| 0,0 → 1,518 |
|---|
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "led.h" |
| #include "gps.h" |
| #include "uart1.h" |
| #include "spi_slave.h" |
| #include "i2c.h" |
| #include "timer1.h" |
| #include "timer2.h" |
| #include "config.h" |
| #include "main.h" |
| #include "fifo.h" |
| |
| |
| #define SPI_RXSYNCBYTE1 0xAA |
| #define SPI_RXSYNCBYTE2 0x83 |
| #define SPI_TXSYNCBYTE1 0x81 |
| #define SPI_TXSYNCBYTE2 0x55 |
| |
| //communication packets |
| FromFlightCtrl_t FromFlightCtrl; |
| ToFlightCtrl_t ToFlightCtrl; |
| #define SPI0_TIMEOUT 500 // 500ms |
| volatile u32 SPI0_Timeout = 0; |
| |
| // tx packet buffer |
| #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
| volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
| volatile u8 SPI_TxBufferIndex = 0; |
| u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
| |
| // rx packet buffer |
| #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
| volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| volatile u8 SPI_RxBufferIndex = 0; |
| volatile u8 SPI_RxBuffer_Request = 0; |
| #define SPI_COMMAND_INDEX 0 |
| volatile u8 FC_ErrorCode[5] = {0,0,0,0,0}; |
| |
| s32 Kalman_K = 32; |
| s32 Kalman_MaxDrift = 5 * 16; |
| s32 Kalman_MaxFusion = 64; |
| s32 ToFcGpsZ = 0; |
| |
| u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
| u8 SPI_CommandCounter = 0; |
| s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| s32 HeadFreeStartAngle = 0; |
| |
| SPI_Version_t FC_Version; |
| |
| u8 CompassCalStateQueue[10]; |
| fifo_t CompassCalcStateFiFo; |
| |
| u8 CompassCalState = 0; |
| |
| //-------------------------------------------------------------- |
| void SSP0_IRQHandler(void) |
| { |
| static u8 rxchksum = 0; |
| u8 rxdata; |
| |
| #define SPI_SYNC1 0 |
| #define SPI_SYNC2 1 |
| #define SPI_DATA 2 |
| static u8 SPI_State = SPI_SYNC1; |
| |
| IENABLE; |
| |
| // clear pending bits |
| SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| |
| // while RxFIFO not empty |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
| { |
| rxdata = SSP0->DR; // catch the received byte |
| // Fill TxFIFO while its not full or end of packet is reached |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| { |
| if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| { |
| SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| SPI_TxBufferIndex++; // pointer to next byte |
| } |
| else // end of packet is reached reset and copy data to tx buffer |
| { |
| SPI_TxBufferIndex = 0; // reset buffer index |
| ToFlightCtrl.Chksum = 0; // initialize checksum |
| ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
| BeepTime = 0; // reset local beeptime |
| // copy contents of ToFlightCtrl->SPI_TxBuffer |
| memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| } |
| } |
| switch (SPI_State) |
| { |
| case SPI_SYNC1: |
| SPI_RxBufferIndex = 0; // reset buffer index |
| rxchksum = rxdata; // init checksum |
| if (rxdata == SPI_RXSYNCBYTE1) |
| { // 1st syncbyte ok |
| SPI_State = SPI_SYNC2; // step to sync2 |
| } |
| break; |
| case SPI_SYNC2: |
| if (rxdata == SPI_RXSYNCBYTE2) |
| { // 2nd Syncbyte ok |
| rxchksum += rxdata; |
| SPI_State = SPI_DATA; |
| } // 2nd Syncbyte does not match |
| else |
| { |
| SPI_State = SPI_SYNC1; //jump back to sync1 |
| } |
| break; |
| case SPI_DATA: |
| SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
| if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| { |
| if (rxdata == rxchksum) // verify checksum byte |
| { |
| // copy SPI_RxBuffer -> FromFlightCtrl |
| if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
| { |
| memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
| SPI_RxBuffer_Request = 1; |
| } |
| // reset timeout counter on good packet |
| SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
| DebugOut.Analog[13]++; |
| } |
| else // bad checksum byte |
| { |
| DebugOut.Analog[12]++; // increase SPI chksum error counter |
| } |
| SPI_State = SPI_SYNC1; // reset state |
| } |
| else // end of packet not reached |
| { |
| rxchksum += rxdata; // update checksum |
| } |
| break; |
| default: |
| SPI_State = SPI_SYNC1; |
| break; |
| } |
| } |
| |
| IDISABLE; |
| } |
| |
| //-------------------------------------------------------------- |
| void SPI0_Init(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SSP_InitTypeDef SSP_InitStructure; |
| |
| UART1_PutString("\r\n SPI init..."); |
| |
| SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
| |
| GPIO_DeInit(GPIO2); |
| //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| GPIO_Init (GPIO2, &GPIO_InitStructure); |
| |
| // SSP0_MISO pin GPIO2.6 |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| GPIO_Init (GPIO2, &GPIO_InitStructure); |
| |
| SSP_DeInit(SSP0); |
| SSP_StructInit(&SSP_InitStructure); |
| SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
| SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
| SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
| SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
| SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
| SSP_InitStructure.SSP_ClockRate = 0; |
| |
| SSP_Init(SSP0, &SSP_InitStructure); |
| SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| |
| fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
| |
| SSP_Cmd(SSP0, ENABLE); |
| // initialize the syncbytes in the tx buffer |
| SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
| SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
| // set the pointer to the checksum byte in the tx buffer |
| Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
| |
| ToFlightCtrl.GPSStick.Nick = 0; |
| ToFlightCtrl.GPSStick.Roll = 0; |
| ToFlightCtrl.GPSStick.Yaw = 0; |
| |
| VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| VIC_ITCmd(SSP0_ITLine, ENABLE); |
| |
| SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| |
| UART1_PutString("ok"); |
| } |
| |
| |
| //------------------------------------------------------ |
| void SPI0_UpdateBuffer(void) |
| { |
| static u32 timeout = 0; |
| static u8 counter = 50; |
| |
| if (SPI_RxBuffer_Request) |
| { |
| // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
| DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| // cycle spi commands |
| ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| // restart command cycle at the end |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| |
| switch (ToFlightCtrl.Command) |
| { |
| case SPI_NCCMD_KALMAN: |
| CalcHeadFree(); |
| ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
| ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| break; |
| |
| case SPI_NCCMD_VERSION: |
| ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
| ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
| ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| ToFlightCtrl.Param.Byte[4] = BoardRelease; |
| ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
| ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
| ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| break; |
| |
| case SPI_NCCMD_GPSINFO: |
| ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
| ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
| ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
| ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm |
| ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg |
| break; |
| default: |
| break; |
| } |
| VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
| |
| |
| switch(FromFlightCtrl.Command) |
| { |
| case SPI_FCCMD_USER: |
| Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
| Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
| Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
| Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
| Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
| Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
| Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
| if(ClearFCFlags) |
| { |
| FC.Flags = 0; |
| ClearFCFlags = 0; |
| } |
| FC.Flags |= FromFlightCtrl.Param.Byte[8]; |
| Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| DebugOut.Analog[5] = FC.Flags; |
| NaviData.FCFlags = FC.Flags; |
| HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| break; |
| |
| case SPI_FCCMD_ACCU: |
| FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
| Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
| NaviData.UBat = FC.BAT_Voltage; |
| NaviData.Current = FC.BAT_Current; |
| NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
| break; |
| |
| #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| |
| case SPI_FCCMD_PARAMETER1: |
| CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
| Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| break; |
| |
| case SPI_FCCMD_STICK: |
| FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
| FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
| FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
| FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
| FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
| FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
| FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
| FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
| FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
| FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| break; |
| |
| case SPI_FCCMD_MISC: |
| if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| { // put only new CompassCalState into queue to send via I2C |
| CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| fifo_put(&CompassCalcStateFiFo, CompassCalState); |
| } |
| Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3 |
| NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5 |
| CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
| FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
| NaviData.RC_Quality = FC.RC_Quality; |
| NaviData.RC_RSSI = FC.RC_RSSI; |
| NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| break; |
| |
| case SPI_FCCMD_SERVOS: |
| ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
| ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
| ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
| ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
| ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
| ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
| break; |
| |
| case SPI_FCCMD_VERSION: |
| FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
| FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
| FC_ErrorCode[0] = FromFlightCtrl.Param.Byte[5]; |
| FC_ErrorCode[1] = FromFlightCtrl.Param.Byte[6]; |
| FC_ErrorCode[2] = FromFlightCtrl.Param.Byte[7]; |
| DebugOut.Status[0] |= 0x01; // status of FC Present |
| DebugOut.Status[0] |= 0x02; // status of BL Present |
| if(FC_ErrorCode[0] || FC_ErrorCode[1] || FC_ErrorCode[2]) DebugOut.Status[1] |= 0x01; |
| else DebugOut.Status[1] &= ~0x01; |
| break; |
| default: |
| break; |
| } |
| |
| // every time we got new data from the FC via SPI call the navigation routine |
| // and update GPSStick that are returned to FC |
| GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| ClearFCFlags = 1; |
| |
| if(counter) |
| { |
| counter--; // count down to enable servo |
| if(!counter) TIMER2_Init(); // enable Servo Output |
| } |
| |
| SPI_RxBuffer_Request = 0; |
| timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| |
| DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
| DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
| DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
| Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
| } // EOF if(SPI_RxBuffer_Request) |
| else // no new SPI data |
| { |
| if(CheckDelay(timeout) && (counter == 0)) |
| { |
| TIMER2_Deinit(); // disable Servo Output |
| counter = 50; // reset counter for enabling Servo Output |
| } |
| } |
| } |
| |
| //------------------------------------------------------ |
| void SPI0_GetFlightCtrlVersion(void) |
| { |
| u32 timeout; |
| u8 repeat; |
| u8 msg[64]; |
| |
| UART1_PutString("\r\n Getting Version from FC"); |
| FC_Version.Major = 0xFF; |
| FC_Version.Minor = 0xFF; |
| FC_Version.Patch = 0xFF; |
| FC_Version.Compatible = 0xFF; |
| |
| // polling FC version info |
| repeat = 0; |
| do |
| { |
| timeout = SetDelay(250); |
| do |
| { |
| SPI0_UpdateBuffer(); |
| if (FC_Version.Major != 0xFF) break; |
| }while (!CheckDelay(timeout)); |
| UART1_PutString("."); |
| repeat++; |
| }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| // if we got it |
| if (FC_Version.Major != 0xFF) |
| { |
| sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| UART1_PutString(msg); |
| sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
| UART1_PutString(msg); |
| } |
| else UART1_PutString("\n\r No version information from FlightCtrl."); |
| } |
| |
| |