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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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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
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 - |
489 | killagreg | 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 |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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> |
489 | killagreg | 59 | #include <stdlib.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" |
294 | holgerb | 70 | #include "params.h" |
426 | holgerb | 71 | #include "settings.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; |
489 | killagreg | 84 | u8 SpeakHoTT = 0; |
578 | holgerb | 85 | u32 LoggingGasFilter = 0, LoggingGasCnt = 0; |
1 | ingob | 86 | |
41 | ingob | 87 | // tx packet buffer |
88 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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378 | holgerb | 89 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN + 10]; |
41 | ingob | 90 | volatile u8 SPI_TxBufferIndex = 0; |
91 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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1 | ingob | 92 | |
41 | ingob | 93 | // rx packet buffer |
94 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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378 | holgerb | 95 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN+10]; |
41 | ingob | 96 | volatile u8 SPI_RxBufferIndex = 0; |
97 | volatile u8 SPI_RxBuffer_Request = 0; |
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1 | ingob | 98 | #define SPI_COMMAND_INDEX 0 |
99 | |||
149 | killagreg | 100 | s32 Kalman_K = 32; |
41 | ingob | 101 | s32 Kalman_MaxDrift = 5 * 16; |
102 | s32 Kalman_MaxFusion = 64; |
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330 | holgerb | 103 | s32 Kalman_Kompass = 32; |
148 | holgerb | 104 | s32 ToFcGpsZ = 0; |
392 | holgerb | 105 | u8 CompassCalState = 0; |
1 | ingob | 106 | |
419 | holgerb | 107 | 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 | 108 | u8 SPI_CommandCounter = 0; |
222 | holgerb | 109 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
110 | s32 HeadFreeStartAngle = 0; |
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577 | holgerb | 111 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0, FC_WP_EventChannel_Processed = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
286 | killagreg | 112 | u32 ToFC_AltitudeRate = 0; |
285 | holgerb | 113 | s32 ToFC_AltitudeSetpoint = 0; |
298 | holgerb | 114 | u8 FromFC_VarioCharacter = ' '; |
514 | holgerb | 115 | s16 GPS_Aid_StickMultiplikator = 0; |
323 | holgerb | 116 | u8 NC_GPS_ModeCharacter = ' '; |
329 | holgerb | 117 | u8 FCCalibActive = 0; |
330 | holgerb | 118 | u8 FC_is_Calibrated = 0; |
358 | holgerb | 119 | Motor_t Motor[12]; |
471 | holgerb | 120 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
351 | holgerb | 121 | u8 NC_To_FC_Flags = 0; |
530 | holgerb | 122 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
123 | u8 Logging_BL_MinOfMaxPWM = 255; |
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124 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
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338 | holgerb | 125 | u32 FC_I2C_ErrorConter; |
41 | ingob | 126 | SPI_Version_t FC_Version; |
351 | holgerb | 127 | s16 POI_KameraNick = 0; |
460 | holgerb | 128 | u8 NC_Wait_for_LED = 0; |
463 | holgerb | 129 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
510 | holgerb | 130 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
131 | s16 CompassSetpoint = 0; // in 0,1° |
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567 | holgerb | 132 | s16 SimulatedDirection = 0; // only for flight simulation |
530 | holgerb | 133 | u8 AmountOfMotors = 0; |
532 | holgerb | 134 | u16 FlugMinutenGesamt; |
578 | holgerb | 135 | u8 HoverGas = 0; |
41 | ingob | 136 | //-------------------------------------------------------------- |
137 | void SSP0_IRQHandler(void) |
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138 | { |
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139 | static u8 rxchksum = 0; |
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140 | u8 rxdata; |
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1 | ingob | 141 | |
189 | killagreg | 142 | #define SPI_SYNC1 0 |
143 | #define SPI_SYNC2 1 |
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144 | #define SPI_DATA 2 |
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145 | static u8 SPI_State = SPI_SYNC1; |
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378 | holgerb | 146 | //IENABLE; |
189 | killagreg | 147 | |
161 | killagreg | 148 | // clear pending bits |
41 | ingob | 149 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
144 | killagreg | 150 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
189 | killagreg | 151 | |
79 | killagreg | 152 | // while RxFIFO not empty |
378 | holgerb | 153 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
79 | killagreg | 154 | { |
41 | ingob | 155 | rxdata = SSP0->DR; // catch the received byte |
156 | // Fill TxFIFO while its not full or end of packet is reached |
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378 | holgerb | 157 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
161 | killagreg | 158 | { |
79 | killagreg | 159 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
160 | { |
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41 | ingob | 161 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
79 | killagreg | 162 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
378 | holgerb | 163 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
79 | killagreg | 164 | SPI_TxBufferIndex++; // pointer to next byte |
165 | } |
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166 | else // end of packet is reached reset and copy data to tx buffer |
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167 | { |
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168 | SPI_TxBufferIndex = 0; // reset buffer index |
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169 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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170 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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171 | BeepTime = 0; // reset local beeptime |
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41 | ingob | 172 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
79 | killagreg | 173 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
174 | } |
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41 | ingob | 175 | } |
176 | switch (SPI_State) |
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177 | { |
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178 | case SPI_SYNC1: |
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179 | SPI_RxBufferIndex = 0; // reset buffer index |
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180 | rxchksum = rxdata; // init checksum |
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181 | if (rxdata == SPI_RXSYNCBYTE1) |
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182 | { // 1st syncbyte ok |
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183 | SPI_State = SPI_SYNC2; // step to sync2 |
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184 | } |
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185 | break; |
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79 | killagreg | 186 | case SPI_SYNC2: |
41 | ingob | 187 | if (rxdata == SPI_RXSYNCBYTE2) |
188 | { // 2nd Syncbyte ok |
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189 | rxchksum += rxdata; |
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190 | SPI_State = SPI_DATA; |
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191 | } // 2nd Syncbyte does not match |
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192 | else |
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193 | { |
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194 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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195 | } |
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196 | break; |
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197 | case SPI_DATA: |
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198 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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378 | holgerb | 199 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
41 | ingob | 200 | { |
201 | if (rxdata == rxchksum) // verify checksum byte |
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202 | { |
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203 | // copy SPI_RxBuffer -> FromFlightCtrl |
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204 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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205 | { |
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206 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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207 | SPI_RxBuffer_Request = 1; |
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208 | } |
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146 | killagreg | 209 | // reset timeout counter on good packet |
210 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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41 | ingob | 211 | DebugOut.Analog[13]++; |
212 | } |
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213 | else // bad checksum byte |
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214 | { |
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215 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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216 | } |
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217 | SPI_State = SPI_SYNC1; // reset state |
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218 | } |
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219 | else // end of packet not reached |
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220 | { |
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221 | rxchksum += rxdata; // update checksum |
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222 | } |
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223 | break; |
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224 | default: |
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225 | SPI_State = SPI_SYNC1; |
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226 | break; |
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227 | } |
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228 | } |
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195 | killagreg | 229 | |
378 | holgerb | 230 | // IDISABLE; |
231 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
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1 | ingob | 232 | } |
233 | |||
234 | //-------------------------------------------------------------- |
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235 | void SPI0_Init(void) |
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236 | { |
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41 | ingob | 237 | GPIO_InitTypeDef GPIO_InitStructure; |
238 | SSP_InitTypeDef SSP_InitStructure; |
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1 | ingob | 239 | |
110 | killagreg | 240 | UART1_PutString("\r\n SPI init..."); |
1 | ingob | 241 | |
41 | ingob | 242 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
243 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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1 | ingob | 244 | |
41 | ingob | 245 | GPIO_DeInit(GPIO2); |
246 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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247 | GPIO_StructInit(&GPIO_InitStructure); |
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248 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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249 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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250 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 251 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 252 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
253 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 254 | |
41 | ingob | 255 | // SSP0_MISO pin GPIO2.6 |
256 | GPIO_StructInit(&GPIO_InitStructure); |
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257 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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258 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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259 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 260 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 261 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
262 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 263 | |
41 | ingob | 264 | SSP_DeInit(SSP0); |
265 | SSP_StructInit(&SSP_InitStructure); |
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266 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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267 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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268 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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269 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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270 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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271 | SSP_InitStructure.SSP_ClockRate = 0; |
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1 | ingob | 272 | |
41 | ingob | 273 | SSP_Init(SSP0, &SSP_InitStructure); |
144 | killagreg | 274 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
41 | ingob | 275 | SSP_Cmd(SSP0, ENABLE); |
276 | // initialize the syncbytes in the tx buffer |
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277 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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278 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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279 | // set the pointer to the checksum byte in the tx buffer |
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280 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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281 | |||
215 | killagreg | 282 | ToFlightCtrl.GPSStick.Nick = 0; |
283 | ToFlightCtrl.GPSStick.Roll = 0; |
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419 | holgerb | 284 | // ToFlightCtrl.GPSStick.Yaw = 0; |
215 | killagreg | 285 | |
136 | killagreg | 286 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
41 | ingob | 287 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
288 | |||
146 | killagreg | 289 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
290 | |||
110 | killagreg | 291 | UART1_PutString("ok"); |
1 | ingob | 292 | } |
41 | ingob | 293 | |
222 | holgerb | 294 | |
1 | ingob | 295 | //------------------------------------------------------ |
41 | ingob | 296 | void SPI0_UpdateBuffer(void) |
1 | ingob | 297 | { |
180 | killagreg | 298 | static u32 timeout = 0; |
426 | holgerb | 299 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
300 | static s16 last_wp_event = 0; |
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489 | killagreg | 301 | s16 tmp; |
329 | holgerb | 302 | s32 i1,i2; |
462 | holgerb | 303 | /* |
304 | union |
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305 | { |
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306 | unsigned char Byte[4]; |
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307 | unsigned int Int[2]; |
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308 | unsigned long Long; |
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309 | } Temp; |
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489 | killagreg | 310 | */ |
515 | killagreg | 311 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
378 | holgerb | 312 | if(SPI_RxBuffer_Request) |
41 | ingob | 313 | { |
314 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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315 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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254 | killagreg | 316 | ToFlightCtrl.CompassHeading = Compass_Heading; |
189 | killagreg | 317 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
510 | holgerb | 318 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
228 | holgerb | 319 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
419 | holgerb | 320 | ToFlightCtrl.MagVecX = MagVector.X; |
321 | ToFlightCtrl.MagVecY = MagVector.Y; |
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286 | killagreg | 322 | ToFlightCtrl.MagVecZ = MagVector.Z; |
419 | holgerb | 323 | // ToFlightCtrl.NCStatus = 0; |
41 | ingob | 324 | // cycle spi commands |
489 | killagreg | 325 | if(ErrorCode != last_error_code && enable_injecting) |
515 | killagreg | 326 | { |
327 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
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328 | last_error_code = ErrorCode; |
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329 | enable_injecting = 0; |
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330 | } |
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489 | killagreg | 331 | else |
332 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
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515 | killagreg | 333 | { |
334 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
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335 | last_wp_event = FC_WP_EventChannel; |
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336 | enable_injecting = 0; |
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337 | } |
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489 | killagreg | 338 | else |
515 | killagreg | 339 | { |
340 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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341 | // restart command cycle at the end |
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342 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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343 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
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344 | } |
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419 | holgerb | 345 | |
319 | holgerb | 346 | #define FLAG_GPS_AID 0x01 |
41 | ingob | 347 | switch (ToFlightCtrl.Command) |
348 | { |
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329 | holgerb | 349 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
149 | killagreg | 350 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
92 | killagreg | 351 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
352 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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330 | holgerb | 353 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
149 | killagreg | 354 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
222 | holgerb | 355 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
223 | killagreg | 356 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
515 | killagreg | 357 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
280 | killagreg | 358 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
278 | killagreg | 359 | { |
544 | holgerb | 360 | // if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.OrientationAngle * 15)) % 360; // the FC uses the uncorrected comnpass value |
361 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.CamOrientation * 15)) % 360; // the FC uses the uncorrected comnpass value |
||
514 | holgerb | 362 | else CAM_Orientation.Azimuth = -1; |
280 | killagreg | 363 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
278 | killagreg | 364 | } |
365 | else |
||
280 | killagreg | 366 | { |
278 | killagreg | 367 | ToFlightCtrl.Param.sInt[4] = -1; |
368 | } |
||
294 | holgerb | 369 | |
299 | killagreg | 370 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
295 | killagreg | 371 | { |
351 | holgerb | 372 | POI_KameraNick = tmp; |
299 | killagreg | 373 | } |
374 | else |
||
375 | { |
||
348 | holgerb | 376 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
489 | killagreg | 377 | POI_KameraNick = CAM_Orientation.Elevation; |
348 | holgerb | 378 | //else ToFlightCtrl.Param.sInt[5] = 0; |
295 | killagreg | 379 | } |
351 | holgerb | 380 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
161 | killagreg | 381 | break; |
58 | killagreg | 382 | |
202 | killagreg | 383 | case SPI_NCCMD_VERSION: |
355 | holgerb | 384 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
515 | killagreg | 385 | //+ higher than the maximum allowed altitude |
355 | holgerb | 386 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
202 | killagreg | 387 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
388 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
204 | killagreg | 389 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
202 | killagreg | 390 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
264 | killagreg | 391 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
338 | holgerb | 392 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
393 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
454 | holgerb | 394 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
323 | holgerb | 395 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
330 | holgerb | 396 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
351 | holgerb | 397 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
532 | holgerb | 398 | //[11] |
399 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
||
400 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
202 | killagreg | 401 | break; |
342 | holgerb | 402 | case SPI_MISC: |
403 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
404 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
405 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
397 | holgerb | 406 | ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
419 | holgerb | 407 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
408 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
||
409 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
||
410 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
||
503 | holgerb | 411 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
507 | holgerb | 412 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
578 | holgerb | 413 | |
397 | holgerb | 414 | SpeakHoTT = 0; |
342 | holgerb | 415 | break; |
223 | killagreg | 416 | |
204 | killagreg | 417 | case SPI_NCCMD_GPSINFO: |
418 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
419 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
420 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
232 | killagreg | 421 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
258 | holgerb | 422 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
423 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
454 | holgerb | 424 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
421 | holgerb | 425 | if(FC_WP_EventChannel) LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
577 | holgerb | 426 | FC_WP_EventChannel_Processed = 1; |
457 | holgerb | 427 | // ++++++++++++++++++++++++++++++++++ |
428 | // Waypoint event +++++++++++++++++++ |
||
429 | // ++++++++++++++++++++++++++++++++++ |
||
430 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
||
431 | { |
||
432 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
433 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
||
434 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
435 | } |
||
436 | else |
||
437 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
||
438 | { |
||
439 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
440 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
441 | } |
||
442 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
577 | holgerb | 443 | // FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
457 | holgerb | 444 | // ++++++++++++++++++++++++++++++++++ |
299 | killagreg | 445 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
446 | { |
||
447 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
295 | killagreg | 448 | } |
299 | killagreg | 449 | else |
450 | { |
||
451 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
452 | } |
||
453 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
454 | { |
||
455 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
456 | } |
||
457 | else |
||
458 | { |
||
459 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
460 | } |
||
516 | holgerb | 461 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
204 | killagreg | 462 | break; |
330 | holgerb | 463 | case SPI_NCCMD_HOTT_INFO: |
515 | killagreg | 464 | if(NewWPL_Name) hott_index = 100; |
330 | holgerb | 465 | switch(hott_index++) |
466 | { |
||
329 | holgerb | 467 | case 0: |
468 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
489 | killagreg | 469 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
329 | holgerb | 470 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
397 | holgerb | 471 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
329 | holgerb | 472 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
473 | //----------------------------- |
||
489 | killagreg | 474 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
329 | holgerb | 475 | i1 = GPSData.Speed_Ground; // in cm/sec |
476 | i1 *= 36; |
||
477 | i1 /= 1000; |
||
478 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
479 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
480 | //----------------------------- |
||
405 | holgerb | 481 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
329 | holgerb | 482 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
483 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
484 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
397 | holgerb | 485 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
489 | killagreg | 486 | i1 *= 100; |
460 | holgerb | 487 | // Minuten |
488 | i2 *= 6; |
||
489 | i2 /= 10; |
||
329 | holgerb | 490 | i1 += i2 / 100000; |
491 | i2 = i2 % 100000; |
||
492 | i2 /= 10; |
||
493 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
494 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
495 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
496 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
497 | break; |
||
498 | case 1: |
||
499 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
397 | holgerb | 500 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
329 | holgerb | 501 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
502 | //----------------------------- |
||
503 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
504 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
505 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
506 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
397 | holgerb | 507 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
489 | killagreg | 508 | i1 *= 100; |
460 | holgerb | 509 | // Minuten |
510 | i2 *= 6; |
||
511 | i2 /= 10; |
||
329 | holgerb | 512 | i1 += i2 / 100000; |
513 | i2 = i2 % 100000; |
||
514 | i2 /= 10; |
||
515 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
516 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
517 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
518 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
519 | //----------------------------- |
||
489 | killagreg | 520 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
329 | holgerb | 521 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
522 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
330 | holgerb | 523 | break; |
524 | case 2: |
||
525 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
397 | holgerb | 526 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
330 | holgerb | 527 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
489 | killagreg | 528 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
330 | holgerb | 529 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
329 | holgerb | 530 | break; |
462 | holgerb | 531 | case 3: |
532 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
||
489 | killagreg | 533 | ToFlightCtrl.Param.Byte[0] = 0; // index |
462 | holgerb | 534 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
535 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
||
489 | killagreg | 536 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
537 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
||
462 | holgerb | 538 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
539 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
540 | i2 *= 6; |
||
541 | i2 /= 1000; |
||
542 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
543 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
544 | break; |
||
545 | case 4: |
||
546 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
||
489 | killagreg | 547 | ToFlightCtrl.Param.Byte[0] = 0; // index |
462 | holgerb | 548 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
489 | killagreg | 549 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
550 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
||
462 | holgerb | 551 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
552 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
553 | i2 *= 6; |
||
554 | i2 /= 1000; |
||
555 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
556 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
557 | hott_index = 0; |
||
558 | break; |
||
504 | holgerb | 559 | |
560 | case 100: |
||
561 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
||
562 | ToFlightCtrl.Param.Byte[0] = 0; // index |
||
563 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
||
564 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
||
565 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
||
566 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
||
567 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
||
568 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
||
569 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
||
570 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
||
571 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
||
572 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
||
573 | NewWPL_Name = 0; |
||
574 | hott_index = 0; |
||
575 | break; |
||
489 | killagreg | 576 | default: |
330 | holgerb | 577 | ToFlightCtrl.Param.Byte[0] = 255; |
515 | killagreg | 578 | hott_index = 0; |
579 | break; |
||
329 | holgerb | 580 | } |
581 | break; |
||
41 | ingob | 582 | default: |
583 | break; |
||
285 | holgerb | 584 | // 0 = 0,1 |
585 | // 1 = 2,3 |
||
586 | // 2 = 4,5 |
||
587 | // 3 = 6,7 |
||
588 | // 4 = 8,9 |
||
589 | // 5 = 10,11 |
||
41 | ingob | 590 | } |
591 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
592 | switch(FromFlightCtrl.Command) |
||
593 | { |
||
202 | killagreg | 594 | case SPI_FCCMD_USER: |
41 | ingob | 595 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
596 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
597 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
598 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
599 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
600 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
601 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
602 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
533 | holgerb | 603 | |
567 | holgerb | 604 | FC.RealStatusFlags = FromFlightCtrl.Param.Byte[8]; |
605 | if(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN) SimulationFlags = 0; // stop the simulation if the motors would really start |
||
606 | |||
607 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
||
41 | ingob | 608 | { |
567 | holgerb | 609 | if(ClearFCStatusFlags) |
610 | { |
||
611 | FC.StatusFlags = 0; |
||
612 | ClearFCStatusFlags = 0; |
||
613 | } |
||
41 | ingob | 614 | } |
567 | holgerb | 615 | FC.StatusFlags |= FC.RealStatusFlags; |
320 | holgerb | 616 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
268 | killagreg | 617 | { |
510 | holgerb | 618 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
268 | killagreg | 619 | Compass_Init(); |
330 | holgerb | 620 | FCCalibActive = 10; |
338 | holgerb | 621 | FC_is_Calibrated = 0; |
268 | killagreg | 622 | } |
623 | else |
||
624 | { |
||
489 | killagreg | 625 | if(FCCalibActive) |
626 | { |
||
627 | if(--FCCalibActive == 0) |
||
628 | { |
||
629 | FC_is_Calibrated = 1; |
||
630 | Compass_Check(); |
||
631 | } |
||
632 | } |
||
268 | killagreg | 633 | } |
515 | killagreg | 634 | if(FC.StatusFlags & FC_STATUS_START) |
489 | killagreg | 635 | { |
515 | killagreg | 636 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
510 | holgerb | 637 | else HeadFreeStartAngle = GyroCompassCorrected; |
489 | killagreg | 638 | } |
320 | holgerb | 639 | |
489 | killagreg | 640 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
641 | { |
||
642 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
643 | { |
||
644 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
645 | { |
||
646 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
647 | } |
||
648 | else // Ansonsten die aktuelle Richtung übernehmen |
||
649 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
||
329 | holgerb | 650 | } |
651 | } |
||
223 | killagreg | 652 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
471 | holgerb | 653 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
480 | holgerb | 654 | DebugOut.Analog[7] = FC.BAT_Voltage; |
255 | killagreg | 655 | DebugOut.Analog[5] = FC.StatusFlags; |
360 | holgerb | 656 | NaviData.FCStatusFlags = FC.StatusFlags; |
489 | killagreg | 657 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
294 | holgerb | 658 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
360 | holgerb | 659 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
660 | |||
661 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
489 | killagreg | 662 | else |
360 | holgerb | 663 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
664 | |||
665 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
489 | killagreg | 666 | else |
360 | holgerb | 667 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
668 | |||
338 | holgerb | 669 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
670 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
41 | ingob | 671 | break; |
1 | ingob | 672 | |
454 | holgerb | 673 | case SPI_FCCMD_BL_ACCU: |
223 | killagreg | 674 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
480 | holgerb | 675 | DebugOut.Analog[8] = FC.BAT_Current; |
530 | holgerb | 676 | if(AmountOfMotors < FromFlightCtrl.Param.Byte[2]+1) AmountOfMotors = FromFlightCtrl.Param.Byte[2]+1; |
533 | holgerb | 677 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
530 | holgerb | 678 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
679 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
||
471 | holgerb | 680 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
681 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
||
530 | holgerb | 682 | Motor[FromFlightCtrl.Param.Byte[2]].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
683 | Motor_Version[FromFlightCtrl.Param.Byte[2]] = FromFlightCtrl.Param.Byte[7]; |
||
684 | Motor[FromFlightCtrl.Param.Byte[2]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
||
685 | Motor[FromFlightCtrl.Param.Byte[2]].State = FromFlightCtrl.Param.Byte[9]; |
||
686 | Motor[FromFlightCtrl.Param.Byte[2]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
687 | Motor[FromFlightCtrl.Param.Byte[2]].Current = FromFlightCtrl.Param.Byte[11]; |
||
298 | holgerb | 688 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
515 | killagreg | 689 | { |
690 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
691 | } |
||
206 | killagreg | 692 | NaviData.UBat = FC.BAT_Voltage; |
567 | holgerb | 693 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.Current = FC.BAT_Current; |
206 | killagreg | 694 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
695 | break; |
||
202 | killagreg | 696 | case SPI_FCCMD_PARAMETER1: |
454 | holgerb | 697 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
41 | ingob | 698 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
699 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
700 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
701 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
702 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
703 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
704 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
532 | holgerb | 705 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
706 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
||
41 | ingob | 707 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
327 | holgerb | 708 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
41 | ingob | 709 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
121 | killagreg | 710 | break; |
419 | holgerb | 711 | case SPI_FCCMD_PARAMETER2: |
516 | holgerb | 712 | CHK_POTI_MM(Parameter.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
436 | holgerb | 713 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
515 | killagreg | 714 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
489 | killagreg | 715 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
716 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
||
500 | holgerb | 717 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
513 | killagreg | 718 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
719 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
||
510 | holgerb | 720 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
721 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
||
516 | holgerb | 722 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[10],0,255); |
518 | holgerb | 723 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
419 | holgerb | 724 | break; |
202 | killagreg | 725 | case SPI_FCCMD_STICK: |
41 | ingob | 726 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
727 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
728 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
729 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
190 | killagreg | 730 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
731 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
732 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
733 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
734 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
735 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
736 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
202 | killagreg | 737 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
515 | killagreg | 738 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
41 | ingob | 739 | break; |
27 | holgerb | 740 | |
202 | killagreg | 741 | case SPI_FCCMD_MISC: |
41 | ingob | 742 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
743 | { // put only new CompassCalState into queue to send via I2C |
||
489 | killagreg | 744 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
378 | holgerb | 745 | { |
746 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
747 | Compass_SetCalState(CompassCalState); |
||
748 | } |
||
392 | holgerb | 749 | // else CompassCalState = 0; |
41 | ingob | 750 | } |
58 | killagreg | 751 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
205 | killagreg | 752 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
567 | holgerb | 753 | FC.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
754 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
160 | holgerb | 755 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
756 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
757 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
190 | killagreg | 758 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
454 | holgerb | 759 | NaviData.RC_Quality = FC.RC_Quality; |
461 | holgerb | 760 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
206 | killagreg | 761 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
581 | holgerb | 762 | if(LoggingGasCnt == 0) LoggingGasFilter = 0; |
578 | holgerb | 763 | LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11]; |
764 | LoggingGasCnt++; |
||
41 | ingob | 765 | break; |
161 | killagreg | 766 | |
202 | killagreg | 767 | case SPI_FCCMD_SERVOS: |
530 | holgerb | 768 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[0]; |
121 | killagreg | 769 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
530 | holgerb | 770 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[3]; |
771 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[4]; |
||
572 | holgerb | 772 | FC.StatusFlags3 = FromFlightCtrl.Param.Byte[5]; |
532 | holgerb | 773 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[6]; |
774 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[7]; |
||
775 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[4]; // 8 & 9 |
||
544 | holgerb | 776 | Parameter.CamOrientation = FromFlightCtrl.Param.Byte[10]; |
548 | holgerb | 777 | UART_VersionInfo.BL_Firmware = FromFlightCtrl.Param.Byte[11]; |
119 | killagreg | 778 | break; |
1 | ingob | 779 | |
202 | killagreg | 780 | case SPI_FCCMD_VERSION: |
119 | killagreg | 781 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
782 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
783 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
784 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
785 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
328 | holgerb | 786 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
787 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
||
489 | killagreg | 788 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
475 | holgerb | 789 | { |
489 | killagreg | 790 | FC.FromFC_DisableDeclination = 1; |
791 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
||
792 | GeoMagDec = 0; |
||
793 | } |
||
794 | else |
||
475 | holgerb | 795 | { |
489 | killagreg | 796 | FC.FromFC_DisableDeclination = 0; |
797 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
||
475 | holgerb | 798 | } |
358 | holgerb | 799 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
800 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
320 | holgerb | 801 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
350 | holgerb | 802 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
338 | holgerb | 803 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
804 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
455 | holgerb | 805 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
338 | holgerb | 806 | else DebugOut.StatusRed &= ~AMPEL_FC; |
41 | ingob | 807 | break; |
573 | holgerb | 808 | case SPI_FCCMD_NEUTRAL: |
809 | FC.AdNeutralNick = FromFlightCtrl.Param.Int[0]; |
||
810 | FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1]; |
||
811 | FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2]; |
||
578 | holgerb | 812 | Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6]; |
813 | HoverGas = FromFlightCtrl.Param.Byte[7]; |
||
573 | holgerb | 814 | break; |
41 | ingob | 815 | default: |
204 | killagreg | 816 | break; |
41 | ingob | 817 | } |
378 | holgerb | 818 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
819 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
820 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
||
821 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
822 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
||
823 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
||
824 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
825 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
41 | ingob | 826 | // every time we got new data from the FC via SPI call the navigation routine |
215 | killagreg | 827 | // and update GPSStick that are returned to FC |
378 | holgerb | 828 | SPI_RxBuffer_Request = 0; |
215 | killagreg | 829 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
255 | killagreg | 830 | ClearFCStatusFlags = 1; |
180 | killagreg | 831 | if(counter) |
832 | { |
||
833 | counter--; // count down to enable servo |
||
202 | killagreg | 834 | if(!counter) TIMER2_Init(); // enable Servo Output |
180 | killagreg | 835 | } |
836 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
||
1 | ingob | 837 | |
79 | killagreg | 838 | } // EOF if(SPI_RxBuffer_Request) |
180 | killagreg | 839 | else // no new SPI data |
202 | killagreg | 840 | { |
180 | killagreg | 841 | if(CheckDelay(timeout) && (counter == 0)) |
842 | { |
||
843 | TIMER2_Deinit(); // disable Servo Output |
||
844 | counter = 50; // reset counter for enabling Servo Output |
||
845 | } |
||
846 | } |
||
1 | ingob | 847 | } |
848 | |||
41 | ingob | 849 | //------------------------------------------------------ |
850 | void SPI0_GetFlightCtrlVersion(void) |
||
851 | { |
||
154 | killagreg | 852 | u32 timeout; |
853 | u8 repeat; |
||
78 | holgerb | 854 | u8 msg[64]; |
41 | ingob | 855 | |
297 | ingob | 856 | UART1_PutString("\r\n Looking for FlightControl"); |
41 | ingob | 857 | FC_Version.Major = 0xFF; |
858 | FC_Version.Minor = 0xFF; |
||
859 | FC_Version.Patch = 0xFF; |
||
860 | FC_Version.Compatible = 0xFF; |
||
861 | |||
165 | killagreg | 862 | // polling FC version info |
154 | killagreg | 863 | repeat = 0; |
41 | ingob | 864 | do |
865 | { |
||
154 | killagreg | 866 | timeout = SetDelay(250); |
867 | do |
||
868 | { |
||
869 | SPI0_UpdateBuffer(); |
||
870 | if (FC_Version.Major != 0xFF) break; |
||
871 | }while (!CheckDelay(timeout)); |
||
872 | UART1_PutString("."); |
||
873 | repeat++; |
||
489 | killagreg | 874 | FCCalibActive = 1; |
180 | killagreg | 875 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
41 | ingob | 876 | // if we got it |
877 | if (FC_Version.Major != 0xFF) |
||
878 | { |
||
581 | holgerb | 879 | sprintf(msg, " FC V%d.%02d%c HW:%d.%02d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
110 | killagreg | 880 | UART1_PutString(msg); |
41 | ingob | 881 | } |
242 | killagreg | 882 | else UART1_PutString("\n\r not found!"); |
41 | ingob | 883 | } |
884 | |||
489 | killagreg | 885 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
886 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
||
887 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
888 | u16 BL3_Current(u8 who) // in 0,1A |
||
889 | { |
||
890 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
||
891 | else |
||
892 | { |
||
893 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
||
894 | else return((u16) Motor[who].Current); |
||
895 | } |
||
896 | } |
||
41 | ingob | 897 |