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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 22 | // + des Mitverschuldens offen. |
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| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 32 | // + Software LICENSING TERMS |
| 1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 37 | // + The Software may only be used with the Licensor's products. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 56 | |
| 57 | #include <string.h> |
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| 331 | holgerb | 58 | #include <math.h> |
| 41 | ingob | 59 | #include "91x_lib.h" |
| 60 | #include "led.h" |
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| 215 | killagreg | 61 | #include "gps.h" |
| 41 | ingob | 62 | #include "uart1.h" |
| 63 | #include "spi_slave.h" |
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| 242 | killagreg | 64 | #include "compass.h" |
| 119 | killagreg | 65 | #include "timer1.h" |
| 66 | #include "timer2.h" |
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| 136 | killagreg | 67 | #include "config.h" |
| 1 | ingob | 68 | #include "main.h" |
| 284 | killagreg | 69 | #include "compass.h" |
| 294 | holgerb | 70 | #include "params.h" |
| 369 | holgerb | 71 | #include "stdlib.h" |
| 426 | holgerb | 72 | #include "settings.h" |
| 1 | ingob | 73 | |
| 41 | ingob | 74 | #define SPI_RXSYNCBYTE1 0xAA |
| 75 | #define SPI_RXSYNCBYTE2 0x83 |
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| 76 | #define SPI_TXSYNCBYTE1 0x81 |
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| 77 | #define SPI_TXSYNCBYTE2 0x55 |
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| 1 | ingob | 78 | |
| 41 | ingob | 79 | //communication packets |
| 215 | killagreg | 80 | FromFlightCtrl_t FromFlightCtrl; |
| 81 | ToFlightCtrl_t ToFlightCtrl; |
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| 397 | holgerb | 82 | #define SPI0_TIMEOUT 2500 //ms |
| 146 | killagreg | 83 | volatile u32 SPI0_Timeout = 0; |
| 338 | holgerb | 84 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| 397 | holgerb | 85 | u8 SpeakHoTT = 0; |
| 1 | ingob | 86 | |
| 41 | ingob | 87 | // tx packet buffer |
| 88 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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| 378 | holgerb | 89 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
| 41 | ingob | 90 | volatile u8 SPI_TxBufferIndex = 0; |
| 91 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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| 1 | ingob | 92 | |
| 41 | ingob | 93 | // rx packet buffer |
| 94 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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| 378 | holgerb | 95 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
| 41 | ingob | 96 | volatile u8 SPI_RxBufferIndex = 0; |
| 97 | volatile u8 SPI_RxBuffer_Request = 0; |
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| 1 | ingob | 98 | #define SPI_COMMAND_INDEX 0 |
| 99 | |||
| 149 | killagreg | 100 | s32 Kalman_K = 32; |
| 41 | ingob | 101 | s32 Kalman_MaxDrift = 5 * 16; |
| 102 | s32 Kalman_MaxFusion = 64; |
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| 330 | holgerb | 103 | s32 Kalman_Kompass = 32; |
| 148 | holgerb | 104 | s32 ToFcGpsZ = 0; |
| 392 | holgerb | 105 | u8 CompassCalState = 0; |
| 1 | ingob | 106 | |
| 419 | holgerb | 107 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
| 41 | ingob | 108 | u8 SPI_CommandCounter = 0; |
| 222 | holgerb | 109 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 110 | s32 HeadFreeStartAngle = 0; |
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| 421 | holgerb | 111 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 286 | killagreg | 112 | u32 ToFC_AltitudeRate = 0; |
| 285 | holgerb | 113 | s32 ToFC_AltitudeSetpoint = 0; |
| 298 | holgerb | 114 | u8 FromFC_VarioCharacter = ' '; |
| 331 | holgerb | 115 | u8 GPS_Aid_StickMultiplikator = 0; |
| 323 | holgerb | 116 | u8 NC_GPS_ModeCharacter = ' '; |
| 329 | holgerb | 117 | u8 FCCalibActive = 0; |
| 330 | holgerb | 118 | u8 FC_is_Calibrated = 0; |
| 358 | holgerb | 119 | Motor_t Motor[12]; |
| 471 | holgerb | 120 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
| 351 | holgerb | 121 | u8 NC_To_FC_Flags = 0; |
| 338 | holgerb | 122 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 123 | u32 FC_I2C_ErrorConter; |
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| 41 | ingob | 124 | SPI_Version_t FC_Version; |
| 351 | holgerb | 125 | s16 POI_KameraNick = 0; |
| 460 | holgerb | 126 | u8 NC_Wait_for_LED = 0; |
| 463 | holgerb | 127 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
| 1 | ingob | 128 | |
| 41 | ingob | 129 | //-------------------------------------------------------------- |
| 130 | void SSP0_IRQHandler(void) |
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| 131 | { |
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| 132 | static u8 rxchksum = 0; |
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| 133 | u8 rxdata; |
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| 1 | ingob | 134 | |
| 189 | killagreg | 135 | #define SPI_SYNC1 0 |
| 136 | #define SPI_SYNC2 1 |
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| 137 | #define SPI_DATA 2 |
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| 138 | static u8 SPI_State = SPI_SYNC1; |
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| 378 | holgerb | 139 | //IENABLE; |
| 189 | killagreg | 140 | |
| 161 | killagreg | 141 | // clear pending bits |
| 41 | ingob | 142 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 143 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 144 | |
| 79 | killagreg | 145 | // while RxFIFO not empty |
| 378 | holgerb | 146 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 79 | killagreg | 147 | { |
| 41 | ingob | 148 | rxdata = SSP0->DR; // catch the received byte |
| 149 | // Fill TxFIFO while its not full or end of packet is reached |
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| 378 | holgerb | 150 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 161 | killagreg | 151 | { |
| 79 | killagreg | 152 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 153 | { |
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| 41 | ingob | 154 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 155 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 378 | holgerb | 156 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
| 79 | killagreg | 157 | SPI_TxBufferIndex++; // pointer to next byte |
| 158 | } |
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| 159 | else // end of packet is reached reset and copy data to tx buffer |
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| 160 | { |
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| 161 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 162 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 163 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 164 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 165 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 166 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 167 | } |
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| 41 | ingob | 168 | } |
| 169 | switch (SPI_State) |
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| 170 | { |
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| 171 | case SPI_SYNC1: |
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| 172 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 173 | rxchksum = rxdata; // init checksum |
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| 174 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 175 | { // 1st syncbyte ok |
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| 176 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 177 | } |
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| 178 | break; |
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| 79 | killagreg | 179 | case SPI_SYNC2: |
| 41 | ingob | 180 | if (rxdata == SPI_RXSYNCBYTE2) |
| 181 | { // 2nd Syncbyte ok |
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| 182 | rxchksum += rxdata; |
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| 183 | SPI_State = SPI_DATA; |
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| 184 | } // 2nd Syncbyte does not match |
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| 185 | else |
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| 186 | { |
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| 187 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 188 | } |
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| 189 | break; |
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| 190 | case SPI_DATA: |
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| 191 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 378 | holgerb | 192 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| 41 | ingob | 193 | { |
| 194 | if (rxdata == rxchksum) // verify checksum byte |
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| 195 | { |
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| 196 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 197 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 198 | { |
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| 199 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 200 | SPI_RxBuffer_Request = 1; |
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| 201 | } |
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| 146 | killagreg | 202 | // reset timeout counter on good packet |
| 203 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 204 | DebugOut.Analog[13]++; |
| 205 | } |
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| 206 | else // bad checksum byte |
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| 207 | { |
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| 208 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 209 | } |
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| 210 | SPI_State = SPI_SYNC1; // reset state |
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| 211 | } |
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| 212 | else // end of packet not reached |
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| 213 | { |
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| 214 | rxchksum += rxdata; // update checksum |
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| 215 | } |
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| 216 | break; |
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| 217 | default: |
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| 218 | SPI_State = SPI_SYNC1; |
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| 219 | break; |
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| 220 | } |
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| 221 | } |
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| 195 | killagreg | 222 | |
| 378 | holgerb | 223 | // IDISABLE; |
| 224 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
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| 1 | ingob | 225 | } |
| 226 | |||
| 227 | //-------------------------------------------------------------- |
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| 228 | void SPI0_Init(void) |
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| 229 | { |
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| 41 | ingob | 230 | GPIO_InitTypeDef GPIO_InitStructure; |
| 231 | SSP_InitTypeDef SSP_InitStructure; |
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| 1 | ingob | 232 | |
| 110 | killagreg | 233 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 234 | |
| 41 | ingob | 235 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 236 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 1 | ingob | 237 | |
| 41 | ingob | 238 | GPIO_DeInit(GPIO2); |
| 239 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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| 240 | GPIO_StructInit(&GPIO_InitStructure); |
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| 241 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 242 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 243 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 244 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 245 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 246 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 247 | |
| 41 | ingob | 248 | // SSP0_MISO pin GPIO2.6 |
| 249 | GPIO_StructInit(&GPIO_InitStructure); |
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| 250 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 251 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 252 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 253 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 254 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 255 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 256 | |
| 41 | ingob | 257 | SSP_DeInit(SSP0); |
| 258 | SSP_StructInit(&SSP_InitStructure); |
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| 259 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 260 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 261 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 262 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 263 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 264 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 1 | ingob | 265 | |
| 41 | ingob | 266 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 267 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 41 | ingob | 268 | SSP_Cmd(SSP0, ENABLE); |
| 269 | // initialize the syncbytes in the tx buffer |
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| 270 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 271 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 272 | // set the pointer to the checksum byte in the tx buffer |
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| 273 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 274 | |||
| 215 | killagreg | 275 | ToFlightCtrl.GPSStick.Nick = 0; |
| 276 | ToFlightCtrl.GPSStick.Roll = 0; |
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| 419 | holgerb | 277 | // ToFlightCtrl.GPSStick.Yaw = 0; |
| 215 | killagreg | 278 | |
| 136 | killagreg | 279 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 280 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 281 | |||
| 146 | killagreg | 282 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 283 | |||
| 110 | killagreg | 284 | UART1_PutString("ok"); |
| 1 | ingob | 285 | } |
| 41 | ingob | 286 | |
| 222 | holgerb | 287 | |
| 1 | ingob | 288 | //------------------------------------------------------ |
| 41 | ingob | 289 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 290 | { |
| 180 | killagreg | 291 | static u32 timeout = 0; |
| 426 | holgerb | 292 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
| 293 | static s16 last_wp_event = 0; |
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| 294 | s16 tmp; |
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| 329 | holgerb | 295 | s32 i1,i2; |
| 462 | holgerb | 296 | /* |
| 297 | union |
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| 298 | { |
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| 299 | unsigned char Byte[4]; |
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| 300 | unsigned int Int[2]; |
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| 301 | unsigned long Long; |
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| 302 | } Temp; |
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| 303 | */ |
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| 378 | holgerb | 304 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
| 305 | if(SPI_RxBuffer_Request) |
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| 41 | ingob | 306 | { |
| 307 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 308 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 254 | killagreg | 309 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 189 | killagreg | 310 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 463 | holgerb | 311 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading - GeoMagDec) % 3600; |
| 228 | holgerb | 312 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 419 | holgerb | 313 | ToFlightCtrl.MagVecX = MagVector.X; |
| 314 | ToFlightCtrl.MagVecY = MagVector.Y; |
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| 286 | killagreg | 315 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 419 | holgerb | 316 | // ToFlightCtrl.NCStatus = 0; |
| 41 | ingob | 317 | // cycle spi commands |
| 426 | holgerb | 318 | if(ErrorCode != last_error_code && enable_injecting) |
| 319 | { |
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| 320 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
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| 321 | last_error_code = ErrorCode; |
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| 322 | enable_injecting = 0; |
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| 323 | } |
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| 420 | holgerb | 324 | else |
| 426 | holgerb | 325 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
| 326 | { |
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| 327 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
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| 328 | last_wp_event = FC_WP_EventChannel; |
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| 329 | enable_injecting = 0; |
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| 330 | } |
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| 420 | holgerb | 331 | else |
| 332 | { |
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| 333 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 334 | // restart command cycle at the end |
| 420 | holgerb | 335 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 426 | holgerb | 336 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
| 420 | holgerb | 337 | } |
| 419 | holgerb | 338 | |
| 319 | holgerb | 339 | #define FLAG_GPS_AID 0x01 |
| 41 | ingob | 340 | switch (ToFlightCtrl.Command) |
| 341 | { |
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| 329 | holgerb | 342 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 149 | killagreg | 343 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 344 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 345 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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| 330 | holgerb | 346 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 149 | killagreg | 347 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 348 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 349 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 331 | holgerb | 350 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 280 | killagreg | 351 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 278 | killagreg | 352 | { |
| 353 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
||
| 280 | killagreg | 354 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 355 | } |
| 356 | else |
||
| 280 | killagreg | 357 | { |
| 278 | killagreg | 358 | ToFlightCtrl.Param.sInt[4] = -1; |
| 359 | } |
||
| 294 | holgerb | 360 | |
| 299 | killagreg | 361 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 295 | killagreg | 362 | { |
| 351 | holgerb | 363 | POI_KameraNick = tmp; |
| 299 | killagreg | 364 | } |
| 365 | else |
||
| 366 | { |
||
| 348 | holgerb | 367 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 351 | holgerb | 368 | POI_KameraNick = CAM_Orientation.Elevation; |
| 348 | holgerb | 369 | //else ToFlightCtrl.Param.sInt[5] = 0; |
| 295 | killagreg | 370 | } |
| 351 | holgerb | 371 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| 161 | killagreg | 372 | break; |
| 58 | killagreg | 373 | |
| 202 | killagreg | 374 | case SPI_NCCMD_VERSION: |
| 355 | holgerb | 375 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 376 | //+ higher than the maximum allowed altitude |
||
| 377 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 202 | killagreg | 378 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 379 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
| 204 | killagreg | 380 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 381 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 264 | killagreg | 382 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 338 | holgerb | 383 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 384 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
| 454 | holgerb | 385 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
| 323 | holgerb | 386 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 330 | holgerb | 387 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 351 | holgerb | 388 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| 355 | holgerb | 389 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 390 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
| 202 | killagreg | 391 | break; |
| 342 | holgerb | 392 | case SPI_MISC: |
| 393 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
| 394 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
| 395 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
| 397 | holgerb | 396 | ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
| 419 | holgerb | 397 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| 398 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
||
| 399 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
||
| 400 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
||
| 342 | holgerb | 401 | ToFlightCtrl.Param.Byte[9] = 0; |
| 402 | ToFlightCtrl.Param.Byte[10] = 0; |
||
| 403 | ToFlightCtrl.Param.Byte[11] = 0; |
||
| 397 | holgerb | 404 | SpeakHoTT = 0; |
| 342 | holgerb | 405 | break; |
| 223 | killagreg | 406 | |
| 204 | killagreg | 407 | case SPI_NCCMD_GPSINFO: |
| 408 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
| 409 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
| 410 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
| 232 | killagreg | 411 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 258 | holgerb | 412 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 413 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
| 454 | holgerb | 414 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
| 421 | holgerb | 415 | if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
| 457 | holgerb | 416 | // ++++++++++++++++++++++++++++++++++ |
| 417 | // Waypoint event +++++++++++++++++++ |
||
| 418 | // ++++++++++++++++++++++++++++++++++ |
||
| 419 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
||
| 420 | { |
||
| 421 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
| 422 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
||
| 423 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
| 424 | } |
||
| 425 | else |
||
| 426 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
||
| 427 | { |
||
| 428 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
| 429 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
| 430 | } |
||
| 431 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
| 419 | holgerb | 432 | FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
| 457 | holgerb | 433 | // ++++++++++++++++++++++++++++++++++ |
| 299 | killagreg | 434 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 435 | { |
||
| 436 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
| 295 | killagreg | 437 | } |
| 299 | killagreg | 438 | else |
| 439 | { |
||
| 440 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
| 441 | } |
||
| 442 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
| 443 | { |
||
| 444 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
| 445 | } |
||
| 446 | else |
||
| 447 | { |
||
| 448 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
| 449 | } |
||
| 204 | killagreg | 450 | break; |
| 330 | holgerb | 451 | case SPI_NCCMD_HOTT_INFO: |
| 452 | switch(hott_index++) |
||
| 453 | { |
||
| 329 | holgerb | 454 | case 0: |
| 455 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
| 462 | holgerb | 456 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
| 329 | holgerb | 457 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| 397 | holgerb | 458 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 329 | holgerb | 459 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
| 460 | //----------------------------- |
||
| 463 | holgerb | 461 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
| 329 | holgerb | 462 | i1 = GPSData.Speed_Ground; // in cm/sec |
| 463 | i1 *= 36; |
||
| 464 | i1 /= 1000; |
||
| 465 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 466 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 467 | //----------------------------- |
||
| 405 | holgerb | 468 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
| 329 | holgerb | 469 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
| 470 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
| 471 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 397 | holgerb | 472 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 329 | holgerb | 473 | i1 *= 100; |
| 460 | holgerb | 474 | // Minuten |
| 475 | i2 *= 6; |
||
| 476 | i2 /= 10; |
||
| 329 | holgerb | 477 | i1 += i2 / 100000; |
| 478 | i2 = i2 % 100000; |
||
| 479 | i2 /= 10; |
||
| 480 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
| 481 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
| 482 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
| 483 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
| 484 | break; |
||
| 485 | case 1: |
||
| 486 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 397 | holgerb | 487 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 329 | holgerb | 488 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
| 489 | //----------------------------- |
||
| 490 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
| 491 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
| 492 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
| 493 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 397 | holgerb | 494 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 329 | holgerb | 495 | i1 *= 100; |
| 460 | holgerb | 496 | // Minuten |
| 497 | i2 *= 6; |
||
| 498 | i2 /= 10; |
||
| 329 | holgerb | 499 | i1 += i2 / 100000; |
| 500 | i2 = i2 % 100000; |
||
| 501 | i2 /= 10; |
||
| 502 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 503 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 504 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
| 505 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
| 506 | //----------------------------- |
||
| 507 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
||
| 508 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
||
| 509 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
| 330 | holgerb | 510 | break; |
| 511 | case 2: |
||
| 512 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
| 397 | holgerb | 513 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 330 | holgerb | 514 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
| 515 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
||
| 516 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
||
| 329 | holgerb | 517 | break; |
| 462 | holgerb | 518 | case 3: |
| 519 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
||
| 520 | ToFlightCtrl.Param.Byte[0] = 0; // index |
||
| 521 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
||
| 522 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
||
| 523 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
||
| 524 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
||
| 525 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
||
| 526 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 527 | i2 *= 6; |
||
| 528 | i2 /= 1000; |
||
| 529 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
| 530 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
| 531 | break; |
||
| 532 | case 4: |
||
| 533 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
||
| 534 | ToFlightCtrl.Param.Byte[0] = 0; // index |
||
| 535 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
||
| 536 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
||
| 537 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
||
| 538 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
||
| 539 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 540 | i2 *= 6; |
||
| 541 | i2 /= 1000; |
||
| 542 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
| 543 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
| 544 | hott_index = 0; |
||
| 545 | break; |
||
| 330 | holgerb | 546 | default: |
| 547 | ToFlightCtrl.Param.Byte[0] = 255; |
||
| 548 | hott_index = 0; |
||
| 549 | break; |
||
| 329 | holgerb | 550 | } |
| 551 | break; |
||
| 41 | ingob | 552 | default: |
| 553 | break; |
||
| 285 | holgerb | 554 | // 0 = 0,1 |
| 555 | // 1 = 2,3 |
||
| 556 | // 2 = 4,5 |
||
| 557 | // 3 = 6,7 |
||
| 558 | // 4 = 8,9 |
||
| 559 | // 5 = 10,11 |
||
| 41 | ingob | 560 | } |
| 561 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
| 562 | switch(FromFlightCtrl.Command) |
||
| 563 | { |
||
| 202 | killagreg | 564 | case SPI_FCCMD_USER: |
| 41 | ingob | 565 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 566 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
| 567 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
| 568 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
| 569 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
| 570 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
| 571 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
| 572 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
| 255 | killagreg | 573 | if(ClearFCStatusFlags) |
| 41 | ingob | 574 | { |
| 255 | killagreg | 575 | FC.StatusFlags = 0; |
| 576 | ClearFCStatusFlags = 0; |
||
| 41 | ingob | 577 | } |
| 255 | killagreg | 578 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 320 | holgerb | 579 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 268 | killagreg | 580 | { |
| 463 | holgerb | 581 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; |
| 268 | killagreg | 582 | Compass_Init(); |
| 330 | holgerb | 583 | FCCalibActive = 10; |
| 338 | holgerb | 584 | FC_is_Calibrated = 0; |
| 268 | killagreg | 585 | } |
| 586 | else |
||
| 587 | { |
||
| 330 | holgerb | 588 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
| 268 | killagreg | 589 | } |
| 329 | holgerb | 590 | if(FC.StatusFlags & FC_STATUS_START) |
| 591 | { |
||
| 463 | holgerb | 592 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else |
| 593 | HeadFreeStartAngle = GyroCompassCorrected; |
||
| 329 | holgerb | 594 | } |
| 320 | holgerb | 595 | |
| 329 | holgerb | 596 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| 597 | { |
||
| 598 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
| 599 | { |
||
| 600 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
| 601 | { |
||
| 602 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
| 603 | } |
||
| 604 | else // Ansonsten die aktuelle Richtung übernehmen |
||
| 463 | holgerb | 605 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
| 329 | holgerb | 606 | } |
| 607 | } |
||
| 223 | killagreg | 608 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 471 | holgerb | 609 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
| 255 | killagreg | 610 | DebugOut.Analog[5] = FC.StatusFlags; |
| 360 | holgerb | 611 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 451 | holgerb | 612 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
| 294 | holgerb | 613 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 360 | holgerb | 614 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
| 615 | |||
| 616 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
| 617 | else |
||
| 618 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
||
| 619 | |||
| 620 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
| 621 | else |
||
| 622 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
||
| 623 | |||
| 338 | holgerb | 624 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
| 625 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
| 41 | ingob | 626 | break; |
| 1 | ingob | 627 | |
| 454 | holgerb | 628 | case SPI_FCCMD_BL_ACCU: |
| 223 | killagreg | 629 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 206 | killagreg | 630 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 471 | holgerb | 631 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
| 632 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
||
| 633 | Motor_Version[FromFlightCtrl.Param.Byte[6]] = FromFlightCtrl.Param.Byte[7]; |
||
| 634 | Motor[FromFlightCtrl.Param.Byte[6]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
||
| 635 | Motor[FromFlightCtrl.Param.Byte[6]].State = FromFlightCtrl.Param.Byte[9]; |
||
| 636 | Motor[FromFlightCtrl.Param.Byte[6]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
| 637 | Motor[FromFlightCtrl.Param.Byte[6]].Current = FromFlightCtrl.Param.Byte[11]; |
||
| 298 | holgerb | 638 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| 639 | { |
||
| 640 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
| 641 | } |
||
| 206 | killagreg | 642 | NaviData.UBat = FC.BAT_Voltage; |
| 643 | NaviData.Current = FC.BAT_Current; |
||
| 644 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
| 645 | break; |
||
| 202 | killagreg | 646 | case SPI_FCCMD_PARAMETER1: |
| 454 | holgerb | 647 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
| 41 | ingob | 648 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| 649 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 650 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 651 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 652 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 653 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 654 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 655 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 656 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 327 | holgerb | 657 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 41 | ingob | 658 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 121 | killagreg | 659 | break; |
| 419 | holgerb | 660 | case SPI_FCCMD_PARAMETER2: |
| 661 | CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255); |
||
| 436 | holgerb | 662 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
| 454 | holgerb | 663 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
| 471 | holgerb | 664 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
| 419 | holgerb | 665 | break; |
| 202 | killagreg | 666 | case SPI_FCCMD_STICK: |
| 41 | ingob | 667 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 668 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 669 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 670 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 671 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 672 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 673 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 674 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 675 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 676 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 677 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 678 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 426 | holgerb | 679 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
| 41 | ingob | 680 | break; |
| 27 | holgerb | 681 | |
| 202 | killagreg | 682 | case SPI_FCCMD_MISC: |
| 41 | ingob | 683 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 684 | { // put only new CompassCalState into queue to send via I2C |
||
| 392 | holgerb | 685 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
| 378 | holgerb | 686 | { |
| 687 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 688 | Compass_SetCalState(CompassCalState); |
||
| 689 | } |
||
| 392 | holgerb | 690 | // else CompassCalState = 0; |
| 41 | ingob | 691 | } |
| 58 | killagreg | 692 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 693 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 287 | holgerb | 694 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 695 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
| 160 | holgerb | 696 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 697 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 698 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 699 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 454 | holgerb | 700 | NaviData.RC_Quality = FC.RC_Quality; |
| 461 | holgerb | 701 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
| 454 | holgerb | 702 | // FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 703 | // if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
||
| 294 | holgerb | 704 | // NaviData.RC_RSSI = FC.RC_RSSI; |
| 206 | killagreg | 705 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 41 | ingob | 706 | break; |
| 161 | killagreg | 707 | |
| 202 | killagreg | 708 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 709 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 710 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 711 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 712 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 713 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 714 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 715 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 716 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 717 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 718 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 338 | holgerb | 719 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
| 419 | holgerb | 720 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[11]; |
| 119 | killagreg | 721 | break; |
| 1 | ingob | 722 | |
| 202 | killagreg | 723 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 724 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 725 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 726 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 727 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 728 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 328 | holgerb | 729 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 730 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
| 455 | holgerb | 731 | // frei FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
| 358 | holgerb | 732 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| 733 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
| 320 | holgerb | 734 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 350 | holgerb | 735 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| 338 | holgerb | 736 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 737 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
| 455 | holgerb | 738 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
| 338 | holgerb | 739 | else DebugOut.StatusRed &= ~AMPEL_FC; |
| 41 | ingob | 740 | break; |
| 741 | default: |
||
| 204 | killagreg | 742 | break; |
| 41 | ingob | 743 | } |
| 378 | holgerb | 744 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 745 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 746 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
||
| 747 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 748 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
||
| 749 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
||
| 750 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 751 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 41 | ingob | 752 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 753 | // and update GPSStick that are returned to FC |
| 378 | holgerb | 754 | SPI_RxBuffer_Request = 0; |
| 215 | killagreg | 755 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 255 | killagreg | 756 | ClearFCStatusFlags = 1; |
| 180 | killagreg | 757 | if(counter) |
| 758 | { |
||
| 759 | counter--; // count down to enable servo |
||
| 202 | killagreg | 760 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 761 | } |
| 762 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
||
| 1 | ingob | 763 | |
| 79 | killagreg | 764 | } // EOF if(SPI_RxBuffer_Request) |
| 180 | killagreg | 765 | else // no new SPI data |
| 202 | killagreg | 766 | { |
| 180 | killagreg | 767 | if(CheckDelay(timeout) && (counter == 0)) |
| 768 | { |
||
| 769 | TIMER2_Deinit(); // disable Servo Output |
||
| 770 | counter = 50; // reset counter for enabling Servo Output |
||
| 771 | } |
||
| 772 | } |
||
| 1 | ingob | 773 | } |
| 774 | |||
| 41 | ingob | 775 | //------------------------------------------------------ |
| 776 | void SPI0_GetFlightCtrlVersion(void) |
||
| 777 | { |
||
| 154 | killagreg | 778 | u32 timeout; |
| 779 | u8 repeat; |
||
| 78 | holgerb | 780 | u8 msg[64]; |
| 41 | ingob | 781 | |
| 297 | ingob | 782 | UART1_PutString("\r\n Looking for FlightControl"); |
| 41 | ingob | 783 | FC_Version.Major = 0xFF; |
| 784 | FC_Version.Minor = 0xFF; |
||
| 785 | FC_Version.Patch = 0xFF; |
||
| 786 | FC_Version.Compatible = 0xFF; |
||
| 787 | |||
| 165 | killagreg | 788 | // polling FC version info |
| 154 | killagreg | 789 | repeat = 0; |
| 41 | ingob | 790 | do |
| 791 | { |
||
| 154 | killagreg | 792 | timeout = SetDelay(250); |
| 793 | do |
||
| 794 | { |
||
| 795 | SPI0_UpdateBuffer(); |
||
| 796 | if (FC_Version.Major != 0xFF) break; |
||
| 797 | }while (!CheckDelay(timeout)); |
||
| 798 | UART1_PutString("."); |
||
| 799 | repeat++; |
||
| 329 | holgerb | 800 | FCCalibActive = 1; |
| 180 | killagreg | 801 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 802 | // if we got it |
| 803 | if (FC_Version.Major != 0xFF) |
||
| 804 | { |
||
| 242 | killagreg | 805 | 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 | 806 | UART1_PutString(msg); |
| 41 | ingob | 807 | } |
| 242 | killagreg | 808 | else UART1_PutString("\n\r not found!"); |
| 41 | ingob | 809 | } |
| 810 | |||
| 811 |