WebSVN - NaviCtrl - Blame - Rev 323 - /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"
242	killagreg	64	#include "compass.h"
119	killagreg	65	#include "timer1.h"
		66	#include "timer2.h"
136	killagreg	67	#include "config.h"
1	ingob	68	#include "main.h"
284	killagreg	69	#include "compass.h"
294	holgerb	70	#include "params.h"
1	ingob	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;
277	killagreg	105	s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde
286	killagreg	106	u32 ToFC_AltitudeRate = 0;
285	holgerb	107	s32 ToFC_AltitudeSetpoint = 0;
298	holgerb	108	u8 FromFC_VarioCharacter = ' ';
319	holgerb	109	u8 DisableFC_Sticks = 0;
323	holgerb	110	u8 NC_GPS_ModeCharacter = ' ';
58	killagreg	111
41	ingob	112	SPI_Version_t FC_Version;
1	ingob	113
41	ingob	114	//--------------------------------------------------------------
		115	void SSP0_IRQHandler(void)
		116	{
		117	static u8 rxchksum = 0;
		118	u8 rxdata;
1	ingob	119
189	killagreg	120	#define SPI_SYNC1 0
		121	#define SPI_SYNC2 1
		122	#define SPI_DATA 2
		123	static u8 SPI_State = SPI_SYNC1;
		124
195	killagreg	125	IENABLE;
		126
161	killagreg	127	// clear pending bits
41	ingob	128	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	129	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	130
79	killagreg	131	// while RxFIFO not empty
		132	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		133	{
41	ingob	134	rxdata = SSP0->DR; // catch the received byte
		135	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	136	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	137	{
79	killagreg	138	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		139	{
41	ingob	140	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	141	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		142	SPI_TxBufferIndex++; // pointer to next byte
		143	}
		144	else // end of packet is reached reset and copy data to tx buffer
		145	{
		146	SPI_TxBufferIndex = 0; // reset buffer index
		147	ToFlightCtrl.Chksum = 0; // initialize checksum
		148	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		149	BeepTime = 0; // reset local beeptime
41	ingob	150	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	151	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		152	}
41	ingob	153	}
		154	switch (SPI_State)
		155	{
		156	case SPI_SYNC1:
		157	SPI_RxBufferIndex = 0; // reset buffer index
		158	rxchksum = rxdata; // init checksum
		159	if (rxdata == SPI_RXSYNCBYTE1)
		160	{ // 1st syncbyte ok
		161	SPI_State = SPI_SYNC2; // step to sync2
		162	}
		163	break;
79	killagreg	164	case SPI_SYNC2:
41	ingob	165	if (rxdata == SPI_RXSYNCBYTE2)
		166	{ // 2nd Syncbyte ok
		167	rxchksum += rxdata;
		168	SPI_State = SPI_DATA;
		169	} // 2nd Syncbyte does not match
		170	else
		171	{
		172	SPI_State = SPI_SYNC1; //jump back to sync1
		173	}
		174	break;
		175	case SPI_DATA:
		176	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		177	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		178	{
		179	if (rxdata == rxchksum) // verify checksum byte
		180	{
		181	// copy SPI_RxBuffer -> FromFlightCtrl
		182	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		183	{
		184	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		185	SPI_RxBuffer_Request = 1;
		186	}
146	killagreg	187	// reset timeout counter on good packet
		188	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	189	DebugOut.Analog[13]++;
		190	}
		191	else // bad checksum byte
		192	{
		193	DebugOut.Analog[12]++; // increase SPI chksum error counter
		194	}
		195	SPI_State = SPI_SYNC1; // reset state
		196	}
		197	else // end of packet not reached
		198	{
		199	rxchksum += rxdata; // update checksum
		200	}
		201	break;
		202	default:
		203	SPI_State = SPI_SYNC1;
		204	break;
		205	}
		206	}
195	killagreg	207
		208	IDISABLE;
1	ingob	209	}
		210
		211	//--------------------------------------------------------------
		212	void SPI0_Init(void)
		213	{
41	ingob	214	GPIO_InitTypeDef GPIO_InitStructure;
		215	SSP_InitTypeDef SSP_InitStructure;
1	ingob	216
110	killagreg	217	UART1_PutString("\r\n SPI init...");
1	ingob	218
41	ingob	219	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		220	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	221
41	ingob	222	GPIO_DeInit(GPIO2);
		223	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		224	GPIO_StructInit(&GPIO_InitStructure);
		225	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		226	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		227	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	228	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	229	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		230	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	231
41	ingob	232	// SSP0_MISO pin GPIO2.6
		233	GPIO_StructInit(&GPIO_InitStructure);
		234	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		235	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		236	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	237	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	238	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		239	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	240
41	ingob	241	SSP_DeInit(SSP0);
		242	SSP_StructInit(&SSP_InitStructure);
		243	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		244	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		245	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		246	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		247	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		248	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	249
41	ingob	250	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	251	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
202	killagreg	252
41	ingob	253	SSP_Cmd(SSP0, ENABLE);
		254	// initialize the syncbytes in the tx buffer
		255	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		256	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		257	// set the pointer to the checksum byte in the tx buffer
		258	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		259
215	killagreg	260	ToFlightCtrl.GPSStick.Nick = 0;
		261	ToFlightCtrl.GPSStick.Roll = 0;
		262	ToFlightCtrl.GPSStick.Yaw = 0;
		263
136	killagreg	264	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	265	VIC_ITCmd(SSP0_ITLine, ENABLE);
		266
146	killagreg	267	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		268
110	killagreg	269	UART1_PutString("ok");
1	ingob	270	}
41	ingob	271
222	holgerb	272
1	ingob	273	//------------------------------------------------------
41	ingob	274	void SPI0_UpdateBuffer(void)
1	ingob	275	{
180	killagreg	276	static u32 timeout = 0;
		277	static u8 counter = 50;
254	killagreg	278	static u8 CompassCalState = 0;
268	killagreg	279	static u8 FCCalibActive = 0;
299	killagreg	280	s16 tmp;
202	killagreg	281
41	ingob	282	if (SPI_RxBuffer_Request)
		283	{
		284	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		285	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
254	killagreg	286	ToFlightCtrl.CompassHeading = Compass_Heading;
189	killagreg	287	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
228	holgerb	288	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
286	killagreg	289	ToFlightCtrl.MagVecX = MagVector.X;
		290	ToFlightCtrl.MagVecY = MagVector.Y;
		291	ToFlightCtrl.MagVecZ = MagVector.Z;
284	killagreg	292	ToFlightCtrl.NCStatus = 0;
41	ingob	293	// cycle spi commands
		294	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	295	// restart command cycle at the end
41	ingob	296	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
319	holgerb	297	#define FLAG_GPS_AID 0x01
41	ingob	298	switch (ToFlightCtrl.Command)
		299	{
202	killagreg	300	case SPI_NCCMD_KALMAN:
223	killagreg	301	CalcHeadFree();
149	killagreg	302	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	303	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		304	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	305	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
149	killagreg	306	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	307	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
223	killagreg	308	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
319	holgerb	309	if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00;
280	killagreg	310	if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH)
278	killagreg	311	{
		312	ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth;
280	killagreg	313	CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH;
278	killagreg	314	}
		315	else
280	killagreg	316	{
278	killagreg	317	ToFlightCtrl.Param.sInt[4] = -1;
		318	}
294	holgerb	319
299	killagreg	320	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command
295	killagreg	321	{
299	killagreg	322	ToFlightCtrl.Param.sInt[5] = tmp;
		323	}
		324	else
		325	{
295	killagreg	326	if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active
		327	else ToFlightCtrl.Param.sInt[5] = 0;
		328	}
161	killagreg	329	break;
58	killagreg	330
202	killagreg	331	case SPI_NCCMD_VERSION:
		332	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		333	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	334	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	335	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
264	killagreg	336	ToFlightCtrl.Param.Byte[4] = Version_HW;
231	holgerb	337	ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0];
		338	ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1];
233	holgerb	339	ToFlightCtrl.Param.Byte[7] = ErrorCode;
323	holgerb	340	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
202	killagreg	341	break;
223	killagreg	342
204	killagreg	343	case SPI_NCCMD_GPSINFO:
		344	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		345	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		346	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
232	killagreg	347	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
258	holgerb	348	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
		349	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
306	holgerb	350	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;
		351	ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
299	killagreg	352	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
		353	{
		354	ToFlightCtrl.Param.Byte[9] = (u8)tmp;
295	killagreg	355	}
299	killagreg	356	else
		357	{
		358	ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate;
		359	}
		360	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp))
		361	{
		362	ToFlightCtrl.Param.sInt[5] = tmp;
		363	}
		364	else
		365	{
		366	ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint;
		367	}
300	holgerb	368	// DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9];
		369	// DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5];
204	killagreg	370	break;
299	killagreg	371
41	ingob	372	default:
		373	break;
285	holgerb	374	// 0 = 0,1
		375	// 1 = 2,3
		376	// 2 = 4,5
		377	// 3 = 6,7
		378	// 4 = 8,9
		379	// 5 = 10,11
41	ingob	380	}
		381	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	382
		383
41	ingob	384	switch(FromFlightCtrl.Command)
		385	{
202	killagreg	386	case SPI_FCCMD_USER:
41	ingob	387	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		388	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		389	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		390	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		391	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		392	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		393	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		394	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
255	killagreg	395	if(ClearFCStatusFlags)
41	ingob	396	{
255	killagreg	397	FC.StatusFlags = 0;
		398	ClearFCStatusFlags = 0;
41	ingob	399	}
255	killagreg	400	FC.StatusFlags \|= FromFlightCtrl.Param.Byte[8];
320	holgerb	401	if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive)
268	killagreg	402	{
		403	Compass_Init();
		404	FCCalibActive = 1;
320	holgerb	405	HeadFreeStartAngle = FromFlightCtrl.GyroHeading;
268	killagreg	406	}
		407	else
		408	{
284	killagreg	409	FCCalibActive = 0;
268	killagreg	410	}
320	holgerb	411	if(FC.StatusFlags & FC_STATUS_START) HeadFreeStartAngle = FromFlightCtrl.GyroHeading;
		412
		413	if((Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) && (NCFlags & NC_FLAG_GPS_OK))
		414	{
		415	if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
		416	{
		417	if(NaviData.HomePositionDeviation.Distance > 100) // nur bei ausreichender distance
		418	{
		419	HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800) % 3600; // in 0.1�
		420	}
		421	else // Ansonsten die aktuelle Richtung �bernehmen
		422	HeadFreeStartAngle = FromFlightCtrl.GyroHeading; // in 0.1�
		423
		424	}
		425	}
		426
223	killagreg	427	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
255	killagreg	428	DebugOut.Analog[5] = FC.StatusFlags;
294	holgerb	429	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
255	killagreg	430	NaviData.FCStatusFlags = FC.StatusFlags;
294	holgerb	431	NaviData.FCStatusFlags2 = FC.StatusFlags2;
321	holgerb	432	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
41	ingob	433	break;
1	ingob	434
206	killagreg	435	case SPI_FCCMD_ACCU:
223	killagreg	436	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
206	killagreg	437	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
		438	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
		439	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
298	holgerb	440	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
320	holgerb	441	Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7];
		442	Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8];
298	holgerb	443	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
		444	{
		445	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
		446	}
206	killagreg	447	NaviData.UBat = FC.BAT_Voltage;
		448	NaviData.Current = FC.BAT_Current;
		449	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		450	break;
		451
193	killagreg	452	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	453	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		454
202	killagreg	455	case SPI_FCCMD_PARAMETER1:
41	ingob	456	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		457	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		458	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		459	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		460	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		461	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		462	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		463	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	464	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	465	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
		466	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
		467	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	468	break;
1	ingob	469
202	killagreg	470	case SPI_FCCMD_STICK:
41	ingob	471	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		472	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		473	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		474	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	475	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		476	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		477	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		478	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		479	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		480	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		481	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	482	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	483	break;
27	holgerb	484
202	killagreg	485	case SPI_FCCMD_MISC:
41	ingob	486	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		487	{ // put only new CompassCalState into queue to send via I2C
		488	CompassCalState = FromFlightCtrl.Param.Byte[0];
254	killagreg	489	Compass_SetCalState(CompassCalState);
41	ingob	490	}
58	killagreg	491	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	492	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
287	holgerb	493	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm
		494	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
160	holgerb	495	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		496	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		497	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	498	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		499	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
294	holgerb	500	if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
		501	// NaviData.RC_RSSI = FC.RC_RSSI;
206	killagreg	502	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	503	break;
161	killagreg	504
202	killagreg	505	case SPI_FCCMD_SERVOS:
121	killagreg	506	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		507	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		508	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		509	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	510	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	511	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		512	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		513	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	514	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		515	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	516	break;
1	ingob	517
202	killagreg	518	case SPI_FCCMD_VERSION:
119	killagreg	519	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		520	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		521	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		522	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		523	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
255	killagreg	524	FC.Error[0] = FromFlightCtrl.Param.Byte[5];
		525	FC.Error[1] = FromFlightCtrl.Param.Byte[6];
		526	FC.Error[2] = FromFlightCtrl.Param.Byte[7];
		527	FC.Error[3] = FromFlightCtrl.Param.Byte[8];
		528	FC.Error[4] = FromFlightCtrl.Param.Byte[9];
320	holgerb	529	Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10];
231	holgerb	530	DebugOut.Status[0] \|= 0x01; // status of FC Present
232	killagreg	531	DebugOut.Status[0] \|= 0x02; // status of BL Present
255	killagreg	532	if(FC.Error[0] \|\| FC.Error[1] \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]) DebugOut.Status[1] \|= 0x01;
232	killagreg	533	else DebugOut.Status[1] &= ~0x01;
41	ingob	534	break;
		535	default:
204	killagreg	536	break;
41	ingob	537	}
1	ingob	538
41	ingob	539	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	540	// and update GPSStick that are returned to FC
		541	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
255	killagreg	542	ClearFCStatusFlags = 1;
202	killagreg	543
180	killagreg	544	if(counter)
		545	{
		546	counter--; // count down to enable servo
202	killagreg	547	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	548	}
1	ingob	549
41	ingob	550	SPI_RxBuffer_Request = 0;
180	killagreg	551	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	552
62	killagreg	553	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		554	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	555	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		556	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	557	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	558	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		559	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		560	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		561	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	562	else // no new SPI data
202	killagreg	563	{
180	killagreg	564	if(CheckDelay(timeout) && (counter == 0))
		565	{
		566	TIMER2_Deinit(); // disable Servo Output
		567	counter = 50; // reset counter for enabling Servo Output
		568	}
		569	}
1	ingob	570	}
		571
41	ingob	572	//------------------------------------------------------
		573	void SPI0_GetFlightCtrlVersion(void)
		574	{
154	killagreg	575	u32 timeout;
		576	u8 repeat;
78	holgerb	577	u8 msg[64];
41	ingob	578
297	ingob	579	UART1_PutString("\r\n Looking for FlightControl");
41	ingob	580	FC_Version.Major = 0xFF;
		581	FC_Version.Minor = 0xFF;
		582	FC_Version.Patch = 0xFF;
		583	FC_Version.Compatible = 0xFF;
		584
165	killagreg	585	// polling FC version info
154	killagreg	586	repeat = 0;
41	ingob	587	do
		588	{
154	killagreg	589	timeout = SetDelay(250);
		590	do
		591	{
		592	SPI0_UpdateBuffer();
		593	if (FC_Version.Major != 0xFF) break;
		594	}while (!CheckDelay(timeout));
		595	UART1_PutString(".");
		596	repeat++;
180	killagreg	597	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	598	// if we got it
		599	if (FC_Version.Major != 0xFF)
		600	{
242	killagreg	601	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	602	UART1_PutString(msg);
41	ingob	603	}
242	killagreg	604	else UART1_PutString("\n\r not found!");
41	ingob	605	}
		606
		607

Subversion Repositories NaviCtrl

(root)/tags/V2.10a/spi_slave.c @ 627 - Rev 323