| /trunk/gpx.c |
|---|
| 394,14 → 394,18 |
| sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
| fputs_(string, doc->file); |
| // BL Information |
| sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",MotorCurrent[0],MotorCurrent[1],MotorCurrent[2],MotorCurrent[3],MotorCurrent[4],MotorCurrent[5],MotorCurrent[6],MotorCurrent[7],MotorCurrent[8],MotorCurrent[9],MotorCurrent[10],MotorCurrent[11]); |
| sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",Motor[0].Current,Motor[1].Current,Motor[2].Current,Motor[3].Current,Motor[4].Current,Motor[5].Current,Motor[6].Current,Motor[7].Current,Motor[8].Current,Motor[9].Current,Motor[10].Current,Motor[11].Current); |
| fputs_(string, doc->file); |
| sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",MotorTemperature[0],MotorTemperature[1],MotorTemperature[2],MotorTemperature[3],MotorTemperature[4],MotorTemperature[5],MotorTemperature[6],MotorTemperature[7],MotorTemperature[8],MotorTemperature[9],MotorTemperature[10],MotorTemperature[11]); |
| sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature,Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature); |
| fputs_(string, doc->file); |
| break; |
| case 6: |
| sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
| /* sprintf(string, "<BL_State>0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x</BL_State>\r\n",Motor.State[0],Motor.State[1],Motor.State[2],Motor.State[3],Motor.State[4],Motor.State[5],Motor.State[6],Motor.State[7],Motor.State[8],Motor.State[9],Motor.State[10],Motor.State[11]); |
| fputs_(string, doc->file); |
| sprintf(string, "<BL_MaxPWM>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_MaxPWM>\r\n",Motor.MaxPWM[0],Motor.MaxPWM[1],Motor.MaxPWM[2],Motor.MaxPWM[3],Motor.MaxPWM[4],Motor.MaxPWM[5],Motor.MaxPWM[6],Motor.MaxPWM[7],Motor.MaxPWM[8],Motor.MaxPWM[9],Motor.MaxPWM[10],Motor.MaxPWM[11]); |
| fputs_(string, doc->file); |
| */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
| fputs_(string, doc->file); |
| sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
| fputs_(string, doc->file); |
| // Analog inputs of the NC |
| /trunk/main.h |
|---|
| 39,7 → 39,7 |
| #define VERSION_SERIAL_MINOR 0 |
| #ifndef FOLLOW_ME |
| #define FC_SPI_COMPATIBLE 30 |
| #define FC_SPI_COMPATIBLE 31 |
| #else |
| #define FC_SPI_COMPATIBLE 0xFF |
| #endif |
| /trunk/spi_slave.c |
|---|
| 113,8 → 113,7 |
| u8 NC_GPS_ModeCharacter = ' '; |
| u8 FCCalibActive = 0; |
| u8 FC_is_Calibrated = 0; |
| u8 MotorCurrent[12]; |
| u8 MotorTemperature[12]; |
| Motor_t Motor[12]; |
| u8 NC_To_FC_Flags = 0; |
| u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| u32 FC_I2C_ErrorConter; |
| 603,10 → 602,10 |
| FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
| Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
| FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
| Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
| MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10]; |
| MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11]; |
| Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
| Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
| Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
| Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
| if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
| { |
| NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
| 692,8 → 691,8 |
| FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
| FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
| FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
| FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
| Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
| Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
| Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
| DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
| 707,13 → 706,6 |
| /* |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einkommentieren, falls der Flug simultert werden soll |
| if(Parameter.User8 < 100) FC.StatusFlags = 0; |
| else |
| if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
| else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
| BL_MinOfMaxPWM = 255; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| // every time we got new data from the FC via SPI call the navigation routine |
| // and update GPSStick that are returned to FC |
| /trunk/spi_slave.h |
|---|
| 28,8 → 28,11 |
| extern u8 NC_GPS_ModeCharacter; |
| extern u8 FC_is_Calibrated; |
| extern u8 FCCalibActive; |
| extern u8 MotorCurrent[12]; |
| /*extern u8 MotorCurrent[12]; |
| extern u8 MotorTemperature[12]; |
| extern u8 MotorState[12]; |
| extern u8 MotorMaxPwm[12]; |
| */ |
| extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| extern u32 FC_I2C_ErrorConter; |
| extern u8 FromFC_VarioCharacter; |
| 102,7 → 105,16 |
| u8 Chksum; |
| } __attribute__((packed)) ToFlightCtrl_t; |
| typedef struct |
| { |
| u8 Current; |
| u8 Temperature; |
| u8 MaxPWM; |
| u8 State; |
| } __attribute__((packed)) Motor_t; |
| extern Motor_t Motor[12]; |
| typedef struct |
| { |
| u8 Major; |
| /trunk/uart1.c |
|---|
| 76,6 → 76,7 |
| #include "params.h" |
| #include "fifo.h" |
| #include "debug.h" |
| #include "spi_slave.h" |
| #include "ftphelper.h" |
| #define FALSE 0 |
| 95,6 → 96,7 |
| u8 UART1_Request_WritePoint = 0xFF; |
| u8 UART1_Request_ReadPoint = 0; |
| u8 UART1_Request_Data3D = FALSE; |
| u8 UART1_Request_MotorData = FALSE; |
| u8 UART1_Request_Echo = FALSE; |
| u8 UART1_Request_ParameterId = 0; |
| u8 UART1_Request_Parameter = FALSE; |
| 181,6 → 183,8 |
| u32 UART1_NaviData_Interval = 0; // in ms |
| u32 UART1_Data3D_Timer = 0; |
| u32 UART1_Data3D_Interval = 0; // in ms |
| u32 UART1_MotorData_Timer = 0; |
| u32 UART1_MotorData_Interval = 0; // in ms |
| u32 UART1_Display_Timer = 0; |
| u32 UART1_Display_Interval = 0; // in ms |
| 550,6 → 554,12 |
| UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'k': // request for Motor data; |
| UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
| if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
| UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'h':// reqest for display line |
| if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
| { |
| 659,6 → 669,7 |
| /**************************************************************/ |
| void UART1_TransmitTxData(void) |
| { |
| static u8 motorindex1 = 255, motorindex2 = 0; |
| if(DebugUART != UART1) return; |
| if(CheckDelay(UART1_AboTimeOut)) |
| 728,10 → 739,29 |
| } |
| else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| Data3D.StickNick = FC.StickNick; |
| Data3D.StickRoll = FC.StickRoll; |
| Data3D.StickYaw = FC.StickYaw; |
| Data3D.StickGas = FC.StickGas; |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
| UART1_Request_Data3D = FALSE; |
| } |
| else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| do |
| { |
| motorindex1++; |
| motorindex1%=12; |
| if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
| if(motorindex1 == motorindex2) break; |
| } |
| while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
| UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
| UART1_Request_MotorData = FALSE; |
| } |
| /* |
| else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| /trunk/uart1.h |
|---|
| 31,7 → 31,11 |
| s16 AngleNick; // in 0.1 deg |
| s16 AngleRoll; // in 0.1 deg |
| s16 Heading; // in 0.1 deg |
| u8 reserve[8]; |
| u8 StickNick; |
| u8 StickRoll; |
| u8 StickYaw; |
| u8 StickGas; |
| u8 reserve[4]; |
| } __attribute__((packed)) Data3D_t; |
| extern Data3D_t Data3D; |