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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 40 | // + with our written permission |
41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | |
58 | #include <string.h> |
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59 | #include "91x_lib.h" |
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60 | #include "led.h" |
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215 | killagreg | 61 | #include "gps.h" |
41 | ingob | 62 | #include "uart1.h" |
63 | #include "spi_slave.h" |
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242 | killagreg | 64 | #include "compass.h" |
119 | killagreg | 65 | #include "timer1.h" |
66 | #include "timer2.h" |
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136 | killagreg | 67 | #include "config.h" |
1 | ingob | 68 | #include "main.h" |
284 | killagreg | 69 | #include "compass.h" |
294 | holgerb | 70 | #include "params.h" |
1 | ingob | 71 | |
41 | ingob | 72 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE2 0x83 |
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74 | #define SPI_TXSYNCBYTE1 0x81 |
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75 | #define SPI_TXSYNCBYTE2 0x55 |
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1 | ingob | 76 | |
41 | ingob | 77 | //communication packets |
215 | killagreg | 78 | FromFlightCtrl_t FromFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
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183 | killagreg | 80 | #define SPI0_TIMEOUT 500 // 500ms |
146 | killagreg | 81 | volatile u32 SPI0_Timeout = 0; |
1 | ingob | 82 | |
41 | ingob | 83 | // tx packet buffer |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
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86 | volatile u8 SPI_TxBufferIndex = 0; |
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87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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1 | ingob | 88 | |
41 | ingob | 89 | // rx packet buffer |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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92 | volatile u8 SPI_RxBufferIndex = 0; |
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93 | volatile u8 SPI_RxBuffer_Request = 0; |
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1 | ingob | 94 | #define SPI_COMMAND_INDEX 0 |
95 | |||
149 | killagreg | 96 | s32 Kalman_K = 32; |
41 | ingob | 97 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxFusion = 64; |
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148 | holgerb | 99 | s32 ToFcGpsZ = 0; |
1 | ingob | 100 | |
204 | killagreg | 101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
41 | ingob | 102 | u8 SPI_CommandCounter = 0; |
222 | holgerb | 103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
104 | s32 HeadFreeStartAngle = 0; |
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277 | killagreg | 105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
286 | killagreg | 106 | u32 ToFC_AltitudeRate = 0; |
285 | holgerb | 107 | s32 ToFC_AltitudeSetpoint = 0; |
298 | holgerb | 108 | u8 FromFC_VarioCharacter = ' '; |
319 | holgerb | 109 | u8 DisableFC_Sticks = 0; |
323 | holgerb | 110 | u8 NC_GPS_ModeCharacter = ' '; |
58 | killagreg | 111 | |
41 | ingob | 112 | SPI_Version_t FC_Version; |
1 | ingob | 113 | |
41 | ingob | 114 | //-------------------------------------------------------------- |
115 | void SSP0_IRQHandler(void) |
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116 | { |
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117 | static u8 rxchksum = 0; |
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118 | u8 rxdata; |
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1 | ingob | 119 | |
189 | killagreg | 120 | #define SPI_SYNC1 0 |
121 | #define SPI_SYNC2 1 |
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122 | #define SPI_DATA 2 |
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123 | static u8 SPI_State = SPI_SYNC1; |
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124 | |||
195 | killagreg | 125 | IENABLE; |
126 | |||
161 | killagreg | 127 | // clear pending bits |
41 | ingob | 128 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
144 | killagreg | 129 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
189 | killagreg | 130 | |
79 | killagreg | 131 | // while RxFIFO not empty |
132 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
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133 | { |
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41 | ingob | 134 | rxdata = SSP0->DR; // catch the received byte |
135 | // Fill TxFIFO while its not full or end of packet is reached |
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79 | killagreg | 136 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
161 | killagreg | 137 | { |
79 | killagreg | 138 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
139 | { |
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41 | ingob | 140 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
79 | killagreg | 141 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
142 | SPI_TxBufferIndex++; // pointer to next byte |
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143 | } |
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144 | else // end of packet is reached reset and copy data to tx buffer |
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145 | { |
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146 | SPI_TxBufferIndex = 0; // reset buffer index |
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147 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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148 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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149 | BeepTime = 0; // reset local beeptime |
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41 | ingob | 150 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
79 | killagreg | 151 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
152 | } |
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41 | ingob | 153 | } |
154 | switch (SPI_State) |
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155 | { |
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156 | case SPI_SYNC1: |
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157 | SPI_RxBufferIndex = 0; // reset buffer index |
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158 | rxchksum = rxdata; // init checksum |
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159 | if (rxdata == SPI_RXSYNCBYTE1) |
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160 | { // 1st syncbyte ok |
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161 | SPI_State = SPI_SYNC2; // step to sync2 |
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162 | } |
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163 | break; |
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79 | killagreg | 164 | case SPI_SYNC2: |
41 | ingob | 165 | if (rxdata == SPI_RXSYNCBYTE2) |
166 | { // 2nd Syncbyte ok |
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167 | rxchksum += rxdata; |
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168 | SPI_State = SPI_DATA; |
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169 | } // 2nd Syncbyte does not match |
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170 | else |
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171 | { |
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172 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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173 | } |
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174 | break; |
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175 | case SPI_DATA: |
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176 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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177 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
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178 | { |
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179 | if (rxdata == rxchksum) // verify checksum byte |
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180 | { |
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181 | // copy SPI_RxBuffer -> FromFlightCtrl |
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182 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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183 | { |
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184 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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185 | SPI_RxBuffer_Request = 1; |
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186 | } |
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146 | killagreg | 187 | // reset timeout counter on good packet |
188 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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41 | ingob | 189 | DebugOut.Analog[13]++; |
190 | } |
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191 | else // bad checksum byte |
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192 | { |
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193 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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194 | } |
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195 | SPI_State = SPI_SYNC1; // reset state |
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196 | } |
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197 | else // end of packet not reached |
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198 | { |
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199 | rxchksum += rxdata; // update checksum |
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200 | } |
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201 | break; |
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202 | default: |
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203 | SPI_State = SPI_SYNC1; |
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204 | break; |
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205 | } |
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206 | } |
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195 | killagreg | 207 | |
208 | IDISABLE; |
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1 | ingob | 209 | } |
210 | |||
211 | //-------------------------------------------------------------- |
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212 | void SPI0_Init(void) |
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213 | { |
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41 | ingob | 214 | GPIO_InitTypeDef GPIO_InitStructure; |
215 | SSP_InitTypeDef SSP_InitStructure; |
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1 | ingob | 216 | |
110 | killagreg | 217 | UART1_PutString("\r\n SPI init..."); |
1 | ingob | 218 | |
41 | ingob | 219 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
220 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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1 | ingob | 221 | |
41 | ingob | 222 | GPIO_DeInit(GPIO2); |
223 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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224 | GPIO_StructInit(&GPIO_InitStructure); |
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225 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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226 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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227 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 228 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 229 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
230 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 231 | |
41 | ingob | 232 | // SSP0_MISO pin GPIO2.6 |
233 | GPIO_StructInit(&GPIO_InitStructure); |
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234 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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235 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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236 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 237 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 238 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
239 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 240 | |
41 | ingob | 241 | SSP_DeInit(SSP0); |
242 | SSP_StructInit(&SSP_InitStructure); |
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243 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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244 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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245 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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246 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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247 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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248 | SSP_InitStructure.SSP_ClockRate = 0; |
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1 | ingob | 249 | |
41 | ingob | 250 | SSP_Init(SSP0, &SSP_InitStructure); |
144 | killagreg | 251 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
202 | killagreg | 252 | |
41 | ingob | 253 | SSP_Cmd(SSP0, ENABLE); |
254 | // initialize the syncbytes in the tx buffer |
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255 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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256 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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257 | // set the pointer to the checksum byte in the tx buffer |
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258 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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259 | |||
215 | killagreg | 260 | ToFlightCtrl.GPSStick.Nick = 0; |
261 | ToFlightCtrl.GPSStick.Roll = 0; |
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262 | ToFlightCtrl.GPSStick.Yaw = 0; |
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263 | |||
136 | killagreg | 264 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
41 | ingob | 265 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
266 | |||
146 | killagreg | 267 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
268 | |||
110 | killagreg | 269 | UART1_PutString("ok"); |
1 | ingob | 270 | } |
41 | ingob | 271 | |
222 | holgerb | 272 | |
1 | ingob | 273 | //------------------------------------------------------ |
41 | ingob | 274 | void SPI0_UpdateBuffer(void) |
1 | ingob | 275 | { |
180 | killagreg | 276 | static u32 timeout = 0; |
277 | static u8 counter = 50; |
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254 | killagreg | 278 | static u8 CompassCalState = 0; |
268 | killagreg | 279 | static u8 FCCalibActive = 0; |
299 | killagreg | 280 | s16 tmp; |
202 | killagreg | 281 | |
41 | ingob | 282 | if (SPI_RxBuffer_Request) |
283 | { |
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284 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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285 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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254 | killagreg | 286 | ToFlightCtrl.CompassHeading = Compass_Heading; |
189 | killagreg | 287 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
228 | holgerb | 288 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
327 | holgerb | 289 | // ToFlightCtrl.MagVecX = MagVector.X; |
290 | // ToFlightCtrl.MagVecY = MagVector.Y; |
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286 | killagreg | 291 | ToFlightCtrl.MagVecZ = MagVector.Z; |
284 | killagreg | 292 | ToFlightCtrl.NCStatus = 0; |
41 | ingob | 293 | // cycle spi commands |
294 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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118 | killagreg | 295 | // restart command cycle at the end |
41 | ingob | 296 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
319 | holgerb | 297 | #define FLAG_GPS_AID 0x01 |
41 | ingob | 298 | switch (ToFlightCtrl.Command) |
299 | { |
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202 | killagreg | 300 | case SPI_NCCMD_KALMAN: |
223 | killagreg | 301 | CalcHeadFree(); |
149 | killagreg | 302 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
92 | killagreg | 303 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
304 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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118 | killagreg | 305 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
149 | killagreg | 306 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
222 | holgerb | 307 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
223 | killagreg | 308 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
319 | holgerb | 309 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
280 | killagreg | 310 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
278 | killagreg | 311 | { |
312 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
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280 | killagreg | 313 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
278 | killagreg | 314 | } |
315 | else |
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280 | killagreg | 316 | { |
278 | killagreg | 317 | ToFlightCtrl.Param.sInt[4] = -1; |
318 | } |
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294 | holgerb | 319 | |
299 | killagreg | 320 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
295 | killagreg | 321 | { |
299 | killagreg | 322 | ToFlightCtrl.Param.sInt[5] = tmp; |
323 | } |
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324 | else |
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325 | { |
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295 | killagreg | 326 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
327 | else ToFlightCtrl.Param.sInt[5] = 0; |
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328 | } |
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161 | killagreg | 329 | break; |
58 | killagreg | 330 | |
202 | killagreg | 331 | case SPI_NCCMD_VERSION: |
332 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
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333 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
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204 | killagreg | 334 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
202 | killagreg | 335 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
264 | killagreg | 336 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
231 | holgerb | 337 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
338 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
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233 | holgerb | 339 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
323 | holgerb | 340 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
202 | killagreg | 341 | break; |
223 | killagreg | 342 | |
204 | killagreg | 343 | case SPI_NCCMD_GPSINFO: |
344 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
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345 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
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346 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
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232 | killagreg | 347 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
258 | holgerb | 348 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
349 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
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306 | holgerb | 350 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
351 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
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299 | killagreg | 352 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
353 | { |
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354 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
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295 | killagreg | 355 | } |
299 | killagreg | 356 | else |
357 | { |
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358 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
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359 | } |
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360 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
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361 | { |
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362 | ToFlightCtrl.Param.sInt[5] = tmp; |
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363 | } |
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364 | else |
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365 | { |
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366 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
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367 | } |
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300 | holgerb | 368 | // DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
369 | // DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
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204 | killagreg | 370 | break; |
299 | killagreg | 371 | |
41 | ingob | 372 | default: |
373 | break; |
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285 | holgerb | 374 | // 0 = 0,1 |
375 | // 1 = 2,3 |
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376 | // 2 = 4,5 |
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377 | // 3 = 6,7 |
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378 | // 4 = 8,9 |
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379 | // 5 = 10,11 |
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41 | ingob | 380 | } |
381 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
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1 | ingob | 382 | |
383 | |||
41 | ingob | 384 | switch(FromFlightCtrl.Command) |
385 | { |
||
202 | killagreg | 386 | case SPI_FCCMD_USER: |
41 | ingob | 387 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
388 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
389 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
390 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
391 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
392 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
393 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
394 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
255 | killagreg | 395 | if(ClearFCStatusFlags) |
41 | ingob | 396 | { |
255 | killagreg | 397 | FC.StatusFlags = 0; |
398 | ClearFCStatusFlags = 0; |
||
41 | ingob | 399 | } |
255 | killagreg | 400 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
320 | holgerb | 401 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
268 | killagreg | 402 | { |
326 | holgerb | 403 | HeadFreeStartAngle = Compass_Heading * 10; |
268 | killagreg | 404 | Compass_Init(); |
405 | FCCalibActive = 1; |
||
406 | } |
||
407 | else |
||
408 | { |
||
284 | killagreg | 409 | FCCalibActive = 0; |
268 | killagreg | 410 | } |
327 | holgerb | 411 | if(FC.StatusFlags & FC_STATUS_START) |
412 | { if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else HeadFreeStartAngle = FromFlightCtrl.GyroHeading; } |
||
320 | holgerb | 413 | |
327 | holgerb | 414 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
320 | holgerb | 415 | { |
416 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
417 | { |
||
326 | holgerb | 418 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
320 | holgerb | 419 | { |
325 | holgerb | 420 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
320 | holgerb | 421 | } |
422 | else // Ansonsten die aktuelle Richtung übernehmen |
||
325 | holgerb | 423 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
320 | holgerb | 424 | } |
425 | } |
||
426 | |||
326 | holgerb | 427 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
428 | |||
223 | killagreg | 429 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
255 | killagreg | 430 | DebugOut.Analog[5] = FC.StatusFlags; |
294 | holgerb | 431 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
255 | killagreg | 432 | NaviData.FCStatusFlags = FC.StatusFlags; |
294 | holgerb | 433 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
321 | holgerb | 434 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
41 | ingob | 435 | break; |
1 | ingob | 436 | |
206 | killagreg | 437 | case SPI_FCCMD_ACCU: |
223 | killagreg | 438 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
206 | killagreg | 439 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
440 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
441 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
||
298 | holgerb | 442 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
320 | holgerb | 443 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
444 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
||
298 | holgerb | 445 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
446 | { |
||
447 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
448 | } |
||
206 | killagreg | 449 | NaviData.UBat = FC.BAT_Voltage; |
450 | NaviData.Current = FC.BAT_Current; |
||
451 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
452 | break; |
||
453 | |||
193 | killagreg | 454 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
190 | killagreg | 455 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
456 | |||
202 | killagreg | 457 | case SPI_FCCMD_PARAMETER1: |
41 | ingob | 458 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
459 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
460 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
461 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
462 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
463 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
464 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
465 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
103 | killagreg | 466 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
41 | ingob | 467 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
327 | holgerb | 468 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
41 | ingob | 469 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
121 | killagreg | 470 | break; |
1 | ingob | 471 | |
202 | killagreg | 472 | case SPI_FCCMD_STICK: |
41 | ingob | 473 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
474 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
475 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
476 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
190 | killagreg | 477 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
478 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
479 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
480 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
481 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
482 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
483 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
202 | killagreg | 484 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
41 | ingob | 485 | break; |
27 | holgerb | 486 | |
202 | killagreg | 487 | case SPI_FCCMD_MISC: |
41 | ingob | 488 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
489 | { // put only new CompassCalState into queue to send via I2C |
||
490 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
254 | killagreg | 491 | Compass_SetCalState(CompassCalState); |
41 | ingob | 492 | } |
58 | killagreg | 493 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
205 | killagreg | 494 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
287 | holgerb | 495 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
496 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
160 | holgerb | 497 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
498 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
499 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
190 | killagreg | 500 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
501 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
294 | holgerb | 502 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
503 | // NaviData.RC_RSSI = FC.RC_RSSI; |
||
206 | killagreg | 504 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
41 | ingob | 505 | break; |
161 | killagreg | 506 | |
202 | killagreg | 507 | case SPI_FCCMD_SERVOS: |
121 | killagreg | 508 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
509 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
510 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
511 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
161 | killagreg | 512 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
121 | killagreg | 513 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
514 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
515 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
161 | killagreg | 516 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
517 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
119 | killagreg | 518 | break; |
1 | ingob | 519 | |
202 | killagreg | 520 | case SPI_FCCMD_VERSION: |
119 | killagreg | 521 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
522 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
523 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
524 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
525 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
255 | killagreg | 526 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
527 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
||
528 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
||
529 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
||
530 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
||
320 | holgerb | 531 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
231 | holgerb | 532 | DebugOut.Status[0] |= 0x01; // status of FC Present |
232 | killagreg | 533 | DebugOut.Status[0] |= 0x02; // status of BL Present |
255 | killagreg | 534 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
232 | killagreg | 535 | else DebugOut.Status[1] &= ~0x01; |
41 | ingob | 536 | break; |
537 | default: |
||
204 | killagreg | 538 | break; |
41 | ingob | 539 | } |
1 | ingob | 540 | |
41 | ingob | 541 | // every time we got new data from the FC via SPI call the navigation routine |
215 | killagreg | 542 | // and update GPSStick that are returned to FC |
543 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
||
255 | killagreg | 544 | ClearFCStatusFlags = 1; |
202 | killagreg | 545 | |
180 | killagreg | 546 | if(counter) |
547 | { |
||
548 | counter--; // count down to enable servo |
||
202 | killagreg | 549 | if(!counter) TIMER2_Init(); // enable Servo Output |
180 | killagreg | 550 | } |
1 | ingob | 551 | |
41 | ingob | 552 | SPI_RxBuffer_Request = 0; |
180 | killagreg | 553 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
1 | ingob | 554 | |
62 | killagreg | 555 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
556 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
61 | holgerb | 557 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
558 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
62 | killagreg | 559 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
79 | killagreg | 560 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
561 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
562 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
563 | } // EOF if(SPI_RxBuffer_Request) |
||
180 | killagreg | 564 | else // no new SPI data |
202 | killagreg | 565 | { |
180 | killagreg | 566 | if(CheckDelay(timeout) && (counter == 0)) |
567 | { |
||
568 | TIMER2_Deinit(); // disable Servo Output |
||
569 | counter = 50; // reset counter for enabling Servo Output |
||
570 | } |
||
571 | } |
||
1 | ingob | 572 | } |
573 | |||
41 | ingob | 574 | //------------------------------------------------------ |
575 | void SPI0_GetFlightCtrlVersion(void) |
||
576 | { |
||
154 | killagreg | 577 | u32 timeout; |
578 | u8 repeat; |
||
78 | holgerb | 579 | u8 msg[64]; |
41 | ingob | 580 | |
297 | ingob | 581 | UART1_PutString("\r\n Looking for FlightControl"); |
41 | ingob | 582 | FC_Version.Major = 0xFF; |
583 | FC_Version.Minor = 0xFF; |
||
584 | FC_Version.Patch = 0xFF; |
||
585 | FC_Version.Compatible = 0xFF; |
||
586 | |||
165 | killagreg | 587 | // polling FC version info |
154 | killagreg | 588 | repeat = 0; |
41 | ingob | 589 | do |
590 | { |
||
154 | killagreg | 591 | timeout = SetDelay(250); |
592 | do |
||
593 | { |
||
594 | SPI0_UpdateBuffer(); |
||
595 | if (FC_Version.Major != 0xFF) break; |
||
596 | }while (!CheckDelay(timeout)); |
||
597 | UART1_PutString("."); |
||
598 | repeat++; |
||
180 | killagreg | 599 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
41 | ingob | 600 | // if we got it |
601 | if (FC_Version.Major != 0xFF) |
||
602 | { |
||
242 | killagreg | 603 | 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); |
110 | killagreg | 604 | UART1_PutString(msg); |
41 | ingob | 605 | } |
242 | killagreg | 606 | else UART1_PutString("\n\r not found!"); |
41 | ingob | 607 | } |
608 | |||
609 |