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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]; |
| 351 | holgerb | 120 | u8 NC_To_FC_Flags = 0; |
| 338 | holgerb | 121 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| 122 | u32 FC_I2C_ErrorConter; |
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| 41 | ingob | 123 | SPI_Version_t FC_Version; |
| 351 | holgerb | 124 | s16 POI_KameraNick = 0; |
| 460 | holgerb | 125 | u8 NC_Wait_for_LED = 0; |
| 1 | ingob | 126 | |
| 41 | ingob | 127 | //-------------------------------------------------------------- |
| 128 | void SSP0_IRQHandler(void) |
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| 129 | { |
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| 130 | static u8 rxchksum = 0; |
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| 131 | u8 rxdata; |
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| 1 | ingob | 132 | |
| 189 | killagreg | 133 | #define SPI_SYNC1 0 |
| 134 | #define SPI_SYNC2 1 |
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| 135 | #define SPI_DATA 2 |
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| 136 | static u8 SPI_State = SPI_SYNC1; |
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| 378 | holgerb | 137 | //IENABLE; |
| 189 | killagreg | 138 | |
| 161 | killagreg | 139 | // clear pending bits |
| 41 | ingob | 140 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 141 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 142 | |
| 79 | killagreg | 143 | // while RxFIFO not empty |
| 378 | holgerb | 144 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| 79 | killagreg | 145 | { |
| 41 | ingob | 146 | rxdata = SSP0->DR; // catch the received byte |
| 147 | // Fill TxFIFO while its not full or end of packet is reached |
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| 378 | holgerb | 148 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 161 | killagreg | 149 | { |
| 79 | killagreg | 150 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 151 | { |
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| 41 | ingob | 152 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 153 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 378 | holgerb | 154 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
| 79 | killagreg | 155 | SPI_TxBufferIndex++; // pointer to next byte |
| 156 | } |
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| 157 | else // end of packet is reached reset and copy data to tx buffer |
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| 158 | { |
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| 159 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 160 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 161 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 162 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 163 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 164 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 165 | } |
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| 41 | ingob | 166 | } |
| 167 | switch (SPI_State) |
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| 168 | { |
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| 169 | case SPI_SYNC1: |
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| 170 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 171 | rxchksum = rxdata; // init checksum |
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| 172 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 173 | { // 1st syncbyte ok |
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| 174 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 175 | } |
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| 176 | break; |
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| 79 | killagreg | 177 | case SPI_SYNC2: |
| 41 | ingob | 178 | if (rxdata == SPI_RXSYNCBYTE2) |
| 179 | { // 2nd Syncbyte ok |
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| 180 | rxchksum += rxdata; |
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| 181 | SPI_State = SPI_DATA; |
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| 182 | } // 2nd Syncbyte does not match |
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| 183 | else |
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| 184 | { |
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| 185 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 186 | } |
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| 187 | break; |
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| 188 | case SPI_DATA: |
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| 189 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 378 | holgerb | 190 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| 41 | ingob | 191 | { |
| 192 | if (rxdata == rxchksum) // verify checksum byte |
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| 193 | { |
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| 194 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 195 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 196 | { |
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| 197 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 198 | SPI_RxBuffer_Request = 1; |
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| 199 | } |
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| 146 | killagreg | 200 | // reset timeout counter on good packet |
| 201 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 202 | DebugOut.Analog[13]++; |
| 203 | } |
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| 204 | else // bad checksum byte |
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| 205 | { |
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| 206 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 207 | } |
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| 208 | SPI_State = SPI_SYNC1; // reset state |
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| 209 | } |
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| 210 | else // end of packet not reached |
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| 211 | { |
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| 212 | rxchksum += rxdata; // update checksum |
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| 213 | } |
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| 214 | break; |
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| 215 | default: |
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| 216 | SPI_State = SPI_SYNC1; |
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| 217 | break; |
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| 218 | } |
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| 219 | } |
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| 195 | killagreg | 220 | |
| 378 | holgerb | 221 | // IDISABLE; |
| 222 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
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| 1 | ingob | 223 | } |
| 224 | |||
| 225 | //-------------------------------------------------------------- |
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| 226 | void SPI0_Init(void) |
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| 227 | { |
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| 41 | ingob | 228 | GPIO_InitTypeDef GPIO_InitStructure; |
| 229 | SSP_InitTypeDef SSP_InitStructure; |
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| 1 | ingob | 230 | |
| 110 | killagreg | 231 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 232 | |
| 41 | ingob | 233 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 234 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 1 | ingob | 235 | |
| 41 | ingob | 236 | GPIO_DeInit(GPIO2); |
| 237 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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| 238 | GPIO_StructInit(&GPIO_InitStructure); |
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| 239 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 240 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 241 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 242 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 243 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 244 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 245 | |
| 41 | ingob | 246 | // SSP0_MISO pin GPIO2.6 |
| 247 | GPIO_StructInit(&GPIO_InitStructure); |
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| 248 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 249 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 250 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 251 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 252 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 253 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 254 | |
| 41 | ingob | 255 | SSP_DeInit(SSP0); |
| 256 | SSP_StructInit(&SSP_InitStructure); |
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| 257 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 258 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 259 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 260 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 261 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 262 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 1 | ingob | 263 | |
| 41 | ingob | 264 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 265 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 41 | ingob | 266 | SSP_Cmd(SSP0, ENABLE); |
| 267 | // initialize the syncbytes in the tx buffer |
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| 268 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 269 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 270 | // set the pointer to the checksum byte in the tx buffer |
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| 271 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 272 | |||
| 215 | killagreg | 273 | ToFlightCtrl.GPSStick.Nick = 0; |
| 274 | ToFlightCtrl.GPSStick.Roll = 0; |
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| 419 | holgerb | 275 | // ToFlightCtrl.GPSStick.Yaw = 0; |
| 215 | killagreg | 276 | |
| 136 | killagreg | 277 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 278 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 279 | |||
| 146 | killagreg | 280 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 281 | |||
| 110 | killagreg | 282 | UART1_PutString("ok"); |
| 1 | ingob | 283 | } |
| 41 | ingob | 284 | |
| 222 | holgerb | 285 | |
| 1 | ingob | 286 | //------------------------------------------------------ |
| 41 | ingob | 287 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 288 | { |
| 180 | killagreg | 289 | static u32 timeout = 0; |
| 426 | holgerb | 290 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
| 291 | static s16 last_wp_event = 0; |
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| 292 | s16 tmp; |
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| 329 | holgerb | 293 | s32 i1,i2; |
| 462 | holgerb | 294 | /* |
| 295 | union |
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| 296 | { |
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| 297 | unsigned char Byte[4]; |
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| 298 | unsigned int Int[2]; |
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| 299 | unsigned long Long; |
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| 300 | } Temp; |
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| 301 | */ |
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| 378 | holgerb | 302 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
| 303 | if(SPI_RxBuffer_Request) |
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| 41 | ingob | 304 | { |
| 305 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 306 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 254 | killagreg | 307 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 189 | killagreg | 308 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 228 | holgerb | 309 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 419 | holgerb | 310 | ToFlightCtrl.MagVecX = MagVector.X; |
| 311 | ToFlightCtrl.MagVecY = MagVector.Y; |
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| 286 | killagreg | 312 | ToFlightCtrl.MagVecZ = MagVector.Z; |
| 419 | holgerb | 313 | // ToFlightCtrl.NCStatus = 0; |
| 41 | ingob | 314 | // cycle spi commands |
| 426 | holgerb | 315 | if(ErrorCode != last_error_code && enable_injecting) |
| 316 | { |
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| 317 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
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| 318 | last_error_code = ErrorCode; |
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| 319 | enable_injecting = 0; |
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| 320 | } |
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| 420 | holgerb | 321 | else |
| 426 | holgerb | 322 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
| 323 | { |
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| 324 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
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| 325 | last_wp_event = FC_WP_EventChannel; |
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| 326 | enable_injecting = 0; |
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| 327 | } |
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| 420 | holgerb | 328 | else |
| 329 | { |
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| 330 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 331 | // restart command cycle at the end |
| 420 | holgerb | 332 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 426 | holgerb | 333 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
| 420 | holgerb | 334 | } |
| 419 | holgerb | 335 | |
| 319 | holgerb | 336 | #define FLAG_GPS_AID 0x01 |
| 41 | ingob | 337 | switch (ToFlightCtrl.Command) |
| 338 | { |
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| 329 | holgerb | 339 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 149 | killagreg | 340 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 341 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 342 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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| 330 | holgerb | 343 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
| 149 | killagreg | 344 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 345 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 346 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 331 | holgerb | 347 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| 280 | killagreg | 348 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 278 | killagreg | 349 | { |
| 350 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
||
| 280 | killagreg | 351 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 352 | } |
| 353 | else |
||
| 280 | killagreg | 354 | { |
| 278 | killagreg | 355 | ToFlightCtrl.Param.sInt[4] = -1; |
| 356 | } |
||
| 294 | holgerb | 357 | |
| 299 | killagreg | 358 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 295 | killagreg | 359 | { |
| 351 | holgerb | 360 | POI_KameraNick = tmp; |
| 299 | killagreg | 361 | } |
| 362 | else |
||
| 363 | { |
||
| 348 | holgerb | 364 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| 351 | holgerb | 365 | POI_KameraNick = CAM_Orientation.Elevation; |
| 348 | holgerb | 366 | //else ToFlightCtrl.Param.sInt[5] = 0; |
| 295 | killagreg | 367 | } |
| 351 | holgerb | 368 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| 161 | killagreg | 369 | break; |
| 58 | killagreg | 370 | |
| 202 | killagreg | 371 | case SPI_NCCMD_VERSION: |
| 355 | holgerb | 372 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 373 | //+ higher than the maximum allowed altitude |
||
| 374 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 202 | killagreg | 375 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| 376 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
| 204 | killagreg | 377 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 378 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 264 | killagreg | 379 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 338 | holgerb | 380 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| 381 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
| 454 | holgerb | 382 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
| 323 | holgerb | 383 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| 330 | holgerb | 384 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| 351 | holgerb | 385 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| 355 | holgerb | 386 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| 387 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
| 202 | killagreg | 388 | break; |
| 342 | holgerb | 389 | case SPI_MISC: |
| 390 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
| 391 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
| 392 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
| 397 | holgerb | 393 | ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
| 419 | holgerb | 394 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| 395 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
||
| 396 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
||
| 397 | 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 | 398 | ToFlightCtrl.Param.Byte[9] = 0; |
| 399 | ToFlightCtrl.Param.Byte[10] = 0; |
||
| 400 | ToFlightCtrl.Param.Byte[11] = 0; |
||
| 397 | holgerb | 401 | SpeakHoTT = 0; |
| 342 | holgerb | 402 | break; |
| 223 | killagreg | 403 | |
| 204 | killagreg | 404 | case SPI_NCCMD_GPSINFO: |
| 405 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
| 406 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
| 407 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
| 232 | killagreg | 408 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 258 | holgerb | 409 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 410 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
| 454 | holgerb | 411 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
| 421 | holgerb | 412 | if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
| 457 | holgerb | 413 | // ++++++++++++++++++++++++++++++++++ |
| 414 | // Waypoint event +++++++++++++++++++ |
||
| 415 | // ++++++++++++++++++++++++++++++++++ |
||
| 416 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
||
| 417 | { |
||
| 418 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
| 419 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
||
| 420 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
| 421 | } |
||
| 422 | else |
||
| 423 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
||
| 424 | { |
||
| 425 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
| 426 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
| 427 | } |
||
| 428 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
| 419 | holgerb | 429 | FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
| 457 | holgerb | 430 | // ++++++++++++++++++++++++++++++++++ |
| 299 | killagreg | 431 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 432 | { |
||
| 433 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
| 295 | killagreg | 434 | } |
| 299 | killagreg | 435 | else |
| 436 | { |
||
| 437 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
| 438 | } |
||
| 439 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
| 440 | { |
||
| 441 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
| 442 | } |
||
| 443 | else |
||
| 444 | { |
||
| 445 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
| 446 | } |
||
| 204 | killagreg | 447 | break; |
| 330 | holgerb | 448 | case SPI_NCCMD_HOTT_INFO: |
| 449 | switch(hott_index++) |
||
| 450 | { |
||
| 329 | holgerb | 451 | case 0: |
| 452 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
| 462 | holgerb | 453 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
| 329 | holgerb | 454 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| 397 | holgerb | 455 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 329 | holgerb | 456 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
| 457 | //----------------------------- |
||
| 397 | holgerb | 458 | ToFlightCtrl.Param.Byte[2] = FromFlightCtrl.GyroHeading / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
| 329 | holgerb | 459 | i1 = GPSData.Speed_Ground; // in cm/sec |
| 460 | i1 *= 36; |
||
| 461 | i1 /= 1000; |
||
| 462 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 463 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 464 | //----------------------------- |
||
| 405 | holgerb | 465 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
| 329 | holgerb | 466 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
| 467 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
| 468 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 397 | holgerb | 469 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 329 | holgerb | 470 | i1 *= 100; |
| 460 | holgerb | 471 | // Minuten |
| 472 | i2 *= 6; |
||
| 473 | i2 /= 10; |
||
| 329 | holgerb | 474 | i1 += i2 / 100000; |
| 475 | i2 = i2 % 100000; |
||
| 476 | i2 /= 10; |
||
| 477 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
| 478 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
| 479 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
| 480 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
| 481 | break; |
||
| 482 | case 1: |
||
| 483 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
| 397 | holgerb | 484 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 329 | holgerb | 485 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
| 486 | //----------------------------- |
||
| 487 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
| 488 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
| 489 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
| 490 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 397 | holgerb | 491 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| 329 | holgerb | 492 | i1 *= 100; |
| 460 | holgerb | 493 | // Minuten |
| 494 | i2 *= 6; |
||
| 495 | i2 /= 10; |
||
| 329 | holgerb | 496 | i1 += i2 / 100000; |
| 497 | i2 = i2 % 100000; |
||
| 498 | i2 /= 10; |
||
| 499 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
| 500 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
| 501 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
| 502 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
| 503 | //----------------------------- |
||
| 504 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
||
| 505 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
||
| 506 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
| 330 | holgerb | 507 | break; |
| 508 | case 2: |
||
| 509 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
| 397 | holgerb | 510 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| 330 | holgerb | 511 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
| 512 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
||
| 513 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
||
| 329 | holgerb | 514 | break; |
| 462 | holgerb | 515 | case 3: |
| 516 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
||
| 517 | ToFlightCtrl.Param.Byte[0] = 0; // index |
||
| 518 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
||
| 519 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
||
| 520 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
||
| 521 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
||
| 522 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
||
| 523 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
| 524 | i2 *= 6; |
||
| 525 | i2 /= 1000; |
||
| 526 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
| 527 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
| 528 | break; |
||
| 529 | case 4: |
||
| 530 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
||
| 531 | ToFlightCtrl.Param.Byte[0] = 0; // index |
||
| 532 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
||
| 533 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
||
| 534 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
||
| 535 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
||
| 536 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
| 537 | i2 *= 6; |
||
| 538 | i2 /= 1000; |
||
| 539 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
| 540 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
| 541 | hott_index = 0; |
||
| 542 | break; |
||
| 330 | holgerb | 543 | default: |
| 544 | ToFlightCtrl.Param.Byte[0] = 255; |
||
| 545 | hott_index = 0; |
||
| 546 | break; |
||
| 329 | holgerb | 547 | } |
| 548 | break; |
||
| 41 | ingob | 549 | default: |
| 550 | break; |
||
| 285 | holgerb | 551 | // 0 = 0,1 |
| 552 | // 1 = 2,3 |
||
| 553 | // 2 = 4,5 |
||
| 554 | // 3 = 6,7 |
||
| 555 | // 4 = 8,9 |
||
| 556 | // 5 = 10,11 |
||
| 41 | ingob | 557 | } |
| 558 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
| 559 | switch(FromFlightCtrl.Command) |
||
| 560 | { |
||
| 202 | killagreg | 561 | case SPI_FCCMD_USER: |
| 41 | ingob | 562 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 563 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
| 564 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
| 565 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
| 566 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
| 567 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
| 568 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
| 569 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
| 255 | killagreg | 570 | if(ClearFCStatusFlags) |
| 41 | ingob | 571 | { |
| 255 | killagreg | 572 | FC.StatusFlags = 0; |
| 573 | ClearFCStatusFlags = 0; |
||
| 41 | ingob | 574 | } |
| 255 | killagreg | 575 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 320 | holgerb | 576 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| 268 | killagreg | 577 | { |
| 326 | holgerb | 578 | HeadFreeStartAngle = Compass_Heading * 10; |
| 268 | killagreg | 579 | Compass_Init(); |
| 330 | holgerb | 580 | FCCalibActive = 10; |
| 338 | holgerb | 581 | FC_is_Calibrated = 0; |
| 268 | killagreg | 582 | } |
| 583 | else |
||
| 584 | { |
||
| 330 | holgerb | 585 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
| 268 | killagreg | 586 | } |
| 329 | holgerb | 587 | if(FC.StatusFlags & FC_STATUS_START) |
| 588 | { |
||
| 589 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
||
| 590 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
||
| 591 | } |
||
| 320 | holgerb | 592 | |
| 329 | holgerb | 593 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| 594 | { |
||
| 595 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
| 596 | { |
||
| 597 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
| 598 | { |
||
| 599 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
| 600 | } |
||
| 601 | else // Ansonsten die aktuelle Richtung übernehmen |
||
| 602 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
||
| 603 | } |
||
| 604 | } |
||
| 320 | holgerb | 605 | |
| 223 | killagreg | 606 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 255 | killagreg | 607 | DebugOut.Analog[5] = FC.StatusFlags; |
| 360 | holgerb | 608 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 451 | holgerb | 609 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
| 294 | holgerb | 610 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 360 | holgerb | 611 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
| 612 | |||
| 613 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
| 614 | else |
||
| 615 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
||
| 616 | |||
| 617 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
| 618 | else |
||
| 619 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
||
| 620 | |||
| 338 | holgerb | 621 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
| 622 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
| 321 | holgerb | 623 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
| 41 | ingob | 624 | break; |
| 1 | ingob | 625 | |
| 454 | holgerb | 626 | case SPI_FCCMD_BL_ACCU: |
| 223 | killagreg | 627 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 206 | killagreg | 628 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 629 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
| 454 | holgerb | 630 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[5]; |
| 298 | holgerb | 631 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| 358 | holgerb | 632 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
| 633 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
||
| 634 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
| 635 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
||
| 298 | holgerb | 636 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| 637 | { |
||
| 638 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
| 639 | } |
||
| 206 | killagreg | 640 | NaviData.UBat = FC.BAT_Voltage; |
| 641 | NaviData.Current = FC.BAT_Current; |
||
| 642 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
| 643 | break; |
||
| 202 | killagreg | 644 | case SPI_FCCMD_PARAMETER1: |
| 454 | holgerb | 645 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
| 41 | ingob | 646 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| 647 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 648 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 649 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 650 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 651 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 652 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 653 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 654 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 327 | holgerb | 655 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| 41 | ingob | 656 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| 121 | killagreg | 657 | break; |
| 419 | holgerb | 658 | case SPI_FCCMD_PARAMETER2: |
| 659 | CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255); |
||
| 436 | holgerb | 660 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
| 454 | holgerb | 661 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
| 419 | holgerb | 662 | break; |
| 202 | killagreg | 663 | case SPI_FCCMD_STICK: |
| 41 | ingob | 664 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 665 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 666 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 667 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 668 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 669 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 670 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 671 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 672 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 673 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 674 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 675 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 426 | holgerb | 676 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
| 41 | ingob | 677 | break; |
| 27 | holgerb | 678 | |
| 202 | killagreg | 679 | case SPI_FCCMD_MISC: |
| 41 | ingob | 680 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 681 | { // put only new CompassCalState into queue to send via I2C |
||
| 392 | holgerb | 682 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
| 378 | holgerb | 683 | { |
| 684 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 685 | Compass_SetCalState(CompassCalState); |
||
| 686 | } |
||
| 392 | holgerb | 687 | // else CompassCalState = 0; |
| 41 | ingob | 688 | } |
| 58 | killagreg | 689 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 690 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 287 | holgerb | 691 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 692 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
| 160 | holgerb | 693 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 694 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 695 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 696 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 454 | holgerb | 697 | NaviData.RC_Quality = FC.RC_Quality; |
| 461 | holgerb | 698 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
| 454 | holgerb | 699 | // FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| 700 | // if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
||
| 294 | holgerb | 701 | // NaviData.RC_RSSI = FC.RC_RSSI; |
| 206 | killagreg | 702 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 41 | ingob | 703 | break; |
| 161 | killagreg | 704 | |
| 202 | killagreg | 705 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 706 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 707 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 708 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 709 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 710 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 711 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 712 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 713 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 714 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 715 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 338 | holgerb | 716 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
| 419 | holgerb | 717 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[11]; |
| 119 | killagreg | 718 | break; |
| 1 | ingob | 719 | |
| 202 | killagreg | 720 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 721 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 722 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 723 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 724 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 725 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 328 | holgerb | 726 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| 727 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
| 455 | holgerb | 728 | // frei FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
| 358 | holgerb | 729 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| 730 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
| 320 | holgerb | 731 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| 350 | holgerb | 732 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| 338 | holgerb | 733 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 734 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
| 455 | holgerb | 735 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
| 338 | holgerb | 736 | else DebugOut.StatusRed &= ~AMPEL_FC; |
| 41 | ingob | 737 | break; |
| 738 | default: |
||
| 204 | killagreg | 739 | break; |
| 41 | ingob | 740 | } |
| 352 | holgerb | 741 | |
| 378 | holgerb | 742 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 743 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 744 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
||
| 745 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 746 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
||
| 747 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
||
| 748 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 749 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 41 | ingob | 750 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 751 | // and update GPSStick that are returned to FC |
| 378 | holgerb | 752 | SPI_RxBuffer_Request = 0; |
| 215 | killagreg | 753 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| 255 | killagreg | 754 | ClearFCStatusFlags = 1; |
| 180 | killagreg | 755 | if(counter) |
| 756 | { |
||
| 757 | counter--; // count down to enable servo |
||
| 202 | killagreg | 758 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 759 | } |
| 760 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
||
| 1 | ingob | 761 | |
| 79 | killagreg | 762 | } // EOF if(SPI_RxBuffer_Request) |
| 180 | killagreg | 763 | else // no new SPI data |
| 202 | killagreg | 764 | { |
| 180 | killagreg | 765 | if(CheckDelay(timeout) && (counter == 0)) |
| 766 | { |
||
| 767 | TIMER2_Deinit(); // disable Servo Output |
||
| 768 | counter = 50; // reset counter for enabling Servo Output |
||
| 769 | } |
||
| 770 | } |
||
| 1 | ingob | 771 | } |
| 772 | |||
| 41 | ingob | 773 | //------------------------------------------------------ |
| 774 | void SPI0_GetFlightCtrlVersion(void) |
||
| 775 | { |
||
| 154 | killagreg | 776 | u32 timeout; |
| 777 | u8 repeat; |
||
| 78 | holgerb | 778 | u8 msg[64]; |
| 41 | ingob | 779 | |
| 297 | ingob | 780 | UART1_PutString("\r\n Looking for FlightControl"); |
| 41 | ingob | 781 | FC_Version.Major = 0xFF; |
| 782 | FC_Version.Minor = 0xFF; |
||
| 783 | FC_Version.Patch = 0xFF; |
||
| 784 | FC_Version.Compatible = 0xFF; |
||
| 785 | |||
| 165 | killagreg | 786 | // polling FC version info |
| 154 | killagreg | 787 | repeat = 0; |
| 41 | ingob | 788 | do |
| 789 | { |
||
| 154 | killagreg | 790 | timeout = SetDelay(250); |
| 791 | do |
||
| 792 | { |
||
| 793 | SPI0_UpdateBuffer(); |
||
| 794 | if (FC_Version.Major != 0xFF) break; |
||
| 795 | }while (!CheckDelay(timeout)); |
||
| 796 | UART1_PutString("."); |
||
| 797 | repeat++; |
||
| 329 | holgerb | 798 | FCCalibActive = 1; |
| 180 | killagreg | 799 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 800 | // if we got it |
| 801 | if (FC_Version.Major != 0xFF) |
||
| 802 | { |
||
| 242 | killagreg | 803 | 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 | 804 | UART1_PutString(msg); |
| 41 | ingob | 805 | } |
| 242 | killagreg | 806 | else UART1_PutString("\n\r not found!"); |
| 41 | ingob | 807 | } |
| 808 | |||
| 809 |