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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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| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 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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| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 22 | // + des Mitverschuldens offen. |
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| 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 - |
| 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 |
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| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 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> |
| 41 | ingob | 59 | #include "91x_lib.h" |
| 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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| 242 | killagreg | 64 | #include "compass.h" |
| 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" |
| 284 | killagreg | 69 | #include "compass.h" |
| 294 | holgerb | 70 | #include "params.h" |
| 369 | holgerb | 71 | #include "stdlib.h" |
| 1 | ingob | 72 | |
| 41 | ingob | 73 | #define SPI_RXSYNCBYTE1 0xAA |
| 74 | #define SPI_RXSYNCBYTE2 0x83 |
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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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| 183 | killagreg | 81 | #define SPI0_TIMEOUT 500 // 500ms |
| 146 | killagreg | 82 | volatile u32 SPI0_Timeout = 0; |
| 338 | holgerb | 83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| 1 | ingob | 84 | |
| 41 | ingob | 85 | // tx packet buffer |
| 86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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| 378 | holgerb | 87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
| 41 | ingob | 88 | volatile u8 SPI_TxBufferIndex = 0; |
| 89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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| 1 | ingob | 90 | |
| 41 | ingob | 91 | // rx packet buffer |
| 92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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| 378 | holgerb | 93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
| 41 | ingob | 94 | volatile u8 SPI_RxBufferIndex = 0; |
| 95 | volatile u8 SPI_RxBuffer_Request = 0; |
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| 1 | ingob | 96 | #define SPI_COMMAND_INDEX 0 |
| 97 | |||
| 149 | killagreg | 98 | s32 Kalman_K = 32; |
| 41 | ingob | 99 | s32 Kalman_MaxDrift = 5 * 16; |
| 100 | s32 Kalman_MaxFusion = 64; |
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| 330 | holgerb | 101 | s32 Kalman_Kompass = 32; |
| 148 | holgerb | 102 | s32 ToFcGpsZ = 0; |
| 392 | holgerb | 103 | u8 CompassCalState = 0; |
| 1 | ingob | 104 | |
| 342 | holgerb | 105 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN }; |
| 41 | ingob | 106 | u8 SPI_CommandCounter = 0; |
| 222 | holgerb | 107 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 108 | s32 HeadFreeStartAngle = 0; |
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| 277 | killagreg | 109 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 286 | killagreg | 110 | u32 ToFC_AltitudeRate = 0; |
| 285 | holgerb | 111 | s32 ToFC_AltitudeSetpoint = 0; |
| 298 | holgerb | 112 | u8 FromFC_VarioCharacter = ' '; |
| 331 | holgerb | 113 | u8 GPS_Aid_StickMultiplikator = 0; |
| 323 | holgerb | 114 | u8 NC_GPS_ModeCharacter = ' '; |
| 329 | holgerb | 115 | u8 FCCalibActive = 0; |
| 330 | holgerb | 116 | u8 FC_is_Calibrated = 0; |
| 358 | holgerb | 117 | Motor_t Motor[12]; |
| 351 | holgerb | 118 | u8 NC_To_FC_Flags = 0; |
| 338 | holgerb | 119 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 120 | u32 FC_I2C_ErrorConter; |
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| 41 | ingob | 121 | SPI_Version_t FC_Version; |
| 351 | holgerb | 122 | s16 POI_KameraNick = 0; |
| 1 | ingob | 123 | |
| 41 | ingob | 124 | //-------------------------------------------------------------- |
| 125 | void SSP0_IRQHandler(void) |
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| 126 | { |
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| 127 | static u8 rxchksum = 0; |
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| 128 | u8 rxdata; |
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| 1 | ingob | 129 | |
| 189 | killagreg | 130 | #define SPI_SYNC1 0 |
| 131 | #define SPI_SYNC2 1 |
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| 132 | #define SPI_DATA 2 |
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| 133 | static u8 SPI_State = SPI_SYNC1; |
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| 378 | holgerb | 134 | //IENABLE; |
| 189 | killagreg | 135 | |
| 161 | killagreg | 136 | // clear pending bits |
| 41 | ingob | 137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 138 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 139 | |
| 79 | killagreg | 140 | // while RxFIFO not empty |
| 378 | holgerb | 141 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 79 | killagreg | 142 | { |
| 41 | ingob | 143 | rxdata = SSP0->DR; // catch the received byte |
| 144 | // Fill TxFIFO while its not full or end of packet is reached |
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| 378 | holgerb | 145 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 161 | killagreg | 146 | { |
| 79 | killagreg | 147 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 148 | { |
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| 41 | ingob | 149 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 150 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 378 | holgerb | 151 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
| 79 | killagreg | 152 | SPI_TxBufferIndex++; // pointer to next byte |
| 153 | } |
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| 154 | else // end of packet is reached reset and copy data to tx buffer |
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| 155 | { |
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| 156 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 157 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 158 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 159 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 160 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 161 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 162 | } |
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| 41 | ingob | 163 | } |
| 164 | switch (SPI_State) |
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| 165 | { |
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| 166 | case SPI_SYNC1: |
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| 167 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 168 | rxchksum = rxdata; // init checksum |
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| 169 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 170 | { // 1st syncbyte ok |
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| 171 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 172 | } |
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| 173 | break; |
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| 79 | killagreg | 174 | case SPI_SYNC2: |
| 41 | ingob | 175 | if (rxdata == SPI_RXSYNCBYTE2) |
| 176 | { // 2nd Syncbyte ok |
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| 177 | rxchksum += rxdata; |
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| 178 | SPI_State = SPI_DATA; |
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| 179 | } // 2nd Syncbyte does not match |
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| 180 | else |
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| 181 | { |
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| 182 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 183 | } |
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| 184 | break; |
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| 185 | case SPI_DATA: |
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| 186 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 378 | holgerb | 187 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| 41 | ingob | 188 | { |
| 189 | if (rxdata == rxchksum) // verify checksum byte |
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| 190 | { |
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| 191 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 192 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 193 | { |
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| 194 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 195 | SPI_RxBuffer_Request = 1; |
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| 196 | } |
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| 146 | killagreg | 197 | // reset timeout counter on good packet |
| 198 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 199 | DebugOut.Analog[13]++; |
| 200 | } |
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| 201 | else // bad checksum byte |
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| 202 | { |
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| 203 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 204 | } |
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| 205 | SPI_State = SPI_SYNC1; // reset state |
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| 206 | } |
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| 207 | else // end of packet not reached |
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| 208 | { |
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| 209 | rxchksum += rxdata; // update checksum |
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| 210 | } |
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| 211 | break; |
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| 212 | default: |
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| 213 | SPI_State = SPI_SYNC1; |
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| 214 | break; |
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| 215 | } |
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| 216 | } |
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| 195 | killagreg | 217 | |
| 378 | holgerb | 218 | // IDISABLE; |
| 219 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
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| 1 | ingob | 220 | } |
| 221 | |||
| 222 | //-------------------------------------------------------------- |
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| 223 | void SPI0_Init(void) |
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| 224 | { |
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| 41 | ingob | 225 | GPIO_InitTypeDef GPIO_InitStructure; |
| 226 | SSP_InitTypeDef SSP_InitStructure; |
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| 1 | ingob | 227 | |
| 110 | killagreg | 228 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 229 | |
| 41 | ingob | 230 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 231 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 1 | ingob | 232 | |
| 41 | ingob | 233 | GPIO_DeInit(GPIO2); |
| 234 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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| 235 | GPIO_StructInit(&GPIO_InitStructure); |
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| 236 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 237 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 238 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 239 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 240 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 241 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 242 | |
| 41 | ingob | 243 | // SSP0_MISO pin GPIO2.6 |
| 244 | GPIO_StructInit(&GPIO_InitStructure); |
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| 245 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 246 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 247 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 248 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 249 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 250 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 251 | |
| 41 | ingob | 252 | SSP_DeInit(SSP0); |
| 253 | SSP_StructInit(&SSP_InitStructure); |
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| 254 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 255 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 256 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 257 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 258 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 259 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 1 | ingob | 260 | |
| 41 | ingob | 261 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 262 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 41 | ingob | 263 | SSP_Cmd(SSP0, ENABLE); |
| 264 | // initialize the syncbytes in the tx buffer |
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| 265 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 266 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 267 | // set the pointer to the checksum byte in the tx buffer |
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| 268 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 269 | |||
| 215 | killagreg | 270 | ToFlightCtrl.GPSStick.Nick = 0; |
| 271 | ToFlightCtrl.GPSStick.Roll = 0; |
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| 272 | ToFlightCtrl.GPSStick.Yaw = 0; |
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| 273 | |||
| 136 | killagreg | 274 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 275 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 276 | |||
| 146 | killagreg | 277 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 278 | |||
| 110 | killagreg | 279 | UART1_PutString("ok"); |
| 1 | ingob | 280 | } |
| 41 | ingob | 281 | |
| 222 | holgerb | 282 | |
| 1 | ingob | 283 | //------------------------------------------------------ |
| 41 | ingob | 284 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 285 | { |
| 180 | killagreg | 286 | static u32 timeout = 0; |
| 329 | holgerb | 287 | static u8 counter = 50,hott_index = 0; |
| 299 | killagreg | 288 | s16 tmp; |
| 329 | holgerb | 289 | s32 i1,i2; |
| 378 | holgerb | 290 | |
| 291 | |||
| 292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
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| 293 | if(SPI_RxBuffer_Request) |
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| 41 | ingob | 294 | { |
| 295 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 296 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 254 | killagreg | 297 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 189 | killagreg | 298 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 228 | holgerb | 299 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 327 | holgerb | 300 | // ToFlightCtrl.MagVecX = MagVector.X; |
| 301 | // ToFlightCtrl.MagVecY = MagVector.Y; |
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| 286 | killagreg | 302 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 284 | killagreg | 303 | ToFlightCtrl.NCStatus = 0; |
| 41 | ingob | 304 | // cycle spi commands |
| 305 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 306 | // restart command cycle at the end |
| 41 | ingob | 307 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 319 | holgerb | 308 | #define FLAG_GPS_AID 0x01 |
| 41 | ingob | 309 | switch (ToFlightCtrl.Command) |
| 310 | { |
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| 329 | holgerb | 311 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 149 | killagreg | 312 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 313 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 314 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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| 330 | holgerb | 315 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 149 | killagreg | 316 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 317 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 318 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 331 | holgerb | 319 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 280 | killagreg | 320 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 278 | killagreg | 321 | { |
| 322 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
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| 280 | killagreg | 323 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 324 | } |
| 325 | else |
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| 280 | killagreg | 326 | { |
| 278 | killagreg | 327 | ToFlightCtrl.Param.sInt[4] = -1; |
| 328 | } |
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| 294 | holgerb | 329 | |
| 299 | killagreg | 330 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 295 | killagreg | 331 | { |
| 351 | holgerb | 332 | POI_KameraNick = tmp; |
| 299 | killagreg | 333 | } |
| 334 | else |
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| 335 | { |
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| 348 | holgerb | 336 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 351 | holgerb | 337 | POI_KameraNick = CAM_Orientation.Elevation; |
| 348 | holgerb | 338 | //else ToFlightCtrl.Param.sInt[5] = 0; |
| 295 | killagreg | 339 | } |
| 351 | holgerb | 340 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| 161 | killagreg | 341 | break; |
| 58 | killagreg | 342 | |
| 202 | killagreg | 343 | case SPI_NCCMD_VERSION: |
| 355 | holgerb | 344 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 345 | //+ higher than the maximum allowed altitude |
||
| 346 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 202 | killagreg | 347 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 348 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
| 204 | killagreg | 349 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 350 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 264 | killagreg | 351 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 338 | holgerb | 352 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 353 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
| 233 | holgerb | 354 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 323 | holgerb | 355 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 330 | holgerb | 356 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 351 | holgerb | 357 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| 355 | holgerb | 358 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 359 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
| 202 | killagreg | 360 | break; |
| 342 | holgerb | 361 | case SPI_MISC: |
| 362 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
| 363 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
| 364 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
| 365 | ToFlightCtrl.Param.Byte[3] = 0; |
||
| 366 | ToFlightCtrl.Param.Byte[4] = 0; |
||
| 367 | ToFlightCtrl.Param.Byte[5] = 0; |
||
| 368 | ToFlightCtrl.Param.Byte[6] = 0; |
||
| 369 | ToFlightCtrl.Param.Byte[7] = 0; |
||
| 370 | ToFlightCtrl.Param.Byte[8] = 0; |
||
| 371 | ToFlightCtrl.Param.Byte[9] = 0; |
||
| 372 | ToFlightCtrl.Param.Byte[10] = 0; |
||
| 373 | ToFlightCtrl.Param.Byte[11] = 0; |
||
| 374 | break; |
||
| 223 | killagreg | 375 | |
| 204 | killagreg | 376 | case SPI_NCCMD_GPSINFO: |
| 377 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
| 378 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
| 379 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
| 232 | killagreg | 380 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 258 | holgerb | 381 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 382 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
| 306 | holgerb | 383 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
| 384 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
| 299 | killagreg | 385 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 386 | { |
||
| 387 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
| 295 | killagreg | 388 | } |
| 299 | killagreg | 389 | else |
| 390 | { |
||
| 391 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
| 392 | } |
||
| 393 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
| 394 | { |
||
| 395 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
| 396 | } |
||
| 397 | else |
||
| 398 | { |
||
| 399 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
| 400 | } |
||
| 204 | killagreg | 401 | break; |
| 330 | holgerb | 402 | case SPI_NCCMD_HOTT_INFO: |
| 403 | switch(hott_index++) |
||
| 404 | { |
||
| 329 | holgerb | 405 | case 0: |
| 406 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
| 407 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
||
| 408 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 409 | ToFlightCtrl.Param.Byte[0] = 3; // index |
||
| 410 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
||
| 411 | //----------------------------- |
||
| 412 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
||
| 413 | i1 = GPSData.Speed_Ground; // in cm/sec |
||
| 414 | i1 *= 36; |
||
| 415 | i1 /= 1000; |
||
| 416 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 417 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 418 | //----------------------------- |
||
| 419 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
||
| 420 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
| 421 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
| 422 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 423 | i1 *= 100; |
||
| 424 | i1 += i2 / 100000; |
||
| 425 | i2 = i2 % 100000; |
||
| 426 | i2 /= 10; |
||
| 427 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
| 428 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
| 429 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
| 430 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
| 431 | break; |
||
| 432 | case 1: |
||
| 433 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 434 | ToFlightCtrl.Param.Byte[0] = 11; // index |
||
| 435 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
| 436 | //----------------------------- |
||
| 437 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
| 438 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
| 439 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
| 440 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 441 | i1 *= 100; |
||
| 442 | i1 += i2 / 100000; |
||
| 443 | i2 = i2 % 100000; |
||
| 444 | i2 /= 10; |
||
| 445 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 446 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 447 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
| 448 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
| 449 | //----------------------------- |
||
| 450 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
||
| 451 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
||
| 452 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
| 330 | holgerb | 453 | break; |
| 454 | case 2: |
||
| 455 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
| 456 | ToFlightCtrl.Param.Byte[0] = 5; // index |
||
| 457 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
||
| 458 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
||
| 459 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
||
| 329 | holgerb | 460 | hott_index = 0; |
| 461 | break; |
||
| 330 | holgerb | 462 | default: |
| 463 | ToFlightCtrl.Param.Byte[0] = 255; |
||
| 464 | hott_index = 0; |
||
| 465 | break; |
||
| 329 | holgerb | 466 | } |
| 467 | break; |
||
| 41 | ingob | 468 | default: |
| 469 | break; |
||
| 285 | holgerb | 470 | // 0 = 0,1 |
| 471 | // 1 = 2,3 |
||
| 472 | // 2 = 4,5 |
||
| 473 | // 3 = 6,7 |
||
| 474 | // 4 = 8,9 |
||
| 475 | // 5 = 10,11 |
||
| 41 | ingob | 476 | } |
| 477 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
| 478 | switch(FromFlightCtrl.Command) |
||
| 479 | { |
||
| 202 | killagreg | 480 | case SPI_FCCMD_USER: |
| 41 | ingob | 481 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 482 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
| 483 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
| 484 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
| 485 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
| 486 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
| 487 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
| 488 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
| 255 | killagreg | 489 | if(ClearFCStatusFlags) |
| 41 | ingob | 490 | { |
| 255 | killagreg | 491 | FC.StatusFlags = 0; |
| 492 | ClearFCStatusFlags = 0; |
||
| 41 | ingob | 493 | } |
| 255 | killagreg | 494 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 320 | holgerb | 495 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 268 | killagreg | 496 | { |
| 326 | holgerb | 497 | HeadFreeStartAngle = Compass_Heading * 10; |
| 268 | killagreg | 498 | Compass_Init(); |
| 330 | holgerb | 499 | FCCalibActive = 10; |
| 338 | holgerb | 500 | FC_is_Calibrated = 0; |
| 268 | killagreg | 501 | } |
| 502 | else |
||
| 503 | { |
||
| 330 | holgerb | 504 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
| 268 | killagreg | 505 | } |
| 329 | holgerb | 506 | if(FC.StatusFlags & FC_STATUS_START) |
| 507 | { |
||
| 508 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
||
| 509 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
||
| 510 | } |
||
| 320 | holgerb | 511 | |
| 329 | holgerb | 512 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| 513 | { |
||
| 514 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
| 515 | { |
||
| 516 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
| 517 | { |
||
| 518 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
| 519 | } |
||
| 520 | else // Ansonsten die aktuelle Richtung übernehmen |
||
| 521 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
||
| 522 | } |
||
| 523 | } |
||
| 320 | holgerb | 524 | |
| 223 | killagreg | 525 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 255 | killagreg | 526 | DebugOut.Analog[5] = FC.StatusFlags; |
| 360 | holgerb | 527 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 294 | holgerb | 528 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 360 | holgerb | 529 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
| 530 | |||
| 531 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
| 532 | else |
||
| 533 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
||
| 534 | |||
| 535 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
| 536 | else |
||
| 537 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
||
| 538 | |||
| 338 | holgerb | 539 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
| 540 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
| 321 | holgerb | 541 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
| 41 | ingob | 542 | break; |
| 1 | ingob | 543 | |
| 206 | killagreg | 544 | case SPI_FCCMD_ACCU: |
| 223 | killagreg | 545 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 206 | killagreg | 546 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 547 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
| 548 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
||
| 298 | holgerb | 549 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| 358 | holgerb | 550 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
| 551 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
||
| 552 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
| 553 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
||
| 298 | holgerb | 554 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| 555 | { |
||
| 556 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
| 557 | } |
||
| 206 | killagreg | 558 | NaviData.UBat = FC.BAT_Voltage; |
| 559 | NaviData.Current = FC.BAT_Current; |
||
| 560 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
| 561 | break; |
||
| 562 | |||
| 193 | killagreg | 563 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 190 | killagreg | 564 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 565 | |||
| 202 | killagreg | 566 | case SPI_FCCMD_PARAMETER1: |
| 41 | ingob | 567 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 568 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
| 569 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 570 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 571 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 572 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 573 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 574 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 575 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 576 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 327 | holgerb | 577 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 41 | ingob | 578 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 121 | killagreg | 579 | break; |
| 1 | ingob | 580 | |
| 202 | killagreg | 581 | case SPI_FCCMD_STICK: |
| 41 | ingob | 582 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 583 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 584 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 585 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 586 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 587 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 588 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 589 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 590 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 591 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 592 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 593 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 41 | ingob | 594 | break; |
| 27 | holgerb | 595 | |
| 202 | killagreg | 596 | case SPI_FCCMD_MISC: |
| 41 | ingob | 597 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 598 | { // put only new CompassCalState into queue to send via I2C |
||
| 392 | holgerb | 599 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
| 378 | holgerb | 600 | { |
| 601 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 602 | Compass_SetCalState(CompassCalState); |
||
| 603 | } |
||
| 392 | holgerb | 604 | // else CompassCalState = 0; |
| 41 | ingob | 605 | } |
| 58 | killagreg | 606 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 607 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 287 | holgerb | 608 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 609 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
| 160 | holgerb | 610 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 611 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 612 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 613 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 614 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
| 294 | holgerb | 615 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 616 | // NaviData.RC_RSSI = FC.RC_RSSI; |
||
| 206 | killagreg | 617 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 41 | ingob | 618 | break; |
| 161 | killagreg | 619 | |
| 202 | killagreg | 620 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 621 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 622 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 623 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 624 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 625 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 626 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 627 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 628 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 629 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 630 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 338 | holgerb | 631 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
| 119 | killagreg | 632 | break; |
| 1 | ingob | 633 | |
| 202 | killagreg | 634 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 635 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 636 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 637 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 638 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 639 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 328 | holgerb | 640 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 641 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
| 642 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
||
| 358 | holgerb | 643 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| 644 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
| 320 | holgerb | 645 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 350 | holgerb | 646 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| 338 | holgerb | 647 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 648 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
| 649 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
||
| 650 | else DebugOut.StatusRed &= ~AMPEL_FC; |
||
| 41 | ingob | 651 | break; |
| 652 | default: |
||
| 204 | killagreg | 653 | break; |
| 41 | ingob | 654 | } |
| 352 | holgerb | 655 | |
| 378 | holgerb | 656 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 657 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 658 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
||
| 659 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 660 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
||
| 661 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
||
| 662 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 663 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 41 | ingob | 664 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 665 | // and update GPSStick that are returned to FC |
| 378 | holgerb | 666 | SPI_RxBuffer_Request = 0; |
| 386 | holgerb | 667 | |
| 668 | |||
| 669 | /* |
||
| 670 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 671 | */ |
||
| 215 | killagreg | 672 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 255 | killagreg | 673 | ClearFCStatusFlags = 1; |
| 180 | killagreg | 674 | if(counter) |
| 675 | { |
||
| 676 | counter--; // count down to enable servo |
||
| 202 | killagreg | 677 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 678 | } |
| 679 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
||
| 1 | ingob | 680 | |
| 79 | killagreg | 681 | } // EOF if(SPI_RxBuffer_Request) |
| 180 | killagreg | 682 | else // no new SPI data |
| 202 | killagreg | 683 | { |
| 180 | killagreg | 684 | if(CheckDelay(timeout) && (counter == 0)) |
| 685 | { |
||
| 686 | TIMER2_Deinit(); // disable Servo Output |
||
| 687 | counter = 50; // reset counter for enabling Servo Output |
||
| 688 | } |
||
| 689 | } |
||
| 1 | ingob | 690 | } |
| 691 | |||
| 41 | ingob | 692 | //------------------------------------------------------ |
| 693 | void SPI0_GetFlightCtrlVersion(void) |
||
| 694 | { |
||
| 154 | killagreg | 695 | u32 timeout; |
| 696 | u8 repeat; |
||
| 78 | holgerb | 697 | u8 msg[64]; |
| 41 | ingob | 698 | |
| 297 | ingob | 699 | UART1_PutString("\r\n Looking for FlightControl"); |
| 41 | ingob | 700 | FC_Version.Major = 0xFF; |
| 701 | FC_Version.Minor = 0xFF; |
||
| 702 | FC_Version.Patch = 0xFF; |
||
| 703 | FC_Version.Compatible = 0xFF; |
||
| 704 | |||
| 165 | killagreg | 705 | // polling FC version info |
| 154 | killagreg | 706 | repeat = 0; |
| 41 | ingob | 707 | do |
| 708 | { |
||
| 154 | killagreg | 709 | timeout = SetDelay(250); |
| 710 | do |
||
| 711 | { |
||
| 712 | SPI0_UpdateBuffer(); |
||
| 713 | if (FC_Version.Major != 0xFF) break; |
||
| 714 | }while (!CheckDelay(timeout)); |
||
| 715 | UART1_PutString("."); |
||
| 716 | repeat++; |
||
| 329 | holgerb | 717 | FCCalibActive = 1; |
| 180 | killagreg | 718 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 719 | // if we got it |
| 720 | if (FC_Version.Major != 0xFF) |
||
| 721 | { |
||
| 242 | killagreg | 722 | sprintf(msg, " FC V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| 110 | killagreg | 723 | UART1_PutString(msg); |
| 41 | ingob | 724 | } |
| 242 | killagreg | 725 | else UART1_PutString("\n\r not found!"); |
| 41 | ingob | 726 | } |
| 727 | |||
| 728 |