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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
| 41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 40 | // + with our written permission |
| 41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
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| 1 | ingob | 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 57 | |
| 58 | #include <string.h> |
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| 59 | #include "91x_lib.h" |
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| 60 | #include "led.h" |
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| 61 | #include "GPS.h" |
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| 62 | #include "uart1.h" |
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| 63 | #include "spi_slave.h" |
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| 64 | #include "i2c.h" |
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| 119 | killagreg | 65 | #include "timer1.h" |
| 66 | #include "timer2.h" |
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| 136 | killagreg | 67 | #include "config.h" |
| 1 | ingob | 68 | #include "main.h" |
| 41 | ingob | 69 | #include "fifo.h" |
| 1 | ingob | 70 | |
| 71 | |||
| 41 | ingob | 72 | #define SPI_RXSYNCBYTE1 0xAA |
| 73 | #define SPI_RXSYNCBYTE2 0x83 |
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| 74 | #define SPI_TXSYNCBYTE1 0x81 |
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| 75 | #define SPI_TXSYNCBYTE2 0x55 |
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| 1 | ingob | 76 | |
| 41 | ingob | 77 | typedef enum |
| 78 | { |
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| 79 | SPI_SYNC1, |
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| 80 | SPI_SYNC2, |
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| 81 | SPI_DATA |
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| 82 | } SPI_State_t; |
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| 1 | ingob | 83 | |
| 41 | ingob | 84 | //communication packets |
| 85 | volatile FromFlightCtrl_t FromFlightCtrl; |
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| 86 | volatile ToFlightCtrl_t ToFlightCtrl; |
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| 146 | killagreg | 87 | #define SPI0_TIMEOUT 500 // 500 ms |
| 88 | volatile u32 SPI0_Timeout = 0; |
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| 1 | ingob | 89 | |
| 41 | ingob | 90 | // tx packet buffer |
| 91 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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| 92 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
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| 93 | volatile u8 SPI_TxBufferIndex = 0; |
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| 94 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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| 1 | ingob | 95 | |
| 41 | ingob | 96 | // rx packet buffer |
| 97 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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| 98 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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| 99 | volatile u8 SPI_RxBufferIndex = 0; |
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| 100 | volatile u8 SPI_RxBuffer_Request = 0; |
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| 1 | ingob | 101 | #define SPI_COMMAND_INDEX 0 |
| 102 | |||
| 41 | ingob | 103 | s32 FC_Kalman_K = 32; |
| 104 | s32 Kalman_MaxDrift = 5 * 16; |
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| 105 | s32 Kalman_MaxFusion = 64; |
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| 1 | ingob | 106 | |
| 121 | killagreg | 107 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
| 41 | ingob | 108 | u8 SPI_CommandCounter = 0; |
| 58 | killagreg | 109 | |
| 41 | ingob | 110 | SPI_Version_t FC_Version; |
| 1 | ingob | 111 | |
| 41 | ingob | 112 | u8 CompassCalStateQueue[10]; |
| 113 | fifo_t CompassCalcStateFiFo; |
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| 1 | ingob | 114 | |
| 41 | ingob | 115 | u8 CompassCalState = 0; |
| 1 | ingob | 116 | |
| 41 | ingob | 117 | //-------------------------------------------------------------- |
| 118 | void SSP0_IRQHandler(void) |
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| 119 | { |
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| 120 | static u8 rxchksum = 0; |
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| 121 | u8 rxdata; |
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| 122 | static SPI_State_t SPI_State = SPI_SYNC1; |
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| 1 | ingob | 123 | |
| 144 | killagreg | 124 | // clear pending bits |
| 41 | ingob | 125 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 127 | /* |
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| 41 | ingob | 128 | // Fill TxFIFO while its not full or end of packet is reached |
| 129 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
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| 130 | { |
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| 131 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
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| 132 | { |
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| 133 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
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| 134 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
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| 135 | SPI_TxBufferIndex++; // pointer to next byte |
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| 136 | } |
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| 137 | else // TxBuffer end is reached then reset and copy data to tx buffer |
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| 138 | { |
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| 139 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 140 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 141 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 142 | BeepTime = 0; // reset local beeptime |
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| 143 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
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| 144 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
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| 145 | } |
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| 79 | killagreg | 146 | } |
| 144 | killagreg | 147 | */ |
| 79 | killagreg | 148 | // while RxFIFO not empty |
| 149 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
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| 150 | { |
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| 41 | ingob | 151 | rxdata = SSP0->DR; // catch the received byte |
| 152 | // Fill TxFIFO while its not full or end of packet is reached |
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| 79 | killagreg | 153 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 41 | ingob | 154 | { |
| 79 | killagreg | 155 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 156 | { |
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| 41 | ingob | 157 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 158 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 159 | SPI_TxBufferIndex++; // pointer to next byte |
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| 160 | } |
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| 161 | else // end of packet is reached reset and copy data to tx buffer |
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| 162 | { |
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| 163 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 164 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 165 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 166 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 167 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 168 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 169 | } |
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| 41 | ingob | 170 | } |
| 171 | switch (SPI_State) |
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| 172 | { |
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| 173 | case SPI_SYNC1: |
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| 174 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 175 | rxchksum = rxdata; // init checksum |
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| 176 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 177 | { // 1st syncbyte ok |
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| 178 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 179 | } |
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| 180 | break; |
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| 79 | killagreg | 181 | case SPI_SYNC2: |
| 41 | ingob | 182 | if (rxdata == SPI_RXSYNCBYTE2) |
| 183 | { // 2nd Syncbyte ok |
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| 184 | rxchksum += rxdata; |
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| 185 | SPI_State = SPI_DATA; |
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| 186 | } // 2nd Syncbyte does not match |
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| 187 | else |
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| 188 | { |
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| 189 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 190 | } |
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| 191 | break; |
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| 192 | case SPI_DATA: |
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| 193 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 194 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
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| 195 | { |
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| 196 | if (rxdata == rxchksum) // verify checksum byte |
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| 197 | { |
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| 198 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 199 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 200 | { |
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| 201 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 202 | SPI_RxBuffer_Request = 1; |
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| 203 | } |
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| 146 | killagreg | 204 | // reset timeout counter on good packet |
| 205 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 206 | DebugOut.Analog[13]++; |
| 207 | } |
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| 208 | else // bad checksum byte |
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| 209 | { |
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| 210 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 211 | } |
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| 212 | SPI_State = SPI_SYNC1; // reset state |
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| 213 | } |
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| 214 | else // end of packet not reached |
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| 215 | { |
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| 216 | rxchksum += rxdata; // update checksum |
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| 217 | } |
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| 218 | break; |
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| 219 | default: |
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| 220 | SPI_State = SPI_SYNC1; |
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| 221 | break; |
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| 222 | } |
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| 223 | } |
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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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| 243 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 244 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
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| 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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| 252 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 253 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
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| 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); |
| 1 | ingob | 266 | |
| 144 | killagreg | 267 | //SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 268 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
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| 1 | ingob | 269 | |
| 144 | killagreg | 270 | |
| 41 | ingob | 271 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
| 272 | |||
| 273 | SSP_Cmd(SSP0, ENABLE); |
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| 274 | // initialize the syncbytes in the tx buffer |
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| 275 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 276 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 277 | // set the pointer to the checksum byte in the tx buffer |
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| 278 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 279 | |||
| 136 | killagreg | 280 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 281 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 282 | |||
| 146 | killagreg | 283 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 284 | |||
| 110 | killagreg | 285 | UART1_PutString("ok"); |
| 1 | ingob | 286 | } |
| 41 | ingob | 287 | |
| 1 | ingob | 288 | //------------------------------------------------------ |
| 41 | ingob | 289 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 290 | { |
| 41 | ingob | 291 | if (SPI_RxBuffer_Request) |
| 292 | { |
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| 293 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 294 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 1 | ingob | 295 | |
| 41 | ingob | 296 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
| 297 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
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| 298 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
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| 299 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
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| 300 | // cycle spi commands |
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| 301 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 302 | // restart command cycle at the end |
| 41 | ingob | 303 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 1 | ingob | 304 | |
| 41 | ingob | 305 | switch (ToFlightCtrl.Command) |
| 306 | { |
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| 307 | case SPI_KALMAN: |
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| 92 | killagreg | 308 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
| 309 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
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| 310 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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| 118 | killagreg | 311 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 121 | killagreg | 312 | break; |
| 58 | killagreg | 313 | |
| 41 | ingob | 314 | default: |
| 315 | break; |
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| 316 | } |
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| 317 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
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| 1 | ingob | 318 | |
| 319 | |||
| 41 | ingob | 320 | switch(FromFlightCtrl.Command) |
| 321 | { |
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| 322 | case SPI_CMD_USER: |
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| 323 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
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| 324 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
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| 325 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
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| 326 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
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| 327 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
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| 328 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
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| 329 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
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| 330 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
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| 331 | if(ClearMKFlags) |
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| 332 | { |
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| 333 | FC.MKFlags = 0; |
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| 334 | ClearMKFlags = 0; |
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| 335 | } |
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| 336 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
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| 337 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
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| 338 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
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| 339 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
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| 79 | killagreg | 340 | DebugOut.Analog[5] = FC.MKFlags; |
| 41 | ingob | 341 | break; |
| 1 | ingob | 342 | |
| 41 | ingob | 343 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| 344 | case SPI_CMD_PARAMETER1: |
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| 345 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
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| 346 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
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| 347 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
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| 348 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
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| 349 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
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| 350 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
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| 351 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
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| 352 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
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| 103 | killagreg | 353 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 354 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 355 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
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| 356 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
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| 121 | killagreg | 357 | break; |
| 1 | ingob | 358 | |
| 41 | ingob | 359 | case SPI_CMD_STICK: |
| 360 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
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| 361 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
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| 362 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
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| 363 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
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| 364 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
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| 365 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
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| 366 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
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| 367 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
||
| 368 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
||
| 125 | killagreg | 369 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
| 41 | ingob | 370 | break; |
| 27 | holgerb | 371 | |
| 41 | ingob | 372 | case SPI_CMD_MISC: |
| 373 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
||
| 374 | { // put only new CompassCalState into queue to send via I2C |
||
| 375 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 376 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
||
| 377 | } |
||
| 58 | killagreg | 378 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 79 | killagreg | 379 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 58 | killagreg | 380 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
| 79 | killagreg | 381 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
| 382 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 383 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
||
| 41 | ingob | 384 | break; |
| 119 | killagreg | 385 | |
| 121 | killagreg | 386 | case SPI_CMD_SERVOS: |
| 387 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
||
| 388 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 389 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 390 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 391 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
||
| 392 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
||
| 393 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 394 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 395 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
||
| 396 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 119 | killagreg | 397 | break; |
| 1 | ingob | 398 | |
| 41 | ingob | 399 | case SPI_CMD_VERSION: |
| 119 | killagreg | 400 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 401 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 402 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 403 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 404 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 41 | ingob | 405 | break; |
| 1 | ingob | 406 | |
| 41 | ingob | 407 | default: |
| 408 | break; |
||
| 409 | } |
||
| 1 | ingob | 410 | |
| 41 | ingob | 411 | // every time we got new data from the FC via SPI call the navigation routine |
| 412 | GPS_Navigation(); |
||
| 413 | ClearMKFlags = 1; |
||
| 1 | ingob | 414 | |
| 41 | ingob | 415 | SPI_RxBuffer_Request = 0; |
| 1 | ingob | 416 | |
| 62 | killagreg | 417 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 418 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 61 | holgerb | 419 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 420 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 62 | killagreg | 421 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 79 | killagreg | 422 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 423 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 424 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 425 | } // EOF if(SPI_RxBuffer_Request) |
||
| 1 | ingob | 426 | } |
| 427 | |||
| 41 | ingob | 428 | //------------------------------------------------------ |
| 429 | void SPI0_GetFlightCtrlVersion(void) |
||
| 430 | { |
||
| 431 | u16 timeout; |
||
| 78 | holgerb | 432 | u8 msg[64]; |
| 41 | ingob | 433 | |
| 434 | FC_Version.Major = 0xFF; |
||
| 435 | FC_Version.Minor = 0xFF; |
||
| 436 | FC_Version.Patch = 0xFF; |
||
| 437 | FC_Version.Compatible = 0xFF; |
||
| 438 | |||
| 439 | // polling FC version info for 2 second |
||
| 440 | timeout = SetDelay(2000); |
||
| 441 | do |
||
| 442 | { |
||
| 443 | SPI0_UpdateBuffer(); |
||
| 444 | if (FC_Version.Major != 0xFF) break; |
||
| 445 | }while (!CheckDelay(timeout)); |
||
| 446 | // if we got it |
||
| 447 | if (FC_Version.Major != 0xFF) |
||
| 448 | { |
||
| 61 | holgerb | 449 | sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| 110 | killagreg | 450 | UART1_PutString(msg); |
| 41 | ingob | 451 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
| 110 | killagreg | 452 | UART1_PutString(msg); |
| 41 | ingob | 453 | } |
| 110 | killagreg | 454 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
| 41 | ingob | 455 | } |
| 456 | |||
| 457 |