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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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331 | holgerb | 59 | #include <math.h> |
41 | ingob | 60 | #include "91x_lib.h" |
61 | #include "led.h" |
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215 | killagreg | 62 | #include "gps.h" |
41 | ingob | 63 | #include "uart1.h" |
64 | #include "spi_slave.h" |
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242 | killagreg | 65 | #include "compass.h" |
119 | killagreg | 66 | #include "timer1.h" |
67 | #include "timer2.h" |
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136 | killagreg | 68 | #include "config.h" |
1 | ingob | 69 | #include "main.h" |
284 | killagreg | 70 | #include "compass.h" |
294 | holgerb | 71 | #include "params.h" |
1 | ingob | 72 | |
41 | ingob | 73 | #define SPI_RXSYNCBYTE1 0xAA |
74 | #define SPI_RXSYNCBYTE2 0x83 |
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75 | #define SPI_TXSYNCBYTE1 0x81 |
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76 | #define SPI_TXSYNCBYTE2 0x55 |
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1 | ingob | 77 | |
41 | ingob | 78 | //communication packets |
215 | killagreg | 79 | FromFlightCtrl_t FromFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
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183 | killagreg | 81 | #define SPI0_TIMEOUT 500 // 500ms |
146 | killagreg | 82 | volatile u32 SPI0_Timeout = 0; |
338 | holgerb | 83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
1 | ingob | 84 | |
41 | ingob | 85 | // tx packet buffer |
86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
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88 | volatile u8 SPI_TxBufferIndex = 0; |
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89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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1 | ingob | 90 | |
41 | ingob | 91 | // rx packet buffer |
92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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94 | volatile u8 SPI_RxBufferIndex = 0; |
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95 | volatile u8 SPI_RxBuffer_Request = 0; |
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1 | ingob | 96 | #define SPI_COMMAND_INDEX 0 |
97 | |||
149 | killagreg | 98 | s32 Kalman_K = 32; |
41 | ingob | 99 | s32 Kalman_MaxDrift = 5 * 16; |
100 | s32 Kalman_MaxFusion = 64; |
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330 | holgerb | 101 | s32 Kalman_Kompass = 32; |
148 | holgerb | 102 | s32 ToFcGpsZ = 0; |
1 | ingob | 103 | |
342 | holgerb | 104 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN }; |
41 | ingob | 105 | u8 SPI_CommandCounter = 0; |
222 | holgerb | 106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
107 | s32 HeadFreeStartAngle = 0; |
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277 | killagreg | 108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
286 | killagreg | 109 | u32 ToFC_AltitudeRate = 0; |
285 | holgerb | 110 | s32 ToFC_AltitudeSetpoint = 0; |
298 | holgerb | 111 | u8 FromFC_VarioCharacter = ' '; |
331 | holgerb | 112 | u8 GPS_Aid_StickMultiplikator = 0; |
323 | holgerb | 113 | u8 NC_GPS_ModeCharacter = ' '; |
329 | holgerb | 114 | u8 FCCalibActive = 0; |
330 | holgerb | 115 | u8 FC_is_Calibrated = 0; |
358 | holgerb | 116 | Motor_t Motor[12]; |
351 | holgerb | 117 | u8 NC_To_FC_Flags = 0; |
338 | holgerb | 118 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
119 | u32 FC_I2C_ErrorConter; |
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41 | ingob | 120 | SPI_Version_t FC_Version; |
351 | holgerb | 121 | s16 POI_KameraNick = 0; |
1 | ingob | 122 | |
41 | ingob | 123 | //-------------------------------------------------------------- |
124 | void SSP0_IRQHandler(void) |
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125 | { |
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126 | static u8 rxchksum = 0; |
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127 | u8 rxdata; |
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1 | ingob | 128 | |
189 | killagreg | 129 | #define SPI_SYNC1 0 |
130 | #define SPI_SYNC2 1 |
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131 | #define SPI_DATA 2 |
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132 | static u8 SPI_State = SPI_SYNC1; |
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133 | |||
195 | killagreg | 134 | IENABLE; |
135 | |||
161 | killagreg | 136 | // clear pending bits |
41 | ingob | 137 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
144 | killagreg | 138 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
189 | killagreg | 139 | |
79 | killagreg | 140 | // while RxFIFO not empty |
141 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
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142 | { |
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41 | ingob | 143 | rxdata = SSP0->DR; // catch the received byte |
144 | // Fill TxFIFO while its not full or end of packet is reached |
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79 | killagreg | 145 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
161 | killagreg | 146 | { |
79 | killagreg | 147 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
148 | { |
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41 | ingob | 149 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
79 | killagreg | 150 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
151 | SPI_TxBufferIndex++; // pointer to next byte |
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152 | } |
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153 | else // end of packet is reached reset and copy data to tx buffer |
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154 | { |
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155 | SPI_TxBufferIndex = 0; // reset buffer index |
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156 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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157 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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158 | BeepTime = 0; // reset local beeptime |
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41 | ingob | 159 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
79 | killagreg | 160 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
161 | } |
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41 | ingob | 162 | } |
163 | switch (SPI_State) |
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164 | { |
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165 | case SPI_SYNC1: |
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166 | SPI_RxBufferIndex = 0; // reset buffer index |
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167 | rxchksum = rxdata; // init checksum |
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168 | if (rxdata == SPI_RXSYNCBYTE1) |
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169 | { // 1st syncbyte ok |
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170 | SPI_State = SPI_SYNC2; // step to sync2 |
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171 | } |
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172 | break; |
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79 | killagreg | 173 | case SPI_SYNC2: |
41 | ingob | 174 | if (rxdata == SPI_RXSYNCBYTE2) |
175 | { // 2nd Syncbyte ok |
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176 | rxchksum += rxdata; |
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177 | SPI_State = SPI_DATA; |
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178 | } // 2nd Syncbyte does not match |
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179 | else |
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180 | { |
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181 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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182 | } |
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183 | break; |
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184 | case SPI_DATA: |
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185 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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186 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
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187 | { |
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188 | if (rxdata == rxchksum) // verify checksum byte |
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189 | { |
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190 | // copy SPI_RxBuffer -> FromFlightCtrl |
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191 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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192 | { |
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193 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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194 | SPI_RxBuffer_Request = 1; |
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195 | } |
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146 | killagreg | 196 | // reset timeout counter on good packet |
197 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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41 | ingob | 198 | DebugOut.Analog[13]++; |
199 | } |
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200 | else // bad checksum byte |
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201 | { |
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202 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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203 | } |
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204 | SPI_State = SPI_SYNC1; // reset state |
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205 | } |
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206 | else // end of packet not reached |
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207 | { |
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208 | rxchksum += rxdata; // update checksum |
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209 | } |
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210 | break; |
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211 | default: |
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212 | SPI_State = SPI_SYNC1; |
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213 | break; |
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214 | } |
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215 | } |
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195 | killagreg | 216 | |
217 | IDISABLE; |
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1 | ingob | 218 | } |
219 | |||
220 | //-------------------------------------------------------------- |
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221 | void SPI0_Init(void) |
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222 | { |
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41 | ingob | 223 | GPIO_InitTypeDef GPIO_InitStructure; |
224 | SSP_InitTypeDef SSP_InitStructure; |
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1 | ingob | 225 | |
110 | killagreg | 226 | UART1_PutString("\r\n SPI init..."); |
1 | ingob | 227 | |
41 | ingob | 228 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
229 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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1 | ingob | 230 | |
41 | ingob | 231 | GPIO_DeInit(GPIO2); |
232 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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233 | GPIO_StructInit(&GPIO_InitStructure); |
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234 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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235 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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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_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
239 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 240 | |
41 | ingob | 241 | // SSP0_MISO pin GPIO2.6 |
242 | GPIO_StructInit(&GPIO_InitStructure); |
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243 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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244 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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245 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 246 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 247 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
248 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 249 | |
41 | ingob | 250 | SSP_DeInit(SSP0); |
251 | SSP_StructInit(&SSP_InitStructure); |
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252 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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253 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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254 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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255 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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256 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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257 | SSP_InitStructure.SSP_ClockRate = 0; |
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1 | ingob | 258 | |
41 | ingob | 259 | SSP_Init(SSP0, &SSP_InitStructure); |
144 | killagreg | 260 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
202 | killagreg | 261 | |
41 | ingob | 262 | SSP_Cmd(SSP0, ENABLE); |
263 | // initialize the syncbytes in the tx buffer |
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264 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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265 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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266 | // set the pointer to the checksum byte in the tx buffer |
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267 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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268 | |||
215 | killagreg | 269 | ToFlightCtrl.GPSStick.Nick = 0; |
270 | ToFlightCtrl.GPSStick.Roll = 0; |
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271 | ToFlightCtrl.GPSStick.Yaw = 0; |
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272 | |||
136 | killagreg | 273 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
41 | ingob | 274 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
275 | |||
146 | killagreg | 276 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
277 | |||
110 | killagreg | 278 | UART1_PutString("ok"); |
1 | ingob | 279 | } |
41 | ingob | 280 | |
222 | holgerb | 281 | |
1 | ingob | 282 | //------------------------------------------------------ |
41 | ingob | 283 | void SPI0_UpdateBuffer(void) |
1 | ingob | 284 | { |
180 | killagreg | 285 | static u32 timeout = 0; |
329 | holgerb | 286 | static u8 counter = 50,hott_index = 0; |
254 | killagreg | 287 | static u8 CompassCalState = 0; |
299 | killagreg | 288 | s16 tmp; |
329 | holgerb | 289 | s32 i1,i2; |
202 | killagreg | 290 | |
41 | ingob | 291 | if (SPI_RxBuffer_Request) |
292 | { |
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293 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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294 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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254 | killagreg | 295 | ToFlightCtrl.CompassHeading = Compass_Heading; |
345 | holgerb | 296 | |
297 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
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342 | holgerb | 298 | //ToFlightCtrl.CompassHeading %= 360; |
345 | holgerb | 299 | |
189 | killagreg | 300 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
228 | holgerb | 301 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
327 | holgerb | 302 | // ToFlightCtrl.MagVecX = MagVector.X; |
303 | // ToFlightCtrl.MagVecY = MagVector.Y; |
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286 | killagreg | 304 | ToFlightCtrl.MagVecZ = MagVector.Z; |
284 | killagreg | 305 | ToFlightCtrl.NCStatus = 0; |
41 | ingob | 306 | // cycle spi commands |
307 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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118 | killagreg | 308 | // restart command cycle at the end |
41 | ingob | 309 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
319 | holgerb | 310 | #define FLAG_GPS_AID 0x01 |
41 | ingob | 311 | switch (ToFlightCtrl.Command) |
312 | { |
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329 | holgerb | 313 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
223 | killagreg | 314 | CalcHeadFree(); |
149 | killagreg | 315 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
92 | killagreg | 316 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
317 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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330 | holgerb | 318 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
149 | killagreg | 319 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
222 | holgerb | 320 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
223 | killagreg | 321 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
331 | holgerb | 322 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
280 | killagreg | 323 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
278 | killagreg | 324 | { |
325 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
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280 | killagreg | 326 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
278 | killagreg | 327 | } |
328 | else |
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280 | killagreg | 329 | { |
278 | killagreg | 330 | ToFlightCtrl.Param.sInt[4] = -1; |
331 | } |
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294 | holgerb | 332 | |
299 | killagreg | 333 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
295 | killagreg | 334 | { |
351 | holgerb | 335 | POI_KameraNick = tmp; |
299 | killagreg | 336 | } |
337 | else |
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338 | { |
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348 | holgerb | 339 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
351 | holgerb | 340 | POI_KameraNick = CAM_Orientation.Elevation; |
348 | holgerb | 341 | //else ToFlightCtrl.Param.sInt[5] = 0; |
295 | killagreg | 342 | } |
351 | holgerb | 343 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
161 | killagreg | 344 | break; |
58 | killagreg | 345 | |
202 | killagreg | 346 | case SPI_NCCMD_VERSION: |
355 | holgerb | 347 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
348 | //+ higher than the maximum allowed altitude |
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349 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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202 | killagreg | 350 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
351 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
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204 | killagreg | 352 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
202 | killagreg | 353 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
264 | killagreg | 354 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
338 | holgerb | 355 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
356 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
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233 | holgerb | 357 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
323 | holgerb | 358 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
330 | holgerb | 359 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
351 | holgerb | 360 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
355 | holgerb | 361 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
362 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
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202 | killagreg | 363 | break; |
342 | holgerb | 364 | case SPI_MISC: |
365 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
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366 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
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367 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
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368 | ToFlightCtrl.Param.Byte[3] = 0; |
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369 | ToFlightCtrl.Param.Byte[4] = 0; |
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370 | ToFlightCtrl.Param.Byte[5] = 0; |
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371 | ToFlightCtrl.Param.Byte[6] = 0; |
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372 | ToFlightCtrl.Param.Byte[7] = 0; |
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373 | ToFlightCtrl.Param.Byte[8] = 0; |
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374 | ToFlightCtrl.Param.Byte[9] = 0; |
||
375 | ToFlightCtrl.Param.Byte[10] = 0; |
||
376 | ToFlightCtrl.Param.Byte[11] = 0; |
||
377 | break; |
||
223 | killagreg | 378 | |
204 | killagreg | 379 | case SPI_NCCMD_GPSINFO: |
380 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
381 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
382 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
232 | killagreg | 383 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
258 | holgerb | 384 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
385 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
306 | holgerb | 386 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
387 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
299 | killagreg | 388 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
389 | { |
||
390 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
295 | killagreg | 391 | } |
299 | killagreg | 392 | else |
393 | { |
||
394 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
395 | } |
||
396 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
397 | { |
||
398 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
399 | } |
||
400 | else |
||
401 | { |
||
402 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
403 | } |
||
204 | killagreg | 404 | break; |
329 | holgerb | 405 | /* |
406 | typedef struct |
||
407 | { |
||
408 | unsigned char StartByte; //0 // 0x7C |
||
409 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
||
410 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
||
411 | unsigned char Heading; //3 // 1 = 2° |
||
412 | unsigned int Speed; //4+5 // in km/h |
||
413 | unsigned char Lat_North; //6 |
||
414 | unsigned char Lat_G; //7 |
||
415 | unsigned char Lat_M; //8 |
||
416 | unsigned char Lat_Sek1; //9 |
||
417 | unsigned char Lat_Sek2; //10 |
||
418 | unsigned char Lon_East; //11 |
||
419 | unsigned char Lon_G; //12 |
||
420 | unsigned char Lon_M; //13 |
||
421 | unsigned char Lon_Sek1; //14 |
||
422 | unsigned char Lon_Sek2; //15 |
||
423 | unsigned int Distance; //16+17 // 9000 = 0m |
||
424 | unsigned int Altitude; //18+19 // 500 = 0m |
||
425 | unsigned int m_sec; //20+21 // 3000 = 0 |
||
426 | unsigned int m_3sec; //22+23 // 3000 = 0 |
||
427 | unsigned int m_10sec; //24+25 // 3000 = 0 |
||
428 | unsigned char NullByte; // 0x00 |
||
429 | unsigned char NullByte1; // 0x00 |
||
430 | unsigned char EndByte; // 0x7D |
||
431 | } GPSPacket_t; |
||
432 | */ |
||
330 | holgerb | 433 | /* |
434 | typedef struct |
||
435 | { |
||
436 | unsigned char StartByte; //0 0x7C |
||
437 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
||
438 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
||
439 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
||
440 | unsigned char VoltageCell2; //4 |
||
441 | unsigned char VoltageCell3; //5 |
||
442 | unsigned char VoltageCell4; //6 |
||
443 | unsigned char VoltageCell5; //7 |
||
444 | unsigned char VoltageCell6; //8 |
||
445 | unsigned int Battery1; //9 51 = 5,1V |
||
446 | unsigned int Battery2; //11 51 = 5,1V |
||
447 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
||
448 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
||
449 | unsigned char FuelPercent; //15 |
||
450 | signed int FuelCapacity; //16 |
||
451 | unsigned int Rpm; |
||
452 | unsigned int Altitude; |
||
453 | unsigned int m_sec; // 3000 = 0 |
||
454 | unsigned char m_3sec; // 120 = 0 |
||
455 | unsigned int Current; // 1 = 0.1A |
||
456 | unsigned int InputVoltage; // 66 = 6,6V |
||
457 | unsigned int Capacity; // 1 = 10mAh |
||
458 | unsigned char NullByte1; // 0x00 |
||
459 | unsigned char NullByte2; // 0x00 |
||
460 | unsigned char EndByte; // 0x7D |
||
461 | } HoTTGeneral_t; |
||
462 | */ |
||
463 | case SPI_NCCMD_HOTT_INFO: |
||
464 | switch(hott_index++) |
||
465 | { |
||
329 | holgerb | 466 | case 0: |
467 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
468 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
||
469 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
470 | ToFlightCtrl.Param.Byte[0] = 3; // index |
||
471 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
||
472 | //----------------------------- |
||
473 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
||
474 | i1 = GPSData.Speed_Ground; // in cm/sec |
||
475 | i1 *= 36; |
||
476 | i1 /= 1000; |
||
477 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
478 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
479 | //----------------------------- |
||
480 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
||
481 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
482 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
483 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
484 | i1 *= 100; |
||
485 | i1 += i2 / 100000; |
||
486 | i2 = i2 % 100000; |
||
487 | i2 /= 10; |
||
488 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
489 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
490 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
491 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
492 | break; |
||
493 | case 1: |
||
494 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
495 | ToFlightCtrl.Param.Byte[0] = 11; // index |
||
496 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
497 | //----------------------------- |
||
498 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
499 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
500 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
501 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
502 | i1 *= 100; |
||
503 | i1 += i2 / 100000; |
||
504 | i2 = i2 % 100000; |
||
505 | i2 /= 10; |
||
506 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
507 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
508 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
509 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
510 | //----------------------------- |
||
511 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
||
512 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
||
513 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
330 | holgerb | 514 | break; |
515 | case 2: |
||
516 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
517 | ToFlightCtrl.Param.Byte[0] = 5; // index |
||
518 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
||
519 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
||
520 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
||
329 | holgerb | 521 | hott_index = 0; |
522 | break; |
||
330 | holgerb | 523 | default: |
524 | ToFlightCtrl.Param.Byte[0] = 255; |
||
525 | hott_index = 0; |
||
526 | break; |
||
329 | holgerb | 527 | } |
528 | break; |
||
41 | ingob | 529 | default: |
530 | break; |
||
285 | holgerb | 531 | // 0 = 0,1 |
532 | // 1 = 2,3 |
||
533 | // 2 = 4,5 |
||
534 | // 3 = 6,7 |
||
535 | // 4 = 8,9 |
||
536 | // 5 = 10,11 |
||
41 | ingob | 537 | } |
538 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
1 | ingob | 539 | |
41 | ingob | 540 | switch(FromFlightCtrl.Command) |
541 | { |
||
202 | killagreg | 542 | case SPI_FCCMD_USER: |
41 | ingob | 543 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
544 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
545 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
546 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
547 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
548 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
549 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
550 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
255 | killagreg | 551 | if(ClearFCStatusFlags) |
41 | ingob | 552 | { |
255 | killagreg | 553 | FC.StatusFlags = 0; |
554 | ClearFCStatusFlags = 0; |
||
41 | ingob | 555 | } |
255 | killagreg | 556 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
320 | holgerb | 557 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
268 | killagreg | 558 | { |
326 | holgerb | 559 | HeadFreeStartAngle = Compass_Heading * 10; |
268 | killagreg | 560 | Compass_Init(); |
330 | holgerb | 561 | FCCalibActive = 10; |
338 | holgerb | 562 | FC_is_Calibrated = 0; |
268 | killagreg | 563 | } |
564 | else |
||
565 | { |
||
330 | holgerb | 566 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
268 | killagreg | 567 | } |
329 | holgerb | 568 | if(FC.StatusFlags & FC_STATUS_START) |
569 | { |
||
570 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
||
571 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
||
572 | } |
||
320 | holgerb | 573 | |
329 | holgerb | 574 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
575 | { |
||
576 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
577 | { |
||
578 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
579 | { |
||
580 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
581 | } |
||
582 | else // Ansonsten die aktuelle Richtung übernehmen |
||
583 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
||
584 | } |
||
585 | } |
||
320 | holgerb | 586 | |
326 | holgerb | 587 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
588 | |||
223 | killagreg | 589 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
255 | killagreg | 590 | DebugOut.Analog[5] = FC.StatusFlags; |
294 | holgerb | 591 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
255 | killagreg | 592 | NaviData.FCStatusFlags = FC.StatusFlags; |
294 | holgerb | 593 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
338 | holgerb | 594 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
595 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
321 | holgerb | 596 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
41 | ingob | 597 | break; |
1 | ingob | 598 | |
206 | killagreg | 599 | case SPI_FCCMD_ACCU: |
223 | killagreg | 600 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
206 | killagreg | 601 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
602 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
603 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
||
298 | holgerb | 604 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
358 | holgerb | 605 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
606 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
||
607 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
608 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
||
298 | holgerb | 609 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
610 | { |
||
611 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
612 | } |
||
206 | killagreg | 613 | NaviData.UBat = FC.BAT_Voltage; |
614 | NaviData.Current = FC.BAT_Current; |
||
615 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
616 | break; |
||
617 | |||
193 | killagreg | 618 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
190 | killagreg | 619 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
620 | |||
202 | killagreg | 621 | case SPI_FCCMD_PARAMETER1: |
41 | ingob | 622 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
623 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
624 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
625 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
626 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
627 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
628 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
629 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
103 | killagreg | 630 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
41 | ingob | 631 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
327 | holgerb | 632 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
41 | ingob | 633 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
121 | killagreg | 634 | break; |
1 | ingob | 635 | |
202 | killagreg | 636 | case SPI_FCCMD_STICK: |
41 | ingob | 637 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
638 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
639 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
640 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
190 | killagreg | 641 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
642 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
643 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
644 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
645 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
646 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
647 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
202 | killagreg | 648 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
41 | ingob | 649 | break; |
27 | holgerb | 650 | |
202 | killagreg | 651 | case SPI_FCCMD_MISC: |
41 | ingob | 652 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
653 | { // put only new CompassCalState into queue to send via I2C |
||
654 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
254 | killagreg | 655 | Compass_SetCalState(CompassCalState); |
41 | ingob | 656 | } |
58 | killagreg | 657 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
205 | killagreg | 658 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
287 | holgerb | 659 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
660 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
160 | holgerb | 661 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
662 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
663 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
190 | killagreg | 664 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
665 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
294 | holgerb | 666 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
667 | // NaviData.RC_RSSI = FC.RC_RSSI; |
||
206 | killagreg | 668 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
41 | ingob | 669 | break; |
161 | killagreg | 670 | |
202 | killagreg | 671 | case SPI_FCCMD_SERVOS: |
121 | killagreg | 672 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
673 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
674 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
675 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
161 | killagreg | 676 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
121 | killagreg | 677 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
678 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
679 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
161 | killagreg | 680 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
681 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
338 | holgerb | 682 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
119 | killagreg | 683 | break; |
1 | ingob | 684 | |
202 | killagreg | 685 | case SPI_FCCMD_VERSION: |
119 | killagreg | 686 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
687 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
688 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
689 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
690 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
328 | holgerb | 691 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
692 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
693 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
||
358 | holgerb | 694 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
695 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
320 | holgerb | 696 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
350 | holgerb | 697 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
338 | holgerb | 698 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
699 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
700 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
||
701 | else DebugOut.StatusRed &= ~AMPEL_FC; |
||
41 | ingob | 702 | break; |
703 | default: |
||
204 | killagreg | 704 | break; |
41 | ingob | 705 | } |
352 | holgerb | 706 | |
350 | holgerb | 707 | /* |
348 | holgerb | 708 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
350 | holgerb | 709 | */ |
41 | ingob | 710 | // every time we got new data from the FC via SPI call the navigation routine |
215 | killagreg | 711 | // and update GPSStick that are returned to FC |
712 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
||
255 | killagreg | 713 | ClearFCStatusFlags = 1; |
202 | killagreg | 714 | |
180 | killagreg | 715 | if(counter) |
716 | { |
||
717 | counter--; // count down to enable servo |
||
202 | killagreg | 718 | if(!counter) TIMER2_Init(); // enable Servo Output |
180 | killagreg | 719 | } |
1 | ingob | 720 | |
41 | ingob | 721 | SPI_RxBuffer_Request = 0; |
180 | killagreg | 722 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
1 | ingob | 723 | |
62 | killagreg | 724 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
725 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
61 | holgerb | 726 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
727 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
62 | killagreg | 728 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
79 | killagreg | 729 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
730 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
731 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
732 | } // EOF if(SPI_RxBuffer_Request) |
||
180 | killagreg | 733 | else // no new SPI data |
202 | killagreg | 734 | { |
180 | killagreg | 735 | if(CheckDelay(timeout) && (counter == 0)) |
736 | { |
||
737 | TIMER2_Deinit(); // disable Servo Output |
||
738 | counter = 50; // reset counter for enabling Servo Output |
||
739 | } |
||
740 | } |
||
1 | ingob | 741 | } |
742 | |||
41 | ingob | 743 | //------------------------------------------------------ |
744 | void SPI0_GetFlightCtrlVersion(void) |
||
745 | { |
||
154 | killagreg | 746 | u32 timeout; |
747 | u8 repeat; |
||
78 | holgerb | 748 | u8 msg[64]; |
41 | ingob | 749 | |
297 | ingob | 750 | UART1_PutString("\r\n Looking for FlightControl"); |
41 | ingob | 751 | FC_Version.Major = 0xFF; |
752 | FC_Version.Minor = 0xFF; |
||
753 | FC_Version.Patch = 0xFF; |
||
754 | FC_Version.Compatible = 0xFF; |
||
755 | |||
165 | killagreg | 756 | // polling FC version info |
154 | killagreg | 757 | repeat = 0; |
41 | ingob | 758 | do |
759 | { |
||
154 | killagreg | 760 | timeout = SetDelay(250); |
761 | do |
||
762 | { |
||
763 | SPI0_UpdateBuffer(); |
||
764 | if (FC_Version.Major != 0xFF) break; |
||
765 | }while (!CheckDelay(timeout)); |
||
766 | UART1_PutString("."); |
||
767 | repeat++; |
||
329 | holgerb | 768 | FCCalibActive = 1; |
180 | killagreg | 769 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
41 | ingob | 770 | // if we got it |
771 | if (FC_Version.Major != 0xFF) |
||
772 | { |
||
242 | killagreg | 773 | 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 | 774 | UART1_PutString(msg); |
41 | ingob | 775 | } |
242 | killagreg | 776 | else UART1_PutString("\n\r not found!"); |
41 | ingob | 777 | } |
778 | |||
779 |