killagreg | 84 | u8 SpeakHoTT = 0; |
| 1 | ingob | 85 | |
| 41 | ingob | 86 | // tx packet buffer |
| 87 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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| 378 | holgerb | 88 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
| 41 | ingob | 89 | volatile u8 SPI_TxBufferIndex = 0; |
| 90 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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| 1 | ingob | 91 | |
| 41 | ingob | 92 | // rx packet buffer |
| 93 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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| 378 | holgerb | 94 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
| 41 | ingob | 95 | volatile u8 SPI_RxBufferIndex = 0; |
| 96 | volatile u8 SPI_RxBuffer_Request = 0; |
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| 1 | ingob | 97 | #define SPI_COMMAND_INDEX 0 |
| 98 | |||
| 149 | killagreg | 99 | s32 Kalman_K = 32; |
| 41 | ingob | 100 | s32 Kalman_MaxDrift = 5 * 16; |
| 101 | s32 Kalman_MaxFusion = 64; |
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| 330 | holgerb | 102 | s32 Kalman_Kompass = 32; |
| 148 | holgerb | 103 | s32 ToFcGpsZ = 0; |
| 392 | holgerb | 104 | u8 CompassCalState = 0; |
| 1 | ingob | 105 | |
| 419 | holgerb | 106 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
| 41 | ingob | 107 | u8 SPI_CommandCounter = 0; |
| 222 | holgerb | 108 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 109 | s32 HeadFreeStartAngle = 0; |
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| 421 | holgerb | 110 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 286 | killagreg | 111 | u32 ToFC_AltitudeRate = 0; |
| 285 | holgerb | 112 | s32 ToFC_AltitudeSetpoint = 0; |
| 298 | holgerb | 113 | u8 FromFC_VarioCharacter = ' '; |
| 331 | holgerb | 114 | u8 GPS_Aid_StickMultiplikator = 0; |
| 323 | holgerb | 115 | u8 NC_GPS_ModeCharacter = ' '; |
| 329 | holgerb | 116 | u8 FCCalibActive = 0; |
| 330 | holgerb | 117 | u8 FC_is_Calibrated = 0; |
| 358 | holgerb | 118 | Motor_t Motor[12]; |
| 471 | holgerb | 119 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
| 351 | holgerb | 120 | u8 NC_To_FC_Flags = 0; |
| 338 | holgerb | 121 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 122 | u32 FC_I2C_ErrorConter; |
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| 41 | ingob | 123 | SPI_Version_t FC_Version; |
| 351 | holgerb | 124 | s16 POI_KameraNick = 0; |
| 460 | holgerb | 125 | u8 NC_Wait_for_LED = 0; |
| 463 | holgerb | 126 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
| 1 | ingob | 127 | |
| 41 | ingob | 128 | //-------------------------------------------------------------- |
| 129 | void SSP0_IRQHandler(void) |
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| 130 | { |
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| 131 | static u8 rxchksum = 0; |
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| 132 | u8 rxdata; |
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| 1 | ingob | 133 | |
| 189 | killagreg | 134 | #define SPI_SYNC1 0 |
| 135 | #define SPI_SYNC2 1 |
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| 136 | #define SPI_DATA 2 |
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| 137 | static u8 SPI_State = SPI_SYNC1; |
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| 378 | holgerb | 138 | //IENABLE; |
| 189 | killagreg | 139 | |
| 161 | killagreg | 140 | // clear pending bits |
| 41 | ingob | 141 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 142 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 143 | |
| 79 | killagreg | 144 | // while RxFIFO not empty |
| 378 | holgerb | 145 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 79 | killagreg | 146 | { |
| 41 | ingob | 147 | rxdata = SSP0->DR; // catch the received byte |
| 148 | // Fill TxFIFO while its not full or end of packet is reached |
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| 378 | holgerb | 149 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 161 | killagreg | 150 | { |
| 79 | killagreg | 151 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 152 | { |
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| 41 | ingob | 153 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 154 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 378 | holgerb | 155 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
| 79 | killagreg | 156 | SPI_TxBufferIndex++; // pointer to next byte |
| 157 | } |
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| 158 | else // end of packet is reached reset and copy data to tx buffer |
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| 159 | { |
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| 160 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 161 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 162 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 163 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 164 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 165 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 166 | } |
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| 41 | ingob | 167 | } |
| 168 | switch (SPI_State) |
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| 169 | { |
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| 170 | case SPI_SYNC1: |
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| 171 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 172 | rxchksum = rxdata; // init checksum |
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| 173 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 174 | { // 1st syncbyte ok |
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| 175 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 176 | } |
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| 177 | break; |
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| 79 | killagreg | 178 | case SPI_SYNC2: |
| 41 | ingob | 179 | if (rxdata == SPI_RXSYNCBYTE2) |
| 180 | { // 2nd Syncbyte ok |
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| 181 | rxchksum += rxdata; |
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| 182 | SPI_State = SPI_DATA; |
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| 183 | } // 2nd Syncbyte does not match |
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| 184 | else |
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| 185 | { |
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| 186 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 187 | } |
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| 188 | break; |
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| 189 | case SPI_DATA: |
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| 190 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 378 | holgerb | 191 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| 41 | ingob | 192 | { |
| 193 | if (rxdata == rxchksum) // verify checksum byte |
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| 194 | { |
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| 195 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 196 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 197 | { |
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| 198 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 199 | SPI_RxBuffer_Request = 1; |
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| 200 | } |
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| 146 | killagreg | 201 | // reset timeout counter on good packet |
| 202 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 203 | DebugOut.Analog[13]++; |
| 204 | } |
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| 205 | else // bad checksum byte |
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| 206 | { |
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| 207 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 208 | } |
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| 209 | SPI_State = SPI_SYNC1; // reset state |
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| 210 | } |
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| 211 | else // end of packet not reached |
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| 212 | { |
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| 213 | rxchksum += rxdata; // update checksum |
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| 214 | } |
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| 215 | break; |
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| 216 | default: |
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| 217 | SPI_State = SPI_SYNC1; |
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| 218 | break; |
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| 219 | } |
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| 220 | } |
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| 195 | killagreg | 221 | |
| 378 | holgerb | 222 | // IDISABLE; |
| 223 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
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| 1 | ingob | 224 | } |
| 225 | |||
| 226 | //-------------------------------------------------------------- |
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| 227 | void SPI0_Init(void) |
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| 228 | { |
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| 41 | ingob | 229 | GPIO_InitTypeDef GPIO_InitStructure; |
| 230 | SSP_InitTypeDef SSP_InitStructure; |
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| 1 | ingob | 231 | |
| 110 | killagreg | 232 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 233 | |
| 41 | ingob | 234 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 235 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 1 | ingob | 236 | |
| 41 | ingob | 237 | GPIO_DeInit(GPIO2); |
| 238 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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| 239 | GPIO_StructInit(&GPIO_InitStructure); |
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| 240 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 241 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 242 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 243 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 244 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 245 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 246 | |
| 41 | ingob | 247 | // SSP0_MISO pin GPIO2.6 |
| 248 | GPIO_StructInit(&GPIO_InitStructure); |
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| 249 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 250 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 251 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 252 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 253 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 254 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 255 | |
| 41 | ingob | 256 | SSP_DeInit(SSP0); |
| 257 | SSP_StructInit(&SSP_InitStructure); |
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| 258 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 259 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 260 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 261 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 262 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 263 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 1 | ingob | 264 | |
| 41 | ingob | 265 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 266 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 41 | ingob | 267 | SSP_Cmd(SSP0, ENABLE); |
| 268 | // initialize the syncbytes in the tx buffer |
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| 269 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 270 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 271 | // set the pointer to the checksum byte in the tx buffer |
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| 272 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 273 | |||
| 215 | killagreg | 274 | ToFlightCtrl.GPSStick.Nick = 0; |
| 275 | ToFlightCtrl.GPSStick.Roll = 0; |
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| 419 | holgerb | 276 | // ToFlightCtrl.GPSStick.Yaw = 0; |
| 215 | killagreg | 277 | |
| 136 | killagreg | 278 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 279 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 280 | |||
| 146 | killagreg | 281 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 282 | |||
| 110 | killagreg | 283 | UART1_PutString("ok"); |
| 1 | ingob | 284 | } |
| 41 | ingob | 285 | |
| 222 | holgerb | 286 | |
| 1 | ingob | 287 | //------------------------------------------------------ |
| 41 | ingob | 288 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 289 | { |
| 180 | killagreg | 290 | static u32 timeout = 0; |
| 426 | holgerb | 291 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
| 292 | static s16 last_wp_event = 0; |
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| 489 | killagreg | 293 | s16 tmp; |
| 329 | holgerb | 294 | s32 i1,i2; |
| 462 | holgerb | 295 | /* |
| 296 | union |
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| 297 | { |
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| 298 | unsigned char Byte[4]; |
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| 299 | unsigned int Int[2]; |
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| 300 | unsigned long Long; |
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| 301 | } Temp; |
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| 489 | killagreg | 302 | */ |
| 378 | holgerb | 303 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
| 304 | if(SPI_RxBuffer_Request) |
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| 41 | ingob | 305 | { |
| 306 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 307 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 254 | killagreg | 308 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 189 | killagreg | 309 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 475 | holgerb | 310 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset - GeoMagDec) % 3600; |
| 228 | holgerb | 311 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 419 | holgerb | 312 | ToFlightCtrl.MagVecX = MagVector.X; |
| 313 | ToFlightCtrl.MagVecY = MagVector.Y; |
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| 286 | killagreg | 314 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 419 | holgerb | 315 | // ToFlightCtrl.NCStatus = 0; |
| 41 | ingob | 316 | // cycle spi commands |
| 489 | killagreg | 317 | if(ErrorCode != last_error_code && enable_injecting) |
| 426 | holgerb | 318 | { |
| 319 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
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| 320 | last_error_code = ErrorCode; |
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| 321 | enable_injecting = 0; |
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| 322 | } |
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| 489 | killagreg | 323 | else |
| 324 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
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| 426 | holgerb | 325 | { |
| 326 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
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| 489 | killagreg | 327 | last_wp_event = FC_WP_EventChannel; |
| 426 | holgerb | 328 | enable_injecting = 0; |
| 329 | } |
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| 489 | killagreg | 330 | else |
| 420 | holgerb | 331 | { |
| 332 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 333 | // restart command cycle at the end |
| 420 | holgerb | 334 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 426 | holgerb | 335 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
| 420 | holgerb | 336 | } |
| 419 | holgerb | 337 | |
| 319 | holgerb | 338 | #define FLAG_GPS_AID 0x01 |
| 41 | ingob | 339 | switch (ToFlightCtrl.Command) |
| 340 | { |
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| 329 | holgerb | 341 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 149 | killagreg | 342 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 343 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 344 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
||
| 330 | holgerb | 345 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 149 | killagreg | 346 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 347 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 348 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 331 | holgerb | 349 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 280 | killagreg | 350 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 278 | killagreg | 351 | { |
| 352 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
||
| 280 | killagreg | 353 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 354 | } |
| 355 | else |
||
| 280 | killagreg | 356 | { |
| 278 | killagreg | 357 | ToFlightCtrl.Param.sInt[4] = -1; |
| 358 | } |
||
| 294 | holgerb | 359 | |
| 299 | killagreg | 360 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 295 | killagreg | 361 | { |
| 351 | holgerb | 362 | POI_KameraNick = tmp; |
| 299 | killagreg | 363 | } |
| 364 | else |
||
| 365 | { |
||
| 348 | holgerb | 366 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 489 | killagreg | 367 | POI_KameraNick = CAM_Orientation.Elevation; |
| 348 | holgerb | 368 | //else ToFlightCtrl.Param.sInt[5] = 0; |
| 295 | killagreg | 369 | } |
| 351 | holgerb | 370 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| 161 | killagreg | 371 | break; |
| 58 | killagreg | 372 | |
| 202 | killagreg | 373 | case SPI_NCCMD_VERSION: |
| 355 | holgerb | 374 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 375 | //+ higher than the maximum allowed altitude |
||
| 376 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 202 | killagreg | 377 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 378 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
| 204 | killagreg | 379 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 380 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 264 | killagreg | 381 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 338 | holgerb | 382 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 383 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
| 454 | holgerb | 384 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
| 323 | holgerb | 385 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 330 | holgerb | 386 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 351 | holgerb | 387 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| 355 | holgerb | 388 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 389 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
| 202 | killagreg | 390 | break; |
| 342 | holgerb | 391 | case SPI_MISC: |
| 392 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
| 393 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
| 394 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
| 397 | holgerb | 395 | ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
| 419 | holgerb | 396 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| 397 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
||
| 398 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
||
| 399 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
||
| 503 | holgerb | 400 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
| 342 | holgerb | 401 | ToFlightCtrl.Param.Byte[10] = 0; |
| 402 | ToFlightCtrl.Param.Byte[11] = 0; |
||
| 397 | holgerb | 403 | SpeakHoTT = 0; |
| 342 | holgerb | 404 | break; |
| 223 | killagreg | 405 | |
| 204 | killagreg | 406 | case SPI_NCCMD_GPSINFO: |
| 407 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
| 408 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
| 409 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
| 232 | killagreg | 410 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 258 | holgerb | 411 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 412 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
| 454 | holgerb | 413 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
| 421 | holgerb | 414 | if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
| 457 | holgerb | 415 | // ++++++++++++++++++++++++++++++++++ |
| 416 | // Waypoint event +++++++++++++++++++ |
||
| 417 | // ++++++++++++++++++++++++++++++++++ |
||
| 418 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
||
| 419 | { |
||
| 420 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
| 421 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
||
| 422 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
| 423 | } |
||
| 424 | else |
||
| 425 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
||
| 426 | { |
||
| 427 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
| 428 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
| 429 | } |
||
| 430 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
| 419 | holgerb | 431 | FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
| 457 | holgerb | 432 | // ++++++++++++++++++++++++++++++++++ |
| 299 | killagreg | 433 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 434 | { |
||
| 435 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
| 295 | killagreg | 436 | } |
| 299 | killagreg | 437 | else |
| 438 | { |
||
| 439 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
| 440 | } |
||
| 441 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
| 442 | { |
||
| 443 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
| 444 | } |
||
| 445 | else |
||
| 446 | { |
||
| 447 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
| 448 | } |
||
| 204 | killagreg | 449 | break; |
| 330 | holgerb | 450 | case SPI_NCCMD_HOTT_INFO: |
| 504 | holgerb | 451 | if(NewWPL_Name) hott_index = 100; |
| 330 | holgerb | 452 | switch(hott_index++) |
| 453 | { |
||
| 329 | holgerb | 454 | case 0: |
| 455 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
| 489 | killagreg | 456 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
| 329 | holgerb | 457 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| 397 | holgerb | 458 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 329 | holgerb | 459 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
| 460 | //----------------------------- |
||
| 489 | killagreg | 461 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
| 329 | holgerb | 462 | i1 = GPSData.Speed_Ground; // in cm/sec |
| 463 | i1 *= 36; |
||
| 464 | i1 /= 1000; |
||
| 465 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 466 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 467 | //----------------------------- |
||
| 405 | holgerb | 468 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
| 329 | holgerb | 469 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
| 470 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
| 471 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 397 | holgerb | 472 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 489 | killagreg | 473 | i1 *= 100; |
| 460 | holgerb | 474 | // Minuten |
| 475 | i2 *= 6; |
||
| 476 | i2 /= 10; |
||
| 329 | holgerb | 477 | i1 += i2 / 100000; |
| 478 | i2 = i2 % 100000; |
||
| 479 | i2 /= 10; |
||
| 480 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
| 481 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
| 482 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
| 483 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
| 484 | break; |
||
| 485 | case 1: |
||
| 486 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 397 | holgerb | 487 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 329 | holgerb | 488 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
| 489 | //----------------------------- |
||
| 490 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
| 491 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
| 492 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
| 493 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 397 | holgerb | 494 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 489 | killagreg | 495 | i1 *= 100; |
| 460 | holgerb | 496 | // Minuten |
| 497 | i2 *= 6; |
||
| 498 | i2 /= 10; |
||
| 329 | holgerb | 499 | i1 += i2 / 100000; |
| 500 | i2 = i2 % 100000; |
||
| 501 | i2 /= 10; |
||
| 502 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 503 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 504 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
| 505 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
| 506 | //----------------------------- |
||
| 489 | killagreg | 507 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
| 329 | holgerb | 508 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
| 509 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
| 330 | holgerb | 510 | break; |
| 511 | case 2: |
||
| 512 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
| 397 | holgerb | 513 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 330 | holgerb | 514 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
| 489 | killagreg | 515 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
| 330 | holgerb | 516 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
| 329 | holgerb | 517 | break; |
| 462 | holgerb | 518 | case 3: |
| 519 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
||
| 489 | killagreg | 520 | ToFlightCtrl.Param.Byte[0] = 0; // index |
| 462 | holgerb | 521 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
| 522 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
||
| 489 | killagreg | 523 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
| 524 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
||
| 462 | holgerb | 525 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
| 526 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 527 | i2 *= 6; |
||
| 528 | i2 /= 1000; |
||
| 529 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
| 530 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
| 531 | break; |
||
| 532 | case 4: |
||
| 533 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
||
| 489 | killagreg | 534 | ToFlightCtrl.Param.Byte[0] = 0; // index |
| 462 | holgerb | 535 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
| 489 | killagreg | 536 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
| 537 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
||
| 462 | holgerb | 538 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
| 539 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 540 | i2 *= 6; |
||
| 541 | i2 /= 1000; |
||
| 542 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
| 543 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
| 544 | hott_index = 0; |
||
| 545 | break; |
||
| 504 | holgerb | 546 | |
| 547 | case 100: |
||
| 548 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
||
| 549 | ToFlightCtrl.Param.Byte[0] = 0; // index |
||
| 550 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
||
| 551 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
||
| 552 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
||
| 553 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
||
| 554 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
||
| 555 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
||
| 556 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
||
| 557 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
||
| 558 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
||
| 559 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
||
| 560 | NewWPL_Name = 0; |
||
| 561 | hott_index = 0; |
||
| 562 | break; |
||
| 489 | killagreg | 563 | default: |
| 330 | holgerb | 564 | ToFlightCtrl.Param.Byte[0] = 255; |
| 489 | killagreg | 565 | hott_index = 0; |
| 330 | holgerb | 566 | break; |
| 329 | holgerb | 567 | } |
| 568 | break; |
||
| 41 | ingob | 569 | default: |
| 570 | break; |
||
| 285 | holgerb | 571 | // 0 = 0,1 |
| 572 | // 1 = 2,3 |
||
| 573 | // 2 = 4,5 |
||
| 574 | // 3 = 6,7 |
||
| 575 | // 4 = 8,9 |
||
| 576 | // 5 = 10,11 |
||
| 41 | ingob | 577 | } |
| 578 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
| 579 | switch(FromFlightCtrl.Command) |
||
| 580 | { |
||
| 202 | killagreg | 581 | case SPI_FCCMD_USER: |
| 41 | ingob | 582 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 583 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
| 584 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
| 585 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
| 586 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
| 587 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
| 588 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
| 589 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
| 255 | killagreg | 590 | if(ClearFCStatusFlags) |
| 41 | ingob | 591 | { |
| 255 | killagreg | 592 | FC.StatusFlags = 0; |
| 593 | ClearFCStatusFlags = 0; |
||
| 41 | ingob | 594 | } |
| 255 | killagreg | 595 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 320 | holgerb | 596 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 268 | killagreg | 597 | { |
| 463 | holgerb | 598 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; |
| 268 | killagreg | 599 | Compass_Init(); |
| 330 | holgerb | 600 | FCCalibActive = 10; |
| 338 | holgerb | 601 | FC_is_Calibrated = 0; |
| 268 | killagreg | 602 | } |
| 603 | else |
||
| 604 | { |
||
| 489 | killagreg | 605 | if(FCCalibActive) |
| 606 | { |
||
| 607 | if(--FCCalibActive == 0) |
||
| 608 | { |
||
| 609 | FC_is_Calibrated = 1; |
||
| 610 | Compass_Check(); |
||
| 611 | } |
||
| 612 | } |
||
| 268 | killagreg | 613 | } |
| 489 | killagreg | 614 | if(FC.StatusFlags & FC_STATUS_START) |
| 615 | { |
||
| 616 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else |
||
| 617 | HeadFreeStartAngle = GyroCompassCorrected; |
||
| 618 | } |
||
| 320 | holgerb | 619 | |
| 489 | killagreg | 620 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| 621 | { |
||
| 622 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
| 623 | { |
||
| 624 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
| 625 | { |
||
| 626 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
| 627 | } |
||
| 628 | else // Ansonsten die aktuelle Richtung übernehmen |
||
| 629 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
||
| 329 | holgerb | 630 | } |
| 631 | } |
||
| 489 | killagreg | 632 | |
| 223 | killagreg | 633 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 471 | holgerb | 634 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
| 480 | holgerb | 635 | DebugOut.Analog[7] = FC.BAT_Voltage; |
| 255 | killagreg | 636 | DebugOut.Analog[5] = FC.StatusFlags; |
| 360 | holgerb | 637 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 489 | killagreg | 638 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
| 294 | holgerb | 639 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 360 | holgerb | 640 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
| 641 | |||
| 642 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
| 489 | killagreg | 643 | else |
| 360 | holgerb | 644 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
| 645 | |||
| 646 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
| 489 | killagreg | 647 | else |
| 360 | holgerb | 648 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
| 649 | |||
| 338 | holgerb | 650 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
| 651 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
| 41 | ingob | 652 | break; |
| 1 | ingob | 653 | |
| 454 | holgerb | 654 | case SPI_FCCMD_BL_ACCU: |
| 223 | killagreg | 655 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 480 | holgerb | 656 | DebugOut.Analog[8] = FC.BAT_Current; |
| 206 | killagreg | 657 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 471 | holgerb | 658 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
| 659 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
||
| 660 | Motor_Version[FromFlightCtrl.Param.Byte[6]] = FromFlightCtrl.Param.Byte[7]; |
||
| 661 | Motor[FromFlightCtrl.Param.Byte[6]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
||
| 662 | Motor[FromFlightCtrl.Param.Byte[6]].State = FromFlightCtrl.Param.Byte[9]; |
||
| 663 | Motor[FromFlightCtrl.Param.Byte[6]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
| 664 | Motor[FromFlightCtrl.Param.Byte[6]].Current = FromFlightCtrl.Param.Byte[11]; |
||
| 298 | holgerb | 665 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| 666 | { |
||
| 667 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
| 668 | } |
||
| 206 | killagreg | 669 | NaviData.UBat = FC.BAT_Voltage; |
| 670 | NaviData.Current = FC.BAT_Current; |
||
| 671 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
| 500 | holgerb | 672 | |
| 206 | killagreg | 673 | break; |
| 202 | killagreg | 674 | case SPI_FCCMD_PARAMETER1: |
| 454 | holgerb | 675 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
| 41 | ingob | 676 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| 677 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 678 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 679 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 680 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 681 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 682 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 683 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 684 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 327 | holgerb | 685 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 41 | ingob | 686 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 121 | killagreg | 687 | break; |
| 419 | holgerb | 688 | case SPI_FCCMD_PARAMETER2: |
| 689 | CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255); |
||
| 436 | holgerb | 690 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
| 454 | holgerb | 691 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
| 489 | killagreg | 692 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
| 693 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
||
| 500 | holgerb | 694 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
| 419 | holgerb | 695 | break; |
| 202 | killagreg | 696 | case SPI_FCCMD_STICK: |
| 41 | ingob | 697 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 698 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 699 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 700 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 701 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 702 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 703 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 704 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 705 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 706 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 707 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 708 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 426 | holgerb | 709 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
| 41 | ingob | 710 | break; |
| 27 | holgerb | 711 | |
| 202 | killagreg | 712 | case SPI_FCCMD_MISC: |
| 41 | ingob | 713 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 714 | { // put only new CompassCalState into queue to send via I2C |
||
| 489 | killagreg | 715 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
| 378 | holgerb | 716 | { |
| 717 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 718 | Compass_SetCalState(CompassCalState); |
||
| 719 | } |
||
| 392 | holgerb | 720 | // else CompassCalState = 0; |
| 41 | ingob | 721 | } |
| 58 | killagreg | 722 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 723 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 287 | holgerb | 724 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 725 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
| 160 | holgerb | 726 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 727 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 728 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 729 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 454 | holgerb | 730 | NaviData.RC_Quality = FC.RC_Quality; |
| 461 | holgerb | 731 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
| 454 | holgerb | 732 | // FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 733 | // if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
||
| 294 | holgerb | 734 | // NaviData.RC_RSSI = FC.RC_RSSI; |
| 206 | killagreg | 735 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 41 | ingob | 736 | break; |
| 161 | killagreg | 737 | |
| 202 | killagreg | 738 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 739 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 740 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 741 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 742 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 743 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 744 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 745 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 746 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 747 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 748 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 338 | holgerb | 749 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
| 419 | holgerb | 750 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[11]; |
| 119 | killagreg | 751 | break; |
| 1 | ingob | 752 | |
| 202 | killagreg | 753 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 754 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 755 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 756 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 757 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 758 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 328 | holgerb | 759 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 760 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
| 489 | killagreg | 761 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
| 475 | holgerb | 762 | { |
| 489 | killagreg | 763 | FC.FromFC_DisableDeclination = 1; |
| 764 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
||
| 765 | GeoMagDec = 0; |
||
| 766 | } |
||
| 767 | else |
||
| 475 | holgerb | 768 | { |
| 489 | killagreg | 769 | FC.FromFC_DisableDeclination = 0; |
| 770 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
||
| 475 | holgerb | 771 | } |
| 358 | holgerb | 772 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| 773 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
| 320 | holgerb | 774 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 350 | holgerb | 775 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| 338 | holgerb | 776 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 777 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
| 455 | holgerb | 778 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
| 338 | holgerb | 779 | else DebugOut.StatusRed &= ~AMPEL_FC; |
| 41 | ingob | 780 | break; |
| 781 | default: |
||
| 204 | killagreg | 782 | break; |
| 41 | ingob | 783 | } |
| 378 | holgerb | 784 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 785 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 786 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
||
| 787 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 788 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
||
| 789 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
||
| 790 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 791 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 41 | ingob | 792 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 793 | // and update GPSStick that are returned to FC |
| 378 | holgerb | 794 | SPI_RxBuffer_Request = 0; |
| 215 | killagreg | 795 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 255 | killagreg | 796 | ClearFCStatusFlags = 1; |
| 180 | killagreg | 797 | if(counter) |
| 798 | { |
||
| 799 | counter--; // count down to enable servo |
||
| 202 | killagreg | 800 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 801 | } |
| 802 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
||
| 1 | ingob | 803 | |
| 79 | killagreg | 804 | } // EOF if(SPI_RxBuffer_Request) |
| 180 | killagreg | 805 | else // no new SPI data |
| 202 | killagreg | 806 | { |
| 180 | killagreg | 807 | if(CheckDelay(timeout) && (counter == 0)) |
| 808 | { |
||
| 809 | TIMER2_Deinit(); // disable Servo Output |
||
| 810 | counter = 50; // reset counter for enabling Servo Output |
||
| 811 | } |
||
| 812 | } |
||
| 1 | ingob | 813 | } |
| 814 | |||
| 41 | ingob | 815 | //------------------------------------------------------ |
| 816 | void SPI0_GetFlightCtrlVersion(void) |
||
| 817 | { |
||
| 154 | killagreg | 818 | u32 timeout; |
| 819 | u8 repeat; |
||
| 78 | holgerb | 820 | u8 msg[64]; |
| 41 | ingob | 821 | |
| 297 | ingob | 822 | UART1_PutString("\r\n Looking for FlightControl"); |
| 41 | ingob | 823 | FC_Version.Major = 0xFF; |
| 824 | FC_Version.Minor = 0xFF; |
||
| 825 | FC_Version.Patch = 0xFF; |
||
| 826 | FC_Version.Compatible = 0xFF; |
||
| 827 | |||
| 165 | killagreg | 828 | // polling FC version info |
| 154 | killagreg | 829 | repeat = 0; |
| 41 | ingob | 830 | do |
| 831 | { |
||
| 154 | killagreg | 832 | timeout = SetDelay(250); |
| 833 | do |
||
| 834 | { |
||
| 835 | SPI0_UpdateBuffer(); |
||
| 836 | if (FC_Version.Major != 0xFF) break; |
||
| 837 | }while (!CheckDelay(timeout)); |
||
| 838 | UART1_PutString("."); |
||
| 839 | repeat++; |
||
| 489 | killagreg | 840 | FCCalibActive = 1; |
| 180 | killagreg | 841 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 842 | // if we got it |
| 843 | if (FC_Version.Major != 0xFF) |
||
| 844 | { |
||
| 489 | killagreg | 845 | sprintf(msg, " FC V%d.%d%c HW:%d.%02d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| 110 | killagreg | 846 | UART1_PutString(msg); |
| 41 | ingob | 847 | } |
| 242 | killagreg | 848 | else UART1_PutString("\n\r not found!"); |
| 41 | ingob | 849 | } |
| 850 | |||
| 489 | killagreg | 851 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 852 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
||
| 853 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 854 | u16 BL3_Current(u8 who) // in 0,1A |
||
| 855 | { |
||
| 856 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
||
| 857 | else |
||
| 858 | { |
||
| 859 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
||
| 860 | else return((u16) Motor[who].Current); |
||
| 861 | } |
||
| 862 | } |
||
| 41 | ingob | 863 |