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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 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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 zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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 |
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| 36 | // + from this software without specific prior written permission. |
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| 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 |
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| 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" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 57 | |
| 58 | #include <string.h> |
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| 331 | holgerb | 59 | #include <math.h> |
| 41 | ingob | 60 | #include "91x_lib.h" |
| 61 | #include "led.h" |
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| 215 | killagreg | 62 | #include "gps.h" |
| 41 | ingob | 63 | #include "uart1.h" |
| 64 | #include "spi_slave.h" |
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| 242 | killagreg | 65 | #include "compass.h" |
| 119 | killagreg | 66 | #include "timer1.h" |
| 67 | #include "timer2.h" |
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| 136 | killagreg | 68 | #include "config.h" |
| 1 | ingob | 69 | #include "main.h" |
| 284 | killagreg | 70 | #include "compass.h" |
| 294 | holgerb | 71 | #include "params.h" |
| 1 | ingob | 72 | |
| 41 | ingob | 73 | #define SPI_RXSYNCBYTE1 0xAA |
| 74 | #define SPI_RXSYNCBYTE2 0x83 |
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| 75 | #define SPI_TXSYNCBYTE1 0x81 |
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| 76 | #define SPI_TXSYNCBYTE2 0x55 |
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| 1 | ingob | 77 | |
| 41 | ingob | 78 | //communication packets |
| 215 | killagreg | 79 | FromFlightCtrl_t FromFlightCtrl; |
| 80 | ToFlightCtrl_t ToFlightCtrl; |
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| 183 | killagreg | 81 | #define SPI0_TIMEOUT 500 // 500ms |
| 146 | killagreg | 82 | volatile u32 SPI0_Timeout = 0; |
| 338 | holgerb | 83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| 1 | ingob | 84 | |
| 41 | ingob | 85 | // tx packet buffer |
| 86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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| 87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
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| 88 | volatile u8 SPI_TxBufferIndex = 0; |
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| 89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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| 1 | ingob | 90 | |
| 41 | ingob | 91 | // rx packet buffer |
| 92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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| 93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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| 94 | volatile u8 SPI_RxBufferIndex = 0; |
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| 95 | volatile u8 SPI_RxBuffer_Request = 0; |
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| 1 | ingob | 96 | #define SPI_COMMAND_INDEX 0 |
| 97 | |||
| 149 | killagreg | 98 | s32 Kalman_K = 32; |
| 41 | ingob | 99 | s32 Kalman_MaxDrift = 5 * 16; |
| 100 | s32 Kalman_MaxFusion = 64; |
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| 330 | holgerb | 101 | s32 Kalman_Kompass = 32; |
| 148 | holgerb | 102 | s32 ToFcGpsZ = 0; |
| 1 | ingob | 103 | |
| 342 | holgerb | 104 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN }; |
| 41 | ingob | 105 | u8 SPI_CommandCounter = 0; |
| 222 | holgerb | 106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 107 | s32 HeadFreeStartAngle = 0; |
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| 277 | killagreg | 108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 286 | killagreg | 109 | u32 ToFC_AltitudeRate = 0; |
| 285 | holgerb | 110 | s32 ToFC_AltitudeSetpoint = 0; |
| 298 | holgerb | 111 | u8 FromFC_VarioCharacter = ' '; |
| 331 | holgerb | 112 | u8 GPS_Aid_StickMultiplikator = 0; |
| 323 | holgerb | 113 | u8 NC_GPS_ModeCharacter = ' '; |
| 329 | holgerb | 114 | u8 FCCalibActive = 0; |
| 330 | holgerb | 115 | u8 FC_is_Calibrated = 0; |
| 338 | holgerb | 116 | u8 MotorCurrent[12]; |
| 117 | u8 MotorTemperature[12]; |
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| 118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
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| 119 | u32 FC_I2C_ErrorConter; |
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| 41 | ingob | 120 | SPI_Version_t FC_Version; |
| 1 | ingob | 121 | |
| 41 | ingob | 122 | //-------------------------------------------------------------- |
| 123 | void SSP0_IRQHandler(void) |
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| 124 | { |
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| 125 | static u8 rxchksum = 0; |
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| 126 | u8 rxdata; |
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| 1 | ingob | 127 | |
| 189 | killagreg | 128 | #define SPI_SYNC1 0 |
| 129 | #define SPI_SYNC2 1 |
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| 130 | #define SPI_DATA 2 |
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| 131 | static u8 SPI_State = SPI_SYNC1; |
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| 132 | |||
| 195 | killagreg | 133 | IENABLE; |
| 134 | |||
| 161 | killagreg | 135 | // clear pending bits |
| 41 | ingob | 136 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 138 | |
| 79 | killagreg | 139 | // while RxFIFO not empty |
| 140 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
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| 141 | { |
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| 41 | ingob | 142 | rxdata = SSP0->DR; // catch the received byte |
| 143 | // Fill TxFIFO while its not full or end of packet is reached |
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| 79 | killagreg | 144 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 161 | killagreg | 145 | { |
| 79 | killagreg | 146 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 147 | { |
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| 41 | ingob | 148 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 149 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 150 | SPI_TxBufferIndex++; // pointer to next byte |
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| 151 | } |
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| 152 | else // end of packet is reached reset and copy data to tx buffer |
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| 153 | { |
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| 154 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 155 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 156 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 157 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 158 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 159 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 160 | } |
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| 41 | ingob | 161 | } |
| 162 | switch (SPI_State) |
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| 163 | { |
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| 164 | case SPI_SYNC1: |
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| 165 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 166 | rxchksum = rxdata; // init checksum |
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| 167 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 168 | { // 1st syncbyte ok |
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| 169 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 170 | } |
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| 171 | break; |
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| 79 | killagreg | 172 | case SPI_SYNC2: |
| 41 | ingob | 173 | if (rxdata == SPI_RXSYNCBYTE2) |
| 174 | { // 2nd Syncbyte ok |
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| 175 | rxchksum += rxdata; |
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| 176 | SPI_State = SPI_DATA; |
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| 177 | } // 2nd Syncbyte does not match |
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| 178 | else |
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| 179 | { |
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| 180 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 181 | } |
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| 182 | break; |
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| 183 | case SPI_DATA: |
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| 184 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 185 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
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| 186 | { |
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| 187 | if (rxdata == rxchksum) // verify checksum byte |
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| 188 | { |
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| 189 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 190 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 191 | { |
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| 192 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 193 | SPI_RxBuffer_Request = 1; |
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| 194 | } |
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| 146 | killagreg | 195 | // reset timeout counter on good packet |
| 196 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 197 | DebugOut.Analog[13]++; |
| 198 | } |
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| 199 | else // bad checksum byte |
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| 200 | { |
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| 201 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 202 | } |
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| 203 | SPI_State = SPI_SYNC1; // reset state |
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| 204 | } |
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| 205 | else // end of packet not reached |
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| 206 | { |
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| 207 | rxchksum += rxdata; // update checksum |
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| 208 | } |
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| 209 | break; |
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| 210 | default: |
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| 211 | SPI_State = SPI_SYNC1; |
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| 212 | break; |
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| 213 | } |
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| 214 | } |
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| 195 | killagreg | 215 | |
| 216 | IDISABLE; |
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| 1 | ingob | 217 | } |
| 218 | |||
| 219 | //-------------------------------------------------------------- |
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| 220 | void SPI0_Init(void) |
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| 221 | { |
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| 41 | ingob | 222 | GPIO_InitTypeDef GPIO_InitStructure; |
| 223 | SSP_InitTypeDef SSP_InitStructure; |
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| 1 | ingob | 224 | |
| 110 | killagreg | 225 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 226 | |
| 41 | ingob | 227 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 228 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 1 | ingob | 229 | |
| 41 | ingob | 230 | GPIO_DeInit(GPIO2); |
| 231 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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| 232 | GPIO_StructInit(&GPIO_InitStructure); |
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| 233 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 234 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 235 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 236 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 237 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 238 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 239 | |
| 41 | ingob | 240 | // SSP0_MISO pin GPIO2.6 |
| 241 | GPIO_StructInit(&GPIO_InitStructure); |
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| 242 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 243 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 244 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 245 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 246 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 247 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 248 | |
| 41 | ingob | 249 | SSP_DeInit(SSP0); |
| 250 | SSP_StructInit(&SSP_InitStructure); |
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| 251 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 252 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 253 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 254 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 255 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 256 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 1 | ingob | 257 | |
| 41 | ingob | 258 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 259 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 202 | killagreg | 260 | |
| 41 | ingob | 261 | SSP_Cmd(SSP0, ENABLE); |
| 262 | // initialize the syncbytes in the tx buffer |
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| 263 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 264 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 265 | // set the pointer to the checksum byte in the tx buffer |
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| 266 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 267 | |||
| 215 | killagreg | 268 | ToFlightCtrl.GPSStick.Nick = 0; |
| 269 | ToFlightCtrl.GPSStick.Roll = 0; |
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| 270 | ToFlightCtrl.GPSStick.Yaw = 0; |
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| 271 | |||
| 136 | killagreg | 272 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 273 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 274 | |||
| 146 | killagreg | 275 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 276 | |||
| 110 | killagreg | 277 | UART1_PutString("ok"); |
| 1 | ingob | 278 | } |
| 41 | ingob | 279 | |
| 222 | holgerb | 280 | |
| 1 | ingob | 281 | //------------------------------------------------------ |
| 41 | ingob | 282 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 283 | { |
| 180 | killagreg | 284 | static u32 timeout = 0; |
| 329 | holgerb | 285 | static u8 counter = 50,hott_index = 0; |
| 254 | killagreg | 286 | static u8 CompassCalState = 0; |
| 299 | killagreg | 287 | s16 tmp; |
| 329 | holgerb | 288 | s32 i1,i2; |
| 202 | killagreg | 289 | |
| 41 | ingob | 290 | if (SPI_RxBuffer_Request) |
| 291 | { |
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| 292 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 293 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 254 | killagreg | 294 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 345 | holgerb | 295 | |
| 296 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
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| 342 | holgerb | 297 | //ToFlightCtrl.CompassHeading %= 360; |
| 345 | holgerb | 298 | |
| 189 | killagreg | 299 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 228 | holgerb | 300 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 327 | holgerb | 301 | // ToFlightCtrl.MagVecX = MagVector.X; |
| 302 | // ToFlightCtrl.MagVecY = MagVector.Y; |
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| 286 | killagreg | 303 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 284 | killagreg | 304 | ToFlightCtrl.NCStatus = 0; |
| 41 | ingob | 305 | // cycle spi commands |
| 306 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 307 | // restart command cycle at the end |
| 41 | ingob | 308 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 319 | holgerb | 309 | #define FLAG_GPS_AID 0x01 |
| 41 | ingob | 310 | switch (ToFlightCtrl.Command) |
| 311 | { |
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| 329 | holgerb | 312 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 223 | killagreg | 313 | CalcHeadFree(); |
| 149 | killagreg | 314 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 315 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 316 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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| 330 | holgerb | 317 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 149 | killagreg | 318 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 319 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 320 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 331 | holgerb | 321 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 280 | killagreg | 322 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 278 | killagreg | 323 | { |
| 324 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
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| 280 | killagreg | 325 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 326 | } |
| 327 | else |
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| 280 | killagreg | 328 | { |
| 278 | killagreg | 329 | ToFlightCtrl.Param.sInt[4] = -1; |
| 330 | } |
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| 294 | holgerb | 331 | |
| 299 | killagreg | 332 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 295 | killagreg | 333 | { |
| 299 | killagreg | 334 | ToFlightCtrl.Param.sInt[5] = tmp; |
| 335 | } |
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| 336 | else |
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| 337 | { |
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| 348 | holgerb | 338 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 339 | ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; |
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| 340 | //else ToFlightCtrl.Param.sInt[5] = 0; |
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| 295 | killagreg | 341 | } |
| 161 | killagreg | 342 | break; |
| 58 | killagreg | 343 | |
| 202 | killagreg | 344 | case SPI_NCCMD_VERSION: |
| 345 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
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| 346 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
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| 204 | killagreg | 347 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 348 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 264 | killagreg | 349 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 338 | holgerb | 350 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 351 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
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| 233 | holgerb | 352 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 323 | holgerb | 353 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 330 | holgerb | 354 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 342 | holgerb | 355 | ToFlightCtrl.Param.Byte[10] = 0; |
| 356 | ToFlightCtrl.Param.Byte[11] = 0; |
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| 202 | killagreg | 357 | break; |
| 342 | holgerb | 358 | case SPI_MISC: |
| 359 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
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| 360 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
| 361 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
| 362 | ToFlightCtrl.Param.Byte[3] = 0; |
||
| 363 | ToFlightCtrl.Param.Byte[4] = 0; |
||
| 364 | ToFlightCtrl.Param.Byte[5] = 0; |
||
| 365 | ToFlightCtrl.Param.Byte[6] = 0; |
||
| 366 | ToFlightCtrl.Param.Byte[7] = 0; |
||
| 367 | ToFlightCtrl.Param.Byte[8] = 0; |
||
| 368 | ToFlightCtrl.Param.Byte[9] = 0; |
||
| 369 | ToFlightCtrl.Param.Byte[10] = 0; |
||
| 370 | ToFlightCtrl.Param.Byte[11] = 0; |
||
| 371 | break; |
||
| 223 | killagreg | 372 | |
| 204 | killagreg | 373 | case SPI_NCCMD_GPSINFO: |
| 374 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
| 375 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
| 376 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
| 232 | killagreg | 377 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 258 | holgerb | 378 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 379 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
| 306 | holgerb | 380 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
| 381 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
| 299 | killagreg | 382 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 383 | { |
||
| 384 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
| 295 | killagreg | 385 | } |
| 299 | killagreg | 386 | else |
| 387 | { |
||
| 388 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
| 389 | } |
||
| 390 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
| 391 | { |
||
| 392 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
| 393 | } |
||
| 394 | else |
||
| 395 | { |
||
| 396 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
| 397 | } |
||
| 204 | killagreg | 398 | break; |
| 329 | holgerb | 399 | /* |
| 400 | typedef struct |
||
| 401 | { |
||
| 402 | unsigned char StartByte; //0 // 0x7C |
||
| 403 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
||
| 404 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
||
| 405 | unsigned char Heading; //3 // 1 = 2° |
||
| 406 | unsigned int Speed; //4+5 // in km/h |
||
| 407 | unsigned char Lat_North; //6 |
||
| 408 | unsigned char Lat_G; //7 |
||
| 409 | unsigned char Lat_M; //8 |
||
| 410 | unsigned char Lat_Sek1; //9 |
||
| 411 | unsigned char Lat_Sek2; //10 |
||
| 412 | unsigned char Lon_East; //11 |
||
| 413 | unsigned char Lon_G; //12 |
||
| 414 | unsigned char Lon_M; //13 |
||
| 415 | unsigned char Lon_Sek1; //14 |
||
| 416 | unsigned char Lon_Sek2; //15 |
||
| 417 | unsigned int Distance; //16+17 // 9000 = 0m |
||
| 418 | unsigned int Altitude; //18+19 // 500 = 0m |
||
| 419 | unsigned int m_sec; //20+21 // 3000 = 0 |
||
| 420 | unsigned int m_3sec; //22+23 // 3000 = 0 |
||
| 421 | unsigned int m_10sec; //24+25 // 3000 = 0 |
||
| 422 | unsigned char NullByte; // 0x00 |
||
| 423 | unsigned char NullByte1; // 0x00 |
||
| 424 | unsigned char EndByte; // 0x7D |
||
| 425 | } GPSPacket_t; |
||
| 426 | */ |
||
| 330 | holgerb | 427 | /* |
| 428 | typedef struct |
||
| 429 | { |
||
| 430 | unsigned char StartByte; //0 0x7C |
||
| 431 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
||
| 432 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
||
| 433 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
||
| 434 | unsigned char VoltageCell2; //4 |
||
| 435 | unsigned char VoltageCell3; //5 |
||
| 436 | unsigned char VoltageCell4; //6 |
||
| 437 | unsigned char VoltageCell5; //7 |
||
| 438 | unsigned char VoltageCell6; //8 |
||
| 439 | unsigned int Battery1; //9 51 = 5,1V |
||
| 440 | unsigned int Battery2; //11 51 = 5,1V |
||
| 441 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
||
| 442 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
||
| 443 | unsigned char FuelPercent; //15 |
||
| 444 | signed int FuelCapacity; //16 |
||
| 445 | unsigned int Rpm; |
||
| 446 | unsigned int Altitude; |
||
| 447 | unsigned int m_sec; // 3000 = 0 |
||
| 448 | unsigned char m_3sec; // 120 = 0 |
||
| 449 | unsigned int Current; // 1 = 0.1A |
||
| 450 | unsigned int InputVoltage; // 66 = 6,6V |
||
| 451 | unsigned int Capacity; // 1 = 10mAh |
||
| 452 | unsigned char NullByte1; // 0x00 |
||
| 453 | unsigned char NullByte2; // 0x00 |
||
| 454 | unsigned char EndByte; // 0x7D |
||
| 455 | } HoTTGeneral_t; |
||
| 456 | */ |
||
| 457 | case SPI_NCCMD_HOTT_INFO: |
||
| 458 | switch(hott_index++) |
||
| 459 | { |
||
| 329 | holgerb | 460 | case 0: |
| 461 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
| 462 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
||
| 463 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 464 | ToFlightCtrl.Param.Byte[0] = 3; // index |
||
| 465 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
||
| 466 | //----------------------------- |
||
| 467 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
||
| 468 | i1 = GPSData.Speed_Ground; // in cm/sec |
||
| 469 | i1 *= 36; |
||
| 470 | i1 /= 1000; |
||
| 471 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 472 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 473 | //----------------------------- |
||
| 474 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
||
| 475 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
| 476 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
| 477 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 478 | i1 *= 100; |
||
| 479 | i1 += i2 / 100000; |
||
| 480 | i2 = i2 % 100000; |
||
| 481 | i2 /= 10; |
||
| 482 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
| 483 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
| 484 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
| 485 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
| 486 | break; |
||
| 487 | case 1: |
||
| 488 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 489 | ToFlightCtrl.Param.Byte[0] = 11; // index |
||
| 490 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
| 491 | //----------------------------- |
||
| 492 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
| 493 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
| 494 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
| 495 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 496 | i1 *= 100; |
||
| 497 | i1 += i2 / 100000; |
||
| 498 | i2 = i2 % 100000; |
||
| 499 | i2 /= 10; |
||
| 500 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 501 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 502 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
| 503 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
| 504 | //----------------------------- |
||
| 505 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
||
| 506 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
||
| 507 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
| 330 | holgerb | 508 | break; |
| 509 | case 2: |
||
| 510 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
| 511 | ToFlightCtrl.Param.Byte[0] = 5; // index |
||
| 512 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
||
| 513 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
||
| 514 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
||
| 329 | holgerb | 515 | hott_index = 0; |
| 516 | break; |
||
| 330 | holgerb | 517 | default: |
| 518 | ToFlightCtrl.Param.Byte[0] = 255; |
||
| 519 | hott_index = 0; |
||
| 520 | break; |
||
| 329 | holgerb | 521 | } |
| 522 | break; |
||
| 41 | ingob | 523 | default: |
| 524 | break; |
||
| 285 | holgerb | 525 | // 0 = 0,1 |
| 526 | // 1 = 2,3 |
||
| 527 | // 2 = 4,5 |
||
| 528 | // 3 = 6,7 |
||
| 529 | // 4 = 8,9 |
||
| 530 | // 5 = 10,11 |
||
| 41 | ingob | 531 | } |
| 532 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
| 1 | ingob | 533 | |
| 41 | ingob | 534 | switch(FromFlightCtrl.Command) |
| 535 | { |
||
| 202 | killagreg | 536 | case SPI_FCCMD_USER: |
| 41 | ingob | 537 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 538 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
| 539 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
| 540 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
| 541 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
| 542 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
| 543 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
| 544 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
| 255 | killagreg | 545 | if(ClearFCStatusFlags) |
| 41 | ingob | 546 | { |
| 255 | killagreg | 547 | FC.StatusFlags = 0; |
| 548 | ClearFCStatusFlags = 0; |
||
| 41 | ingob | 549 | } |
| 255 | killagreg | 550 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 320 | holgerb | 551 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 268 | killagreg | 552 | { |
| 326 | holgerb | 553 | HeadFreeStartAngle = Compass_Heading * 10; |
| 268 | killagreg | 554 | Compass_Init(); |
| 330 | holgerb | 555 | FCCalibActive = 10; |
| 338 | holgerb | 556 | FC_is_Calibrated = 0; |
| 268 | killagreg | 557 | } |
| 558 | else |
||
| 559 | { |
||
| 330 | holgerb | 560 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
| 268 | killagreg | 561 | } |
| 329 | holgerb | 562 | if(FC.StatusFlags & FC_STATUS_START) |
| 563 | { |
||
| 564 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
||
| 565 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
||
| 566 | } |
||
| 320 | holgerb | 567 | |
| 329 | holgerb | 568 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| 569 | { |
||
| 570 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
| 571 | { |
||
| 572 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
| 573 | { |
||
| 574 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
| 575 | } |
||
| 576 | else // Ansonsten die aktuelle Richtung übernehmen |
||
| 577 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
||
| 578 | } |
||
| 579 | } |
||
| 320 | holgerb | 580 | |
| 326 | holgerb | 581 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
| 582 | |||
| 223 | killagreg | 583 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 255 | killagreg | 584 | DebugOut.Analog[5] = FC.StatusFlags; |
| 294 | holgerb | 585 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 255 | killagreg | 586 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 294 | holgerb | 587 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
| 338 | holgerb | 588 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
| 589 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
| 321 | holgerb | 590 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
| 41 | ingob | 591 | break; |
| 1 | ingob | 592 | |
| 206 | killagreg | 593 | case SPI_FCCMD_ACCU: |
| 223 | killagreg | 594 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 206 | killagreg | 595 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 596 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
| 597 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
||
| 298 | holgerb | 598 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| 320 | holgerb | 599 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
| 600 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
||
| 338 | holgerb | 601 | MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10]; |
| 602 | MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11]; |
||
| 298 | holgerb | 603 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| 604 | { |
||
| 605 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
| 606 | } |
||
| 206 | killagreg | 607 | NaviData.UBat = FC.BAT_Voltage; |
| 608 | NaviData.Current = FC.BAT_Current; |
||
| 609 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
| 610 | break; |
||
| 611 | |||
| 193 | killagreg | 612 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 190 | killagreg | 613 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 614 | |||
| 202 | killagreg | 615 | case SPI_FCCMD_PARAMETER1: |
| 41 | ingob | 616 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 617 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
| 618 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 619 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 620 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 621 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 622 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 623 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 624 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 625 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 327 | holgerb | 626 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 41 | ingob | 627 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 121 | killagreg | 628 | break; |
| 1 | ingob | 629 | |
| 202 | killagreg | 630 | case SPI_FCCMD_STICK: |
| 41 | ingob | 631 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 632 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 633 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 634 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 635 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 636 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 637 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 638 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 639 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 640 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 641 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 642 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 41 | ingob | 643 | break; |
| 27 | holgerb | 644 | |
| 202 | killagreg | 645 | case SPI_FCCMD_MISC: |
| 41 | ingob | 646 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 647 | { // put only new CompassCalState into queue to send via I2C |
||
| 648 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 254 | killagreg | 649 | Compass_SetCalState(CompassCalState); |
| 41 | ingob | 650 | } |
| 58 | killagreg | 651 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 652 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 287 | holgerb | 653 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 654 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
| 160 | holgerb | 655 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 656 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 657 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 658 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 659 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
| 294 | holgerb | 660 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 661 | // NaviData.RC_RSSI = FC.RC_RSSI; |
||
| 206 | killagreg | 662 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 41 | ingob | 663 | break; |
| 161 | killagreg | 664 | |
| 202 | killagreg | 665 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 666 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 667 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 668 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 669 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 670 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 671 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 672 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 673 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 674 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 675 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 338 | holgerb | 676 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
| 119 | killagreg | 677 | break; |
| 1 | ingob | 678 | |
| 202 | killagreg | 679 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 680 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 681 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 682 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 683 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 684 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 328 | holgerb | 685 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 686 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
| 687 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
||
| 688 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
||
| 689 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
||
| 320 | holgerb | 690 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 338 | holgerb | 691 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 692 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
| 693 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
||
| 694 | else DebugOut.StatusRed &= ~AMPEL_FC; |
||
| 41 | ingob | 695 | break; |
| 696 | default: |
||
| 204 | killagreg | 697 | break; |
| 41 | ingob | 698 | } |
| 1 | ingob | 699 | |
| 348 | holgerb | 700 | |
| 701 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 702 | // Einkommentieren, falls der Flug simultert werden soll |
||
| 703 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
||
| 704 | else |
||
| 705 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
||
| 706 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
||
| 707 | BL_MinOfMaxPWM = 255; |
||
| 708 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 709 | |||
| 710 | |||
| 41 | ingob | 711 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 712 | // and update GPSStick that are returned to FC |
| 713 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
||
| 255 | killagreg | 714 | ClearFCStatusFlags = 1; |
| 202 | killagreg | 715 | |
| 180 | killagreg | 716 | if(counter) |
| 717 | { |
||
| 718 | counter--; // count down to enable servo |
||
| 202 | killagreg | 719 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 720 | } |
| 1 | ingob | 721 | |
| 41 | ingob | 722 | SPI_RxBuffer_Request = 0; |
| 180 | killagreg | 723 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 1 | ingob | 724 | |
| 62 | killagreg | 725 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 726 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 61 | holgerb | 727 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 728 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 62 | killagreg | 729 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 79 | killagreg | 730 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 731 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 732 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 733 | } // EOF if(SPI_RxBuffer_Request) |
||
| 180 | killagreg | 734 | else // no new SPI data |
| 202 | killagreg | 735 | { |
| 180 | killagreg | 736 | if(CheckDelay(timeout) && (counter == 0)) |
| 737 | { |
||
| 738 | TIMER2_Deinit(); // disable Servo Output |
||
| 739 | counter = 50; // reset counter for enabling Servo Output |
||
| 740 | } |
||
| 741 | } |
||
| 1 | ingob | 742 | } |
| 743 | |||
| 41 | ingob | 744 | //------------------------------------------------------ |
| 745 | void SPI0_GetFlightCtrlVersion(void) |
||
| 746 | { |
||
| 154 | killagreg | 747 | u32 timeout; |
| 748 | u8 repeat; |
||
| 78 | holgerb | 749 | u8 msg[64]; |
| 41 | ingob | 750 | |
| 297 | ingob | 751 | UART1_PutString("\r\n Looking for FlightControl"); |
| 41 | ingob | 752 | FC_Version.Major = 0xFF; |
| 753 | FC_Version.Minor = 0xFF; |
||
| 754 | FC_Version.Patch = 0xFF; |
||
| 755 | FC_Version.Compatible = 0xFF; |
||
| 756 | |||
| 165 | killagreg | 757 | // polling FC version info |
| 154 | killagreg | 758 | repeat = 0; |
| 41 | ingob | 759 | do |
| 760 | { |
||
| 154 | killagreg | 761 | timeout = SetDelay(250); |
| 762 | do |
||
| 763 | { |
||
| 764 | SPI0_UpdateBuffer(); |
||
| 765 | if (FC_Version.Major != 0xFF) break; |
||
| 766 | }while (!CheckDelay(timeout)); |
||
| 767 | UART1_PutString("."); |
||
| 768 | repeat++; |
||
| 329 | holgerb | 769 | FCCalibActive = 1; |
| 180 | killagreg | 770 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 771 | // if we got it |
| 772 | if (FC_Version.Major != 0xFF) |
||
| 773 | { |
||
| 242 | killagreg | 774 | 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 | 775 | UART1_PutString(msg); |
| 41 | ingob | 776 | } |
| 242 | killagreg | 777 | else UART1_PutString("\n\r not found!"); |
| 41 | ingob | 778 | } |
| 779 | |||
| 780 |