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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; |
587 | holgerb | 110 | s32 HeadFreeStartAngle = 0; // in 0,1° |
111 | s32 CompassDirectionAtMotorStart = 0; // in 0,1° |
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577 | holgerb | 112 | 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 | 113 | u32 ToFC_AltitudeRate = 0; |
285 | holgerb | 114 | s32 ToFC_AltitudeSetpoint = 0; |
298 | holgerb | 115 | u8 FromFC_VarioCharacter = ' '; |
514 | holgerb | 116 | s16 GPS_Aid_StickMultiplikator = 0; |
323 | holgerb | 117 | u8 NC_GPS_ModeCharacter = ' '; |
329 | holgerb | 118 | u8 FCCalibActive = 0; |
330 | holgerb | 119 | u8 FC_is_Calibrated = 0; |
358 | holgerb | 120 | Motor_t Motor[12]; |
471 | holgerb | 121 | u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
351 | holgerb | 122 | u8 NC_To_FC_Flags = 0; |
530 | holgerb | 123 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
124 | u8 Logging_BL_MinOfMaxPWM = 255; |
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125 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
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338 | holgerb | 126 | u32 FC_I2C_ErrorConter; |
41 | ingob | 127 | SPI_Version_t FC_Version; |
351 | holgerb | 128 | s16 POI_KameraNick = 0; |
460 | holgerb | 129 | u8 NC_Wait_for_LED = 0; |
463 | holgerb | 130 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
510 | holgerb | 131 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
132 | s16 CompassSetpoint = 0; // in 0,1° |
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567 | holgerb | 133 | s16 SimulatedDirection = 0; // only for flight simulation |
530 | holgerb | 134 | u8 AmountOfMotors = 0; |
532 | holgerb | 135 | u16 FlugMinutenGesamt; |
578 | holgerb | 136 | u8 HoverGas = 0; |
41 | ingob | 137 | //-------------------------------------------------------------- |
138 | void SSP0_IRQHandler(void) |
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139 | { |
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140 | static u8 rxchksum = 0; |
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141 | u8 rxdata; |
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1 | ingob | 142 | |
189 | killagreg | 143 | #define SPI_SYNC1 0 |
144 | #define SPI_SYNC2 1 |
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145 | #define SPI_DATA 2 |
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146 | static u8 SPI_State = SPI_SYNC1; |
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378 | holgerb | 147 | //IENABLE; |
189 | killagreg | 148 | |
161 | killagreg | 149 | // clear pending bits |
41 | ingob | 150 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
144 | killagreg | 151 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
189 | killagreg | 152 | |
79 | killagreg | 153 | // while RxFIFO not empty |
378 | holgerb | 154 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
79 | killagreg | 155 | { |
41 | ingob | 156 | rxdata = SSP0->DR; // catch the received byte |
157 | // Fill TxFIFO while its not full or end of packet is reached |
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378 | holgerb | 158 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
161 | killagreg | 159 | { |
79 | killagreg | 160 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
161 | { |
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41 | ingob | 162 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
79 | killagreg | 163 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
378 | holgerb | 164 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
79 | killagreg | 165 | SPI_TxBufferIndex++; // pointer to next byte |
166 | } |
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167 | else // end of packet is reached reset and copy data to tx buffer |
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168 | { |
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169 | SPI_TxBufferIndex = 0; // reset buffer index |
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170 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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171 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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172 | BeepTime = 0; // reset local beeptime |
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41 | ingob | 173 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
79 | killagreg | 174 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
175 | } |
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41 | ingob | 176 | } |
177 | switch (SPI_State) |
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178 | { |
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179 | case SPI_SYNC1: |
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180 | SPI_RxBufferIndex = 0; // reset buffer index |
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181 | rxchksum = rxdata; // init checksum |
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182 | if (rxdata == SPI_RXSYNCBYTE1) |
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183 | { // 1st syncbyte ok |
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184 | SPI_State = SPI_SYNC2; // step to sync2 |
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185 | } |
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186 | break; |
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79 | killagreg | 187 | case SPI_SYNC2: |
41 | ingob | 188 | if (rxdata == SPI_RXSYNCBYTE2) |
189 | { // 2nd Syncbyte ok |
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190 | rxchksum += rxdata; |
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191 | SPI_State = SPI_DATA; |
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192 | } // 2nd Syncbyte does not match |
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193 | else |
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194 | { |
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195 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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196 | } |
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197 | break; |
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198 | case SPI_DATA: |
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199 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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378 | holgerb | 200 | if(SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
41 | ingob | 201 | { |
202 | if (rxdata == rxchksum) // verify checksum byte |
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203 | { |
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204 | // copy SPI_RxBuffer -> FromFlightCtrl |
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205 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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206 | { |
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207 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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208 | SPI_RxBuffer_Request = 1; |
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209 | } |
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146 | killagreg | 210 | // reset timeout counter on good packet |
211 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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41 | ingob | 212 | DebugOut.Analog[13]++; |
213 | } |
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214 | else // bad checksum byte |
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215 | { |
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216 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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217 | } |
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218 | SPI_State = SPI_SYNC1; // reset state |
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219 | } |
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220 | else // end of packet not reached |
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221 | { |
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222 | rxchksum += rxdata; // update checksum |
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223 | } |
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224 | break; |
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225 | default: |
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226 | SPI_State = SPI_SYNC1; |
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227 | break; |
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228 | } |
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229 | } |
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195 | killagreg | 230 | |
378 | holgerb | 231 | // IDISABLE; |
232 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
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1 | ingob | 233 | } |
234 | |||
235 | //-------------------------------------------------------------- |
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236 | void SPI0_Init(void) |
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237 | { |
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41 | ingob | 238 | GPIO_InitTypeDef GPIO_InitStructure; |
239 | SSP_InitTypeDef SSP_InitStructure; |
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1 | ingob | 240 | |
110 | killagreg | 241 | UART1_PutString("\r\n SPI init..."); |
1 | ingob | 242 | |
41 | ingob | 243 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
244 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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1 | ingob | 245 | |
41 | ingob | 246 | GPIO_DeInit(GPIO2); |
247 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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248 | GPIO_StructInit(&GPIO_InitStructure); |
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249 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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250 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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251 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 252 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 253 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
254 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 255 | |
41 | ingob | 256 | // SSP0_MISO pin GPIO2.6 |
257 | GPIO_StructInit(&GPIO_InitStructure); |
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258 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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259 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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260 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 261 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 262 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
263 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 264 | |
41 | ingob | 265 | SSP_DeInit(SSP0); |
266 | SSP_StructInit(&SSP_InitStructure); |
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267 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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268 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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269 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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270 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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271 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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272 | SSP_InitStructure.SSP_ClockRate = 0; |
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1 | ingob | 273 | |
41 | ingob | 274 | SSP_Init(SSP0, &SSP_InitStructure); |
144 | killagreg | 275 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
41 | ingob | 276 | SSP_Cmd(SSP0, ENABLE); |
277 | // initialize the syncbytes in the tx buffer |
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278 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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279 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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280 | // set the pointer to the checksum byte in the tx buffer |
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281 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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282 | |||
215 | killagreg | 283 | ToFlightCtrl.GPSStick.Nick = 0; |
284 | ToFlightCtrl.GPSStick.Roll = 0; |
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419 | holgerb | 285 | // ToFlightCtrl.GPSStick.Yaw = 0; |
215 | killagreg | 286 | |
136 | killagreg | 287 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
41 | ingob | 288 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
289 | |||
146 | killagreg | 290 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
291 | |||
110 | killagreg | 292 | UART1_PutString("ok"); |
1 | ingob | 293 | } |
41 | ingob | 294 | |
222 | holgerb | 295 | |
1 | ingob | 296 | //------------------------------------------------------ |
41 | ingob | 297 | void SPI0_UpdateBuffer(void) |
1 | ingob | 298 | { |
180 | killagreg | 299 | static u32 timeout = 0; |
426 | holgerb | 300 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
301 | static s16 last_wp_event = 0; |
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489 | killagreg | 302 | s16 tmp; |
329 | holgerb | 303 | s32 i1,i2; |
462 | holgerb | 304 | /* |
305 | union |
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306 | { |
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307 | unsigned char Byte[4]; |
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308 | unsigned int Int[2]; |
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309 | unsigned long Long; |
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310 | } Temp; |
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489 | killagreg | 311 | */ |
515 | killagreg | 312 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
378 | holgerb | 313 | if(SPI_RxBuffer_Request) |
41 | ingob | 314 | { |
315 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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316 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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254 | killagreg | 317 | ToFlightCtrl.CompassHeading = Compass_Heading; |
189 | killagreg | 318 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
510 | holgerb | 319 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
228 | holgerb | 320 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
419 | holgerb | 321 | ToFlightCtrl.MagVecX = MagVector.X; |
322 | ToFlightCtrl.MagVecY = MagVector.Y; |
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286 | killagreg | 323 | ToFlightCtrl.MagVecZ = MagVector.Z; |
419 | holgerb | 324 | // ToFlightCtrl.NCStatus = 0; |
41 | ingob | 325 | // cycle spi commands |
489 | killagreg | 326 | if(ErrorCode != last_error_code && enable_injecting) |
515 | killagreg | 327 | { |
328 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
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329 | last_error_code = ErrorCode; |
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330 | enable_injecting = 0; |
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331 | } |
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489 | killagreg | 332 | else |
333 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
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515 | killagreg | 334 | { |
335 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
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336 | last_wp_event = FC_WP_EventChannel; |
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337 | enable_injecting = 0; |
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338 | } |
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489 | killagreg | 339 | else |
515 | killagreg | 340 | { |
341 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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342 | // restart command cycle at the end |
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343 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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344 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
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345 | } |
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419 | holgerb | 346 | |
319 | holgerb | 347 | #define FLAG_GPS_AID 0x01 |
41 | ingob | 348 | switch (ToFlightCtrl.Command) |
349 | { |
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329 | holgerb | 350 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
149 | killagreg | 351 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
92 | killagreg | 352 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
353 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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330 | holgerb | 354 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
588 | holgerb | 355 | ToFlightCtrl.Param.Byte[4] = 0; // siehe bitcodiert unten |
222 | holgerb | 356 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
223 | killagreg | 357 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
515 | killagreg | 358 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
280 | killagreg | 359 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
278 | killagreg | 360 | { |
544 | holgerb | 361 | // 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 |
362 | 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 | 363 | else CAM_Orientation.Azimuth = -1; |
588 | holgerb | 364 | if(CAM_Orientation.UpdateMask & FORCE_AZIMUTH_ROTATION) ToFlightCtrl.Param.sByte[4] = 0x01; // allows Yawing without CareFree (Yawing at Coming Home) |
365 | CAM_Orientation.UpdateMask &= ~(CAM_UPDATE_AZIMUTH | FORCE_AZIMUTH_ROTATION); |
||
278 | killagreg | 366 | } |
367 | else |
||
280 | killagreg | 368 | { |
278 | killagreg | 369 | ToFlightCtrl.Param.sInt[4] = -1; |
370 | } |
||
294 | holgerb | 371 | |
299 | killagreg | 372 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
295 | killagreg | 373 | { |
351 | holgerb | 374 | POI_KameraNick = tmp; |
299 | killagreg | 375 | } |
376 | else |
||
377 | { |
||
348 | holgerb | 378 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
489 | killagreg | 379 | POI_KameraNick = CAM_Orientation.Elevation; |
348 | holgerb | 380 | //else ToFlightCtrl.Param.sInt[5] = 0; |
295 | killagreg | 381 | } |
351 | holgerb | 382 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
161 | killagreg | 383 | break; |
58 | killagreg | 384 | |
202 | killagreg | 385 | case SPI_NCCMD_VERSION: |
355 | holgerb | 386 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
515 | killagreg | 387 | //+ higher than the maximum allowed altitude |
355 | holgerb | 388 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
202 | killagreg | 389 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
390 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
204 | killagreg | 391 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
202 | killagreg | 392 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
264 | killagreg | 393 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
338 | holgerb | 394 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
395 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
454 | holgerb | 396 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
323 | holgerb | 397 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
330 | holgerb | 398 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
351 | holgerb | 399 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
532 | holgerb | 400 | //[11] |
401 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
||
402 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
202 | killagreg | 403 | break; |
342 | holgerb | 404 | case SPI_MISC: |
405 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
406 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
407 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
397 | holgerb | 408 | ToFlightCtrl.Param.Byte[3] = SpeakHoTT; |
419 | holgerb | 409 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
410 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
||
411 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
||
412 | 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 | 413 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
507 | holgerb | 414 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
578 | holgerb | 415 | |
397 | holgerb | 416 | SpeakHoTT = 0; |
342 | holgerb | 417 | break; |
223 | killagreg | 418 | |
204 | killagreg | 419 | case SPI_NCCMD_GPSINFO: |
420 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
421 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
422 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
232 | killagreg | 423 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
258 | holgerb | 424 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
425 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
454 | holgerb | 426 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
598 | holgerb | 427 | if(FC_WP_EventChannel) |
428 | { |
||
429 | LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
||
430 | NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
||
431 | } |
||
577 | holgerb | 432 | FC_WP_EventChannel_Processed = 1; |
457 | holgerb | 433 | // ++++++++++++++++++++++++++++++++++ |
434 | // Waypoint event +++++++++++++++++++ |
||
435 | // ++++++++++++++++++++++++++++++++++ |
||
436 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
||
437 | { |
||
438 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
439 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
||
440 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
441 | } |
||
442 | else |
||
443 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
||
444 | { |
||
445 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
446 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
447 | } |
||
448 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
577 | holgerb | 449 | // FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
457 | holgerb | 450 | // ++++++++++++++++++++++++++++++++++ |
299 | killagreg | 451 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
452 | { |
||
453 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
295 | killagreg | 454 | } |
299 | killagreg | 455 | else |
456 | { |
||
457 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
458 | } |
||
459 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
460 | { |
||
461 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
462 | } |
||
463 | else |
||
464 | { |
||
465 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
466 | } |
||
516 | holgerb | 467 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
204 | killagreg | 468 | break; |
330 | holgerb | 469 | case SPI_NCCMD_HOTT_INFO: |
515 | killagreg | 470 | if(NewWPL_Name) hott_index = 100; |
330 | holgerb | 471 | switch(hott_index++) |
472 | { |
||
329 | holgerb | 473 | case 0: |
474 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
489 | killagreg | 475 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
329 | holgerb | 476 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
397 | holgerb | 477 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
329 | holgerb | 478 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
479 | //----------------------------- |
||
489 | killagreg | 480 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
329 | holgerb | 481 | i1 = GPSData.Speed_Ground; // in cm/sec |
482 | i1 *= 36; |
||
483 | i1 /= 1000; |
||
484 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
485 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
486 | //----------------------------- |
||
405 | holgerb | 487 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
329 | holgerb | 488 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
489 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
490 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
397 | holgerb | 491 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
489 | killagreg | 492 | i1 *= 100; |
460 | holgerb | 493 | // Minuten |
494 | i2 *= 6; |
||
495 | i2 /= 10; |
||
329 | holgerb | 496 | i1 += i2 / 100000; |
497 | i2 = i2 % 100000; |
||
498 | i2 /= 10; |
||
499 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
500 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
501 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
502 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
503 | break; |
||
504 | case 1: |
||
505 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
397 | holgerb | 506 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
329 | holgerb | 507 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
508 | //----------------------------- |
||
509 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
510 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
511 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
512 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
397 | holgerb | 513 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
489 | killagreg | 514 | i1 *= 100; |
460 | holgerb | 515 | // Minuten |
516 | i2 *= 6; |
||
517 | i2 /= 10; |
||
329 | holgerb | 518 | i1 += i2 / 100000; |
519 | i2 = i2 % 100000; |
||
520 | i2 /= 10; |
||
521 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
522 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
523 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
524 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
525 | //----------------------------- |
||
489 | killagreg | 526 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
329 | holgerb | 527 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
528 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
330 | holgerb | 529 | break; |
530 | case 2: |
||
531 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
397 | holgerb | 532 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
330 | holgerb | 533 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
489 | killagreg | 534 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
330 | holgerb | 535 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
329 | holgerb | 536 | break; |
462 | holgerb | 537 | case 3: |
538 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
||
489 | killagreg | 539 | ToFlightCtrl.Param.Byte[0] = 0; // index |
462 | holgerb | 540 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
541 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
||
489 | killagreg | 542 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
543 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
||
462 | holgerb | 544 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
545 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
546 | i2 *= 6; |
||
547 | i2 /= 1000; |
||
548 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
549 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
550 | break; |
||
551 | case 4: |
||
552 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
||
489 | killagreg | 553 | ToFlightCtrl.Param.Byte[0] = 0; // index |
462 | holgerb | 554 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
489 | killagreg | 555 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
556 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
||
462 | holgerb | 557 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
558 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
559 | i2 *= 6; |
||
560 | i2 /= 1000; |
||
561 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
562 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
563 | hott_index = 0; |
||
564 | break; |
||
504 | holgerb | 565 | |
566 | case 100: |
||
567 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
||
568 | ToFlightCtrl.Param.Byte[0] = 0; // index |
||
569 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
||
570 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
||
571 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
||
572 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
||
573 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
||
574 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
||
575 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
||
576 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
||
577 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
||
578 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
||
579 | NewWPL_Name = 0; |
||
580 | hott_index = 0; |
||
581 | break; |
||
489 | killagreg | 582 | default: |
330 | holgerb | 583 | ToFlightCtrl.Param.Byte[0] = 255; |
515 | killagreg | 584 | hott_index = 0; |
585 | break; |
||
329 | holgerb | 586 | } |
587 | break; |
||
41 | ingob | 588 | default: |
589 | break; |
||
285 | holgerb | 590 | // 0 = 0,1 |
591 | // 1 = 2,3 |
||
592 | // 2 = 4,5 |
||
593 | // 3 = 6,7 |
||
594 | // 4 = 8,9 |
||
595 | // 5 = 10,11 |
||
41 | ingob | 596 | } |
597 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
598 | switch(FromFlightCtrl.Command) |
||
599 | { |
||
202 | killagreg | 600 | case SPI_FCCMD_USER: |
41 | ingob | 601 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
602 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
603 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
604 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
605 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
606 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
607 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
608 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
567 | holgerb | 609 | FC.RealStatusFlags = FromFlightCtrl.Param.Byte[8]; |
610 | if(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN) SimulationFlags = 0; // stop the simulation if the motors would really start |
||
611 | |||
612 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
||
41 | ingob | 613 | { |
567 | holgerb | 614 | if(ClearFCStatusFlags) |
615 | { |
||
616 | FC.StatusFlags = 0; |
||
617 | ClearFCStatusFlags = 0; |
||
618 | } |
||
41 | ingob | 619 | } |
567 | holgerb | 620 | FC.StatusFlags |= FC.RealStatusFlags; |
320 | holgerb | 621 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
268 | killagreg | 622 | { |
510 | holgerb | 623 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
587 | holgerb | 624 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
268 | killagreg | 625 | Compass_Init(); |
330 | holgerb | 626 | FCCalibActive = 10; |
338 | holgerb | 627 | FC_is_Calibrated = 0; |
268 | killagreg | 628 | } |
629 | else |
||
630 | { |
||
489 | killagreg | 631 | if(FCCalibActive) |
632 | { |
||
633 | if(--FCCalibActive == 0) |
||
634 | { |
||
635 | FC_is_Calibrated = 1; |
||
636 | Compass_Check(); |
||
637 | } |
||
638 | } |
||
268 | killagreg | 639 | } |
515 | killagreg | 640 | if(FC.StatusFlags & FC_STATUS_START) |
489 | killagreg | 641 | { |
515 | killagreg | 642 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
510 | holgerb | 643 | else HeadFreeStartAngle = GyroCompassCorrected; |
587 | holgerb | 644 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
489 | killagreg | 645 | } |
320 | holgerb | 646 | |
489 | killagreg | 647 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
648 | { |
||
649 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
650 | { |
||
651 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
652 | { |
||
653 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
654 | } |
||
655 | else // Ansonsten die aktuelle Richtung übernehmen |
||
656 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
||
329 | holgerb | 657 | } |
658 | } |
||
360 | holgerb | 659 | NaviData.FCStatusFlags = FC.StatusFlags; |
489 | killagreg | 660 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
598 | holgerb | 661 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[9]; |
360 | holgerb | 662 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
663 | |||
664 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
489 | killagreg | 665 | else |
360 | holgerb | 666 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
667 | |||
668 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
489 | killagreg | 669 | else |
360 | holgerb | 670 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
671 | |||
338 | holgerb | 672 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
673 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
598 | holgerb | 674 | FC.BAT_Voltage = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
675 | DebugOut.Analog[7] = FC.BAT_Voltage; |
||
676 | DebugOut.Analog[5] = FC.StatusFlags; |
||
677 | NaviData.UBat = (u8) FC.BAT_Voltage; // Achtung: die (u8) NaviData.UBat kann überlaufen -> das KopterTool müsste dann 25,5V drauf rechnen |
||
41 | ingob | 678 | break; |
454 | holgerb | 679 | case SPI_FCCMD_BL_ACCU: |
223 | killagreg | 680 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
480 | holgerb | 681 | DebugOut.Analog[8] = FC.BAT_Current; |
530 | holgerb | 682 | if(AmountOfMotors < FromFlightCtrl.Param.Byte[2]+1) AmountOfMotors = FromFlightCtrl.Param.Byte[2]+1; |
533 | holgerb | 683 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
530 | holgerb | 684 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
685 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
||
471 | holgerb | 686 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
687 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
||
530 | holgerb | 688 | Motor[FromFlightCtrl.Param.Byte[2]].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
689 | Motor_Version[FromFlightCtrl.Param.Byte[2]] = FromFlightCtrl.Param.Byte[7]; |
||
690 | Motor[FromFlightCtrl.Param.Byte[2]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
||
691 | Motor[FromFlightCtrl.Param.Byte[2]].State = FromFlightCtrl.Param.Byte[9]; |
||
692 | Motor[FromFlightCtrl.Param.Byte[2]].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
693 | Motor[FromFlightCtrl.Param.Byte[2]].Current = FromFlightCtrl.Param.Byte[11]; |
||
298 | holgerb | 694 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
515 | killagreg | 695 | { |
696 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
697 | } |
||
567 | holgerb | 698 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.Current = FC.BAT_Current; |
206 | killagreg | 699 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
700 | break; |
||
202 | killagreg | 701 | case SPI_FCCMD_PARAMETER1: |
454 | holgerb | 702 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
41 | ingob | 703 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
704 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
705 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
706 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
707 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
708 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
709 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
532 | holgerb | 710 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
711 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
||
41 | ingob | 712 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
327 | holgerb | 713 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
41 | ingob | 714 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
121 | killagreg | 715 | break; |
419 | holgerb | 716 | case SPI_FCCMD_PARAMETER2: |
516 | holgerb | 717 | CHK_POTI_MM(Parameter.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
436 | holgerb | 718 | if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
587 | holgerb | 719 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
489 | killagreg | 720 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
500 | holgerb | 721 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
513 | killagreg | 722 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
723 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
||
510 | holgerb | 724 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
725 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
||
587 | holgerb | 726 | FC.StatusFlags3 = FromFlightCtrl.Param.Byte[10]; |
518 | holgerb | 727 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
419 | holgerb | 728 | break; |
202 | killagreg | 729 | case SPI_FCCMD_STICK: |
41 | ingob | 730 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
731 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
732 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
733 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
190 | killagreg | 734 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
735 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
736 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
737 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
738 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
739 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
740 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
202 | killagreg | 741 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
515 | killagreg | 742 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
41 | ingob | 743 | break; |
27 | holgerb | 744 | |
202 | killagreg | 745 | case SPI_FCCMD_MISC: |
41 | ingob | 746 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
747 | { // put only new CompassCalState into queue to send via I2C |
||
489 | killagreg | 748 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
378 | holgerb | 749 | { |
750 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
751 | Compass_SetCalState(CompassCalState); |
||
752 | } |
||
392 | holgerb | 753 | // else CompassCalState = 0; |
41 | ingob | 754 | } |
587 | holgerb | 755 | HoverGas = FromFlightCtrl.Param.Byte[1]; |
205 | killagreg | 756 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
567 | holgerb | 757 | FC.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
758 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
587 | holgerb | 759 | FC.Error[0] |= FromFlightCtrl.Param.Byte[6]; |
760 | FC.Error[1] |= FromFlightCtrl.Param.Byte[7]; |
||
761 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
||
762 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
763 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
||
764 | else DebugOut.StatusRed &= ~AMPEL_FC; |
||
765 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[8]; |
||
190 | killagreg | 766 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
598 | holgerb | 767 | if(FC.RC_Quality > 160) NaviData.RC_Quality = 200; else NaviData.RC_Quality = FC.RC_Quality; |
461 | holgerb | 768 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
206 | killagreg | 769 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
581 | holgerb | 770 | if(LoggingGasCnt == 0) LoggingGasFilter = 0; |
578 | holgerb | 771 | LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11]; |
772 | LoggingGasCnt++; |
||
41 | ingob | 773 | break; |
161 | killagreg | 774 | |
587 | holgerb | 775 | case SPI_FCCMD_VERSION: // slow! |
119 | killagreg | 776 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
777 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
778 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
779 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
780 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
587 | holgerb | 781 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[5]; |
782 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[6]; |
||
783 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[7],0,255); |
||
784 | UART_VersionInfo.BL_Firmware = FromFlightCtrl.Param.Byte[8]; |
||
598 | holgerb | 785 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
587 | holgerb | 786 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
787 | break; |
||
788 | case SPI_FCCMD_NEUTRAL: // slow! |
||
789 | FC.AdNeutralNick = FromFlightCtrl.Param.Int[0]; |
||
790 | FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1]; |
||
791 | FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2]; |
||
792 | Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6]; |
||
793 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[7]; |
||
794 | Parameter.ReceiverType = FromFlightCtrl.Param.Byte[8]; |
||
795 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[9],0,255); |
||
796 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[10],0,255); |
||
797 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[11],0,255); |
||
798 | break; |
||
799 | case SPI_FCCMD_SLOW2: // slow! |
||
800 | FC.BoatNeutralNick = FromFlightCtrl.Param.Int[0]; // 0 & 1 |
||
801 | FC.BoatNeutralRoll = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
||
802 | FC.BoatNeutralYaw = FromFlightCtrl.Param.Int[2]; // 4 & 5 |
||
803 | Parameter.CamOrientation = FromFlightCtrl.Param.Byte[6]; |
||
489 | killagreg | 804 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
475 | holgerb | 805 | { |
489 | killagreg | 806 | FC.FromFC_DisableDeclination = 1; |
807 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
||
808 | GeoMagDec = 0; |
||
809 | } |
||
810 | else |
||
475 | holgerb | 811 | { |
489 | killagreg | 812 | FC.FromFC_DisableDeclination = 0; |
813 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
||
475 | holgerb | 814 | } |
358 | holgerb | 815 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
816 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
320 | holgerb | 817 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
350 | holgerb | 818 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
41 | ingob | 819 | break; |
587 | holgerb | 820 | case SPI_FCCMD_SLOW3: // slow! |
821 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[0]; |
||
822 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[1]; |
||
823 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[2]; |
||
824 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[3]; |
||
588 | holgerb | 825 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[4]; |
826 | Parameter.HomeYawMode = ((ServoParams.CompInvert & 0x18) >> 3); |
||
598 | holgerb | 827 | NaviData_Home.LipoCellCount = FromFlightCtrl.Param.Byte[5]; |
828 | NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
||
587 | holgerb | 829 | // 8 |
830 | // 9 |
||
831 | // 10 |
||
832 | // 11 |
||
573 | holgerb | 833 | break; |
587 | holgerb | 834 | |
41 | ingob | 835 | default: |
204 | killagreg | 836 | break; |
41 | ingob | 837 | } |
378 | holgerb | 838 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
839 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
840 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
||
841 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
842 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
||
41 | ingob | 843 | // every time we got new data from the FC via SPI call the navigation routine |
215 | killagreg | 844 | // and update GPSStick that are returned to FC |
378 | holgerb | 845 | SPI_RxBuffer_Request = 0; |
215 | killagreg | 846 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
255 | killagreg | 847 | ClearFCStatusFlags = 1; |
180 | killagreg | 848 | if(counter) |
849 | { |
||
850 | counter--; // count down to enable servo |
||
202 | killagreg | 851 | if(!counter) TIMER2_Init(); // enable Servo Output |
180 | killagreg | 852 | } |
853 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
||
1 | ingob | 854 | |
79 | killagreg | 855 | } // EOF if(SPI_RxBuffer_Request) |
180 | killagreg | 856 | else // no new SPI data |
202 | killagreg | 857 | { |
180 | killagreg | 858 | if(CheckDelay(timeout) && (counter == 0)) |
859 | { |
||
860 | TIMER2_Deinit(); // disable Servo Output |
||
861 | counter = 50; // reset counter for enabling Servo Output |
||
862 | } |
||
863 | } |
||
1 | ingob | 864 | } |
865 | |||
41 | ingob | 866 | //------------------------------------------------------ |
867 | void SPI0_GetFlightCtrlVersion(void) |
||
868 | { |
||
154 | killagreg | 869 | u32 timeout; |
870 | u8 repeat; |
||
78 | holgerb | 871 | u8 msg[64]; |
41 | ingob | 872 | |
297 | ingob | 873 | UART1_PutString("\r\n Looking for FlightControl"); |
41 | ingob | 874 | FC_Version.Major = 0xFF; |
875 | FC_Version.Minor = 0xFF; |
||
876 | FC_Version.Patch = 0xFF; |
||
877 | FC_Version.Compatible = 0xFF; |
||
878 | |||
165 | killagreg | 879 | // polling FC version info |
154 | killagreg | 880 | repeat = 0; |
41 | ingob | 881 | do |
882 | { |
||
154 | killagreg | 883 | timeout = SetDelay(250); |
884 | do |
||
885 | { |
||
886 | SPI0_UpdateBuffer(); |
||
887 | if (FC_Version.Major != 0xFF) break; |
||
888 | }while (!CheckDelay(timeout)); |
||
889 | UART1_PutString("."); |
||
890 | repeat++; |
||
489 | killagreg | 891 | FCCalibActive = 1; |
180 | killagreg | 892 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
41 | ingob | 893 | // if we got it |
894 | if (FC_Version.Major != 0xFF) |
||
895 | { |
||
587 | holgerb | 896 | sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
110 | killagreg | 897 | UART1_PutString(msg); |
41 | ingob | 898 | } |
242 | killagreg | 899 | else UART1_PutString("\n\r not found!"); |
41 | ingob | 900 | } |
901 | |||
489 | killagreg | 902 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
903 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
||
904 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
905 | u16 BL3_Current(u8 who) // in 0,1A |
||
906 | { |
||
907 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
||
908 | else |
||
909 | { |
||
910 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
||
911 | else return((u16) Motor[who].Current); |
||
912 | } |
||
913 | } |
||
41 | ingob | 914 |