WebSVN - NaviCtrl - Blame - Rev 136 - /tags/V2.10c/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
		6	// + Nur f�r den privaten Gebrauch
		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	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 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
1	ingob	43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
		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"
		61	#include "GPS.h"
		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	typedef enum
		78	{
		79	SPI_SYNC1,
		80	SPI_SYNC2,
		81	SPI_DATA
		82	} SPI_State_t;
1	ingob	83
41	ingob	84	//communication packets
		85	volatile FromFlightCtrl_t FromFlightCtrl;
		86	volatile ToFlightCtrl_t ToFlightCtrl;
1	ingob	87
41	ingob	88	// tx packet buffer
		89	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
		90	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN];
		91	volatile u8 SPI_TxBufferIndex = 0;
		92	u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
1	ingob	93
41	ingob	94	// rx packet buffer
		95	#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
		96	volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN];
		97	volatile u8 SPI_RxBufferIndex = 0;
		98	volatile u8 SPI_RxBuffer_Request = 0;
1	ingob	99	#define SPI_COMMAND_INDEX 0
		100
41	ingob	101	s32 FC_Kalman_K = 32;
		102	s32 Kalman_MaxDrift = 5 * 16;
		103	s32 Kalman_MaxFusion = 64;
		104	u32 CheckSPIOkay = 0;
1	ingob	105
121	killagreg	106	u8 SPI_CommandSequence[] = { SPI_KALMAN };
41	ingob	107	u8 SPI_CommandCounter = 0;
58	killagreg	108
41	ingob	109	SPI_Version_t FC_Version;
1	ingob	110
41	ingob	111	u8 CompassCalStateQueue[10];
		112	fifo_t CompassCalcStateFiFo;
1	ingob	113
41	ingob	114	u8 CompassCalState = 0;
1	ingob	115
41	ingob	116	//--------------------------------------------------------------
		117	void SSP0_IRQHandler(void)
		118	{
		119	static u8 rxchksum = 0;
		120	u8 rxdata;
		121	static SPI_State_t SPI_State = SPI_SYNC1;
1	ingob	122
41	ingob	123	// clear pending bit
		124	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
		125	// Fill TxFIFO while its not full or end of packet is reached
		126	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
		127	{
		128	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		129	{
		130	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
		131	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		132	SPI_TxBufferIndex++; // pointer to next byte
		133	}
		134	else // TxBuffer end is reached then reset and copy data to tx buffer
		135	{
		136	SPI_TxBufferIndex = 0; // reset buffer index
		137	ToFlightCtrl.Chksum = 0; // initialize checksum
		138	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		139	BeepTime = 0; // reset local beeptime
		140	// copy contents of ToFlightCtrl->SPI_TxBuffer
		141	memcpy( (u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		142	}
79	killagreg	143	}
		144	// while RxFIFO not empty
		145	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		146	{
41	ingob	147	rxdata = SSP0->DR; // catch the received byte
		148	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	149	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
41	ingob	150	{
79	killagreg	151	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		152	{
41	ingob	153	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	154	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		155	SPI_TxBufferIndex++; // pointer to next byte
		156	}
		157	else // end of packet is reached reset and copy data to tx buffer
		158	{
		159	SPI_TxBufferIndex = 0; // reset buffer index
		160	ToFlightCtrl.Chksum = 0; // initialize checksum
		161	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		162	BeepTime = 0; // reset local beeptime
41	ingob	163	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	164	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		165	}
41	ingob	166	}
		167	switch (SPI_State)
		168	{
		169	case SPI_SYNC1:
		170	SPI_RxBufferIndex = 0; // reset buffer index
		171	rxchksum = rxdata; // init checksum
		172	if (rxdata == SPI_RXSYNCBYTE1)
		173	{ // 1st syncbyte ok
		174	SPI_State = SPI_SYNC2; // step to sync2
		175	}
		176	break;
79	killagreg	177	case SPI_SYNC2:
41	ingob	178	if (rxdata == SPI_RXSYNCBYTE2)
		179	{ // 2nd Syncbyte ok
		180	rxchksum += rxdata;
		181	SPI_State = SPI_DATA;
		182	} // 2nd Syncbyte does not match
		183	else
		184	{
		185	SPI_State = SPI_SYNC1; //jump back to sync1
		186	}
		187	break;
		188	case SPI_DATA:
		189	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		190	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		191	{
		192	if (rxdata == rxchksum) // verify checksum byte
		193	{
		194	// copy SPI_RxBuffer -> FromFlightCtrl
		195	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		196	{
		197	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		198	SPI_RxBuffer_Request = 1;
		199	}
		200	CheckSPIOkay++;
		201	DebugOut.Analog[13]++;
		202	}
		203	else // bad checksum byte
		204	{
		205	DebugOut.Analog[12]++; // increase SPI chksum error counter
		206	}
		207	SPI_State = SPI_SYNC1; // reset state
		208	}
		209	else // end of packet not reached
		210	{
		211	rxchksum += rxdata; // update checksum
		212	}
		213	break;
		214	default:
		215	SPI_State = SPI_SYNC1;
		216	break;
		217	}
		218	}
1	ingob	219	}
		220
		221	//--------------------------------------------------------------
		222	void SPI0_Init(void)
		223	{
41	ingob	224	GPIO_InitTypeDef GPIO_InitStructure;
		225	SSP_InitTypeDef SSP_InitStructure;
1	ingob	226
110	killagreg	227	UART1_PutString("\r\n SPI init...");
1	ingob	228
41	ingob	229	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		230	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	231
41	ingob	232	GPIO_DeInit(GPIO2);
		233	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		234	GPIO_StructInit(&GPIO_InitStructure);
		235	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		236	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		237	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
		238	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
		239	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		240	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	241
41	ingob	242	// SSP0_MISO pin GPIO2.6
		243	GPIO_StructInit(&GPIO_InitStructure);
		244	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		245	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		246	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
		247	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
		248	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		249	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	250
41	ingob	251	SSP_DeInit(SSP0);
		252	SSP_StructInit(&SSP_InitStructure);
		253	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		254	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		255	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		256	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		257	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		258	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	259
41	ingob	260	SSP_Init(SSP0, &SSP_InitStructure);
1	ingob	261
41	ingob	262	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_TxFifo \| SSP_IT_RxTimeOut, ENABLE);
1	ingob	263
41	ingob	264	fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
		265
		266	SSP_Cmd(SSP0, ENABLE);
		267	// initialize the syncbytes in the tx buffer
		268	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		269	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		270	// set the pointer to the checksum byte in the tx buffer
		271	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		272
136	killagreg	273	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	274	VIC_ITCmd(SSP0_ITLine, ENABLE);
		275
110	killagreg	276	UART1_PutString("ok");
1	ingob	277	}
41	ingob	278
1	ingob	279	//------------------------------------------------------
41	ingob	280	void SPI0_UpdateBuffer(void)
1	ingob	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
1	ingob	286
41	ingob	287	ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
		288	ToFlightCtrl.GPS_Nick = GPS_Stick.Nick;
		289	ToFlightCtrl.GPS_Roll = GPS_Stick.Roll;
		290	ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw;
		291	// cycle spi commands
		292	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	293	// restart command cycle at the end
41	ingob	294	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1	ingob	295
41	ingob	296	switch (ToFlightCtrl.Command)
		297	{
		298	case SPI_KALMAN:
92	killagreg	299	ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K;
		300	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		301	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	302	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
121	killagreg	303	break;
58	killagreg	304
41	ingob	305	default:
		306	break;
		307	}
		308	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	309
		310
41	ingob	311	switch(FromFlightCtrl.Command)
		312	{
		313	case SPI_CMD_USER:
		314	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		315	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		316	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		317	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		318	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		319	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		320	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		321	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
		322	if(ClearMKFlags)
		323	{
		324	FC.MKFlags = 0;
		325	ClearMKFlags = 0;
		326	}
		327	FC.MKFlags \|= FromFlightCtrl.Param.Byte[8];
		328	FC.UBat = FromFlightCtrl.Param.Byte[9];
		329	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10];
		330	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11];
79	killagreg	331	DebugOut.Analog[5] = FC.MKFlags;
41	ingob	332	break;
1	ingob	333
41	ingob	334	#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;}
		335	case SPI_CMD_PARAMETER1:
		336	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		337	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		338	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		339	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		340	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		341	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		342	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		343	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	344	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	345	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
		346	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
		347	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	348	break;
1	ingob	349
41	ingob	350	case SPI_CMD_STICK:
		351	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		352	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		353	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		354	FC.StickNick = FromFlightCtrl.Param.sByte[3];
		355	FC.Poti1 = FromFlightCtrl.Param.Byte[4];
		356	FC.Poti2 = FromFlightCtrl.Param.Byte[5];
		357	FC.Poti3 = FromFlightCtrl.Param.Byte[6];
		358	FC.Poti4 = FromFlightCtrl.Param.Byte[7];
		359	FC.RC_Quality = FromFlightCtrl.Param.Byte[8];
125	killagreg	360	FC.RC_RSSI = FromFlightCtrl.Param.Byte[9];
41	ingob	361	break;
27	holgerb	362
41	ingob	363	case SPI_CMD_MISC:
		364	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		365	{ // put only new CompassCalState into queue to send via I2C
		366	CompassCalState = FromFlightCtrl.Param.Byte[0];
		367	fifo_put(&CompassCalcStateFiFo, CompassCalState);
		368	}
58	killagreg	369	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
79	killagreg	370	NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch
58	killagreg	371	NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3
79	killagreg	372	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255);
		373	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255);
		374	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255);
41	ingob	375	break;
119	killagreg	376
121	killagreg	377	case SPI_CMD_SERVOS:
		378	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		379	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		380	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		381	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
		382	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
		383	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		384	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		385	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
		386	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		387	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	388	break;
1	ingob	389
41	ingob	390	case SPI_CMD_VERSION:
119	killagreg	391	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		392	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		393	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		394	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		395	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
41	ingob	396	break;
1	ingob	397
41	ingob	398	default:
		399	break;
		400	}
1	ingob	401
41	ingob	402	// every time we got new data from the FC via SPI call the navigation routine
		403	GPS_Navigation();
		404	ClearMKFlags = 1;
1	ingob	405
41	ingob	406	SPI_RxBuffer_Request = 0;
1	ingob	407
62	killagreg	408	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		409	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	410	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		411	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	412	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	413	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		414	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		415	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		416	} // EOF if(SPI_RxBuffer_Request)
1	ingob	417	}
		418
41	ingob	419	//------------------------------------------------------
		420	void SPI0_GetFlightCtrlVersion(void)
		421	{
		422	u16 timeout;
78	holgerb	423	u8 msg[64];
41	ingob	424
		425	FC_Version.Major = 0xFF;
		426	FC_Version.Minor = 0xFF;
		427	FC_Version.Patch = 0xFF;
		428	FC_Version.Compatible = 0xFF;
		429
		430	// polling FC version info for 2 second
		431	timeout = SetDelay(2000);
		432	do
		433	{
		434	SPI0_UpdateBuffer();
		435	if (FC_Version.Major != 0xFF) break;
		436	}while (!CheckDelay(timeout));
		437	// if we got it
		438	if (FC_Version.Major != 0xFF)
		439	{
61	holgerb	440	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	441	UART1_PutString(msg);
41	ingob	442	sprintf(msg, " Compatible: %d", FC_Version.Compatible);
110	killagreg	443	UART1_PutString(msg);
41	ingob	444	}
110	killagreg	445	else UART1_PutString("\n\r No version information from FlightCtrl.");
41	ingob	446	}
		447
		448

Subversion Repositories NaviCtrl

(root)/tags/V2.10c/spi_slave.c @ 811 - Rev 136