WebSVN - NaviCtrl - Diff - Rev 331 and 338



//communication packets
FromFlightCtrl_t   FromFlightCtrl;
ToFlightCtrl_t     ToFlightCtrl;
#define SPI0_TIMEOUT 500 // 500ms
volatile u32 SPI0_Timeout = 0;
u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 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];

u8  FromFC_VarioCharacter = ' ';
u8 GPS_Aid_StickMultiplikator = 0;
u8 NC_GPS_ModeCharacter = ' ';
u8 FCCalibActive = 0;
u8 FC_is_Calibrated = 0;
 
u8 MotorCurrent[12];
u8 MotorTemperature[12];
u8 BL_MinOfMaxPWM;  // indication if all BL-controllers run on full power
u32 FC_I2C_ErrorConter;
SPI_Version_t FC_Version;

 
//--------------------------------------------------------------
void SSP0_IRQHandler(void)

                                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;
                                break;

                                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;
                                }

                                Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
                                DebugOut.Analog[5] = FC.StatusFlags;
                                FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
                                NaviData.FCStatusFlags = FC.StatusFlags;
                                NaviData.FCStatusFlags2 = FC.StatusFlags2;
                                Logging_FCStatusFlags1 |= FC.StatusFlags;
                                Logging_FCStatusFlags2 |= FC.StatusFlags2;
                                Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
                                break;

 
                        case SPI_FCCMD_ACCU:

                                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];
                                if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
                                 {
                                  NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
                                 }
                                NaviData.UBat = FC.BAT_Voltage;

                                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.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.OrientationAngle = FromFlightCtrl.Param.Byte[10];
                                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;
                }

Rev 331	Rev 338
Line 78...	Line 78...
78	//communication packets	78	//communication packets
79	FromFlightCtrl_t FromFlightCtrl;	79	FromFlightCtrl_t FromFlightCtrl;
80	ToFlightCtrl_t ToFlightCtrl;	80	ToFlightCtrl_t ToFlightCtrl;
81	#define SPI0_TIMEOUT 500 // 500ms	81	#define SPI0_TIMEOUT 500 // 500ms
82	volatile u32 SPI0_Timeout = 0;	82	volatile u32 SPI0_Timeout = 0;
-		83	u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0;
Line 83...	Line 84...
83		84
84	// tx packet buffer	85	// tx packet buffer
85	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization	86	#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_TxBuffer[SPI_TXBUFFER_LEN];
Line 110...	Line 111...
110	u8 FromFC_VarioCharacter = ' ';	111	u8 FromFC_VarioCharacter = ' ';
111	u8 GPS_Aid_StickMultiplikator = 0;	112	u8 GPS_Aid_StickMultiplikator = 0;
112	u8 NC_GPS_ModeCharacter = ' ';	113	u8 NC_GPS_ModeCharacter = ' ';
113	u8 FCCalibActive = 0;	114	u8 FCCalibActive = 0;
114	u8 FC_is_Calibrated = 0;	115	u8 FC_is_Calibrated = 0;
115		-
-		116	u8 MotorCurrent[12];
-		117	u8 MotorTemperature[12];
-		118	u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
-		119	u32 FC_I2C_ErrorConter;
116	SPI_Version_t FC_Version;	120	SPI_Version_t FC_Version;
Line 117...	Line 121...
117		121
118	//--------------------------------------------------------------	122	//--------------------------------------------------------------
119	void SSP0_IRQHandler(void)	123	void SSP0_IRQHandler(void)
Line 336...	Line 340...
336	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;	340	ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR;
337	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;	341	ToFlightCtrl.Param.Byte[1] = VERSION_MINOR;
338	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;	342	ToFlightCtrl.Param.Byte[2] = VERSION_PATCH;
339	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;	343	ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE;
340	ToFlightCtrl.Param.Byte[4] = Version_HW;	344	ToFlightCtrl.Param.Byte[4] = Version_HW;
341	ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0];	345	ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen;
342	ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1];	346	ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed;
343	ToFlightCtrl.Param.Byte[7] = ErrorCode;	347	ToFlightCtrl.Param.Byte[7] = ErrorCode;
344	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;	348	ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter;
345	ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;	349	ToFlightCtrl.Param.Byte[9] = SerialLinkOkay;
346	break;	350	break;
Line 526...	Line 530...
526	if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive)	530	if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive)
527	{	531	{
528	HeadFreeStartAngle = Compass_Heading * 10;	532	HeadFreeStartAngle = Compass_Heading * 10;
529	Compass_Init();	533	Compass_Init();
530	FCCalibActive = 10;	534	FCCalibActive = 10;
-		535	FC_is_Calibrated = 0;
531	}	536	}
532	else	537	else
533	{	538	{
534	if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1;	539	if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1;
535	}	540	}
Line 557...	Line 562...
557	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];	562	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
558	DebugOut.Analog[5] = FC.StatusFlags;	563	DebugOut.Analog[5] = FC.StatusFlags;
559	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];	564	FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
560	NaviData.FCStatusFlags = FC.StatusFlags;	565	NaviData.FCStatusFlags = FC.StatusFlags;
561	NaviData.FCStatusFlags2 = FC.StatusFlags2;	566	NaviData.FCStatusFlags2 = FC.StatusFlags2;
-		567	Logging_FCStatusFlags1 \|= FC.StatusFlags;
-		568	Logging_FCStatusFlags2 \|= FC.StatusFlags2;
562	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];	569	Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10];
563	break;	570	break;
Line 564...	Line 571...
564		571
565	case SPI_FCCMD_ACCU:	572	case SPI_FCCMD_ACCU:
Line 568...	Line 575...
568	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];	575	FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4];
569	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];	576	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5];
570	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];	577	FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6];
571	Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7];	578	Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7];
572	Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8];	579	Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8];
-		580	MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10];
-		581	MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11];
573	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command	582	if(FromFC_VarioCharacter == '+' \|\| FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command
574	{	583	{
575	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);	584	NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE);
576	}	585	}
577	NaviData.UBat = FC.BAT_Voltage;	586	NaviData.UBat = FC.BAT_Voltage;
Line 641...	Line 650...
641	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];	650	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
642	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];	651	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
643	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];	652	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
644	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];	653	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
645	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];	654	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
-		655	BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10];
646	break;	656	break;
Line 647...	Line 657...
647		657
648	case SPI_FCCMD_VERSION:	658	case SPI_FCCMD_VERSION:
649	FC_Version.Major = FromFlightCtrl.Param.Byte[0];	659	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
Line 655...	Line 665...
655	FC.Error[1] \|= FromFlightCtrl.Param.Byte[6];	665	FC.Error[1] \|= FromFlightCtrl.Param.Byte[6];
656	FC.Error[2] \|= FromFlightCtrl.Param.Byte[7];	666	FC.Error[2] \|= FromFlightCtrl.Param.Byte[7];
657	FC.Error[3] \|= FromFlightCtrl.Param.Byte[8];	667	FC.Error[3] \|= FromFlightCtrl.Param.Byte[8];
658	FC.Error[4] \|= FromFlightCtrl.Param.Byte[9];	668	FC.Error[4] \|= FromFlightCtrl.Param.Byte[9];
659	Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10];	669	Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10];
660	DebugOut.Status[0] \|= 0x01; // status of FC Present	670	DebugOut.StatusGreen \|= AMPEL_FC; // status of FC Present
661	DebugOut.Status[0] \|= 0x02; // status of BL Present	671	DebugOut.StatusGreen \|= AMPEL_BL; // status of BL Present
662	if(FC.Error[0] \|\| FC.Error[1] \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]) DebugOut.Status[1] \|= 0x01;	672	if(FC.Error[0] \|\| FC.Error[1] \|\| FC.Error[2] \|\| FC.Error[3] \|\| FC.Error[4]) DebugOut.StatusRed \|= AMPEL_FC;
663	else DebugOut.Status[1] &= ~0x01;	673	else DebugOut.StatusRed &= ~AMPEL_FC;
664	break;	674	break;
665	default:	675	default:
666	break;	676	break;
667	}	677	}

Subversion Repositories NaviCtrl

(root)/tags/V0.26b/spi_slave.c @ 341 - Rev 331 → 338