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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 | |
690 | holgerb | 73 | #define SPI_FCSYNCBYTE1 0xAA |
74 | #define SPI_FCSYNCBYTE2 0x85 |
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75 | #define SPI_FCSYNCBYTE_HB1 0xA2 // for the huge Block |
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76 | #define SPI_FCSYNCBYTE_HB2 0x48 // for the huge Block |
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77 | #define SPI_NCSYNCBYTE1 0x82 |
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78 | #define SPI_NCSYNCBYTE2 0x55 |
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79 | #define SPI_NCSYNCBYTE_HB2 0xA5 // for the huge Block |
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1 | ingob | 80 | |
690 | holgerb | 81 | |
41 | ingob | 82 | //communication packets |
215 | killagreg | 83 | FromFlightCtrl_t FromFlightCtrl; |
84 | ToFlightCtrl_t ToFlightCtrl; |
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397 | holgerb | 85 | #define SPI0_TIMEOUT 2500 //ms |
146 | killagreg | 86 | volatile u32 SPI0_Timeout = 0; |
338 | holgerb | 87 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
489 | killagreg | 88 | u8 SpeakHoTT = 0; |
578 | holgerb | 89 | u32 LoggingGasFilter = 0, LoggingGasCnt = 0; |
618 | holgerb | 90 | u8 Out1TriggerUpdateBlocked = 0; |
91 | u8 Out1TriggerUpdateNewData = 0; |
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1 | ingob | 92 | |
41 | ingob | 93 | // tx packet buffer |
690 | holgerb | 94 | volatile u8 SPI_TxBuffer[sizeof(HugeBlockFromFC) + 10]; |
41 | ingob | 95 | volatile u8 SPI_TxBufferIndex = 0; |
96 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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690 | holgerb | 97 | u16 SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; |
41 | ingob | 98 | // rx packet buffer |
690 | holgerb | 99 | volatile u8 SPI_RxBuffer[sizeof(HugeBlockFromFC)+10]; |
41 | ingob | 100 | volatile u8 SPI_RxBufferIndex = 0; |
101 | volatile u8 SPI_RxBuffer_Request = 0; |
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1 | ingob | 102 | #define SPI_COMMAND_INDEX 0 |
103 | |||
149 | killagreg | 104 | s32 Kalman_K = 32; |
41 | ingob | 105 | s32 Kalman_MaxDrift = 5 * 16; |
106 | s32 Kalman_MaxFusion = 64; |
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330 | holgerb | 107 | s32 Kalman_Kompass = 32; |
148 | holgerb | 108 | s32 ToFcGpsZ = 0; |
392 | holgerb | 109 | u8 CompassCalState = 0; |
1 | ingob | 110 | |
690 | holgerb | 111 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO, SPI_SERIAL_CH, // Achtung: SPI_SERIAL_CH darf nicht am Ende des Arrays stehen (wird gescipped) |
112 | SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, |
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113 | SPI_NCCMD_KALMAN, SPI_MISC, |
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114 | SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
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41 | ingob | 115 | u8 SPI_CommandCounter = 0; |
222 | holgerb | 116 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
587 | holgerb | 117 | s32 HeadFreeStartAngle = 0; // in 0,1° |
118 | s32 CompassDirectionAtMotorStart = 0; // in 0,1° |
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577 | holgerb | 119 | 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 | 120 | u32 ToFC_AltitudeRate = 0; |
285 | holgerb | 121 | s32 ToFC_AltitudeSetpoint = 0; |
298 | holgerb | 122 | u8 FromFC_VarioCharacter = ' '; |
514 | holgerb | 123 | s16 GPS_Aid_StickMultiplikator = 0; |
323 | holgerb | 124 | u8 NC_GPS_ModeCharacter = ' '; |
329 | holgerb | 125 | u8 FCCalibActive = 0; |
330 | holgerb | 126 | u8 FC_is_Calibrated = 0; |
605 | holgerb | 127 | Motor_t Motor[MAX_MOTORS]; |
128 | u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
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351 | holgerb | 129 | u8 NC_To_FC_Flags = 0; |
530 | holgerb | 130 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
131 | u8 Logging_BL_MinOfMaxPWM = 255; |
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132 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
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338 | holgerb | 133 | u32 FC_I2C_ErrorConter; |
41 | ingob | 134 | SPI_Version_t FC_Version; |
351 | holgerb | 135 | s16 POI_KameraNick = 0; |
460 | holgerb | 136 | u8 NC_Wait_for_LED = 0; |
463 | holgerb | 137 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
510 | holgerb | 138 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
139 | s16 CompassSetpoint = 0; // in 0,1° |
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567 | holgerb | 140 | s16 SimulatedDirection = 0; // only for flight simulation |
530 | holgerb | 141 | u8 AmountOfMotors = 0; |
532 | holgerb | 142 | u16 FlugMinutenGesamt; |
578 | holgerb | 143 | u8 HoverGas = 0; |
625 | holgerb | 144 | u8 LowVoltageLandingActive = 0; |
690 | holgerb | 145 | s8 PPM_In[MAX_RC_IN] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
146 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
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147 | str_HugeBlockFromFC HugeBlockFromFC; |
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148 | str_HugeBlockToFC HugeBlockToFC; |
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41 | ingob | 149 | //-------------------------------------------------------------- |
150 | void SSP0_IRQHandler(void) |
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151 | { |
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152 | static u8 rxchksum = 0; |
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153 | u8 rxdata; |
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1 | ingob | 154 | |
189 | killagreg | 155 | #define SPI_SYNC1 0 |
156 | #define SPI_SYNC2 1 |
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157 | #define SPI_DATA 2 |
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690 | holgerb | 158 | #define SPI_SYNC_HB 3 |
159 | #define SPI_DATA_HB 4 |
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189 | killagreg | 160 | static u8 SPI_State = SPI_SYNC1; |
378 | holgerb | 161 | //IENABLE; |
189 | killagreg | 162 | |
161 | killagreg | 163 | // clear pending bits |
41 | ingob | 164 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
144 | killagreg | 165 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
189 | killagreg | 166 | |
79 | killagreg | 167 | // while RxFIFO not empty |
690 | holgerb | 168 | DebugOut.Analog[18] = 0; |
378 | holgerb | 169 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
79 | killagreg | 170 | { |
41 | ingob | 171 | rxdata = SSP0->DR; // catch the received byte |
172 | switch (SPI_State) |
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173 | { |
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174 | case SPI_SYNC1: |
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175 | SPI_RxBufferIndex = 0; // reset buffer index |
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690 | holgerb | 176 | SPI_TxBufferIndex = 0; // reset buffer index |
41 | ingob | 177 | rxchksum = rxdata; // init checksum |
690 | holgerb | 178 | if (rxdata == SPI_FCSYNCBYTE1) |
41 | ingob | 179 | { // 1st syncbyte ok |
180 | SPI_State = SPI_SYNC2; // step to sync2 |
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690 | holgerb | 181 | ToFlightCtrl.Chksum = 0; |
182 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
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183 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
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184 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
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185 | SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; // +2 weil die Syncbytes nicht in dem Block stehen |
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186 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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187 | DebugOut.Analog[16]++; |
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41 | ingob | 188 | } |
690 | holgerb | 189 | else |
190 | if (rxdata == SPI_FCSYNCBYTE_HB1) |
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191 | { // 1st syncbyte ok |
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192 | SPI_State = SPI_SYNC_HB; // step to syncHB |
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193 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync1 |
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194 | HugeBlockToFC.Sync1 = SPI_NCSYNCBYTE1; |
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195 | HugeBlockToFC.Sync2 = SPI_NCSYNCBYTE_HB2; |
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196 | HugeBlockToFC.Chksum = 0; |
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197 | memcpy((u8 *) &(SPI_TxBuffer[0]), (u8 *) &HugeBlockToFC, sizeof(HugeBlockToFC)); |
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198 | HugeBlockToFC.Data[239]++; |
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199 | SPI_Tx_Datasize = sizeof(HugeBlockToFC); |
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200 | Ptr_TxChksum = (u8 *) &(((str_HugeBlockToFC *) &(SPI_TxBuffer[0]))->Chksum); |
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201 | *Ptr_TxChksum = 0; |
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202 | DebugOut.Analog[17]++; |
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203 | } |
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41 | ingob | 204 | break; |
79 | killagreg | 205 | case SPI_SYNC2: |
690 | holgerb | 206 | if (rxdata == SPI_FCSYNCBYTE2) |
41 | ingob | 207 | { // 2nd Syncbyte ok |
208 | rxchksum += rxdata; |
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209 | SPI_State = SPI_DATA; |
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210 | } // 2nd Syncbyte does not match |
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211 | else |
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212 | { |
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213 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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214 | } |
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215 | break; |
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690 | holgerb | 216 | case SPI_SYNC_HB: |
217 | if (rxdata == SPI_FCSYNCBYTE_HB2) |
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218 | { // 2nd Syncbyte ok |
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219 | rxchksum += rxdata; |
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220 | SPI_State = SPI_DATA_HB; |
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221 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync2 |
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222 | } // 2nd Syncbyte does not match |
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223 | else |
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224 | { |
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225 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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226 | } |
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227 | break; |
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41 | ingob | 228 | case SPI_DATA: |
229 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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690 | holgerb | 230 | if(SPI_RxBufferIndex >= sizeof(ToFlightCtrl)) // end of packet is reached |
41 | ingob | 231 | { |
232 | if (rxdata == rxchksum) // verify checksum byte |
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233 | { |
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234 | // copy SPI_RxBuffer -> FromFlightCtrl |
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235 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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236 | { |
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237 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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238 | SPI_RxBuffer_Request = 1; |
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239 | } |
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146 | killagreg | 240 | // reset timeout counter on good packet |
241 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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644 | holgerb | 242 | // DebugOut.Analog[13]++; |
41 | ingob | 243 | } |
244 | else // bad checksum byte |
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245 | { |
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246 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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247 | } |
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248 | SPI_State = SPI_SYNC1; // reset state |
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249 | } |
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250 | else // end of packet not reached |
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251 | { |
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252 | rxchksum += rxdata; // update checksum |
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253 | } |
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254 | break; |
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690 | holgerb | 255 | case SPI_DATA_HB: |
256 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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257 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromFC)) // end of packet is reached |
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258 | { |
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259 | if (rxdata == rxchksum) // verify checksum byte |
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260 | { |
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261 | // copy SPI_RxBuffer -> FromFlightCtrl |
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262 | //DebugOut.Analog[17]++; |
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263 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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264 | { |
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265 | memcpy((u8 *) &HugeBlockFromFC, (u8 *) SPI_RxBuffer, sizeof(HugeBlockFromFC)); |
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266 | // SPI_RxBuffer_Request = 1; |
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267 | } |
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268 | //DebugOut.Analog[18] = HugeBlockFromFC.Data[239]; |
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269 | // reset timeout counter on good packet |
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270 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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271 | // DebugOut.Analog[13]++; |
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272 | } |
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273 | else // bad checksum byte |
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274 | { |
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275 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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276 | } |
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277 | SPI_State = SPI_SYNC1; // reset state |
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278 | } |
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279 | else // end of packet not reached |
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280 | { |
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281 | rxchksum += rxdata; // update checksum |
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282 | } |
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283 | break; |
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41 | ingob | 284 | default: |
285 | SPI_State = SPI_SYNC1; |
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286 | break; |
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287 | } |
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690 | holgerb | 288 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
289 | // + Ouput Data |
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290 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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291 | // Fill TxFIFO while its not full or end of packet is reached |
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292 | while((SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) && (SPI_TxBufferIndex < SPI_Tx_Datasize)) |
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293 | { |
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294 | DebugOut.Analog[18]++; |
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295 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
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296 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
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297 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
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298 | SPI_TxBufferIndex++; // pointer to next byte |
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299 | } |
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41 | ingob | 300 | } |
378 | holgerb | 301 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
1 | ingob | 302 | } |
303 | |||
304 | //-------------------------------------------------------------- |
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305 | void SPI0_Init(void) |
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306 | { |
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41 | ingob | 307 | GPIO_InitTypeDef GPIO_InitStructure; |
308 | SSP_InitTypeDef SSP_InitStructure; |
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1 | ingob | 309 | |
110 | killagreg | 310 | UART1_PutString("\r\n SPI init..."); |
1 | ingob | 311 | |
41 | ingob | 312 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
313 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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1 | ingob | 314 | |
41 | ingob | 315 | GPIO_DeInit(GPIO2); |
316 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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317 | GPIO_StructInit(&GPIO_InitStructure); |
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318 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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319 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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320 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 321 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 322 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
323 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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1 | ingob | 324 | |
41 | ingob | 325 | // SSP0_MISO pin GPIO2.6 |
326 | GPIO_StructInit(&GPIO_InitStructure); |
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327 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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328 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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329 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 330 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 331 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
332 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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690 | holgerb | 333 | GPIO_WriteBit(GPIO2, GPIO_Pin_6, Bit_RESET); // switch MISO to low |
1 | ingob | 334 | |
41 | ingob | 335 | SSP_DeInit(SSP0); |
336 | SSP_StructInit(&SSP_InitStructure); |
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337 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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338 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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339 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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340 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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341 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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342 | SSP_InitStructure.SSP_ClockRate = 0; |
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1 | ingob | 343 | |
41 | ingob | 344 | SSP_Init(SSP0, &SSP_InitStructure); |
144 | killagreg | 345 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
41 | ingob | 346 | SSP_Cmd(SSP0, ENABLE); |
347 | // initialize the syncbytes in the tx buffer |
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690 | holgerb | 348 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
349 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
||
41 | ingob | 350 | // set the pointer to the checksum byte in the tx buffer |
351 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
||
352 | |||
215 | killagreg | 353 | ToFlightCtrl.GPSStick.Nick = 0; |
354 | ToFlightCtrl.GPSStick.Roll = 0; |
||
419 | holgerb | 355 | // ToFlightCtrl.GPSStick.Yaw = 0; |
215 | killagreg | 356 | |
136 | killagreg | 357 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
41 | ingob | 358 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
359 | |||
146 | killagreg | 360 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
361 | |||
110 | killagreg | 362 | UART1_PutString("ok"); |
1 | ingob | 363 | } |
41 | ingob | 364 | |
222 | holgerb | 365 | |
1 | ingob | 366 | //------------------------------------------------------ |
41 | ingob | 367 | void SPI0_UpdateBuffer(void) |
1 | ingob | 368 | { |
180 | killagreg | 369 | static u32 timeout = 0; |
426 | holgerb | 370 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
371 | static s16 last_wp_event = 0; |
||
605 | holgerb | 372 | u8 index; |
489 | killagreg | 373 | s16 tmp; |
329 | holgerb | 374 | s32 i1,i2; |
462 | holgerb | 375 | /* |
376 | union |
||
377 | { |
||
378 | unsigned char Byte[4]; |
||
379 | unsigned int Int[2]; |
||
380 | unsigned long Long; |
||
381 | } Temp; |
||
489 | killagreg | 382 | */ |
515 | killagreg | 383 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
378 | holgerb | 384 | if(SPI_RxBuffer_Request) |
41 | ingob | 385 | { |
386 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
||
387 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
||
254 | killagreg | 388 | ToFlightCtrl.CompassHeading = Compass_Heading; |
189 | killagreg | 389 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
510 | holgerb | 390 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
228 | holgerb | 391 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
690 | holgerb | 392 | // ToFlightCtrl.MagVecX = MagVector.X; |
393 | // ToFlightCtrl.MagVecY = MagVector.Y; |
||
394 | // ToFlightCtrl.MagVecZ = MagVector.Z; |
||
419 | holgerb | 395 | // ToFlightCtrl.NCStatus = 0; |
690 | holgerb | 396 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
397 | |||
398 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
41 | ingob | 399 | // cycle spi commands |
489 | killagreg | 400 | if(ErrorCode != last_error_code && enable_injecting) |
515 | killagreg | 401 | { |
402 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
||
403 | last_error_code = ErrorCode; |
||
404 | enable_injecting = 0; |
||
405 | } |
||
489 | killagreg | 406 | else |
407 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
||
515 | killagreg | 408 | { |
409 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
||
410 | last_wp_event = FC_WP_EventChannel; |
||
411 | enable_injecting = 0; |
||
412 | } |
||
489 | killagreg | 413 | else |
515 | killagreg | 414 | { |
415 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
||
690 | holgerb | 416 | if((ToFlightCtrl.Command == SPI_SERIAL_CH) && !NewSerialChannelFrame) ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
515 | killagreg | 417 | // restart command cycle at the end |
418 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
||
419 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
||
420 | } |
||
690 | holgerb | 421 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
419 | holgerb | 422 | |
319 | holgerb | 423 | #define FLAG_GPS_AID 0x01 |
41 | ingob | 424 | switch (ToFlightCtrl.Command) |
425 | { |
||
329 | holgerb | 426 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
149 | killagreg | 427 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
92 | killagreg | 428 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
429 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
||
330 | holgerb | 430 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
588 | holgerb | 431 | ToFlightCtrl.Param.Byte[4] = 0; // siehe bitcodiert unten |
674 | holgerb | 432 | if(DebugUART == UART2) ToFlightCtrl.Param.Byte[4] = 0x02; // informs the FC to listen to the UART |
222 | holgerb | 433 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
223 | killagreg | 434 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
515 | killagreg | 435 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
280 | killagreg | 436 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
278 | killagreg | 437 | { |
544 | holgerb | 438 | // 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 |
439 | 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 | 440 | else CAM_Orientation.Azimuth = -1; |
674 | holgerb | 441 | if(CAM_Orientation.UpdateMask & FORCE_AZIMUTH_ROTATION) ToFlightCtrl.Param.Byte[4] |= 0x01; // allows Yawing without CareFree (Yawing at Coming Home) |
588 | holgerb | 442 | CAM_Orientation.UpdateMask &= ~(CAM_UPDATE_AZIMUTH | FORCE_AZIMUTH_ROTATION); |
278 | killagreg | 443 | } |
444 | else |
||
280 | killagreg | 445 | { |
278 | killagreg | 446 | ToFlightCtrl.Param.sInt[4] = -1; |
447 | } |
||
294 | holgerb | 448 | |
299 | killagreg | 449 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
295 | killagreg | 450 | { |
351 | holgerb | 451 | POI_KameraNick = tmp; |
299 | killagreg | 452 | } |
453 | else |
||
454 | { |
||
348 | holgerb | 455 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
489 | killagreg | 456 | POI_KameraNick = CAM_Orientation.Elevation; |
348 | holgerb | 457 | //else ToFlightCtrl.Param.sInt[5] = 0; |
295 | killagreg | 458 | } |
351 | holgerb | 459 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
690 | holgerb | 460 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
461 | if(BeepTime > 255 * 16) BeepTime = 255 * 16; |
||
462 | ToFlightCtrl.Param.Byte[12] = BeepTime/16; // set beeptime |
||
463 | BeepTime = 0; // reset local beeptime |
||
464 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
465 | if(NewExternalControlFrame) |
||
466 | { |
||
467 | NewExternalControlFrame = 0; |
||
468 | ToFlightCtrl.Param.Byte[4] |= 0x10; // Bit: there is External Control in the Data |
||
469 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[13]), (u8 *) &ExternControl, 7); // 6 Bytes External Control |
||
470 | } |
||
161 | killagreg | 471 | break; |
58 | killagreg | 472 | |
690 | holgerb | 473 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
474 | case SPI_SERIAL_CH: |
||
475 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[0]), (u8 *) &SerialChannel, 12); // 12 Bytes Serial Channels |
||
476 | NewSerialChannelFrame = 0; |
||
477 | break; |
||
202 | killagreg | 478 | case SPI_NCCMD_VERSION: |
355 | holgerb | 479 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
515 | killagreg | 480 | //+ higher than the maximum allowed altitude |
355 | holgerb | 481 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
202 | killagreg | 482 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
483 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
||
204 | killagreg | 484 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
202 | killagreg | 485 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
264 | killagreg | 486 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
338 | holgerb | 487 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
488 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
||
454 | holgerb | 489 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
323 | holgerb | 490 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
330 | holgerb | 491 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
351 | holgerb | 492 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
690 | holgerb | 493 | ToFlightCtrl.Param.Byte[11] = SpeakHoTT; |
494 | SpeakHoTT = 0; |
||
532 | holgerb | 495 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
496 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
||
202 | killagreg | 497 | break; |
342 | holgerb | 498 | case SPI_MISC: |
499 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
||
500 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
||
501 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
||
690 | holgerb | 502 | ToFlightCtrl.Param.Byte[3] = 0; |
419 | holgerb | 503 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
504 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
||
505 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
||
506 | 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 | 507 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
507 | holgerb | 508 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
342 | holgerb | 509 | break; |
223 | killagreg | 510 | |
204 | killagreg | 511 | case SPI_NCCMD_GPSINFO: |
512 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
||
513 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
||
514 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
||
232 | killagreg | 515 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
258 | holgerb | 516 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
517 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
||
454 | holgerb | 518 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
598 | holgerb | 519 | if(FC_WP_EventChannel) |
520 | { |
||
521 | LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
||
522 | NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
||
618 | holgerb | 523 | Out1TriggerUpdateBlocked = 3; // makes sure that the right trigger-pos is sent in command 18 |
524 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
||
525 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
||
598 | holgerb | 526 | } |
577 | holgerb | 527 | FC_WP_EventChannel_Processed = 1; |
623 | holgerb | 528 | //DebugOut.Analog[] = FC_WP_EventChannel; |
457 | holgerb | 529 | // ++++++++++++++++++++++++++++++++++ |
530 | // Waypoint event +++++++++++++++++++ |
||
531 | // ++++++++++++++++++++++++++++++++++ |
||
532 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
||
533 | { |
||
534 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
535 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
||
536 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
537 | } |
||
538 | else |
||
539 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
||
540 | { |
||
541 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
||
542 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
||
543 | } |
||
544 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
||
577 | holgerb | 545 | // FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
457 | holgerb | 546 | // ++++++++++++++++++++++++++++++++++ |
299 | killagreg | 547 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
548 | { |
||
549 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
||
295 | killagreg | 550 | } |
299 | killagreg | 551 | else |
552 | { |
||
553 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
||
554 | } |
||
555 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
||
556 | { |
||
557 | ToFlightCtrl.Param.sInt[5] = tmp; |
||
558 | } |
||
559 | else |
||
560 | { |
||
561 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
||
562 | } |
||
516 | holgerb | 563 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
204 | killagreg | 564 | break; |
330 | holgerb | 565 | case SPI_NCCMD_HOTT_INFO: |
515 | killagreg | 566 | if(NewWPL_Name) hott_index = 100; |
330 | holgerb | 567 | switch(hott_index++) |
568 | { |
||
329 | holgerb | 569 | case 0: |
570 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
||
489 | killagreg | 571 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
329 | holgerb | 572 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
397 | holgerb | 573 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
329 | holgerb | 574 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
575 | //----------------------------- |
||
489 | killagreg | 576 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
329 | holgerb | 577 | i1 = GPSData.Speed_Ground; // in cm/sec |
578 | i1 *= 36; |
||
579 | i1 /= 1000; |
||
580 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
581 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
582 | //----------------------------- |
||
405 | holgerb | 583 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
329 | holgerb | 584 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
585 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
586 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
397 | holgerb | 587 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
489 | killagreg | 588 | i1 *= 100; |
460 | holgerb | 589 | // Minuten |
590 | i2 *= 6; |
||
591 | i2 /= 10; |
||
329 | holgerb | 592 | i1 += i2 / 100000; |
593 | i2 = i2 % 100000; |
||
594 | i2 /= 10; |
||
595 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
596 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
597 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
598 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
599 | break; |
||
600 | case 1: |
||
601 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
397 | holgerb | 602 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
329 | holgerb | 603 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
604 | //----------------------------- |
||
605 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
606 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
607 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
608 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
397 | holgerb | 609 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
489 | killagreg | 610 | i1 *= 100; |
460 | holgerb | 611 | // Minuten |
612 | i2 *= 6; |
||
613 | i2 /= 10; |
||
329 | holgerb | 614 | i1 += i2 / 100000; |
615 | i2 = i2 % 100000; |
||
616 | i2 /= 10; |
||
617 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
||
618 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
||
619 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
||
620 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
||
621 | //----------------------------- |
||
489 | killagreg | 622 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
329 | holgerb | 623 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
624 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
||
330 | holgerb | 625 | break; |
626 | case 2: |
||
627 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
||
397 | holgerb | 628 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
330 | holgerb | 629 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
489 | killagreg | 630 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
330 | holgerb | 631 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
329 | holgerb | 632 | break; |
462 | holgerb | 633 | case 3: |
634 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
||
489 | killagreg | 635 | ToFlightCtrl.Param.Byte[0] = 0; // index |
462 | holgerb | 636 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
637 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
||
489 | killagreg | 638 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
639 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
||
462 | holgerb | 640 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
641 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
642 | i2 *= 6; |
||
643 | i2 /= 1000; |
||
644 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
645 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
646 | break; |
||
647 | case 4: |
||
648 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
||
489 | killagreg | 649 | ToFlightCtrl.Param.Byte[0] = 0; // index |
462 | holgerb | 650 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
489 | killagreg | 651 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
652 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
||
462 | holgerb | 653 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
654 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
655 | i2 *= 6; |
||
656 | i2 /= 1000; |
||
657 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
||
658 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
||
659 | hott_index = 0; |
||
660 | break; |
||
504 | holgerb | 661 | |
662 | case 100: |
||
663 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
||
664 | ToFlightCtrl.Param.Byte[0] = 0; // index |
||
665 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
||
666 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
||
667 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
||
668 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
||
669 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
||
670 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
||
671 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
||
672 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
||
673 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
||
674 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
||
675 | NewWPL_Name = 0; |
||
676 | hott_index = 0; |
||
677 | break; |
||
489 | killagreg | 678 | default: |
330 | holgerb | 679 | ToFlightCtrl.Param.Byte[0] = 255; |
515 | killagreg | 680 | hott_index = 0; |
681 | break; |
||
329 | holgerb | 682 | } |
683 | break; |
||
41 | ingob | 684 | default: |
685 | break; |
||
285 | holgerb | 686 | // 0 = 0,1 |
687 | // 1 = 2,3 |
||
688 | // 2 = 4,5 |
||
689 | // 3 = 6,7 |
||
690 | // 4 = 8,9 |
||
691 | // 5 = 10,11 |
||
41 | ingob | 692 | } |
693 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
694 | switch(FromFlightCtrl.Command) |
||
695 | { |
||
202 | killagreg | 696 | case SPI_FCCMD_USER: |
41 | ingob | 697 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
698 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
699 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
700 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
701 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
702 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
703 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
704 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
567 | holgerb | 705 | FC.RealStatusFlags = FromFlightCtrl.Param.Byte[8]; |
706 | if(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN) SimulationFlags = 0; // stop the simulation if the motors would really start |
||
707 | |||
708 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
||
41 | ingob | 709 | { |
567 | holgerb | 710 | if(ClearFCStatusFlags) |
711 | { |
||
712 | FC.StatusFlags = 0; |
||
713 | ClearFCStatusFlags = 0; |
||
714 | } |
||
41 | ingob | 715 | } |
567 | holgerb | 716 | FC.StatusFlags |= FC.RealStatusFlags; |
320 | holgerb | 717 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
268 | killagreg | 718 | { |
510 | holgerb | 719 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
587 | holgerb | 720 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
268 | killagreg | 721 | Compass_Init(); |
644 | holgerb | 722 | FCCalibActive = 15; |
338 | holgerb | 723 | FC_is_Calibrated = 0; |
659 | holgerb | 724 | FreqNewGpsData = 50; |
268 | killagreg | 725 | } |
726 | else |
||
727 | { |
||
489 | killagreg | 728 | if(FCCalibActive) |
729 | { |
||
730 | if(--FCCalibActive == 0) |
||
731 | { |
||
732 | FC_is_Calibrated = 1; |
||
733 | Compass_Check(); |
||
734 | } |
||
735 | } |
||
268 | killagreg | 736 | } |
515 | killagreg | 737 | if(FC.StatusFlags & FC_STATUS_START) |
489 | killagreg | 738 | { |
515 | killagreg | 739 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
510 | holgerb | 740 | else HeadFreeStartAngle = GyroCompassCorrected; |
587 | holgerb | 741 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
489 | killagreg | 742 | } |
320 | holgerb | 743 | |
489 | killagreg | 744 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
745 | { |
||
746 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
||
747 | { |
||
748 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
||
749 | { |
||
750 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
||
751 | } |
||
752 | else // Ansonsten die aktuelle Richtung übernehmen |
||
753 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
||
329 | holgerb | 754 | } |
755 | } |
||
360 | holgerb | 756 | NaviData.FCStatusFlags = FC.StatusFlags; |
489 | killagreg | 757 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
598 | holgerb | 758 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[9]; |
360 | holgerb | 759 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
760 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
||
489 | killagreg | 761 | else |
360 | holgerb | 762 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
763 | |||
764 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
||
489 | killagreg | 765 | else |
360 | holgerb | 766 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
623 | holgerb | 767 | //DebugOut.Analog[] = (NaviData.FCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE); |
338 | holgerb | 768 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
769 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
||
598 | holgerb | 770 | FC.BAT_Voltage = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
771 | DebugOut.Analog[7] = FC.BAT_Voltage; |
||
772 | DebugOut.Analog[5] = FC.StatusFlags; |
||
773 | NaviData.UBat = (u8) FC.BAT_Voltage; // Achtung: die (u8) NaviData.UBat kann überlaufen -> das KopterTool müsste dann 25,5V drauf rechnen |
||
41 | ingob | 774 | break; |
454 | holgerb | 775 | case SPI_FCCMD_BL_ACCU: |
223 | killagreg | 776 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
480 | holgerb | 777 | DebugOut.Analog[8] = FC.BAT_Current; |
533 | holgerb | 778 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
530 | holgerb | 779 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
780 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
||
471 | holgerb | 781 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
782 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
||
611 | holgerb | 783 | //0x40 |
784 | //0x20 |
||
785 | //0x10 |
||
786 | if(FromFlightCtrl.Param.Byte[2] & 0x80) // this Flag marks a changed Out1 |
||
787 | { |
||
618 | holgerb | 788 | Out1TriggerUpdateNewData = 1; |
789 | if(!Out1TriggerUpdateBlocked) |
||
790 | { |
||
611 | holgerb | 791 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
792 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
||
618 | holgerb | 793 | } |
794 | Out1TriggerUpdateBlocked = 0; |
||
611 | holgerb | 795 | } |
618 | holgerb | 796 | if(Out1TriggerUpdateBlocked) Out1TriggerUpdateBlocked--; |
611 | holgerb | 797 | index = FromFlightCtrl.Param.Byte[2] & 0x0f; //MAX_MOTORS |
638 | holgerb | 798 | if(AmountOfMotors < index+1) AmountOfMotors = index+1; |
605 | holgerb | 799 | Motor[index].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
800 | Motor_Version[index] = FromFlightCtrl.Param.Byte[7]; |
||
801 | Motor[index].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
||
802 | Motor[index].State = FromFlightCtrl.Param.Byte[9]; |
||
803 | Motor[index].Temperature = FromFlightCtrl.Param.Byte[10]; |
||
804 | Motor[index].Current = FromFlightCtrl.Param.Byte[11]; |
||
298 | holgerb | 805 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
515 | killagreg | 806 | { |
807 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
808 | } |
||
567 | holgerb | 809 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.Current = FC.BAT_Current; |
206 | killagreg | 810 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
690 | holgerb | 811 | FromFlightCtrl_AccNick = FromFlightCtrl.Param.sInt[6]; |
812 | FromFlightCtrl_AccRoll = FromFlightCtrl.Param.sInt[7]; |
||
813 | DebugOut.Analog[2] = FromFlightCtrl_AccNick; |
||
814 | DebugOut.Analog[3] = FromFlightCtrl_AccRoll; |
||
206 | killagreg | 815 | break; |
202 | killagreg | 816 | case SPI_FCCMD_PARAMETER1: |
454 | holgerb | 817 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
41 | ingob | 818 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
819 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
820 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
821 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
822 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
823 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
824 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
532 | holgerb | 825 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
826 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
||
41 | ingob | 827 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
327 | holgerb | 828 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
41 | ingob | 829 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
121 | killagreg | 830 | break; |
419 | holgerb | 831 | case SPI_FCCMD_PARAMETER2: |
605 | holgerb | 832 | CHK_POTI_MM(FC.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
623 | holgerb | 833 | if(FromFlightCtrl.Param.Byte[1]) |
834 | { |
||
835 | FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
||
626 | holgerb | 836 | } |
837 | if(NaviData_Flags_SpeakHoTT_Processed) |
||
838 | { |
||
623 | holgerb | 839 | NaviData_Flags.SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared after the Uart-Trasmitting |
626 | holgerb | 840 | NaviData_Flags_SpeakHoTT_Processed = 0; |
623 | holgerb | 841 | } |
587 | holgerb | 842 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
489 | killagreg | 843 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
500 | holgerb | 844 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
513 | killagreg | 845 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
846 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
||
510 | holgerb | 847 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
848 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
||
587 | holgerb | 849 | FC.StatusFlags3 = FromFlightCtrl.Param.Byte[10]; |
518 | holgerb | 850 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
419 | holgerb | 851 | break; |
202 | killagreg | 852 | case SPI_FCCMD_STICK: |
41 | ingob | 853 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
854 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
855 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
856 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
190 | killagreg | 857 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
858 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
859 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
860 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
861 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
862 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
863 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
202 | killagreg | 864 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
515 | killagreg | 865 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
41 | ingob | 866 | break; |
690 | holgerb | 867 | case SPI_FCCMD_STICK2: |
868 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
||
869 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
870 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
871 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
872 | memcpy((u8 *) &(PPM_In[1]), (u8 *) &FromFlightCtrl.Param.sByte[4], 16); // 16 Bytes PPM-Data |
||
873 | PPM_In[0] = 0; |
||
874 | break; |
||
202 | killagreg | 875 | case SPI_FCCMD_MISC: |
41 | ingob | 876 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
877 | { // put only new CompassCalState into queue to send via I2C |
||
489 | killagreg | 878 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
378 | holgerb | 879 | { |
880 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
881 | Compass_SetCalState(CompassCalState); |
||
882 | } |
||
392 | holgerb | 883 | // else CompassCalState = 0; |
41 | ingob | 884 | } |
587 | holgerb | 885 | HoverGas = FromFlightCtrl.Param.Byte[1]; |
205 | killagreg | 886 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
567 | holgerb | 887 | FC.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
888 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
587 | holgerb | 889 | FC.Error[0] |= FromFlightCtrl.Param.Byte[6]; |
890 | FC.Error[1] |= FromFlightCtrl.Param.Byte[7]; |
||
891 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
||
892 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
||
893 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
||
894 | else DebugOut.StatusRed &= ~AMPEL_FC; |
||
895 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[8]; |
||
190 | killagreg | 896 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
598 | holgerb | 897 | if(FC.RC_Quality > 160) NaviData.RC_Quality = 200; else NaviData.RC_Quality = FC.RC_Quality; |
461 | holgerb | 898 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
623 | holgerb | 899 | //DebugOut.Analog[] = NC_Wait_for_LED; |
206 | killagreg | 900 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
581 | holgerb | 901 | if(LoggingGasCnt == 0) LoggingGasFilter = 0; |
578 | holgerb | 902 | LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11]; |
903 | LoggingGasCnt++; |
||
41 | ingob | 904 | break; |
161 | killagreg | 905 | |
587 | holgerb | 906 | case SPI_FCCMD_VERSION: // slow! |
119 | killagreg | 907 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
908 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
909 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
910 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
911 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
587 | holgerb | 912 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[5]; |
913 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[6]; |
||
914 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[7],0,255); |
||
915 | UART_VersionInfo.BL_Firmware = FromFlightCtrl.Param.Byte[8]; |
||
598 | holgerb | 916 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
587 | holgerb | 917 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
918 | break; |
||
919 | case SPI_FCCMD_NEUTRAL: // slow! |
||
920 | FC.AdNeutralNick = FromFlightCtrl.Param.Int[0]; |
||
921 | FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1]; |
||
922 | FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2]; |
||
923 | Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6]; |
||
924 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[7]; |
||
925 | Parameter.ReceiverType = FromFlightCtrl.Param.Byte[8]; |
||
926 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[9],0,255); |
||
927 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[10],0,255); |
||
928 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[11],0,255); |
||
929 | break; |
||
930 | case SPI_FCCMD_SLOW2: // slow! |
||
931 | FC.BoatNeutralNick = FromFlightCtrl.Param.Int[0]; // 0 & 1 |
||
932 | FC.BoatNeutralRoll = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
||
933 | FC.BoatNeutralYaw = FromFlightCtrl.Param.Int[2]; // 4 & 5 |
||
934 | Parameter.CamOrientation = FromFlightCtrl.Param.Byte[6]; |
||
489 | killagreg | 935 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
475 | holgerb | 936 | { |
489 | killagreg | 937 | FC.FromFC_DisableDeclination = 1; |
938 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
||
939 | GeoMagDec = 0; |
||
940 | } |
||
941 | else |
||
475 | holgerb | 942 | { |
489 | killagreg | 943 | FC.FromFC_DisableDeclination = 0; |
944 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
||
475 | holgerb | 945 | } |
358 | holgerb | 946 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
947 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
||
320 | holgerb | 948 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
350 | holgerb | 949 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
41 | ingob | 950 | break; |
587 | holgerb | 951 | case SPI_FCCMD_SLOW3: // slow! |
952 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[0]; |
||
953 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[1]; |
||
954 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[2]; |
||
955 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[3]; |
||
588 | holgerb | 956 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[4]; |
957 | Parameter.HomeYawMode = ((ServoParams.CompInvert & 0x18) >> 3); |
||
598 | holgerb | 958 | NaviData_Home.LipoCellCount = FromFlightCtrl.Param.Byte[5]; |
959 | NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
||
625 | holgerb | 960 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
644 | holgerb | 961 | Parameter.FailSafeTime = FromFlightCtrl.Param.Byte[9]; |
611 | holgerb | 962 | // DebugOut.Analog[] = NaviData_Volatile.ShutterCounter; |
587 | holgerb | 963 | // 8 |
964 | // 9 |
||
965 | // 10 |
||
966 | // 11 |
||
573 | holgerb | 967 | break; |
587 | holgerb | 968 | |
41 | ingob | 969 | default: |
204 | killagreg | 970 | break; |
41 | ingob | 971 | } |
378 | holgerb | 972 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
973 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
974 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
||
41 | ingob | 975 | // every time we got new data from the FC via SPI call the navigation routine |
215 | killagreg | 976 | // and update GPSStick that are returned to FC |
378 | holgerb | 977 | SPI_RxBuffer_Request = 0; |
215 | killagreg | 978 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
255 | killagreg | 979 | ClearFCStatusFlags = 1; |
180 | killagreg | 980 | if(counter) |
981 | { |
||
982 | counter--; // count down to enable servo |
||
202 | killagreg | 983 | if(!counter) TIMER2_Init(); // enable Servo Output |
180 | killagreg | 984 | } |
985 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
||
1 | ingob | 986 | |
79 | killagreg | 987 | } // EOF if(SPI_RxBuffer_Request) |
180 | killagreg | 988 | else // no new SPI data |
202 | killagreg | 989 | { |
180 | killagreg | 990 | if(CheckDelay(timeout) && (counter == 0)) |
991 | { |
||
992 | TIMER2_Deinit(); // disable Servo Output |
||
993 | counter = 50; // reset counter for enabling Servo Output |
||
994 | } |
||
995 | } |
||
1 | ingob | 996 | } |
997 | |||
41 | ingob | 998 | //------------------------------------------------------ |
999 | void SPI0_GetFlightCtrlVersion(void) |
||
1000 | { |
||
154 | killagreg | 1001 | u32 timeout; |
1002 | u8 repeat; |
||
78 | holgerb | 1003 | u8 msg[64]; |
41 | ingob | 1004 | |
297 | ingob | 1005 | UART1_PutString("\r\n Looking for FlightControl"); |
41 | ingob | 1006 | FC_Version.Major = 0xFF; |
1007 | FC_Version.Minor = 0xFF; |
||
1008 | FC_Version.Patch = 0xFF; |
||
1009 | FC_Version.Compatible = 0xFF; |
||
1010 | |||
165 | killagreg | 1011 | // polling FC version info |
154 | killagreg | 1012 | repeat = 0; |
41 | ingob | 1013 | do |
1014 | { |
||
154 | killagreg | 1015 | timeout = SetDelay(250); |
1016 | do |
||
1017 | { |
||
1018 | SPI0_UpdateBuffer(); |
||
1019 | if (FC_Version.Major != 0xFF) break; |
||
1020 | }while (!CheckDelay(timeout)); |
||
1021 | UART1_PutString("."); |
||
1022 | repeat++; |
||
644 | holgerb | 1023 | FCCalibActive = 0; |
180 | killagreg | 1024 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
41 | ingob | 1025 | // if we got it |
1026 | if (FC_Version.Major != 0xFF) |
||
1027 | { |
||
587 | holgerb | 1028 | 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 | 1029 | UART1_PutString(msg); |
41 | ingob | 1030 | } |
242 | killagreg | 1031 | else UART1_PutString("\n\r not found!"); |
690 | holgerb | 1032 | |
1033 | //sprintf(msg, "\n\r size: HugeBlockFromFC %i",sizeof(HugeBlockFromFC)); |
||
1034 | //UART1_PutString(msg); |
||
41 | ingob | 1035 | } |
1036 | |||
489 | killagreg | 1037 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1038 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
||
1039 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1040 | u16 BL3_Current(u8 who) // in 0,1A |
||
1041 | { |
||
1042 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
||
1043 | else |
||
1044 | { |
||
1045 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
||
1046 | else return((u16) Motor[who].Current); |
||
1047 | } |
||
1048 | } |
||
41 | ingob | 1049 |