WebSVN - NaviCtrl - Blame - Rev 222 - /tags/V2.10a/spi

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
171	ingob	6	// + Nur f�r den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1	ingob	7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
1	ingob	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
1	ingob	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
171	ingob	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1	ingob	29	// + mit unserer Zustimmung zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
		36	// + from this software without specific prior written permission.
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
171	ingob	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1	ingob	44	//
		45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
41	ingob	55	// + POSSIBILITY OF SUCH DAMAGE.
1	ingob	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	57
		58	#include <string.h>
		59	#include "91x_lib.h"
		60	#include "led.h"
215	killagreg	61	#include "gps.h"
41	ingob	62	#include "uart1.h"
		63	#include "spi_slave.h"
		64	#include "i2c.h"
119	killagreg	65	#include "timer1.h"
		66	#include "timer2.h"
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
		74	#define SPI_TXSYNCBYTE1 0x81
		75	#define SPI_TXSYNCBYTE2 0x55
1	ingob	76
41	ingob	77	//communication packets
215	killagreg	78	FromFlightCtrl_t FromFlightCtrl;
		79	ToFlightCtrl_t ToFlightCtrl;
183	killagreg	80	#define SPI0_TIMEOUT 500 // 500ms
146	killagreg	81	volatile u32 SPI0_Timeout = 0;
1	ingob	82
41	ingob	83	// tx packet buffer
		84	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
		85	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN];
		86	volatile u8 SPI_TxBufferIndex = 0;
		87	u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
1	ingob	88
41	ingob	89	// rx packet buffer
		90	#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
		91	volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN];
		92	volatile u8 SPI_RxBufferIndex = 0;
		93	volatile u8 SPI_RxBuffer_Request = 0;
1	ingob	94	#define SPI_COMMAND_INDEX 0
		95
149	killagreg	96	s32 Kalman_K = 32;
41	ingob	97	s32 Kalman_MaxDrift = 5 * 16;
		98	s32 Kalman_MaxFusion = 64;
148	holgerb	99	s32 ToFcGpsZ = 0;
1	ingob	100
204	killagreg	101	u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN};
41	ingob	102	u8 SPI_CommandCounter = 0;
222	holgerb	103	s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;
		104	s32 HeadFreeStartAngle = 0;
58	killagreg	105
41	ingob	106	SPI_Version_t FC_Version;
1	ingob	107
41	ingob	108	u8 CompassCalStateQueue[10];
		109	fifo_t CompassCalcStateFiFo;
1	ingob	110
41	ingob	111	u8 CompassCalState = 0;
1	ingob	112
41	ingob	113	//--------------------------------------------------------------
		114	void SSP0_IRQHandler(void)
		115	{
		116	static u8 rxchksum = 0;
		117	u8 rxdata;
1	ingob	118
189	killagreg	119	#define SPI_SYNC1 0
		120	#define SPI_SYNC2 1
		121	#define SPI_DATA 2
		122	static u8 SPI_State = SPI_SYNC1;
		123
195	killagreg	124	IENABLE;
		125
161	killagreg	126	// clear pending bits
41	ingob	127	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	128	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	129
79	killagreg	130	// while RxFIFO not empty
		131	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		132	{
41	ingob	133	rxdata = SSP0->DR; // catch the received byte
		134	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	135	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	136	{
79	killagreg	137	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		138	{
41	ingob	139	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	140	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		141	SPI_TxBufferIndex++; // pointer to next byte
		142	}
		143	else // end of packet is reached reset and copy data to tx buffer
		144	{
		145	SPI_TxBufferIndex = 0; // reset buffer index
		146	ToFlightCtrl.Chksum = 0; // initialize checksum
		147	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		148	BeepTime = 0; // reset local beeptime
41	ingob	149	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	150	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		151	}
41	ingob	152	}
		153	switch (SPI_State)
		154	{
		155	case SPI_SYNC1:
		156	SPI_RxBufferIndex = 0; // reset buffer index
		157	rxchksum = rxdata; // init checksum
		158	if (rxdata == SPI_RXSYNCBYTE1)
		159	{ // 1st syncbyte ok
		160	SPI_State = SPI_SYNC2; // step to sync2
		161	}
		162	break;
79	killagreg	163	case SPI_SYNC2:
41	ingob	164	if (rxdata == SPI_RXSYNCBYTE2)
		165	{ // 2nd Syncbyte ok
		166	rxchksum += rxdata;
		167	SPI_State = SPI_DATA;
		168	} // 2nd Syncbyte does not match
		169	else
		170	{
		171	SPI_State = SPI_SYNC1; //jump back to sync1
		172	}
		173	break;
		174	case SPI_DATA:
		175	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		176	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		177	{
		178	if (rxdata == rxchksum) // verify checksum byte
		179	{
		180	// copy SPI_RxBuffer -> FromFlightCtrl
		181	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		182	{
		183	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		184	SPI_RxBuffer_Request = 1;
		185	}
146	killagreg	186	// reset timeout counter on good packet
		187	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	188	DebugOut.Analog[13]++;
		189	}
		190	else // bad checksum byte
		191	{
		192	DebugOut.Analog[12]++; // increase SPI chksum error counter
		193	}
		194	SPI_State = SPI_SYNC1; // reset state
		195	}
		196	else // end of packet not reached
		197	{
		198	rxchksum += rxdata; // update checksum
		199	}
		200	break;
		201	default:
		202	SPI_State = SPI_SYNC1;
		203	break;
		204	}
		205	}
195	killagreg	206
		207	IDISABLE;
1	ingob	208	}
		209
		210	//--------------------------------------------------------------
		211	void SPI0_Init(void)
		212	{
41	ingob	213	GPIO_InitTypeDef GPIO_InitStructure;
		214	SSP_InitTypeDef SSP_InitStructure;
1	ingob	215
110	killagreg	216	UART1_PutString("\r\n SPI init...");
1	ingob	217
41	ingob	218	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		219	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	220
41	ingob	221	GPIO_DeInit(GPIO2);
		222	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		223	GPIO_StructInit(&GPIO_InitStructure);
		224	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		225	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		226	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	227	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	228	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		229	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	230
41	ingob	231	// SSP0_MISO pin GPIO2.6
		232	GPIO_StructInit(&GPIO_InitStructure);
		233	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		234	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		235	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	236	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	237	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		238	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	239
41	ingob	240	SSP_DeInit(SSP0);
		241	SSP_StructInit(&SSP_InitStructure);
		242	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		243	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		244	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		245	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		246	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		247	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	248
41	ingob	249	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	250	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
202	killagreg	251
41	ingob	252	fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
		253
		254	SSP_Cmd(SSP0, ENABLE);
		255	// initialize the syncbytes in the tx buffer
		256	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		257	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		258	// set the pointer to the checksum byte in the tx buffer
		259	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		260
215	killagreg	261	ToFlightCtrl.GPSStick.Nick = 0;
		262	ToFlightCtrl.GPSStick.Roll = 0;
		263	ToFlightCtrl.GPSStick.Yaw = 0;
		264
136	killagreg	265	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	266	VIC_ITCmd(SSP0_ITLine, ENABLE);
		267
146	killagreg	268	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		269
110	killagreg	270	UART1_PutString("ok");
1	ingob	271	}
41	ingob	272
222	holgerb	273
1	ingob	274	//------------------------------------------------------
41	ingob	275	void SPI0_UpdateBuffer(void)
1	ingob	276	{
180	killagreg	277	static u32 timeout = 0;
		278	static u8 counter = 50;
202	killagreg	279
41	ingob	280	if (SPI_RxBuffer_Request)
		281	{
		282	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		283	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
		284	ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
189	killagreg	285	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
222	holgerb	286	ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
41	ingob	287	// cycle spi commands
		288	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	289	// restart command cycle at the end
41	ingob	290	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1	ingob	291
41	ingob	292	switch (ToFlightCtrl.Command)
		293	{
202	killagreg	294	case SPI_NCCMD_KALMAN:
222	holgerb	295	CalcHeadFree();
149	killagreg	296	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	297	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		298	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	299	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
149	killagreg	300	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	301	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
		302	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
161	killagreg	303	break;
58	killagreg	304
202	killagreg	305	case SPI_NCCMD_VERSION:
		306	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		307	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	308	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	309	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
218	killagreg	310	ToFlightCtrl.Param.Byte[4] = BoardRelease;
202	killagreg	311	break;
204	killagreg	312
		313	case SPI_NCCMD_GPSINFO:
		314	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		315	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		316	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
205	killagreg	317	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm
		318	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg
204	killagreg	319	break;
202	killagreg	320
41	ingob	321	default:
		322	break;
		323	}
		324	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	325
		326
41	ingob	327	switch(FromFlightCtrl.Command)
		328	{
202	killagreg	329	case SPI_FCCMD_USER:
41	ingob	330	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		331	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		332	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		333	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		334	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		335	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		336	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		337	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
199	killagreg	338	if(ClearFCFlags)
41	ingob	339	{
199	killagreg	340	FC.Flags = 0;
		341	ClearFCFlags = 0;
41	ingob	342	}
206	killagreg	343	FC.Flags \|= FromFlightCtrl.Param.Byte[8];
		344	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
199	killagreg	345	DebugOut.Analog[5] = FC.Flags;
206	killagreg	346	NaviData.FCFlags = FC.Flags;
222	holgerb	347	HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20;
41	ingob	348	break;
1	ingob	349
206	killagreg	350	case SPI_FCCMD_ACCU:
		351	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
		352	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
		353	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
		354	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
		355	NaviData.UBat = FC.BAT_Voltage;
		356	NaviData.Current = FC.BAT_Current;
		357	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		358	break;
		359
193	killagreg	360	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	361	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		362
202	killagreg	363	case SPI_FCCMD_PARAMETER1:
41	ingob	364	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		365	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		366	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		367	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		368	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		369	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		370	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		371	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	372	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	373	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
		374	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
		375	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	376	break;
1	ingob	377
202	killagreg	378	case SPI_FCCMD_STICK:
41	ingob	379	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		380	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		381	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		382	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	383	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		384	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		385	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		386	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		387	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		388	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		389	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	390	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	391	break;
27	holgerb	392
202	killagreg	393	case SPI_FCCMD_MISC:
41	ingob	394	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		395	{ // put only new CompassCalState into queue to send via I2C
		396	CompassCalState = FromFlightCtrl.Param.Byte[0];
		397	fifo_put(&CompassCalcStateFiFo, CompassCalState);
		398	}
58	killagreg	399	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	400	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
		401	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3
		402	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5
160	holgerb	403	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		404	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		405	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	406	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		407	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
206	killagreg	408	NaviData.RC_Quality = FC.RC_Quality;
		409	NaviData.RC_RSSI = FC.RC_RSSI;
		410	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	411	break;
161	killagreg	412
202	killagreg	413	case SPI_FCCMD_SERVOS:
121	killagreg	414	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		415	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		416	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		417	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	418	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	419	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		420	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		421	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	422	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		423	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	424	break;
1	ingob	425
202	killagreg	426	case SPI_FCCMD_VERSION:
119	killagreg	427	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		428	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		429	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		430	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		431	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
41	ingob	432	break;
1	ingob	433
41	ingob	434	default:
204	killagreg	435	break;
41	ingob	436	}
1	ingob	437
41	ingob	438	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	439	// and update GPSStick that are returned to FC
		440	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
199	killagreg	441	ClearFCFlags = 1;
202	killagreg	442
180	killagreg	443	if(counter)
		444	{
		445	counter--; // count down to enable servo
202	killagreg	446	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	447	}
1	ingob	448
41	ingob	449	SPI_RxBuffer_Request = 0;
180	killagreg	450	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	451
62	killagreg	452	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		453	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	454	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		455	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	456	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	457	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		458	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		459	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		460	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	461	else // no new SPI data
202	killagreg	462	{
180	killagreg	463	if(CheckDelay(timeout) && (counter == 0))
		464	{
		465	TIMER2_Deinit(); // disable Servo Output
		466	counter = 50; // reset counter for enabling Servo Output
		467	}
		468	}
1	ingob	469	}
		470
41	ingob	471	//------------------------------------------------------
		472	void SPI0_GetFlightCtrlVersion(void)
		473	{
154	killagreg	474	u32 timeout;
		475	u8 repeat;
78	holgerb	476	u8 msg[64];
41	ingob	477
154	killagreg	478	UART1_PutString("\r\n Getting Version from FC");
41	ingob	479	FC_Version.Major = 0xFF;
		480	FC_Version.Minor = 0xFF;
		481	FC_Version.Patch = 0xFF;
		482	FC_Version.Compatible = 0xFF;
		483
165	killagreg	484	// polling FC version info
154	killagreg	485	repeat = 0;
41	ingob	486	do
		487	{
154	killagreg	488	timeout = SetDelay(250);
		489	do
		490	{
		491	SPI0_UpdateBuffer();
		492	if (FC_Version.Major != 0xFF) break;
		493	}while (!CheckDelay(timeout));
		494	UART1_PutString(".");
		495	repeat++;
180	killagreg	496	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	497	// if we got it
		498	if (FC_Version.Major != 0xFF)
		499	{
61	holgerb	500	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	501	UART1_PutString(msg);
41	ingob	502	sprintf(msg, " Compatible: %d", FC_Version.Compatible);
110	killagreg	503	UART1_PutString(msg);
41	ingob	504	}
110	killagreg	505	else UART1_PutString("\n\r No version information from FlightCtrl.");
41	ingob	506	}
		507
		508

Subversion Repositories NaviCtrl

(root)/tags/V2.10a/spi_slave.c @ 627 - Rev 222