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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 56 | |
57 | #include <string.h> |
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331 | holgerb | 58 | #include <math.h> |
41 | ingob | 59 | #include "91x_lib.h" |
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" |
369 | holgerb | 71 | #include "stdlib.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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397 | holgerb | 81 | #define SPI0_TIMEOUT 2500 //ms |
146 | killagreg | 82 | volatile u32 SPI0_Timeout = 0; |
338 | holgerb | 83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
397 | holgerb | 84 | u8 SpeakHoTT = 0; |
1 | ingob | 85 | |
41 | ingob | 86 | // tx packet buffer |
87 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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378 | holgerb | 88 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
41 | ingob | 89 | volatile u8 SPI_TxBufferIndex = 0; |
90 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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1 | ingob | 91 | |
41 | ingob | 92 | // rx packet buffer |
93 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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378 | holgerb | 94 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
41 | ingob | 95 | volatile u8 SPI_RxBufferIndex = 0; |
96 | volatile u8 SPI_RxBuffer_Request = 0; |
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1 | ingob | 97 | #define SPI_COMMAND_INDEX 0 |
98 | |||
149 | killagreg | 99 | s32 Kalman_K = 32; |
41 | ingob | 100 | s32 Kalman_MaxDrift = 5 * 16; |
101 | s32 Kalman_MaxFusion = 64; |
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330 | holgerb | 102 | s32 Kalman_Kompass = 32; |
148 | holgerb | 103 | s32 ToFcGpsZ = 0; |
392 | holgerb | 104 | u8 CompassCalState = 0; |
1 | ingob | 105 | |
419 | holgerb | 106 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN, SPI_MISC, SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
41 | ingob | 107 | u8 SPI_CommandCounter = 0; |
222 | holgerb | 108 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
109 | s32 HeadFreeStartAngle = 0; |
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421 | holgerb | 110 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
286 | killagreg | 111 | u32 ToFC_AltitudeRate = 0; |
285 | holgerb | 112 | s32 ToFC_AltitudeSetpoint = 0; |
298 | holgerb | 113 | u8 FromFC_VarioCharacter = ' '; |
331 | holgerb | 114 | u8 GPS_Aid_StickMultiplikator = 0; |
323 | holgerb | 115 | u8 NC_GPS_ModeCharacter = ' '; |
329 | holgerb | 116 | u8 FCCalibActive = 0; |
330 | holgerb | 117 | u8 FC_is_Calibrated = 0; |
358 | holgerb | 118 | Motor_t Motor[12]; |
351 | holgerb | 119 | u8 NC_To_FC_Flags = 0; |
338 | holgerb | 120 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
121 | u32 FC_I2C_ErrorConter; |
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41 | ingob | 122 | SPI_Version_t FC_Version; |
351 | holgerb | 123 | s16 POI_KameraNick = 0; |
1 | ingob | 124 | |
41 | ingob | 125 | //-------------------------------------------------------------- |
126 | void SSP0_IRQHandler(void) |
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127 | { |
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128 | static u8 rxchksum = 0; |
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129 | u8 rxdata; |
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1 | ingob | 130 | |
189 | killagreg | 131 | #define SPI_SYNC1 0 |
132 | #define SPI_SYNC2 1 |
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133 | #define SPI_DATA 2 |
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134 | static u8 SPI_State = SPI_SYNC1; |
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378 | holgerb | 135 | //IENABLE; |
189 | killagreg | 136 | |
161 | killagreg | 137 | // clear pending bits |
41 | ingob | 138 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
144 | killagreg | 139 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
189 | killagreg | 140 | |
79 | killagreg | 141 | // while RxFIFO not empty |
378 | holgerb | 142 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
79 | killagreg | 143 | { |
41 | ingob | 144 | rxdata = SSP0->DR; // catch the received byte |
145 | // Fill TxFIFO while its not full or end of packet is reached |
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378 | holgerb | 146 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
161 | killagreg | 147 | { |
79 | killagreg | 148 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
149 | { |
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41 | ingob | 150 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
79 | killagreg | 151 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
378 | holgerb | 152 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
79 | killagreg | 153 | SPI_TxBufferIndex++; // pointer to next byte |
154 | } |
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155 | else // end of packet is reached reset and copy data to tx buffer |
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156 | { |
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157 | SPI_TxBufferIndex = 0; // reset buffer index |
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158 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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159 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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160 | BeepTime = 0; // reset local beeptime |
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41 | ingob | 161 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
79 | killagreg | 162 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
163 | } |
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41 | ingob | 164 | } |
165 | switch (SPI_State) |
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166 | { |
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167 | case SPI_SYNC1: |
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168 | SPI_RxBufferIndex = 0; // reset buffer index |
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169 | rxchksum = rxdata; // init checksum |
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170 | if (rxdata == SPI_RXSYNCBYTE1) |
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171 | { // 1st syncbyte ok |
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172 | SPI_State = SPI_SYNC2; // step to sync2 |
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173 | } |
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174 | break; |
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79 | killagreg | 175 | case SPI_SYNC2: |
41 | ingob | 176 | if (rxdata == SPI_RXSYNCBYTE2) |
177 | { // 2nd Syncbyte ok |
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178 | rxchksum += rxdata; |
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179 | SPI_State = SPI_DATA; |
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180 | } // 2nd Syncbyte does not match |
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181 | else |
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182 | { |
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183 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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184 | } |
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185 | break; |
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186 | case SPI_DATA: |
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187 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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378 | holgerb | 188 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
41 | ingob | 189 | { |
190 | if (rxdata == rxchksum) // verify checksum byte |
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191 | { |
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192 | // copy SPI_RxBuffer -> FromFlightCtrl |
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193 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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194 | { |
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195 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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196 | SPI_RxBuffer_Request = 1; |
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197 | } |
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146 | killagreg | 198 | // reset timeout counter on good packet |
199 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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41 | ingob | 200 | DebugOut.Analog[13]++; |
201 | } |
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202 | else // bad checksum byte |
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203 | { |
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204 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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205 | } |
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206 | SPI_State = SPI_SYNC1; // reset state |
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207 | } |
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208 | else // end of packet not reached |
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209 | { |
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210 | rxchksum += rxdata; // update checksum |
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211 | } |
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212 | break; |
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213 | default: |
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214 | SPI_State = SPI_SYNC1; |
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215 | break; |
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216 | } |
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217 | } |
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195 | killagreg | 218 | |
378 | holgerb | 219 | // IDISABLE; |
220 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
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1 | ingob | 221 | } |
222 | |||
223 | //-------------------------------------------------------------- |
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224 | void SPI0_Init(void) |
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225 | { |
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41 | ingob | 226 | GPIO_InitTypeDef GPIO_InitStructure; |
227 | SSP_InitTypeDef SSP_InitStructure; |
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1 | ingob | 228 | |
110 | killagreg | 229 | UART1_PutString("\r\n SPI init..."); |
1 | ingob | 230 | |
41 | ingob | 231 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
232 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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1 | ingob | 233 | |
41 | ingob | 234 | GPIO_DeInit(GPIO2); |
235 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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236 | GPIO_StructInit(&GPIO_InitStructure); |
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237 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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238 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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239 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 240 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 241 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
242 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 243 | |
41 | ingob | 244 | // SSP0_MISO pin GPIO2.6 |
245 | GPIO_StructInit(&GPIO_InitStructure); |
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246 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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247 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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248 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 249 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 250 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
251 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 252 | |
41 | ingob | 253 | SSP_DeInit(SSP0); |
254 | SSP_StructInit(&SSP_InitStructure); |
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255 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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256 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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257 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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258 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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259 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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260 | SSP_InitStructure.SSP_ClockRate = 0; |
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1 | ingob | 261 | |
41 | ingob | 262 | SSP_Init(SSP0, &SSP_InitStructure); |
144 | killagreg | 263 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
41 | ingob | 264 | SSP_Cmd(SSP0, ENABLE); |
265 | // initialize the syncbytes in the tx buffer |
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266 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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267 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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268 | // set the pointer to the checksum byte in the tx buffer |
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269 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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270 | |||
215 | killagreg | 271 | ToFlightCtrl.GPSStick.Nick = 0; |
272 | ToFlightCtrl.GPSStick.Roll = 0; |
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419 | holgerb | 273 | // ToFlightCtrl.GPSStick.Yaw = 0; |
215 | killagreg | 274 | |
136 | killagreg | 275 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
41 | ingob | 276 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
277 | |||
146 | killagreg | 278 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
279 | |||
110 | killagreg | 280 | UART1_PutString("ok"); |
1 | ingob | 281 | } |
41 | ingob | 282 | |
222 | holgerb | 283 | |
1 | ingob | 284 | //------------------------------------------------------ |
41 | ingob | 285 | void SPI0_UpdateBuffer(void) |
1 | ingob | 286 | { |
180 | killagreg | 287 | static u32 timeout = 0; |
419 | holgerb | 288 | static u8 counter = 50,hott_index = 0, last_error_code = 0; |
420 | holgerb | 289 | s16 tmp, last_wp_event = 0; |
329 | holgerb | 290 | s32 i1,i2; |
378 | holgerb | 291 | |
292 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
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293 | if(SPI_RxBuffer_Request) |
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41 | ingob | 294 | { |
295 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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296 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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254 | killagreg | 297 | ToFlightCtrl.CompassHeading = Compass_Heading; |
189 | killagreg | 298 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
228 | holgerb | 299 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
419 | holgerb | 300 | ToFlightCtrl.MagVecX = MagVector.X; |
301 | ToFlightCtrl.MagVecY = MagVector.Y; |
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286 | killagreg | 302 | ToFlightCtrl.MagVecZ = MagVector.Z; |
419 | holgerb | 303 | // ToFlightCtrl.NCStatus = 0; |
41 | ingob | 304 | // cycle spi commands |
419 | holgerb | 305 | if(ErrorCode != last_error_code) ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
420 | holgerb | 306 | else |
307 | if(FC_WP_EventChannel != last_wp_event) ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
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308 | else |
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309 | { |
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310 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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118 | killagreg | 311 | // restart command cycle at the end |
420 | holgerb | 312 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
313 | } |
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419 | holgerb | 314 | last_error_code = ErrorCode; |
420 | holgerb | 315 | last_wp_event = FC_WP_EventChannel; |
419 | holgerb | 316 | |
319 | holgerb | 317 | #define FLAG_GPS_AID 0x01 |
41 | ingob | 318 | switch (ToFlightCtrl.Command) |
319 | { |
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329 | holgerb | 320 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
149 | killagreg | 321 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
92 | killagreg | 322 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
323 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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330 | holgerb | 324 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
149 | killagreg | 325 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
222 | holgerb | 326 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
223 | killagreg | 327 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
331 | holgerb | 328 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
280 | killagreg | 329 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
278 | killagreg | 330 | { |
331 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
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280 | killagreg | 332 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
278 | killagreg | 333 | } |
334 | else |
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280 | killagreg | 335 | { |
278 | killagreg | 336 | ToFlightCtrl.Param.sInt[4] = -1; |
337 | } |
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294 | holgerb | 338 | |
299 | killagreg | 339 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
295 | killagreg | 340 | { |
351 | holgerb | 341 | POI_KameraNick = tmp; |
299 | killagreg | 342 | } |
343 | else |
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344 | { |
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348 | holgerb | 345 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
351 | holgerb | 346 | POI_KameraNick = CAM_Orientation.Elevation; |
348 | holgerb | 347 | //else ToFlightCtrl.Param.sInt[5] = 0; |
295 | killagreg | 348 | } |
351 | holgerb | 349 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
161 | killagreg | 350 | break; |
58 | killagreg | 351 | |
202 | killagreg | 352 | case SPI_NCCMD_VERSION: |
355 | holgerb | 353 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
354 | //+ higher than the maximum allowed altitude |
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355 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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202 | killagreg | 356 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
357 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
204 | killagreg | 358 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
202 | killagreg | 359 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
264 | killagreg | 360 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
338 | holgerb | 361 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
362 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
233 | holgerb | 363 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
323 | holgerb | 364 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
330 | holgerb | 365 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
351 | holgerb | 366 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
355 | holgerb | 367 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
368 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
202 | killagreg | 369 | break; |
342 | holgerb | 370 | case SPI_MISC: |
371 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
372 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
373 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
397 | holgerb | 374 | ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
419 | holgerb | 375 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
376 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
||
377 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
||
378 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
||
342 | holgerb | 379 | ToFlightCtrl.Param.Byte[9] = 0; |
380 | ToFlightCtrl.Param.Byte[10] = 0; |
||
381 | ToFlightCtrl.Param.Byte[11] = 0; |
||
397 | holgerb | 382 | //DebugOut.Analog[16] = SpeakHoTT; |
383 | SpeakHoTT = 0; |
||
342 | holgerb | 384 | break; |
223 | killagreg | 385 | |
204 | killagreg | 386 | case SPI_NCCMD_GPSINFO: |
387 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
388 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
389 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
232 | killagreg | 390 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
258 | holgerb | 391 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
392 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
306 | holgerb | 393 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
421 | holgerb | 394 | if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
306 | holgerb | 395 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
419 | holgerb | 396 | FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
299 | killagreg | 397 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
398 | { |
||
399 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
295 | killagreg | 400 | } |
299 | killagreg | 401 | else |
402 | { |
||
403 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
404 | } |
||
405 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
406 | { |
||
407 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
408 | } |
||
409 | else |
||
410 | { |
||
411 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
412 | } |
||
204 | killagreg | 413 | break; |
330 | holgerb | 414 | case SPI_NCCMD_HOTT_INFO: |
415 | switch(hott_index++) |
||
416 | { |
||
329 | holgerb | 417 | case 0: |
418 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
419 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
||
420 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
397 | holgerb | 421 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
329 | holgerb | 422 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
423 | //----------------------------- |
||
397 | holgerb | 424 | ToFlightCtrl.Param.Byte[2] = FromFlightCtrl.GyroHeading / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
329 | holgerb | 425 | i1 = GPSData.Speed_Ground; // in cm/sec |
426 | i1 *= 36; |
||
427 | i1 /= 1000; |
||
428 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
429 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
430 | //----------------------------- |
||
405 | holgerb | 431 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
329 | holgerb | 432 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
433 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
434 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
397 | holgerb | 435 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
329 | holgerb | 436 | i1 *= 100; |
437 | i1 += i2 / 100000; |
||
438 | i2 = i2 % 100000; |
||
439 | i2 /= 10; |
||
440 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
441 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
442 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
443 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
444 | break; |
||
445 | case 1: |
||
446 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
397 | holgerb | 447 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
329 | holgerb | 448 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
449 | //----------------------------- |
||
450 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
451 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
452 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
453 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
397 | holgerb | 454 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
329 | holgerb | 455 | i1 *= 100; |
456 | i1 += i2 / 100000; |
||
457 | i2 = i2 % 100000; |
||
458 | i2 /= 10; |
||
459 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
460 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
461 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
462 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
463 | //----------------------------- |
||
464 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
||
465 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
||
466 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
330 | holgerb | 467 | break; |
468 | case 2: |
||
469 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
397 | holgerb | 470 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
330 | holgerb | 471 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
472 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
||
473 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
||
329 | holgerb | 474 | hott_index = 0; |
475 | break; |
||
330 | holgerb | 476 | default: |
477 | ToFlightCtrl.Param.Byte[0] = 255; |
||
478 | hott_index = 0; |
||
479 | break; |
||
329 | holgerb | 480 | } |
481 | break; |
||
41 | ingob | 482 | default: |
483 | break; |
||
285 | holgerb | 484 | // 0 = 0,1 |
485 | // 1 = 2,3 |
||
486 | // 2 = 4,5 |
||
487 | // 3 = 6,7 |
||
488 | // 4 = 8,9 |
||
489 | // 5 = 10,11 |
||
41 | ingob | 490 | } |
491 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
492 | switch(FromFlightCtrl.Command) |
||
493 | { |
||
202 | killagreg | 494 | case SPI_FCCMD_USER: |
41 | ingob | 495 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
496 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
497 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
498 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
499 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
500 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
501 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
502 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
255 | killagreg | 503 | if(ClearFCStatusFlags) |
41 | ingob | 504 | { |
255 | killagreg | 505 | FC.StatusFlags = 0; |
506 | ClearFCStatusFlags = 0; |
||
41 | ingob | 507 | } |
255 | killagreg | 508 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
320 | holgerb | 509 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
268 | killagreg | 510 | { |
326 | holgerb | 511 | HeadFreeStartAngle = Compass_Heading * 10; |
268 | killagreg | 512 | Compass_Init(); |
330 | holgerb | 513 | FCCalibActive = 10; |
338 | holgerb | 514 | FC_is_Calibrated = 0; |
268 | killagreg | 515 | } |
516 | else |
||
517 | { |
||
330 | holgerb | 518 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
268 | killagreg | 519 | } |
329 | holgerb | 520 | if(FC.StatusFlags & FC_STATUS_START) |
521 | { |
||
522 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
||
523 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
||
524 | } |
||
320 | holgerb | 525 | |
329 | holgerb | 526 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
527 | { |
||
528 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
529 | { |
||
530 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
531 | { |
||
532 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
533 | } |
||
534 | else // Ansonsten die aktuelle Richtung übernehmen |
||
535 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
||
536 | } |
||
537 | } |
||
320 | holgerb | 538 | |
223 | killagreg | 539 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
255 | killagreg | 540 | DebugOut.Analog[5] = FC.StatusFlags; |
360 | holgerb | 541 | NaviData.FCStatusFlags = FC.StatusFlags; |
294 | holgerb | 542 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
360 | holgerb | 543 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
544 | |||
545 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
546 | else |
||
547 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
||
548 | |||
549 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
550 | else |
||
551 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
||
552 | |||
338 | holgerb | 553 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
554 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
321 | holgerb | 555 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
41 | ingob | 556 | break; |
1 | ingob | 557 | |
206 | killagreg | 558 | case SPI_FCCMD_ACCU: |
223 | killagreg | 559 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
206 | killagreg | 560 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
561 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
562 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
||
298 | holgerb | 563 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
358 | holgerb | 564 | Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
565 | Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
||
566 | Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
567 | Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
||
298 | holgerb | 568 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
569 | { |
||
570 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
571 | } |
||
206 | killagreg | 572 | NaviData.UBat = FC.BAT_Voltage; |
573 | NaviData.Current = FC.BAT_Current; |
||
574 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
575 | break; |
||
576 | |||
193 | killagreg | 577 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
190 | killagreg | 578 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
579 | |||
202 | killagreg | 580 | case SPI_FCCMD_PARAMETER1: |
41 | ingob | 581 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
582 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
583 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
584 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
585 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
586 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
587 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
588 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
103 | killagreg | 589 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
41 | ingob | 590 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
327 | holgerb | 591 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
41 | ingob | 592 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
121 | killagreg | 593 | break; |
419 | holgerb | 594 | case SPI_FCCMD_PARAMETER2: |
595 | CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255); |
||
596 | break; |
||
202 | killagreg | 597 | case SPI_FCCMD_STICK: |
41 | ingob | 598 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
599 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
600 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
601 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
190 | killagreg | 602 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
603 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
604 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
605 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
606 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
607 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
608 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
202 | killagreg | 609 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
41 | ingob | 610 | break; |
27 | holgerb | 611 | |
202 | killagreg | 612 | case SPI_FCCMD_MISC: |
41 | ingob | 613 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
614 | { // put only new CompassCalState into queue to send via I2C |
||
392 | holgerb | 615 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
378 | holgerb | 616 | { |
617 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
618 | Compass_SetCalState(CompassCalState); |
||
619 | } |
||
392 | holgerb | 620 | // else CompassCalState = 0; |
41 | ingob | 621 | } |
58 | killagreg | 622 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
205 | killagreg | 623 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
287 | holgerb | 624 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
625 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
160 | holgerb | 626 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
627 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
628 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
190 | killagreg | 629 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
630 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
294 | holgerb | 631 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
632 | // NaviData.RC_RSSI = FC.RC_RSSI; |
||
206 | killagreg | 633 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
41 | ingob | 634 | break; |
161 | killagreg | 635 | |
202 | killagreg | 636 | case SPI_FCCMD_SERVOS: |
121 | killagreg | 637 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
638 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
639 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
640 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
161 | killagreg | 641 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
121 | killagreg | 642 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
643 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
644 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
161 | killagreg | 645 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
646 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
338 | holgerb | 647 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
419 | holgerb | 648 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[11]; |
119 | killagreg | 649 | break; |
1 | ingob | 650 | |
202 | killagreg | 651 | case SPI_FCCMD_VERSION: |
119 | killagreg | 652 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
653 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
654 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
655 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
656 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
328 | holgerb | 657 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
658 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
659 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
||
358 | holgerb | 660 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
661 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
320 | holgerb | 662 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
350 | holgerb | 663 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
338 | holgerb | 664 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
665 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
666 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
||
667 | else DebugOut.StatusRed &= ~AMPEL_FC; |
||
41 | ingob | 668 | break; |
669 | default: |
||
204 | killagreg | 670 | break; |
41 | ingob | 671 | } |
352 | holgerb | 672 | |
378 | holgerb | 673 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
674 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
675 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
||
676 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
677 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
||
678 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
||
679 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
680 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
41 | ingob | 681 | // every time we got new data from the FC via SPI call the navigation routine |
215 | killagreg | 682 | // and update GPSStick that are returned to FC |
378 | holgerb | 683 | SPI_RxBuffer_Request = 0; |
386 | holgerb | 684 | |
685 | |||
686 | /* |
||
687 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
688 | */ |
||
413 | holgerb | 689 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | // in SPI Einkommentieren, falls der Flug simultert werden soll |
||
417 | holgerb | 691 | /* |
413 | holgerb | 692 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
693 | else |
||
694 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
||
695 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
||
696 | BL_MinOfMaxPWM = 255; |
||
419 | holgerb | 697 | NaviData.FCStatusFlags = FC.StatusFlags; |
417 | holgerb | 698 | */ |
413 | holgerb | 699 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
397 | holgerb | 700 | |
701 | |||
215 | killagreg | 702 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
255 | killagreg | 703 | ClearFCStatusFlags = 1; |
180 | killagreg | 704 | if(counter) |
705 | { |
||
706 | counter--; // count down to enable servo |
||
202 | killagreg | 707 | if(!counter) TIMER2_Init(); // enable Servo Output |
180 | killagreg | 708 | } |
709 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
||
1 | ingob | 710 | |
79 | killagreg | 711 | } // EOF if(SPI_RxBuffer_Request) |
180 | killagreg | 712 | else // no new SPI data |
202 | killagreg | 713 | { |
180 | killagreg | 714 | if(CheckDelay(timeout) && (counter == 0)) |
715 | { |
||
716 | TIMER2_Deinit(); // disable Servo Output |
||
717 | counter = 50; // reset counter for enabling Servo Output |
||
718 | } |
||
719 | } |
||
1 | ingob | 720 | } |
721 | |||
41 | ingob | 722 | //------------------------------------------------------ |
723 | void SPI0_GetFlightCtrlVersion(void) |
||
724 | { |
||
154 | killagreg | 725 | u32 timeout; |
726 | u8 repeat; |
||
78 | holgerb | 727 | u8 msg[64]; |
41 | ingob | 728 | |
297 | ingob | 729 | UART1_PutString("\r\n Looking for FlightControl"); |
41 | ingob | 730 | FC_Version.Major = 0xFF; |
731 | FC_Version.Minor = 0xFF; |
||
732 | FC_Version.Patch = 0xFF; |
||
733 | FC_Version.Compatible = 0xFF; |
||
734 | |||
165 | killagreg | 735 | // polling FC version info |
154 | killagreg | 736 | repeat = 0; |
41 | ingob | 737 | do |
738 | { |
||
154 | killagreg | 739 | timeout = SetDelay(250); |
740 | do |
||
741 | { |
||
742 | SPI0_UpdateBuffer(); |
||
743 | if (FC_Version.Major != 0xFF) break; |
||
744 | }while (!CheckDelay(timeout)); |
||
745 | UART1_PutString("."); |
||
746 | repeat++; |
||
329 | holgerb | 747 | FCCalibActive = 1; |
180 | killagreg | 748 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
41 | ingob | 749 | // if we got it |
750 | if (FC_Version.Major != 0xFF) |
||
751 | { |
||
242 | killagreg | 752 | 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 | 753 | UART1_PutString(msg); |
41 | ingob | 754 | } |
242 | killagreg | 755 | else UART1_PutString("\n\r not found!"); |
41 | ingob | 756 | } |
757 | |||
758 |