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Rev 935 Rev 936
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#include "fc.h"
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#include "fc.h"
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#include "rc.h"
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#include "rc.h"
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#include "eeprom.h"
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#include "eeprom.h"
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#include "uart.h"
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#include "uart.h"
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#include "timer0.h"
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#include "timer0.h"
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#include "analog.h"
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#define SPI_TXSYNCBYTE1 0xAA
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#define SPI_TXSYNCBYTE1 0xAA
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#define SPI_TXSYNCBYTE2 0x83
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#define SPI_TXSYNCBYTE2 0x83
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#define SPI_RXSYNCBYTE1 0x81
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#define SPI_RXSYNCBYTE1 0x81
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uint8_t SPI_TxBufferIndex = 0;
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uint8_t SPI_TxBufferIndex = 0;
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uint8_t SPITransferCompleted, SPI_ChkSum;
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uint8_t SPITransferCompleted, SPI_ChkSum;
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uint8_t SPI_RxDataValid;
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uint8_t SPI_RxDataValid;
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uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS };
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uint8_t SPI_CommandCounter = 0;
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uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS };
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#ifdef USE_SPI_COMMUNICATION
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uint8_t SPI_CommandCounter = 0;
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/*********************************************/
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/*********************************************/
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/*  Initialize SPI interface to NaviCtrl     */
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/*  Initialize SPI interface to NaviCtrl     */
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                        ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4;
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                        ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4;
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                        ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5;
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                        ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5;
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                        ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6;
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                        ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6;
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                        ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7;
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                        ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7;
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                        ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8;
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                        ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8;
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                        ToNaviCtrl.Param.Byte[8] = MKFlags;
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                        MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting
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                        ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat;
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                        ToNaviCtrl.Param.Byte[10] = ParamSet.LowVoltageWarning;
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                        ToNaviCtrl.Param.Byte[11] = GetActiveParamSet();
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                        break;
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                case SPI_CMD_PARAMETER1:
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                        ToNaviCtrl.Param.Byte[0] = FCParam.NaviGpsModeControl;     // Parameters for the Naviboard
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                        ToNaviCtrl.Param.Byte[1] = FCParam.NaviGpsGain;
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                        ToNaviCtrl.Param.Byte[2] = FCParam.NaviGpsP;
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                        ToNaviCtrl.Param.Byte[3] = FCParam.NaviGpsI;
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                        ToNaviCtrl.Param.Byte[4] = FCParam.NaviGpsD;
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                        ToNaviCtrl.Param.Byte[5] = FCParam.NaviGpsACC;
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                        ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat;
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                        ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold;
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                        ToNaviCtrl.Param.Byte[8] = 15; // MaxRadius
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                        break;
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                        break;
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                case SPI_CMD_STICK:
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                case SPI_CMD_STICK:
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                        tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
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                        tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]];  if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
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                        ToNaviCtrl.Param.Byte[0] = (int8_t) tmp;
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                        ToNaviCtrl.Param.Byte[0] = (int8_t) tmp;
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                        tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
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                        tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128;
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                        ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1;
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                        ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1;
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                        ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2;
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                        ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2;
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                        ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3;
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                        ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3;
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                        ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4;
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                        ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4;
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                        ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality;
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                        ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality;
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                        ToNaviCtrl.Param.Byte[9] = (uint8_t) MotorsOn;
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                        break;
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                        break;
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                case SPI_CMD_CAL_COMPASS:
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                case SPI_CMD_CAL_COMPASS:
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                        if(CompassCalState > 5)
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                        if(CompassCalState > 5)
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        if (SPI_RxDataValid)
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        if (SPI_RxDataValid)
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        {
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        {
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                // update gps controls
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                // update gps controls
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                if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE))
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                if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE))
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                {
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                {
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                        GPS_Nick = FromNaviCtrl.GPS_Nick;
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                        GPS_Nick        = FromNaviCtrl.GPS_Nick;
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                        GPS_Roll  = FromNaviCtrl.GPS_Roll;
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                        GPS_Roll        = FromNaviCtrl.GPS_Roll;
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                }
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                }
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                // update compass readings
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                // update compass readings
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                if(FromNaviCtrl.CompassHeading <= 360)
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                if(FromNaviCtrl.CompassHeading <= 360)
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                {
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                {
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                        CompassHeading = FromNaviCtrl.CompassHeading;
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                        CompassHeading = FromNaviCtrl.CompassHeading;
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                // cyclic commands
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                // cyclic commands
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                ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
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                ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
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                if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
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                if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
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                SPITransferCompleted = 0; // tranfer is in progress
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                SPITransferCompleted = 0; // transfer is in progress
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                UpdateSPI_Buffer();    // update data in ToNaviCtrl
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                UpdateSPI_Buffer();    // update data in ToNaviCtrl
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                SPITransferCompleted = 1;
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                SPITransferCompleted = 1;
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        }
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        }
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}
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}
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