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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 40 | // + with our written permission |
41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | |
58 | #include <string.h> |
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59 | #include "91x_lib.h" |
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60 | #include "led.h" |
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215 | killagreg | 61 | #include "gps.h" |
41 | ingob | 62 | #include "uart1.h" |
63 | #include "spi_slave.h" |
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242 | killagreg | 64 | #include "compass.h" |
119 | killagreg | 65 | #include "timer1.h" |
66 | #include "timer2.h" |
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136 | killagreg | 67 | #include "config.h" |
1 | ingob | 68 | #include "main.h" |
242 | killagreg | 69 | #include "compass.h" |
1 | ingob | 70 | |
71 | |||
41 | ingob | 72 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE2 0x83 |
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74 | #define SPI_TXSYNCBYTE1 0x81 |
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75 | #define SPI_TXSYNCBYTE2 0x55 |
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1 | ingob | 76 | |
41 | ingob | 77 | //communication packets |
215 | killagreg | 78 | FromFlightCtrl_t FromFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
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183 | killagreg | 80 | #define SPI0_TIMEOUT 500 // 500ms |
146 | killagreg | 81 | volatile u32 SPI0_Timeout = 0; |
1 | ingob | 82 | |
41 | ingob | 83 | // tx packet buffer |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
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86 | volatile u8 SPI_TxBufferIndex = 0; |
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87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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1 | ingob | 88 | |
41 | ingob | 89 | // rx packet buffer |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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92 | volatile u8 SPI_RxBufferIndex = 0; |
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93 | volatile u8 SPI_RxBuffer_Request = 0; |
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1 | ingob | 94 | #define SPI_COMMAND_INDEX 0 |
95 | |||
149 | killagreg | 96 | s32 Kalman_K = 32; |
41 | ingob | 97 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxFusion = 64; |
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148 | holgerb | 99 | s32 ToFcGpsZ = 0; |
1 | ingob | 100 | |
204 | killagreg | 101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
41 | ingob | 102 | u8 SPI_CommandCounter = 0; |
222 | holgerb | 103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
104 | s32 HeadFreeStartAngle = 0; |
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258 | holgerb | 105 | s32 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
58 | killagreg | 106 | |
41 | ingob | 107 | SPI_Version_t FC_Version; |
1 | ingob | 108 | |
41 | ingob | 109 | //-------------------------------------------------------------- |
110 | void SSP0_IRQHandler(void) |
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111 | { |
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112 | static u8 rxchksum = 0; |
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113 | u8 rxdata; |
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1 | ingob | 114 | |
189 | killagreg | 115 | #define SPI_SYNC1 0 |
116 | #define SPI_SYNC2 1 |
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117 | #define SPI_DATA 2 |
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118 | static u8 SPI_State = SPI_SYNC1; |
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119 | |||
195 | killagreg | 120 | IENABLE; |
121 | |||
161 | killagreg | 122 | // clear pending bits |
41 | ingob | 123 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
144 | killagreg | 124 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
189 | killagreg | 125 | |
79 | killagreg | 126 | // while RxFIFO not empty |
127 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
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128 | { |
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41 | ingob | 129 | rxdata = SSP0->DR; // catch the received byte |
130 | // Fill TxFIFO while its not full or end of packet is reached |
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79 | killagreg | 131 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
161 | killagreg | 132 | { |
79 | killagreg | 133 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
134 | { |
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41 | ingob | 135 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
79 | killagreg | 136 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
137 | SPI_TxBufferIndex++; // pointer to next byte |
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138 | } |
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139 | else // end of packet is reached reset and copy data to tx buffer |
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140 | { |
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141 | SPI_TxBufferIndex = 0; // reset buffer index |
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142 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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143 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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144 | BeepTime = 0; // reset local beeptime |
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41 | ingob | 145 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
79 | killagreg | 146 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
147 | } |
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41 | ingob | 148 | } |
149 | switch (SPI_State) |
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150 | { |
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151 | case SPI_SYNC1: |
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152 | SPI_RxBufferIndex = 0; // reset buffer index |
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153 | rxchksum = rxdata; // init checksum |
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154 | if (rxdata == SPI_RXSYNCBYTE1) |
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155 | { // 1st syncbyte ok |
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156 | SPI_State = SPI_SYNC2; // step to sync2 |
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157 | } |
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158 | break; |
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79 | killagreg | 159 | case SPI_SYNC2: |
41 | ingob | 160 | if (rxdata == SPI_RXSYNCBYTE2) |
161 | { // 2nd Syncbyte ok |
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162 | rxchksum += rxdata; |
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163 | SPI_State = SPI_DATA; |
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164 | } // 2nd Syncbyte does not match |
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165 | else |
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166 | { |
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167 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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168 | } |
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169 | break; |
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170 | case SPI_DATA: |
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171 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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172 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
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173 | { |
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174 | if (rxdata == rxchksum) // verify checksum byte |
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175 | { |
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176 | // copy SPI_RxBuffer -> FromFlightCtrl |
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177 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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178 | { |
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179 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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180 | SPI_RxBuffer_Request = 1; |
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181 | } |
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146 | killagreg | 182 | // reset timeout counter on good packet |
183 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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41 | ingob | 184 | DebugOut.Analog[13]++; |
185 | } |
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186 | else // bad checksum byte |
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187 | { |
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188 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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189 | } |
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190 | SPI_State = SPI_SYNC1; // reset state |
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191 | } |
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192 | else // end of packet not reached |
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193 | { |
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194 | rxchksum += rxdata; // update checksum |
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195 | } |
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196 | break; |
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197 | default: |
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198 | SPI_State = SPI_SYNC1; |
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199 | break; |
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200 | } |
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201 | } |
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195 | killagreg | 202 | |
203 | IDISABLE; |
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1 | ingob | 204 | } |
205 | |||
206 | //-------------------------------------------------------------- |
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207 | void SPI0_Init(void) |
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208 | { |
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41 | ingob | 209 | GPIO_InitTypeDef GPIO_InitStructure; |
210 | SSP_InitTypeDef SSP_InitStructure; |
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1 | ingob | 211 | |
110 | killagreg | 212 | UART1_PutString("\r\n SPI init..."); |
1 | ingob | 213 | |
41 | ingob | 214 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
215 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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1 | ingob | 216 | |
41 | ingob | 217 | GPIO_DeInit(GPIO2); |
218 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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219 | GPIO_StructInit(&GPIO_InitStructure); |
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220 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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221 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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222 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 223 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 224 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
225 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 226 | |
41 | ingob | 227 | // SSP0_MISO pin GPIO2.6 |
228 | GPIO_StructInit(&GPIO_InitStructure); |
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229 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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230 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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231 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 232 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 233 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
234 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 235 | |
41 | ingob | 236 | SSP_DeInit(SSP0); |
237 | SSP_StructInit(&SSP_InitStructure); |
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238 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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239 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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240 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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241 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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242 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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243 | SSP_InitStructure.SSP_ClockRate = 0; |
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1 | ingob | 244 | |
41 | ingob | 245 | SSP_Init(SSP0, &SSP_InitStructure); |
144 | killagreg | 246 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
202 | killagreg | 247 | |
41 | ingob | 248 | SSP_Cmd(SSP0, ENABLE); |
249 | // initialize the syncbytes in the tx buffer |
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250 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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251 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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252 | // set the pointer to the checksum byte in the tx buffer |
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253 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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254 | |||
215 | killagreg | 255 | ToFlightCtrl.GPSStick.Nick = 0; |
256 | ToFlightCtrl.GPSStick.Roll = 0; |
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257 | ToFlightCtrl.GPSStick.Yaw = 0; |
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258 | |||
136 | killagreg | 259 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
41 | ingob | 260 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
261 | |||
146 | killagreg | 262 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
263 | |||
110 | killagreg | 264 | UART1_PutString("ok"); |
1 | ingob | 265 | } |
41 | ingob | 266 | |
222 | holgerb | 267 | |
1 | ingob | 268 | //------------------------------------------------------ |
41 | ingob | 269 | void SPI0_UpdateBuffer(void) |
1 | ingob | 270 | { |
180 | killagreg | 271 | static u32 timeout = 0; |
272 | static u8 counter = 50; |
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254 | killagreg | 273 | static u8 CompassCalState = 0; |
268 | killagreg | 274 | static u8 FCCalibActive = 0; |
202 | killagreg | 275 | |
41 | ingob | 276 | if (SPI_RxBuffer_Request) |
277 | { |
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278 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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279 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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254 | killagreg | 280 | ToFlightCtrl.CompassHeading = Compass_Heading; |
189 | killagreg | 281 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
228 | holgerb | 282 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
41 | ingob | 283 | // cycle spi commands |
284 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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118 | killagreg | 285 | // restart command cycle at the end |
41 | ingob | 286 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
1 | ingob | 287 | |
41 | ingob | 288 | switch (ToFlightCtrl.Command) |
289 | { |
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202 | killagreg | 290 | case SPI_NCCMD_KALMAN: |
223 | killagreg | 291 | CalcHeadFree(); |
149 | killagreg | 292 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
92 | killagreg | 293 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
294 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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118 | killagreg | 295 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
149 | killagreg | 296 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
222 | holgerb | 297 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
223 | killagreg | 298 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
161 | killagreg | 299 | break; |
58 | killagreg | 300 | |
202 | killagreg | 301 | case SPI_NCCMD_VERSION: |
302 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
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303 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
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204 | killagreg | 304 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
202 | killagreg | 305 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
264 | killagreg | 306 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
231 | holgerb | 307 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
308 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
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233 | holgerb | 309 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
202 | killagreg | 310 | break; |
223 | killagreg | 311 | |
204 | killagreg | 312 | case SPI_NCCMD_GPSINFO: |
313 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
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314 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
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315 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
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232 | killagreg | 316 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
258 | holgerb | 317 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
318 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
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319 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
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204 | killagreg | 320 | break; |
41 | ingob | 321 | default: |
322 | break; |
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323 | } |
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324 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
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1 | ingob | 325 | |
326 | |||
41 | ingob | 327 | switch(FromFlightCtrl.Command) |
328 | { |
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202 | killagreg | 329 | case SPI_FCCMD_USER: |
41 | ingob | 330 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
331 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
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332 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
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333 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
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334 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
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335 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
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336 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
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337 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
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255 | killagreg | 338 | if(ClearFCStatusFlags) |
41 | ingob | 339 | { |
255 | killagreg | 340 | FC.StatusFlags = 0; |
341 | ClearFCStatusFlags = 0; |
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41 | ingob | 342 | } |
255 | killagreg | 343 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
268 | killagreg | 344 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
345 | { |
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346 | Compass_Init(); |
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347 | FCCalibActive = 1; |
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348 | } |
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349 | else |
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350 | { |
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351 | FCCalibActive = 0; |
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352 | } |
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223 | killagreg | 353 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
255 | killagreg | 354 | DebugOut.Analog[5] = FC.StatusFlags; |
355 | NaviData.FCStatusFlags = FC.StatusFlags; |
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223 | killagreg | 356 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
41 | ingob | 357 | break; |
1 | ingob | 358 | |
206 | killagreg | 359 | case SPI_FCCMD_ACCU: |
223 | killagreg | 360 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
206 | killagreg | 361 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
362 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
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363 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
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364 | NaviData.UBat = FC.BAT_Voltage; |
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365 | NaviData.Current = FC.BAT_Current; |
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366 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
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367 | break; |
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368 | |||
193 | killagreg | 369 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
190 | killagreg | 370 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
371 | |||
202 | killagreg | 372 | case SPI_FCCMD_PARAMETER1: |
41 | ingob | 373 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
374 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
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375 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
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376 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
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377 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
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378 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
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379 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
380 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
103 | killagreg | 381 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
41 | ingob | 382 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
383 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
||
384 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
||
121 | killagreg | 385 | break; |
1 | ingob | 386 | |
202 | killagreg | 387 | case SPI_FCCMD_STICK: |
41 | ingob | 388 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
389 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
390 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
391 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
190 | killagreg | 392 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
393 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
394 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
395 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
396 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
397 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
398 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
202 | killagreg | 399 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
41 | ingob | 400 | break; |
27 | holgerb | 401 | |
202 | killagreg | 402 | case SPI_FCCMD_MISC: |
41 | ingob | 403 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
404 | { // put only new CompassCalState into queue to send via I2C |
||
405 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
254 | killagreg | 406 | Compass_SetCalState(CompassCalState); |
41 | ingob | 407 | } |
58 | killagreg | 408 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
205 | killagreg | 409 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
410 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // is located at byte 2 and 3 |
||
411 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // is located at byte 4 and 5 |
||
160 | holgerb | 412 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
413 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
414 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
190 | killagreg | 415 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
416 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
206 | killagreg | 417 | NaviData.RC_Quality = FC.RC_Quality; |
418 | NaviData.RC_RSSI = FC.RC_RSSI; |
||
419 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
||
41 | ingob | 420 | break; |
161 | killagreg | 421 | |
202 | killagreg | 422 | case SPI_FCCMD_SERVOS: |
121 | killagreg | 423 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
424 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
425 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
426 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
161 | killagreg | 427 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
121 | killagreg | 428 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
429 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
430 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
161 | killagreg | 431 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
432 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
119 | killagreg | 433 | break; |
1 | ingob | 434 | |
202 | killagreg | 435 | case SPI_FCCMD_VERSION: |
119 | killagreg | 436 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
437 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
438 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
439 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
440 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
255 | killagreg | 441 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
442 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
||
443 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
||
444 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
||
445 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
||
231 | holgerb | 446 | DebugOut.Status[0] |= 0x01; // status of FC Present |
232 | killagreg | 447 | DebugOut.Status[0] |= 0x02; // status of BL Present |
255 | killagreg | 448 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
232 | killagreg | 449 | else DebugOut.Status[1] &= ~0x01; |
41 | ingob | 450 | break; |
451 | default: |
||
204 | killagreg | 452 | break; |
41 | ingob | 453 | } |
1 | ingob | 454 | |
41 | ingob | 455 | // every time we got new data from the FC via SPI call the navigation routine |
215 | killagreg | 456 | // and update GPSStick that are returned to FC |
457 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
||
255 | killagreg | 458 | ClearFCStatusFlags = 1; |
202 | killagreg | 459 | |
180 | killagreg | 460 | if(counter) |
461 | { |
||
462 | counter--; // count down to enable servo |
||
202 | killagreg | 463 | if(!counter) TIMER2_Init(); // enable Servo Output |
180 | killagreg | 464 | } |
1 | ingob | 465 | |
41 | ingob | 466 | SPI_RxBuffer_Request = 0; |
180 | killagreg | 467 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
1 | ingob | 468 | |
62 | killagreg | 469 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
470 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
61 | holgerb | 471 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
472 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
62 | killagreg | 473 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
79 | killagreg | 474 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
475 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
476 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
477 | } // EOF if(SPI_RxBuffer_Request) |
||
180 | killagreg | 478 | else // no new SPI data |
202 | killagreg | 479 | { |
180 | killagreg | 480 | if(CheckDelay(timeout) && (counter == 0)) |
481 | { |
||
482 | TIMER2_Deinit(); // disable Servo Output |
||
483 | counter = 50; // reset counter for enabling Servo Output |
||
484 | } |
||
485 | } |
||
1 | ingob | 486 | } |
487 | |||
41 | ingob | 488 | //------------------------------------------------------ |
489 | void SPI0_GetFlightCtrlVersion(void) |
||
490 | { |
||
154 | killagreg | 491 | u32 timeout; |
492 | u8 repeat; |
||
78 | holgerb | 493 | u8 msg[64]; |
41 | ingob | 494 | |
242 | killagreg | 495 | UART1_PutString("\r\n Looking for FlightContol"); |
41 | ingob | 496 | FC_Version.Major = 0xFF; |
497 | FC_Version.Minor = 0xFF; |
||
498 | FC_Version.Patch = 0xFF; |
||
499 | FC_Version.Compatible = 0xFF; |
||
500 | |||
165 | killagreg | 501 | // polling FC version info |
154 | killagreg | 502 | repeat = 0; |
41 | ingob | 503 | do |
504 | { |
||
154 | killagreg | 505 | timeout = SetDelay(250); |
506 | do |
||
507 | { |
||
508 | SPI0_UpdateBuffer(); |
||
509 | if (FC_Version.Major != 0xFF) break; |
||
510 | }while (!CheckDelay(timeout)); |
||
511 | UART1_PutString("."); |
||
512 | repeat++; |
||
180 | killagreg | 513 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
41 | ingob | 514 | // if we got it |
515 | if (FC_Version.Major != 0xFF) |
||
516 | { |
||
242 | killagreg | 517 | sprintf(msg, " FC V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
110 | killagreg | 518 | UART1_PutString(msg); |
41 | ingob | 519 | } |
242 | killagreg | 520 | else UART1_PutString("\n\r not found!"); |
41 | ingob | 521 | } |
522 | |||
523 |