| 0,0 → 1,735 |
|---|
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + 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 |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include <string.h> |
| #include <math.h> |
| #include "91x_lib.h" |
| #include "led.h" |
| #include "gps.h" |
| #include "uart1.h" |
| #include "spi_slave.h" |
| #include "compass.h" |
| #include "timer1.h" |
| #include "timer2.h" |
| #include "config.h" |
| #include "main.h" |
| #include "compass.h" |
| #include "params.h" |
| #include "stdlib.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 2500 //ms |
| volatile u32 SPI0_Timeout = 0; |
| u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
| u8 SpeakHoTT = 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 + 10]; |
| 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+10]; |
| volatile u8 SPI_RxBufferIndex = 0; |
| volatile u8 SPI_RxBuffer_Request = 0; |
| #define SPI_COMMAND_INDEX 0 |
| |
| s32 Kalman_K = 32; |
| s32 Kalman_MaxDrift = 5 * 16; |
| s32 Kalman_MaxFusion = 64; |
| s32 Kalman_Kompass = 32; |
| s32 ToFcGpsZ = 0; |
| u8 CompassCalState = 0; |
| |
| u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN }; |
| u8 SPI_CommandCounter = 0; |
| s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| s32 HeadFreeStartAngle = 0; |
| s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| u32 ToFC_AltitudeRate = 0; |
| s32 ToFC_AltitudeSetpoint = 0; |
| u8 FromFC_VarioCharacter = ' '; |
| u8 GPS_Aid_StickMultiplikator = 0; |
| u8 NC_GPS_ModeCharacter = ' '; |
| u8 FCCalibActive = 0; |
| u8 FC_is_Calibrated = 0; |
| 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; |
| SPI_Version_t FC_Version; |
| s16 POI_KameraNick = 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 |
| if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
| 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; |
| VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
| } |
| |
| //-------------------------------------------------------------- |
| 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); |
| 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,hott_index = 0; |
| s16 tmp; |
| s32 i1,i2; |
| |
| SPIWatchDog = 3500; // stop communication to FC after this timeout |
| 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 = Compass_Heading; |
| DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| // ToFlightCtrl.MagVecX = MagVector.X; |
| // ToFlightCtrl.MagVecY = MagVector.Y; |
| ToFlightCtrl.MagVecZ = MagVector.Z; |
| ToFlightCtrl.NCStatus = 0; |
| // cycle spi commands |
| ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| // restart command cycle at the end |
| if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| |
| #define FLAG_GPS_AID 0x01 |
| switch (ToFlightCtrl.Command) |
| { |
| case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
| 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) Kalman_Kompass; |
| ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| { |
| ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
| CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| } |
| else |
| { |
| ToFlightCtrl.Param.sInt[4] = -1; |
| } |
| |
| if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| { |
| POI_KameraNick = tmp; |
| } |
| else |
| { |
| //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
| POI_KameraNick = CAM_Orientation.Elevation; |
| //else ToFlightCtrl.Param.sInt[5] = 0; |
| } |
| ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
| break; |
| |
| case SPI_NCCMD_VERSION: |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ higher than the maximum allowed altitude |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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] = Version_HW; |
| ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
| ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
| ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
| ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
| ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
| if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
| else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
| break; |
| case SPI_MISC: |
| ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
| ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
| ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
| ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
| ToFlightCtrl.Param.Byte[4] = 0; |
| ToFlightCtrl.Param.Byte[5] = 0; |
| ToFlightCtrl.Param.Byte[6] = 0; |
| ToFlightCtrl.Param.Byte[7] = 0; |
| ToFlightCtrl.Param.Byte[8] = 0; |
| ToFlightCtrl.Param.Byte[9] = 0; |
| ToFlightCtrl.Param.Byte[10] = 0; |
| ToFlightCtrl.Param.Byte[11] = 0; |
| //DebugOut.Analog[16] = SpeakHoTT; |
| SpeakHoTT = 0; |
| 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 //4&5 |
| ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
| if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
| ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
| if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| { |
| ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
| } |
| else |
| { |
| ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
| } |
| if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
| { |
| ToFlightCtrl.Param.sInt[5] = tmp; |
| } |
| else |
| { |
| ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
| } |
| break; |
| case SPI_NCCMD_HOTT_INFO: |
| switch(hott_index++) |
| { |
| case 0: |
| //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
| //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
| ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
| //----------------------------- |
| ToFlightCtrl.Param.Byte[2] = FromFlightCtrl.GyroHeading / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
| i1 = GPSData.Speed_Ground; // in cm/sec |
| i1 *= 36; |
| i1 /= 1000; |
| ToFlightCtrl.Param.Byte[3] = i1 % 256; |
| ToFlightCtrl.Param.Byte[4] = i1 / 256; |
| //----------------------------- |
| if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
| else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
| i1 = abs(GPSData.Position.Latitude)/10000000L; |
| i2 = abs(GPSData.Position.Latitude)%10000000L; |
| if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| i1 *= 100; |
| i1 += i2 / 100000; |
| i2 = i2 % 100000; |
| i2 /= 10; |
| ToFlightCtrl.Param.Byte[6] = i1 % 256; |
| ToFlightCtrl.Param.Byte[7] = i1 / 256; |
| ToFlightCtrl.Param.Byte[8] = i2 % 256; |
| ToFlightCtrl.Param.Byte[9] = i2 / 256; |
| break; |
| case 1: |
| ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
| ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
| //----------------------------- |
| if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
| else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
| i1 = abs(GPSData.Position.Longitude)/10000000L; |
| i2 = abs(GPSData.Position.Longitude)%10000000L; |
| if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
| i1 *= 100; |
| i1 += i2 / 100000; |
| i2 = i2 % 100000; |
| i2 /= 10; |
| ToFlightCtrl.Param.Byte[3] = i1 % 256; |
| ToFlightCtrl.Param.Byte[4] = i1 / 256; |
| ToFlightCtrl.Param.Byte[5] = i2 % 256; |
| ToFlightCtrl.Param.Byte[6] = i2 / 256; |
| //----------------------------- |
| i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
| ToFlightCtrl.Param.Byte[7] = i1 % 256; |
| ToFlightCtrl.Param.Byte[8] = i1 / 256; |
| break; |
| case 2: |
| ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
| ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
| ToFlightCtrl.Param.Byte[1] = 2; // how many |
| ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
| ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
| hott_index = 0; |
| break; |
| default: |
| ToFlightCtrl.Param.Byte[0] = 255; |
| hott_index = 0; |
| break; |
| } |
| break; |
| default: |
| break; |
| // 0 = 0,1 |
| // 1 = 2,3 |
| // 2 = 4,5 |
| // 3 = 6,7 |
| // 4 = 8,9 |
| // 5 = 10,11 |
| } |
| 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(ClearFCStatusFlags) |
| { |
| FC.StatusFlags = 0; |
| ClearFCStatusFlags = 0; |
| } |
| FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
| { |
| HeadFreeStartAngle = Compass_Heading * 10; |
| Compass_Init(); |
| FCCalibActive = 10; |
| FC_is_Calibrated = 0; |
| } |
| else |
| { |
| if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
| } |
| if(FC.StatusFlags & FC_STATUS_START) |
| { |
| if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
| HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
| } |
| |
| if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
| { |
| if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
| { |
| if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
| { |
| HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
| } |
| else // Ansonsten die aktuelle Richtung übernehmen |
| HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
| } |
| } |
| |
| Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| DebugOut.Analog[5] = FC.StatusFlags; |
| NaviData.FCStatusFlags = FC.StatusFlags; |
| FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
| |
| if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
| else |
| if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
| |
| if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
| else |
| if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
| |
| Logging_FCStatusFlags1 |= FC.StatusFlags; |
| Logging_FCStatusFlags2 |= FC.StatusFlags2; |
| Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
| 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]; |
| FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| 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); |
| } |
| 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.NaviAccCompensation,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 |
| // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
| { |
| CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| Compass_SetCalState(CompassCalState); |
| } |
| // else CompassCalState = 0; |
| } |
| 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]; // in 5cm |
| NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
| 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]; |
| if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| // 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]; |
| BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
| 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.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
| FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
| FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
| 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 |
| DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
| if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
| else DebugOut.StatusRed &= ~AMPEL_FC; |
| break; |
| default: |
| break; |
| } |
| |
| 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 |
| // every time we got new data from the FC via SPI call the navigation routine |
| // and update GPSStick that are returned to FC |
| SPI_RxBuffer_Request = 0; |
| |
| |
| /* |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| |
| |
| GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
| ClearFCStatusFlags = 1; |
| if(counter) |
| { |
| counter--; // count down to enable servo |
| if(!counter) TIMER2_Init(); // enable Servo Output |
| } |
| timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| |
| } // 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 Looking for FlightControl"); |
| 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++; |
| FCCalibActive = 1; |
| }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| // if we got it |
| if (FC_Version.Major != 0xFF) |
| { |
| 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); |
| UART1_PutString(msg); |
| } |
| else UART1_PutString("\n\r not found!"); |
| } |
| |
| |