WebSVN - NaviCtrl - Blame - Rev 196 - /tags/V2.12a/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"
		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	//communication packets
		78	volatile FromFlightCtrl_t FromFlightCtrl;
		79	volatile 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
121	killagreg	101	u8 SPI_CommandSequence[] = { SPI_KALMAN };
41	ingob	102	u8 SPI_CommandCounter = 0;
58	killagreg	103
41	ingob	104	SPI_Version_t FC_Version;
1	ingob	105
41	ingob	106	u8 CompassCalStateQueue[10];
		107	fifo_t CompassCalcStateFiFo;
1	ingob	108
41	ingob	109	u8 CompassCalState = 0;
1	ingob	110
41	ingob	111	//--------------------------------------------------------------
		112	void SSP0_IRQHandler(void)
		113	{
		114	static u8 rxchksum = 0;
		115	u8 rxdata;
1	ingob	116
189	killagreg	117	#define SPI_SYNC1 0
		118	#define SPI_SYNC2 1
		119	#define SPI_DATA 2
		120	static u8 SPI_State = SPI_SYNC1;
		121
195	killagreg	122	IENABLE;
		123
161	killagreg	124	// clear pending bits
41	ingob	125	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	126	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	127
79	killagreg	128	// while RxFIFO not empty
		129	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		130	{
41	ingob	131	rxdata = SSP0->DR; // catch the received byte
		132	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	133	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	134	{
79	killagreg	135	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		136	{
41	ingob	137	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	138	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		139	SPI_TxBufferIndex++; // pointer to next byte
		140	}
		141	else // end of packet is reached reset and copy data to tx buffer
		142	{
		143	SPI_TxBufferIndex = 0; // reset buffer index
		144	ToFlightCtrl.Chksum = 0; // initialize checksum
		145	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		146	BeepTime = 0; // reset local beeptime
41	ingob	147	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	148	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		149	}
41	ingob	150	}
		151	switch (SPI_State)
		152	{
		153	case SPI_SYNC1:
		154	SPI_RxBufferIndex = 0; // reset buffer index
		155	rxchksum = rxdata; // init checksum
		156	if (rxdata == SPI_RXSYNCBYTE1)
		157	{ // 1st syncbyte ok
		158	SPI_State = SPI_SYNC2; // step to sync2
		159	}
		160	break;
79	killagreg	161	case SPI_SYNC2:
41	ingob	162	if (rxdata == SPI_RXSYNCBYTE2)
		163	{ // 2nd Syncbyte ok
		164	rxchksum += rxdata;
		165	SPI_State = SPI_DATA;
		166	} // 2nd Syncbyte does not match
		167	else
		168	{
		169	SPI_State = SPI_SYNC1; //jump back to sync1
		170	}
		171	break;
		172	case SPI_DATA:
		173	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		174	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		175	{
		176	if (rxdata == rxchksum) // verify checksum byte
		177	{
		178	// copy SPI_RxBuffer -> FromFlightCtrl
		179	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		180	{
		181	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		182	SPI_RxBuffer_Request = 1;
		183	}
146	killagreg	184	// reset timeout counter on good packet
		185	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	186	DebugOut.Analog[13]++;
		187	}
		188	else // bad checksum byte
		189	{
		190	DebugOut.Analog[12]++; // increase SPI chksum error counter
		191	}
		192	SPI_State = SPI_SYNC1; // reset state
		193	}
		194	else // end of packet not reached
		195	{
		196	rxchksum += rxdata; // update checksum
		197	}
		198	break;
		199	default:
		200	SPI_State = SPI_SYNC1;
		201	break;
		202	}
		203	}
195	killagreg	204
		205	IDISABLE;
1	ingob	206	}
		207
		208	//--------------------------------------------------------------
		209	void SPI0_Init(void)
		210	{
41	ingob	211	GPIO_InitTypeDef GPIO_InitStructure;
		212	SSP_InitTypeDef SSP_InitStructure;
1	ingob	213
110	killagreg	214	UART1_PutString("\r\n SPI init...");
1	ingob	215
41	ingob	216	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		217	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	218
41	ingob	219	GPIO_DeInit(GPIO2);
		220	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		221	GPIO_StructInit(&GPIO_InitStructure);
		222	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		223	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		224	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	225	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	226	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		227	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	228
41	ingob	229	// SSP0_MISO pin GPIO2.6
		230	GPIO_StructInit(&GPIO_InitStructure);
		231	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		232	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		233	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	234	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	235	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		236	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	237
41	ingob	238	SSP_DeInit(SSP0);
		239	SSP_StructInit(&SSP_InitStructure);
		240	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		241	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		242	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		243	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		244	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		245	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	246
41	ingob	247	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	248	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
189	killagreg	249
41	ingob	250	fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
		251
		252	SSP_Cmd(SSP0, ENABLE);
		253	// initialize the syncbytes in the tx buffer
		254	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		255	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		256	// set the pointer to the checksum byte in the tx buffer
		257	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		258
136	killagreg	259	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	260	VIC_ITCmd(SSP0_ITLine, ENABLE);
		261
146	killagreg	262	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		263
110	killagreg	264	UART1_PutString("ok");
1	ingob	265	}
41	ingob	266
1	ingob	267	//------------------------------------------------------
41	ingob	268	void SPI0_UpdateBuffer(void)
1	ingob	269	{
180	killagreg	270	static u32 timeout = 0;
		271	static u8 counter = 50;
		272
41	ingob	273	if (SPI_RxBuffer_Request)
		274	{
		275	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		276	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
		277	ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
189	killagreg	278	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
41	ingob	279	ToFlightCtrl.GPS_Nick = GPS_Stick.Nick;
		280	ToFlightCtrl.GPS_Roll = GPS_Stick.Roll;
		281	ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw;
		282	// cycle spi commands
		283	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	284	// restart command cycle at the end
41	ingob	285	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1	ingob	286
41	ingob	287	switch (ToFlightCtrl.Command)
		288	{
		289	case SPI_KALMAN:
149	killagreg	290	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	291	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		292	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	293	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
149	killagreg	294	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
161	killagreg	295	break;
58	killagreg	296
41	ingob	297	default:
		298	break;
		299	}
		300	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	301
		302
41	ingob	303	switch(FromFlightCtrl.Command)
		304	{
		305	case SPI_CMD_USER:
		306	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		307	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		308	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		309	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		310	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		311	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		312	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		313	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
		314	if(ClearMKFlags)
		315	{
		316	FC.MKFlags = 0;
		317	ClearMKFlags = 0;
		318	}
		319	FC.MKFlags \|= FromFlightCtrl.Param.Byte[8];
		320	FC.UBat = FromFlightCtrl.Param.Byte[9];
		321	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10];
		322	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11];
79	killagreg	323	DebugOut.Analog[5] = FC.MKFlags;
41	ingob	324	break;
1	ingob	325
193	killagreg	326	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	327	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		328
41	ingob	329	case SPI_CMD_PARAMETER1:
		330	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		331	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		332	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		333	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		334	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		335	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		336	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		337	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	338	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	339	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
		340	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
		341	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	342	break;
1	ingob	343
41	ingob	344	case SPI_CMD_STICK:
		345	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		346	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		347	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		348	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	349	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		350	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		351	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		352	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		353	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		354	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		355	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
		356	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	357	break;
27	holgerb	358
41	ingob	359	case SPI_CMD_MISC:
		360	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		361	{ // put only new CompassCalState into queue to send via I2C
		362	CompassCalState = FromFlightCtrl.Param.Byte[0];
		363	fifo_put(&CompassCalcStateFiFo, CompassCalState);
		364	}
58	killagreg	365	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
79	killagreg	366	NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch
58	killagreg	367	NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3
160	holgerb	368	NaviData.SetpointAltitude = (s16) FromFlightCtrl.Param.Int[2]; // is located at byte 4 and 5
		369	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		370	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		371	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	372	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		373	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
		374	NaviData.Gas = (FC.UBat * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	375	break;
161	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];
161	killagreg	382	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	383	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		384	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		385	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	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;
180	killagreg	405
		406	if(counter)
		407	{
		408	counter--; // count down to enable servo
		409	if(!counter) TIMER2_Init(); // enable Servo Output
		410	}
1	ingob	411
41	ingob	412	SPI_RxBuffer_Request = 0;
180	killagreg	413	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	414
62	killagreg	415	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		416	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	417	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		418	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	419	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	420	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		421	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		422	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		423	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	424	else // no new SPI data
		425	{
		426	if(CheckDelay(timeout) && (counter == 0))
		427	{
		428	TIMER2_Deinit(); // disable Servo Output
		429	counter = 50; // reset counter for enabling Servo Output
		430	}
		431	}
1	ingob	432	}
		433
41	ingob	434	//------------------------------------------------------
		435	void SPI0_GetFlightCtrlVersion(void)
		436	{
154	killagreg	437	u32 timeout;
		438	u8 repeat;
78	holgerb	439	u8 msg[64];
41	ingob	440
154	killagreg	441	UART1_PutString("\r\n Getting Version from FC");
41	ingob	442	FC_Version.Major = 0xFF;
		443	FC_Version.Minor = 0xFF;
		444	FC_Version.Patch = 0xFF;
		445	FC_Version.Compatible = 0xFF;
		446
165	killagreg	447	// polling FC version info
154	killagreg	448	repeat = 0;
41	ingob	449	do
		450	{
154	killagreg	451	timeout = SetDelay(250);
		452	do
		453	{
		454	SPI0_UpdateBuffer();
		455	if (FC_Version.Major != 0xFF) break;
		456	}while (!CheckDelay(timeout));
		457	UART1_PutString(".");
		458	repeat++;
180	killagreg	459	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	460	// if we got it
		461	if (FC_Version.Major != 0xFF)
		462	{
61	holgerb	463	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	464	UART1_PutString(msg);
41	ingob	465	sprintf(msg, " Compatible: %d", FC_Version.Compatible);
110	killagreg	466	UART1_PutString(msg);
41	ingob	467	}
110	killagreg	468	else UART1_PutString("\n\r No version information from FlightCtrl.");
41	ingob	469	}
		470
		471

Subversion Repositories NaviCtrl

(root)/tags/V2.12a/spi_slave.c @ 811 - Rev 196