WebSVN - NaviCtrl - Blame - Rev 329 - /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
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
329	holgerb	101	u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, 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 = ' ';
329	holgerb	111	u8 FCCalibActive = 0;
58	killagreg	112
41	ingob	113	SPI_Version_t FC_Version;
1	ingob	114
41	ingob	115	//--------------------------------------------------------------
		116	void SSP0_IRQHandler(void)
		117	{
		118	static u8 rxchksum = 0;
		119	u8 rxdata;
1	ingob	120
189	killagreg	121	#define SPI_SYNC1 0
		122	#define SPI_SYNC2 1
		123	#define SPI_DATA 2
		124	static u8 SPI_State = SPI_SYNC1;
		125
195	killagreg	126	IENABLE;
		127
161	killagreg	128	// clear pending bits
41	ingob	129	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	130	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	131
79	killagreg	132	// while RxFIFO not empty
		133	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		134	{
41	ingob	135	rxdata = SSP0->DR; // catch the received byte
		136	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	137	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	138	{
79	killagreg	139	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		140	{
41	ingob	141	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	142	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		143	SPI_TxBufferIndex++; // pointer to next byte
		144	}
		145	else // end of packet is reached reset and copy data to tx buffer
		146	{
		147	SPI_TxBufferIndex = 0; // reset buffer index
		148	ToFlightCtrl.Chksum = 0; // initialize checksum
		149	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		150	BeepTime = 0; // reset local beeptime
41	ingob	151	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	152	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		153	}
41	ingob	154	}
		155	switch (SPI_State)
		156	{
		157	case SPI_SYNC1:
		158	SPI_RxBufferIndex = 0; // reset buffer index
		159	rxchksum = rxdata; // init checksum
		160	if (rxdata == SPI_RXSYNCBYTE1)
		161	{ // 1st syncbyte ok
		162	SPI_State = SPI_SYNC2; // step to sync2
		163	}
		164	break;
79	killagreg	165	case SPI_SYNC2:
41	ingob	166	if (rxdata == SPI_RXSYNCBYTE2)
		167	{ // 2nd Syncbyte ok
		168	rxchksum += rxdata;
		169	SPI_State = SPI_DATA;
		170	} // 2nd Syncbyte does not match
		171	else
		172	{
		173	SPI_State = SPI_SYNC1; //jump back to sync1
		174	}
		175	break;
		176	case SPI_DATA:
		177	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		178	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		179	{
		180	if (rxdata == rxchksum) // verify checksum byte
		181	{
		182	// copy SPI_RxBuffer -> FromFlightCtrl
		183	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		184	{
		185	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		186	SPI_RxBuffer_Request = 1;
		187	}
146	killagreg	188	// reset timeout counter on good packet
		189	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	190	DebugOut.Analog[13]++;
		191	}
		192	else // bad checksum byte
		193	{
		194	DebugOut.Analog[12]++; // increase SPI chksum error counter
		195	}
		196	SPI_State = SPI_SYNC1; // reset state
		197	}
		198	else // end of packet not reached
		199	{
		200	rxchksum += rxdata; // update checksum
		201	}
		202	break;
		203	default:
		204	SPI_State = SPI_SYNC1;
		205	break;
		206	}
		207	}
195	killagreg	208
		209	IDISABLE;
1	ingob	210	}
		211
		212	//--------------------------------------------------------------
		213	void SPI0_Init(void)
		214	{
41	ingob	215	GPIO_InitTypeDef GPIO_InitStructure;
		216	SSP_InitTypeDef SSP_InitStructure;
1	ingob	217
110	killagreg	218	UART1_PutString("\r\n SPI init...");
1	ingob	219
41	ingob	220	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		221	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	222
41	ingob	223	GPIO_DeInit(GPIO2);
		224	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		225	GPIO_StructInit(&GPIO_InitStructure);
		226	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		227	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		228	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	229	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	230	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		231	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	232
41	ingob	233	// SSP0_MISO pin GPIO2.6
		234	GPIO_StructInit(&GPIO_InitStructure);
		235	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		236	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		237	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	238	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	239	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		240	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	241
41	ingob	242	SSP_DeInit(SSP0);
		243	SSP_StructInit(&SSP_InitStructure);
		244	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		245	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		246	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		247	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		248	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		249	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	250
41	ingob	251	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	252	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
202	killagreg	253
41	ingob	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;
329	holgerb	278	static u8 counter = 50,hott_index = 0;
254	killagreg	279	static u8 CompassCalState = 0;
299	killagreg	280	s16 tmp;
329	holgerb	281	s32 i1,i2;
202	killagreg	282
41	ingob	283	if (SPI_RxBuffer_Request)
		284	{
		285	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		286	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
254	killagreg	287	ToFlightCtrl.CompassHeading = Compass_Heading;
189	killagreg	288	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
228	holgerb	289	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
327	holgerb	290	// ToFlightCtrl.MagVecX = MagVector.X;
		291	// ToFlightCtrl.MagVecY = MagVector.Y;
286	killagreg	292	ToFlightCtrl.MagVecZ = MagVector.Z;
284	killagreg	293	ToFlightCtrl.NCStatus = 0;
41	ingob	294	// cycle spi commands
		295	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	296	// restart command cycle at the end
41	ingob	297	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
319	holgerb	298	#define FLAG_GPS_AID 0x01
41	ingob	299	switch (ToFlightCtrl.Command)
		300	{
329	holgerb	301	case SPI_NCCMD_KALMAN: // wird am h�ufigsten bet�tigt
223	killagreg	302	CalcHeadFree();
149	killagreg	303	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	304	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		305	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	306	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
149	killagreg	307	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	308	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
223	killagreg	309	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
319	holgerb	310	if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00;
280	killagreg	311	if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH)
278	killagreg	312	{
		313	ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth;
280	killagreg	314	CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH;
278	killagreg	315	}
		316	else
280	killagreg	317	{
278	killagreg	318	ToFlightCtrl.Param.sInt[4] = -1;
		319	}
294	holgerb	320
299	killagreg	321	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command
295	killagreg	322	{
299	killagreg	323	ToFlightCtrl.Param.sInt[5] = tmp;
		324	}
		325	else
		326	{
295	killagreg	327	if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active
		328	else ToFlightCtrl.Param.sInt[5] = 0;
		329	}
161	killagreg	330	break;
58	killagreg	331
202	killagreg	332	case SPI_NCCMD_VERSION:
		333	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		334	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	335	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	336	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
264	killagreg	337	ToFlightCtrl.Param.Byte[4] = Version_HW;
231	holgerb	338	ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0];
		339	ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1];
233	holgerb	340	ToFlightCtrl.Param.Byte[7] = ErrorCode;
323	holgerb	341	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
202	killagreg	342	break;
223	killagreg	343
204	killagreg	344	case SPI_NCCMD_GPSINFO:
		345	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		346	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		347	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
232	killagreg	348	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
258	holgerb	349	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5
		350	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7
306	holgerb	351	if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254;
		352	ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127);
299	killagreg	353	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp))
		354	{
		355	ToFlightCtrl.Param.Byte[9] = (u8)tmp;
295	killagreg	356	}
299	killagreg	357	else
		358	{
		359	ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate;
		360	}
		361	if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp))
		362	{
		363	ToFlightCtrl.Param.sInt[5] = tmp;
		364	}
		365	else
		366	{
		367	ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint;
		368	}
300	holgerb	369	// DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9];
		370	// DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5];
204	killagreg	371	break;
329	holgerb	372	case SPI_NCCMD_HOTT_INFO:
		373	switch(hott_index++)
		374	{
		375	/*
		376	typedef struct
		377	{
		378	unsigned char StartByte; //0 // 0x7C
		379	unsigned char Packet_ID; //1 // 0x89 - Vario ID
		380	unsigned char WarnBeep; //2 // Anzahl der T�ne 0..36
		381	unsigned char Heading; //3 // 1 = 2�
		382	unsigned int Speed; //4+5 // in km/h
		383	unsigned char Lat_North; //6
		384	unsigned char Lat_G; //7
		385	unsigned char Lat_M; //8
		386	unsigned char Lat_Sek1; //9
		387	unsigned char Lat_Sek2; //10
		388	unsigned char Lon_East; //11
		389	unsigned char Lon_G; //12
		390	unsigned char Lon_M; //13
		391	unsigned char Lon_Sek1; //14
		392	unsigned char Lon_Sek2; //15
		393	unsigned int Distance; //16+17 // 9000 = 0m
		394	unsigned int Altitude; //18+19 // 500 = 0m
		395	unsigned int m_sec; //20+21 // 3000 = 0
		396	unsigned int m_3sec; //22+23 // 3000 = 0
		397	unsigned int m_10sec; //24+25 // 3000 = 0
		398	unsigned char NullByte; // 0x00
		399	unsigned char NullByte1; // 0x00
		400	unsigned char EndByte; // 0x7D
		401	} GPSPacket_t;
		402	*/
		403	case 0:
		404	//Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden
		405	//53.285788 7.4847269 --> N53� 17.14728 E7� 29.08362 --> N53� 17' 8.837" E7� 29' 5.017"
		406	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
		407	ToFlightCtrl.Param.Byte[0] = 3; // index
		408	ToFlightCtrl.Param.Byte[1] = 9-1; // how many
		409	//-----------------------------
		410	ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2;
		411	i1 = GPSData.Speed_Ground; // in cm/sec
		412	i1 *= 36;
		413	i1 /= 1000;
		414	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		415	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		416	//-----------------------------
		417	if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S
		418	else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
		419	i1 = abs(GPSData.Position.Latitude)/10000000L;
		420	i2 = abs(GPSData.Position.Latitude)%10000000L;
		421	i1 *= 100;
		422	i1 += i2 / 100000;
		423	i2 = i2 % 100000;
		424	i2 /= 10;
		425	ToFlightCtrl.Param.Byte[6] = i1 % 256;
		426	ToFlightCtrl.Param.Byte[7] = i1 / 256;
		427	ToFlightCtrl.Param.Byte[8] = i2 % 256;
		428	ToFlightCtrl.Param.Byte[9] = i2 / 256;
299	killagreg	429
329	holgerb	430	break;
		431	case 1:
		432	ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
		433	ToFlightCtrl.Param.Byte[0] = 11; // index
		434	ToFlightCtrl.Param.Byte[1] = 8-1; // how many
		435	//-----------------------------
		436	if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
		437	else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
		438	i1 = abs(GPSData.Position.Longitude)/10000000L;
		439	i2 = abs(GPSData.Position.Longitude)%10000000L;
		440	i1 *= 100;
		441	i1 += i2 / 100000;
		442	i2 = i2 % 100000;
		443	i2 /= 10;
		444	ToFlightCtrl.Param.Byte[3] = i1 % 256;
		445	ToFlightCtrl.Param.Byte[4] = i1 / 256;
		446	ToFlightCtrl.Param.Byte[5] = i2 % 256;
		447	ToFlightCtrl.Param.Byte[6] = i2 / 256;
		448	//-----------------------------
		449	i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m
		450	ToFlightCtrl.Param.Byte[7] = i1 % 256;
		451	ToFlightCtrl.Param.Byte[8] = i1 / 256;
		452	hott_index = 0;
		453	break;
		454	default:
		455	ToFlightCtrl.Param.Byte[0] = 255;
		456	hott_index = 0;
		457	break;
		458	}
		459	break;
41	ingob	460	default:
		461	break;
285	holgerb	462	// 0 = 0,1
		463	// 1 = 2,3
		464	// 2 = 4,5
		465	// 3 = 6,7
		466	// 4 = 8,9
		467	// 5 = 10,11
41	ingob	468	}
		469	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	470
41	ingob	471	switch(FromFlightCtrl.Command)
		472	{
202	killagreg	473	case SPI_FCCMD_USER:
41	ingob	474	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		475	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		476	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		477	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		478	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		479	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		480	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		481	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
255	killagreg	482	if(ClearFCStatusFlags)
41	ingob	483	{
255	killagreg	484	FC.StatusFlags = 0;
		485	ClearFCStatusFlags = 0;
41	ingob	486	}
255	killagreg	487	FC.StatusFlags \|= FromFlightCtrl.Param.Byte[8];
320	holgerb	488	if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive)
268	killagreg	489	{
326	holgerb	490	HeadFreeStartAngle = Compass_Heading * 10;
268	killagreg	491	Compass_Init();
		492	FCCalibActive = 1;
		493	}
		494	else
		495	{
284	killagreg	496	FCCalibActive = 0;
268	killagreg	497	}
329	holgerb	498	if(FC.StatusFlags & FC_STATUS_START)
		499	{
		500	if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else
		501	HeadFreeStartAngle = FromFlightCtrl.GyroHeading;
		502	}
320	holgerb	503
329	holgerb	504	if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
		505	{
		506	if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
		507	{
		508	if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
		509	{
		510	HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1�
		511	}
		512	else // Ansonsten die aktuelle Richtung �bernehmen
		513	HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /+ Parameter.OrientationAngle 150*/) % 3600; // in 0.1�
		514	}
		515	}
320	holgerb	516
326	holgerb	517	//DebugOut.Analog[16] = HeadFreeStartAngle;
		518
223	killagreg	519	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
255	killagreg	520	DebugOut.Analog[5] = FC.StatusFlags;
294	holgerb	521	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
255	killagreg	522	NaviData.FCStatusFlags = FC.StatusFlags;
294	holgerb	523	NaviData.FCStatusFlags2 = FC.StatusFlags2;
321	holgerb	524	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
41	ingob	525	break;
1	ingob	526
206	killagreg	527	case SPI_FCCMD_ACCU:
223	killagreg	528	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
206	killagreg	529	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
		530	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
		531	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
298	holgerb	532	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
320	holgerb	533	Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7];
		534	Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8];
298	holgerb	535	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
		536	{
		537	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
		538	}
206	killagreg	539	NaviData.UBat = FC.BAT_Voltage;
		540	NaviData.Current = FC.BAT_Current;
		541	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		542	break;
		543
193	killagreg	544	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	545	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		546
202	killagreg	547	case SPI_FCCMD_PARAMETER1:
41	ingob	548	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		549	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		550	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		551	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		552	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		553	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		554	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		555	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	556	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	557	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
327	holgerb	558	CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255);
41	ingob	559	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	560	break;
1	ingob	561
202	killagreg	562	case SPI_FCCMD_STICK:
41	ingob	563	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		564	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		565	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		566	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	567	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		568	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		569	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		570	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		571	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		572	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		573	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	574	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	575	break;
27	holgerb	576
202	killagreg	577	case SPI_FCCMD_MISC:
41	ingob	578	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		579	{ // put only new CompassCalState into queue to send via I2C
		580	CompassCalState = FromFlightCtrl.Param.Byte[0];
254	killagreg	581	Compass_SetCalState(CompassCalState);
41	ingob	582	}
58	killagreg	583	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	584	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
287	holgerb	585	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm
		586	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm
160	holgerb	587	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		588	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		589	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	590	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		591	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
294	holgerb	592	if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI;
		593	// NaviData.RC_RSSI = FC.RC_RSSI;
206	killagreg	594	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	595	break;
161	killagreg	596
202	killagreg	597	case SPI_FCCMD_SERVOS:
121	killagreg	598	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		599	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		600	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		601	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	602	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	603	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		604	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		605	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	606	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		607	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	608	break;
1	ingob	609
202	killagreg	610	case SPI_FCCMD_VERSION:
119	killagreg	611	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		612	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		613	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		614	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		615	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
328	holgerb	616	FC.Error[0] \|= FromFlightCtrl.Param.Byte[5];
		617	FC.Error[1] \|= FromFlightCtrl.Param.Byte[6];
		618	FC.Error[2] \|= FromFlightCtrl.Param.Byte[7];
		619	FC.Error[3] \|= FromFlightCtrl.Param.Byte[8];
		620	FC.Error[4] \|= FromFlightCtrl.Param.Byte[9];
320	holgerb	621	Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10];
231	holgerb	622	DebugOut.Status[0] \|= 0x01; // status of FC Present
232	killagreg	623	DebugOut.Status[0] \|= 0x02; // status of BL Present
255	killagreg	624	if(FC.Error[0] \|\| FC.Error[1] \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]) DebugOut.Status[1] \|= 0x01;
232	killagreg	625	else DebugOut.Status[1] &= ~0x01;
41	ingob	626	break;
		627	default:
204	killagreg	628	break;
41	ingob	629	}
1	ingob	630
41	ingob	631	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	632	// and update GPSStick that are returned to FC
		633	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
255	killagreg	634	ClearFCStatusFlags = 1;
202	killagreg	635
180	killagreg	636	if(counter)
		637	{
		638	counter--; // count down to enable servo
202	killagreg	639	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	640	}
1	ingob	641
41	ingob	642	SPI_RxBuffer_Request = 0;
180	killagreg	643	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	644
62	killagreg	645	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		646	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	647	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		648	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	649	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	650	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		651	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		652	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		653	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	654	else // no new SPI data
202	killagreg	655	{
180	killagreg	656	if(CheckDelay(timeout) && (counter == 0))
		657	{
		658	TIMER2_Deinit(); // disable Servo Output
		659	counter = 50; // reset counter for enabling Servo Output
		660	}
		661	}
1	ingob	662	}
		663
41	ingob	664	//------------------------------------------------------
		665	void SPI0_GetFlightCtrlVersion(void)
		666	{
154	killagreg	667	u32 timeout;
		668	u8 repeat;
78	holgerb	669	u8 msg[64];
41	ingob	670
297	ingob	671	UART1_PutString("\r\n Looking for FlightControl");
41	ingob	672	FC_Version.Major = 0xFF;
		673	FC_Version.Minor = 0xFF;
		674	FC_Version.Patch = 0xFF;
		675	FC_Version.Compatible = 0xFF;
		676
165	killagreg	677	// polling FC version info
154	killagreg	678	repeat = 0;
41	ingob	679	do
		680	{
154	killagreg	681	timeout = SetDelay(250);
		682	do
		683	{
		684	SPI0_UpdateBuffer();
		685	if (FC_Version.Major != 0xFF) break;
		686	}while (!CheckDelay(timeout));
		687	UART1_PutString(".");
		688	repeat++;
329	holgerb	689	FCCalibActive = 1;
180	killagreg	690	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	691	// if we got it
		692	if (FC_Version.Major != 0xFF)
		693	{
242	killagreg	694	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	695	UART1_PutString(msg);
41	ingob	696	}
242	killagreg	697	else UART1_PutString("\n\r not found!");
41	ingob	698	}
		699
		700

Subversion Repositories NaviCtrl

(root)/tags/V2.10c/spi_slave.c @ 811 - Rev 329