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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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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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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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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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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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28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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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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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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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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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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44 | // |
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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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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include "main.h" |
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58 | |||
59 | struct str_FromFlightCtrl FromFlightCtrl; |
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60 | struct str_ToFlightCtrl ToFlightCtrl; |
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61 | |||
62 | struct str_ToFlightCtrl SPI_TxBuffer; |
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63 | |||
64 | volatile unsigned char SPI_Buffer[sizeof(FromFlightCtrl)]; |
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65 | volatile unsigned char SPI_BufferIndex = 0; |
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66 | volatile unsigned char SPI_TXBufferIndex = 0; |
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67 | |||
68 | s16 CompassValue; |
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69 | |||
70 | volatile struct str_MicroMag MicroMag; |
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71 | |||
72 | #define SPI_COMMAND_INDEX 0 |
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73 | unsigned char *Ptr_buffer_Tx = (unsigned char *) &SPI_TxBuffer; |
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74 | //unsigned char *Ptr_buffer_Tx = (unsigned char *) &ToFlightCtrl; |
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75 | unsigned char *Ptr_buffer_Rx = (unsigned char *) &FromFlightCtrl; |
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76 | volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
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77 | |||
78 | unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
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79 | unsigned char SPI_CommandCounter = 0; |
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80 | |||
81 | //-------------------------------------------------------------- |
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82 | void SSP0_IRQHandler(void) |
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83 | { |
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84 | static u8 chksum = 0; |
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85 | u8 data; |
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86 | |||
87 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
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88 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
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89 | |||
90 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
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91 | { |
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92 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
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93 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
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94 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
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95 | SPI_TXBufferIndex++; |
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96 | } |
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97 | else |
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98 | { |
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99 | SPI_TXBufferIndex = 0; |
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100 | SPI_TXUpdatebufferRequest = 1; |
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101 | ToFlightCtrl.Chksum = 0; |
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102 | ToFlightCtrl.BeepTime = BeepTime; |
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103 | BeepTime = 0; |
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104 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
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105 | } |
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106 | } |
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107 | |||
108 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
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109 | { |
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110 | |||
111 | data = SSP0->DR; |
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112 | |||
113 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
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114 | { |
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115 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
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116 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
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117 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
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118 | SPI_TXBufferIndex++; |
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119 | } |
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120 | else |
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121 | { |
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122 | SPI_TXBufferIndex = 0; |
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123 | ToFlightCtrl.Chksum = 0; |
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124 | SPI_TXUpdatebufferRequest = 1; |
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125 | ToFlightCtrl.BeepTime = BeepTime; |
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126 | BeepTime = 0; |
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127 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
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128 | } |
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129 | |||
130 | } |
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131 | switch (SPI_state ) |
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132 | { |
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133 | case 0: |
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134 | SPI_BufferIndex = 0; |
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135 | |||
136 | chksum = data; |
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137 | if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
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138 | |||
139 | break; |
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140 | |||
141 | case 1: |
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142 | if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
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143 | else SPI_state = 0; |
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144 | |||
145 | break; |
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146 | |||
147 | case 2: |
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148 | SPI_Buffer[SPI_BufferIndex++]= data; // get data |
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149 | |||
150 | if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
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151 | { |
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152 | if (data == chksum) |
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153 | { |
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154 | u8 i; |
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155 | SPI_RXUpdatebufferRequest = 1; |
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156 | for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
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157 | |||
158 | DebugOut.Analog[13]++; |
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159 | } |
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160 | else { DebugOut.Analog[12]++; } |
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161 | |||
162 | SPI_state = 0; |
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163 | } |
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164 | else chksum += data; |
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165 | break; |
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166 | |||
167 | default: SPI_state = 0; break; |
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168 | } |
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169 | } |
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170 | |||
171 | |||
172 | |||
173 | } |
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174 | |||
175 | //-------------------------------------------------------------- |
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176 | void SPI0_Init(void) |
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177 | { |
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178 | GPIO_InitTypeDef GPIO_InitStructure; |
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179 | SSP_InitTypeDef SSP_InitStructure; |
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180 | |||
181 | SerialPutString("SPI init..."); |
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182 | |||
183 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
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184 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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185 | |||
186 | GPIO_DeInit(GPIO2); |
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187 | //SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
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188 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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189 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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190 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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191 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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192 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
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193 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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194 | |||
195 | // SSP0_MISO pin GPIO2.6 |
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196 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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197 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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198 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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199 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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200 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2 ; |
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201 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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202 | |||
203 | SSP_DeInit(SSP0); |
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204 | SSP_StructInit(&SSP_InitStructure); |
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205 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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206 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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207 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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208 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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209 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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210 | SSP_InitStructure.SSP_ClockRate = 0; |
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211 | |||
212 | SSP_Init(SSP0, &SSP_InitStructure); |
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213 | |||
214 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
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215 | |||
216 | SSP_Cmd(SSP0, ENABLE); |
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217 | |||
218 | ToFlightCtrl.Sync1 = 0x81; |
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219 | ToFlightCtrl.Sync2 = 0x55; |
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220 | |||
221 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
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222 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
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223 | |||
224 | SerialPutString("ok\n\r"); |
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225 | |||
226 | |||
227 | } |
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228 | |||
229 | //------------------------------------------------------ |
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230 | void SPI_CheckSlaveSelect(void) |
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231 | { |
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232 | |||
233 | //if (SS_PIN) { SPI_BufferIndex = 0; } |
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234 | |||
235 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
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236 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
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237 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
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238 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
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239 | |||
240 | /* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
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241 | DebugOut.Analog[3] = FromFlightCtrl.Command; |
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242 | DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
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243 | DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
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244 | */ |
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245 | DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
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246 | |||
247 | } |
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248 | //------------------------------------------------------ |
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249 | void UpdateSPI_Buffer(void) |
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250 | { |
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27 | holgerb | 251 | if(CompassUpdateActiv) return; // testweise deaktiviert |
252 | if(SPI_RXUpdatebufferRequest) |
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1 | ingob | 253 | { |
27 | holgerb | 254 | |
1 | ingob | 255 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
256 | |||
257 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
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258 | ToFlightCtrl.GPS_Nick = GPS_Nick; |
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259 | ToFlightCtrl.GPS_Roll = GPS_Roll; |
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260 | DebugOut.Analog[26] = I2C_Heading.Heading; |
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261 | |||
262 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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263 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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264 | |||
265 | switch (ToFlightCtrl.Command) |
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266 | { |
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267 | case SPI_CMD_OSD_DATA: |
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268 | ToFlightCtrl.Param.Byte[0] = OsdBar; |
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269 | ToFlightCtrl.Param.Int[1] = OsdDistance; |
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270 | break; |
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271 | |||
272 | case SPI_CMD_GPS_POS: |
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273 | ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
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274 | ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
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275 | break; |
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276 | |||
277 | case SPI_CMD_GPS_TARGET: |
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278 | ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
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279 | ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
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280 | break; |
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281 | |||
282 | default: |
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283 | break; |
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284 | } |
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285 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
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286 | |||
287 | if (I2C_Heading.Heading <= 359) |
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288 | { |
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289 | } |
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290 | else |
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291 | { |
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292 | if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
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293 | return; |
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294 | } |
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295 | |||
296 | SPI_TXUpdatebufferRequest = 0; |
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297 | |||
298 | //---------------- |
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299 | |||
300 | // DebugOut.Analog[11] = FromFlightCtrl.Command; |
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301 | switch(FromFlightCtrl.Command) |
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302 | { |
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303 | case SPI_CMD_USER: |
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304 | DebugOut.Analog[7]++; |
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305 | Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
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306 | Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
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307 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
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308 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
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309 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
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310 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
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311 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
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27 | holgerb | 312 | Parameter_UserParam8 = FromFlightCtrl.Param.Byte[7]; |
313 | if(ClearFlags) {MikroKopterFlags = 0; ClearFlags = 0;}; |
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314 | MikroKopterFlags |= (s32) FromFlightCtrl.Param.Byte[8]; |
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315 | UBat = FromFlightCtrl.Param.Byte[9]; |
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316 | UndervoltageLevel = FromFlightCtrl.Param.Byte[10]; |
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317 | ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
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318 | //DebugOut.Analog[7] = MikroKopterFlags; |
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319 | if(MikroKopterFlags & 0x004) DebugOut.Analog[8]++; |
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320 | break; |
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321 | |||
322 | case SPI_CMD_PARAMETER1: |
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323 | Parameter_NaviGpsModeControl = FromFlightCtrl.Param.Byte[0]; |
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324 | Parameter_NaviGpsGain = FromFlightCtrl.Param.Byte[1]; |
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325 | Parameter_NaviGpsP = FromFlightCtrl.Param.Byte[2]; |
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326 | Parameter_NaviGpsI = FromFlightCtrl.Param.Byte[3]; |
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327 | Parameter_NaviGpsD = FromFlightCtrl.Param.Byte[4]; |
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328 | Parameter_NaviGpsACC = FromFlightCtrl.Param.Byte[5]; |
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329 | Parameter_NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
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330 | Parameter_NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
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331 | Parameter_RadiusAlert = FromFlightCtrl.Param.Byte[8]; |
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1 | ingob | 332 | break; |
333 | case SPI_CMD_STICK: |
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334 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
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335 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
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336 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
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337 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
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338 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
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339 | FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
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340 | FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
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341 | FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
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342 | SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
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343 | break; |
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344 | |||
345 | case SPI_CMD_CAL_COMPASS: |
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346 | DebugOut.Analog[9]++; |
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347 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
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348 | break; |
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349 | |||
350 | default: |
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351 | break; |
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352 | } |
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353 | |||
354 | |||
355 | //------------ |
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356 | I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
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357 | I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
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358 | |||
359 | Navigation(); |
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360 | |||
361 | SPI_RXUpdatebufferRequest = 0; |
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362 | } |
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363 | } |
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364 |