WebSVN - NaviCtrl - Blame - Rev 242 - /tags/V2.20h/spi

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
171	ingob	6	// + Nur f�r den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1	ingob	7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
1	ingob	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
1	ingob	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
171	ingob	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1	ingob	29	// + mit unserer Zustimmung zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1	ingob	34	// + this list of conditions and the following disclaimer.
		35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		36	// + from this software without specific prior written permission.
41	ingob	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
1	ingob	38	// + for non-commercial use (directly or indirectly)
41	ingob	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1	ingob	40	// + with our written permission
41	ingob	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		42	// + clearly linked as origin
171	ingob	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1	ingob	44	//
		45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
41	ingob	55	// + POSSIBILITY OF SUCH DAMAGE.
1	ingob	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	57
		58	#include <string.h>
		59	#include "91x_lib.h"
		60	#include "led.h"
215	killagreg	61	#include "gps.h"
41	ingob	62	#include "uart1.h"
		63	#include "spi_slave.h"
242	killagreg	64	#include "compass.h"
119	killagreg	65	#include "timer1.h"
		66	#include "timer2.h"
136	killagreg	67	#include "config.h"
1	ingob	68	#include "main.h"
41	ingob	69	#include "fifo.h"
242	killagreg	70	#include "compass.h"
1	ingob	71
		72
41	ingob	73	#define SPI_RXSYNCBYTE1 0xAA
		74	#define SPI_RXSYNCBYTE2 0x83
		75	#define SPI_TXSYNCBYTE1 0x81
		76	#define SPI_TXSYNCBYTE2 0x55
1	ingob	77
41	ingob	78	//communication packets
215	killagreg	79	FromFlightCtrl_t FromFlightCtrl;
		80	ToFlightCtrl_t ToFlightCtrl;
183	killagreg	81	#define SPI0_TIMEOUT 500 // 500ms
146	killagreg	82	volatile u32 SPI0_Timeout = 0;
1	ingob	83
41	ingob	84	// tx packet buffer
		85	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
		86	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN];
		87	volatile u8 SPI_TxBufferIndex = 0;
		88	u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
1	ingob	89
41	ingob	90	// rx packet buffer
		91	#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
		92	volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN];
		93	volatile u8 SPI_RxBufferIndex = 0;
		94	volatile u8 SPI_RxBuffer_Request = 0;
1	ingob	95	#define SPI_COMMAND_INDEX 0
231	holgerb	96	volatile u8 FC_ErrorCode[5] = {0,0,0,0,0};
1	ingob	97
149	killagreg	98	s32 Kalman_K = 32;
41	ingob	99	s32 Kalman_MaxDrift = 5 * 16;
		100	s32 Kalman_MaxFusion = 64;
148	holgerb	101	s32 ToFcGpsZ = 0;
1	ingob	102
204	killagreg	103	u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN};
41	ingob	104	u8 SPI_CommandCounter = 0;
222	holgerb	105	s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0;
		106	s32 HeadFreeStartAngle = 0;
58	killagreg	107
41	ingob	108	SPI_Version_t FC_Version;
1	ingob	109
41	ingob	110	u8 CompassCalStateQueue[10];
		111	fifo_t CompassCalcStateFiFo;
1	ingob	112
41	ingob	113	u8 CompassCalState = 0;
1	ingob	114
41	ingob	115	//--------------------------------------------------------------
		116	void SSP0_IRQHandler(void)
		117	{
		118	static u8 rxchksum = 0;
		119	u8 rxdata;
1	ingob	120
189	killagreg	121	#define SPI_SYNC1 0
		122	#define SPI_SYNC2 1
		123	#define SPI_DATA 2
		124	static u8 SPI_State = SPI_SYNC1;
		125
195	killagreg	126	IENABLE;
		127
161	killagreg	128	// clear pending bits
41	ingob	129	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	130	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
189	killagreg	131
79	killagreg	132	// while RxFIFO not empty
		133	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		134	{
41	ingob	135	rxdata = SSP0->DR; // catch the received byte
		136	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	137	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
161	killagreg	138	{
79	killagreg	139	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		140	{
41	ingob	141	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	142	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		143	SPI_TxBufferIndex++; // pointer to next byte
		144	}
		145	else // end of packet is reached reset and copy data to tx buffer
		146	{
		147	SPI_TxBufferIndex = 0; // reset buffer index
		148	ToFlightCtrl.Chksum = 0; // initialize checksum
		149	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		150	BeepTime = 0; // reset local beeptime
41	ingob	151	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	152	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		153	}
41	ingob	154	}
		155	switch (SPI_State)
		156	{
		157	case SPI_SYNC1:
		158	SPI_RxBufferIndex = 0; // reset buffer index
		159	rxchksum = rxdata; // init checksum
		160	if (rxdata == SPI_RXSYNCBYTE1)
		161	{ // 1st syncbyte ok
		162	SPI_State = SPI_SYNC2; // step to sync2
		163	}
		164	break;
79	killagreg	165	case SPI_SYNC2:
41	ingob	166	if (rxdata == SPI_RXSYNCBYTE2)
		167	{ // 2nd Syncbyte ok
		168	rxchksum += rxdata;
		169	SPI_State = SPI_DATA;
		170	} // 2nd Syncbyte does not match
		171	else
		172	{
		173	SPI_State = SPI_SYNC1; //jump back to sync1
		174	}
		175	break;
		176	case SPI_DATA:
		177	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		178	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		179	{
		180	if (rxdata == rxchksum) // verify checksum byte
		181	{
		182	// copy SPI_RxBuffer -> FromFlightCtrl
		183	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		184	{
		185	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		186	SPI_RxBuffer_Request = 1;
		187	}
146	killagreg	188	// reset timeout counter on good packet
		189	SPI0_Timeout = SetDelay(SPI0_TIMEOUT);
41	ingob	190	DebugOut.Analog[13]++;
		191	}
		192	else // bad checksum byte
		193	{
		194	DebugOut.Analog[12]++; // increase SPI chksum error counter
		195	}
		196	SPI_State = SPI_SYNC1; // reset state
		197	}
		198	else // end of packet not reached
		199	{
		200	rxchksum += rxdata; // update checksum
		201	}
		202	break;
		203	default:
		204	SPI_State = SPI_SYNC1;
		205	break;
		206	}
		207	}
195	killagreg	208
		209	IDISABLE;
1	ingob	210	}
		211
		212	//--------------------------------------------------------------
		213	void SPI0_Init(void)
		214	{
41	ingob	215	GPIO_InitTypeDef GPIO_InitStructure;
		216	SSP_InitTypeDef SSP_InitStructure;
1	ingob	217
110	killagreg	218	UART1_PutString("\r\n SPI init...");
1	ingob	219
41	ingob	220	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		221	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	222
41	ingob	223	GPIO_DeInit(GPIO2);
		224	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		225	GPIO_StructInit(&GPIO_InitStructure);
		226	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		227	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		228	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	229	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	230	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		231	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	232
41	ingob	233	// SSP0_MISO pin GPIO2.6
		234	GPIO_StructInit(&GPIO_InitStructure);
		235	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		236	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		237	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
196	killagreg	238	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
41	ingob	239	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		240	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	241
41	ingob	242	SSP_DeInit(SSP0);
		243	SSP_StructInit(&SSP_InitStructure);
		244	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		245	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		246	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		247	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		248	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		249	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	250
41	ingob	251	SSP_Init(SSP0, &SSP_InitStructure);
144	killagreg	252	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
202	killagreg	253
41	ingob	254	fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
		255
		256	SSP_Cmd(SSP0, ENABLE);
		257	// initialize the syncbytes in the tx buffer
		258	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		259	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		260	// set the pointer to the checksum byte in the tx buffer
		261	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		262
215	killagreg	263	ToFlightCtrl.GPSStick.Nick = 0;
		264	ToFlightCtrl.GPSStick.Roll = 0;
		265	ToFlightCtrl.GPSStick.Yaw = 0;
		266
136	killagreg	267	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	268	VIC_ITCmd(SSP0_ITLine, ENABLE);
		269
146	killagreg	270	SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT);
		271
110	killagreg	272	UART1_PutString("ok");
1	ingob	273	}
41	ingob	274
222	holgerb	275
1	ingob	276	//------------------------------------------------------
41	ingob	277	void SPI0_UpdateBuffer(void)
1	ingob	278	{
180	killagreg	279	static u32 timeout = 0;
		280	static u8 counter = 50;
202	killagreg	281
41	ingob	282	if (SPI_RxBuffer_Request)
		283	{
		284	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		285	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
242	killagreg	286	ToFlightCtrl.CompassHeading = CompassHeading;
189	killagreg	287	DebugOut.Analog[10] = ToFlightCtrl.CompassHeading;
228	holgerb	288	if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360;
41	ingob	289	// cycle spi commands
		290	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	291	// restart command cycle at the end
41	ingob	292	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1	ingob	293
41	ingob	294	switch (ToFlightCtrl.Command)
		295	{
202	killagreg	296	case SPI_NCCMD_KALMAN:
223	killagreg	297	CalcHeadFree();
149	killagreg	298	ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K;
92	killagreg	299	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		300	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	301	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
149	killagreg	302	ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ;
222	holgerb	303	ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C;
223	killagreg	304	ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S;
161	killagreg	305	break;
58	killagreg	306
202	killagreg	307	case SPI_NCCMD_VERSION:
		308	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
		309	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
204	killagreg	310	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
202	killagreg	311	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
218	killagreg	312	ToFlightCtrl.Param.Byte[4] = BoardRelease;
231	holgerb	313	ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0];
		314	ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1];
233	holgerb	315	ToFlightCtrl.Param.Byte[7] = ErrorCode;
202	killagreg	316	break;
223	killagreg	317
204	killagreg	318	case SPI_NCCMD_GPSINFO:
		319	ToFlightCtrl.Param.Byte[0] = GPSData.Flags;
		320	ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats;
		321	ToFlightCtrl.Param.Byte[2] = GPSData.SatFix;
232	killagreg	322	ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s
205	killagreg	323	ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm
228	holgerb	324	ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg
204	killagreg	325	break;
41	ingob	326	default:
		327	break;
		328	}
		329	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	330
		331
41	ingob	332	switch(FromFlightCtrl.Command)
		333	{
202	killagreg	334	case SPI_FCCMD_USER:
41	ingob	335	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		336	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		337	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		338	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		339	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		340	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		341	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		342	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
199	killagreg	343	if(ClearFCFlags)
41	ingob	344	{
199	killagreg	345	FC.Flags = 0;
		346	ClearFCFlags = 0;
41	ingob	347	}
223	killagreg	348	FC.Flags \|= FromFlightCtrl.Param.Byte[8];
		349	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
199	killagreg	350	DebugOut.Analog[5] = FC.Flags;
206	killagreg	351	NaviData.FCFlags = FC.Flags;
223	killagreg	352	HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1�
41	ingob	353	break;
1	ingob	354
206	killagreg	355	case SPI_FCCMD_ACCU:
223	killagreg	356	FC.BAT_Current = FromFlightCtrl.Param.Int[0];
206	killagreg	357	FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1];
		358	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
		359	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
		360	NaviData.UBat = FC.BAT_Voltage;
		361	NaviData.Current = FC.BAT_Current;
		362	NaviData.UsedCapacity = FC.BAT_UsedCapacity;
		363	break;
		364
193	killagreg	365	#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
190	killagreg	366	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
		367
202	killagreg	368	case SPI_FCCMD_PARAMETER1:
41	ingob	369	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		370	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		371	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		372	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		373	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		374	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		375	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		376	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	377	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	378	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
		379	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
		380	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	381	break;
1	ingob	382
202	killagreg	383	case SPI_FCCMD_STICK:
41	ingob	384	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		385	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		386	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		387	FC.StickNick = FromFlightCtrl.Param.sByte[3];
190	killagreg	388	FC.Poti[0] = FromFlightCtrl.Param.Byte[4];
		389	FC.Poti[1] = FromFlightCtrl.Param.Byte[5];
		390	FC.Poti[2] = FromFlightCtrl.Param.Byte[6];
		391	FC.Poti[3] = FromFlightCtrl.Param.Byte[7];
		392	FC.Poti[4] = FromFlightCtrl.Param.Byte[8];
		393	FC.Poti[5] = FromFlightCtrl.Param.Byte[9];
		394	FC.Poti[6] = FromFlightCtrl.Param.Byte[10];
202	killagreg	395	FC.Poti[7] = FromFlightCtrl.Param.Byte[11];
41	ingob	396	break;
27	holgerb	397
202	killagreg	398	case SPI_FCCMD_MISC:
41	ingob	399	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		400	{ // put only new CompassCalState into queue to send via I2C
		401	CompassCalState = FromFlightCtrl.Param.Byte[0];
		402	fifo_put(&CompassCalcStateFiFo, CompassCalState);
		403	}
58	killagreg	404	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
205	killagreg	405	NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch
		406	NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3
		407	NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5
160	holgerb	408	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255);
		409	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255);
		410	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255);
190	killagreg	411	FC.RC_Quality = FromFlightCtrl.Param.Byte[9];
		412	FC.RC_RSSI = FromFlightCtrl.Param.Byte[10];
206	killagreg	413	NaviData.RC_Quality = FC.RC_Quality;
		414	NaviData.RC_RSSI = FC.RC_RSSI;
		415	NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning;
41	ingob	416	break;
161	killagreg	417
202	killagreg	418	case SPI_FCCMD_SERVOS:
121	killagreg	419	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		420	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		421	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		422	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
161	killagreg	423	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
121	killagreg	424	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		425	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		426	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
161	killagreg	427	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		428	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	429	break;
1	ingob	430
202	killagreg	431	case SPI_FCCMD_VERSION:
119	killagreg	432	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		433	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		434	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		435	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		436	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
231	holgerb	437	FC_ErrorCode[0] = FromFlightCtrl.Param.Byte[5];
		438	FC_ErrorCode[1] = FromFlightCtrl.Param.Byte[6];
		439	FC_ErrorCode[2] = FromFlightCtrl.Param.Byte[7];
		440	DebugOut.Status[0] \|= 0x01; // status of FC Present
232	killagreg	441	DebugOut.Status[0] \|= 0x02; // status of BL Present
		442	if(FC_ErrorCode[0] \|\| FC_ErrorCode[1] \|\| FC_ErrorCode[2]) DebugOut.Status[1] \|= 0x01;
		443	else DebugOut.Status[1] &= ~0x01;
41	ingob	444	break;
		445	default:
204	killagreg	446	break;
41	ingob	447	}
1	ingob	448
41	ingob	449	// every time we got new data from the FC via SPI call the navigation routine
215	killagreg	450	// and update GPSStick that are returned to FC
		451	GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick));
199	killagreg	452	ClearFCFlags = 1;
202	killagreg	453
180	killagreg	454	if(counter)
		455	{
		456	counter--; // count down to enable servo
202	killagreg	457	if(!counter) TIMER2_Init(); // enable Servo Output
180	killagreg	458	}
1	ingob	459
41	ingob	460	SPI_RxBuffer_Request = 0;
180	killagreg	461	timeout = SetDelay(80); // 80 ms, new data are send every 20 ms
1	ingob	462
62	killagreg	463	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		464	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	465	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		466	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	467	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	468	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		469	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		470	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		471	} // EOF if(SPI_RxBuffer_Request)
180	killagreg	472	else // no new SPI data
202	killagreg	473	{
180	killagreg	474	if(CheckDelay(timeout) && (counter == 0))
		475	{
		476	TIMER2_Deinit(); // disable Servo Output
		477	counter = 50; // reset counter for enabling Servo Output
		478	}
		479	}
1	ingob	480	}
		481
41	ingob	482	//------------------------------------------------------
		483	void SPI0_GetFlightCtrlVersion(void)
		484	{
154	killagreg	485	u32 timeout;
		486	u8 repeat;
78	holgerb	487	u8 msg[64];
41	ingob	488
242	killagreg	489	UART1_PutString("\r\n Looking for FlightContol");
41	ingob	490	FC_Version.Major = 0xFF;
		491	FC_Version.Minor = 0xFF;
		492	FC_Version.Patch = 0xFF;
		493	FC_Version.Compatible = 0xFF;
		494
165	killagreg	495	// polling FC version info
154	killagreg	496	repeat = 0;
41	ingob	497	do
		498	{
154	killagreg	499	timeout = SetDelay(250);
		500	do
		501	{
		502	SPI0_UpdateBuffer();
		503	if (FC_Version.Major != 0xFF) break;
		504	}while (!CheckDelay(timeout));
		505	UART1_PutString(".");
		506	repeat++;
180	killagreg	507	}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
41	ingob	508	// if we got it
		509	if (FC_Version.Major != 0xFF)
		510	{
242	killagreg	511	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	512	UART1_PutString(msg);
41	ingob	513	}
242	killagreg	514	else UART1_PutString("\n\r not found!");
41	ingob	515	}
		516
		517

Subversion Repositories NaviCtrl

(root)/tags/V2.20h/spi_slave.c @ 893 - Rev 242