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| Rev | Author | Line No. | Line |
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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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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 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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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 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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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 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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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 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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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 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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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include "main.h" |
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| 58 | |||
| 59 | struct str_FromFlightCtrl FromFlightCtrl; |
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| 60 | struct str_ToFlightCtrl ToFlightCtrl; |
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| 61 | |||
| 62 | struct str_ToFlightCtrl SPI_TxBuffer; |
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| 63 | |||
| 64 | volatile unsigned char SPI_Buffer[sizeof(FromFlightCtrl)]; |
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| 65 | volatile unsigned char SPI_BufferIndex = 0; |
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| 66 | volatile unsigned char SPI_TXBufferIndex = 0; |
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| 67 | |||
| 68 | s16 CompassValue; |
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| 69 | |||
| 70 | volatile struct str_MicroMag MicroMag; |
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| 71 | |||
| 72 | #define SPI_COMMAND_INDEX 0 |
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| 73 | unsigned char *Ptr_buffer_Tx = (unsigned char *) &SPI_TxBuffer; |
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| 74 | //unsigned char *Ptr_buffer_Tx = (unsigned char *) &ToFlightCtrl; |
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| 75 | unsigned char *Ptr_buffer_Rx = (unsigned char *) &FromFlightCtrl; |
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| 76 | volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
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| 77 | |||
| 78 | unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
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| 79 | unsigned char SPI_CommandCounter = 0; |
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| 80 | |||
| 81 | //-------------------------------------------------------------- |
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| 82 | void SSP0_IRQHandler(void) |
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| 83 | { |
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| 84 | static u8 chksum = 0; |
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| 85 | u8 data; |
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| 86 | |||
| 87 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
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| 88 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
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| 89 | |||
| 90 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
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| 91 | { |
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| 92 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
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| 93 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
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| 94 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
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| 95 | SPI_TXBufferIndex++; |
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| 96 | } |
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| 97 | else |
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| 98 | { |
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| 99 | SPI_TXBufferIndex = 0; |
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| 100 | SPI_TXUpdatebufferRequest = 1; |
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| 101 | ToFlightCtrl.Chksum = 0; |
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| 102 | ToFlightCtrl.BeepTime = BeepTime; |
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| 103 | BeepTime = 0; |
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| 104 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
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| 105 | } |
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| 106 | } |
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| 107 | |||
| 108 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
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| 109 | { |
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| 110 | |||
| 111 | data = SSP0->DR; |
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| 112 | |||
| 113 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
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| 114 | { |
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| 115 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
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| 116 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
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| 117 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
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| 118 | SPI_TXBufferIndex++; |
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| 119 | } |
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| 120 | else |
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| 121 | { |
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| 122 | SPI_TXBufferIndex = 0; |
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| 123 | ToFlightCtrl.Chksum = 0; |
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| 124 | SPI_TXUpdatebufferRequest = 1; |
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| 125 | ToFlightCtrl.BeepTime = BeepTime; |
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| 126 | BeepTime = 0; |
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| 127 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
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| 128 | } |
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| 129 | |||
| 130 | } |
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| 131 | switch (SPI_state ) |
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| 132 | { |
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| 133 | case 0: |
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| 134 | SPI_BufferIndex = 0; |
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| 135 | |||
| 136 | chksum = data; |
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| 137 | if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
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| 138 | |||
| 139 | break; |
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| 140 | |||
| 141 | case 1: |
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| 142 | if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
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| 143 | else SPI_state = 0; |
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| 144 | |||
| 145 | break; |
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| 146 | |||
| 147 | case 2: |
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| 148 | SPI_Buffer[SPI_BufferIndex++]= data; // get data |
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| 149 | |||
| 150 | if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
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| 151 | { |
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| 152 | if (data == chksum) |
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| 153 | { |
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| 154 | u8 i; |
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| 155 | SPI_RXUpdatebufferRequest = 1; |
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| 156 | for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
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| 157 | |||
| 158 | DebugOut.Analog[13]++; |
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| 159 | } |
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| 160 | else { DebugOut.Analog[12]++; } |
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| 161 | |||
| 162 | SPI_state = 0; |
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| 163 | } |
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| 164 | else chksum += data; |
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| 165 | break; |
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| 166 | |||
| 167 | default: SPI_state = 0; break; |
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| 168 | } |
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| 169 | } |
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| 170 | |||
| 171 | |||
| 172 | |||
| 173 | } |
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| 174 | |||
| 175 | //-------------------------------------------------------------- |
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| 176 | void SPI0_Init(void) |
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| 177 | { |
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| 178 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 179 | SSP_InitTypeDef SSP_InitStructure; |
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| 180 | |||
| 181 | SerialPutString("SPI init..."); |
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| 182 | |||
| 183 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
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| 184 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 185 | |||
| 186 | GPIO_DeInit(GPIO2); |
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| 187 | //SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
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| 188 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 189 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 190 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 191 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 192 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
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| 193 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 194 | |||
| 195 | // SSP0_MISO pin GPIO2.6 |
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| 196 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 197 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 198 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 199 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 200 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2 ; |
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| 201 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 202 | |||
| 203 | SSP_DeInit(SSP0); |
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| 204 | SSP_StructInit(&SSP_InitStructure); |
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| 205 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 206 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 207 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 208 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 209 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 210 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 211 | |||
| 212 | SSP_Init(SSP0, &SSP_InitStructure); |
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| 213 | |||
| 214 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
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| 215 | |||
| 216 | SSP_Cmd(SSP0, ENABLE); |
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| 217 | |||
| 218 | ToFlightCtrl.Sync1 = 0x81; |
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| 219 | ToFlightCtrl.Sync2 = 0x55; |
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| 220 | |||
| 221 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
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| 222 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
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| 223 | |||
| 224 | SerialPutString("ok\n\r"); |
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| 225 | |||
| 226 | |||
| 227 | } |
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| 228 | |||
| 229 | //------------------------------------------------------ |
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| 230 | void SPI_CheckSlaveSelect(void) |
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| 231 | { |
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| 232 | |||
| 233 | //if (SS_PIN) { SPI_BufferIndex = 0; } |
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| 234 | |||
| 235 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
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| 236 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
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| 237 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
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| 238 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
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| 239 | |||
| 240 | /* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
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| 241 | DebugOut.Analog[3] = FromFlightCtrl.Command; |
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| 242 | DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
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| 243 | DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
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| 244 | */ |
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| 245 | DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
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| 246 | |||
| 247 | } |
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| 248 | //------------------------------------------------------ |
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| 249 | void UpdateSPI_Buffer(void) |
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| 250 | { |
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| 27 | holgerb | 251 | if(CompassUpdateActiv) return; // testweise deaktiviert |
| 252 | if(SPI_RXUpdatebufferRequest) |
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| 1 | ingob | 253 | { |
| 27 | holgerb | 254 | |
| 1 | ingob | 255 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
| 256 | |||
| 257 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
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| 258 | ToFlightCtrl.GPS_Nick = GPS_Nick; |
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| 259 | ToFlightCtrl.GPS_Roll = GPS_Roll; |
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| 260 | DebugOut.Analog[26] = I2C_Heading.Heading; |
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| 261 | |||
| 262 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 263 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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| 264 | |||
| 265 | switch (ToFlightCtrl.Command) |
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| 266 | { |
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| 267 | case SPI_CMD_OSD_DATA: |
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| 268 | ToFlightCtrl.Param.Byte[0] = OsdBar; |
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| 269 | ToFlightCtrl.Param.Int[1] = OsdDistance; |
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| 270 | break; |
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| 271 | |||
| 272 | case SPI_CMD_GPS_POS: |
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| 273 | ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
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| 274 | ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
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| 275 | break; |
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| 276 | |||
| 277 | case SPI_CMD_GPS_TARGET: |
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| 278 | ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
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| 279 | ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
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| 280 | break; |
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| 281 | |||
| 282 | default: |
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| 283 | break; |
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| 284 | } |
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| 285 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
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| 286 | |||
| 287 | if (I2C_Heading.Heading <= 359) |
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| 288 | { |
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| 289 | } |
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| 290 | else |
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| 291 | { |
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| 292 | if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
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| 293 | return; |
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| 294 | } |
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| 295 | |||
| 296 | SPI_TXUpdatebufferRequest = 0; |
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| 297 | |||
| 298 | //---------------- |
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| 299 | |||
| 300 | // DebugOut.Analog[11] = FromFlightCtrl.Command; |
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| 301 | switch(FromFlightCtrl.Command) |
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| 302 | { |
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| 303 | case SPI_CMD_USER: |
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| 304 | DebugOut.Analog[7]++; |
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| 305 | Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
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| 306 | Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
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| 307 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
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| 308 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
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| 309 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
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| 310 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
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| 311 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
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| 27 | holgerb | 312 | Parameter_UserParam8 = FromFlightCtrl.Param.Byte[7]; |
| 313 | if(ClearFlags) {MikroKopterFlags = 0; ClearFlags = 0;}; |
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| 314 | MikroKopterFlags |= (s32) FromFlightCtrl.Param.Byte[8]; |
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| 315 | UBat = FromFlightCtrl.Param.Byte[9]; |
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| 316 | UndervoltageLevel = FromFlightCtrl.Param.Byte[10]; |
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| 317 | ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
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| 318 | //DebugOut.Analog[7] = MikroKopterFlags; |
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| 319 | if(MikroKopterFlags & 0x004) DebugOut.Analog[8]++; |
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| 320 | break; |
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| 321 | |||
| 322 | case SPI_CMD_PARAMETER1: |
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| 323 | Parameter_NaviGpsModeControl = FromFlightCtrl.Param.Byte[0]; |
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| 324 | Parameter_NaviGpsGain = FromFlightCtrl.Param.Byte[1]; |
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| 325 | Parameter_NaviGpsP = FromFlightCtrl.Param.Byte[2]; |
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| 326 | Parameter_NaviGpsI = FromFlightCtrl.Param.Byte[3]; |
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| 327 | Parameter_NaviGpsD = FromFlightCtrl.Param.Byte[4]; |
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| 328 | Parameter_NaviGpsACC = FromFlightCtrl.Param.Byte[5]; |
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| 329 | Parameter_NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
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| 330 | Parameter_NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
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| 331 | Parameter_RadiusAlert = FromFlightCtrl.Param.Byte[8]; |
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| 1 | ingob | 332 | break; |
| 333 | case SPI_CMD_STICK: |
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| 334 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
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| 335 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
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| 336 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
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| 337 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
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| 338 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
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| 339 | FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
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| 340 | FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
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| 341 | FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
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| 342 | SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
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| 343 | break; |
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| 344 | |||
| 345 | case SPI_CMD_CAL_COMPASS: |
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| 346 | DebugOut.Analog[9]++; |
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| 347 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
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| 348 | break; |
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| 349 | |||
| 350 | default: |
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| 351 | break; |
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| 352 | } |
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| 353 | |||
| 354 | |||
| 355 | //------------ |
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| 356 | I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
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| 357 | I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
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| 358 | |||
| 359 | Navigation(); |
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| 360 | |||
| 361 | SPI_RXUpdatebufferRequest = 0; |
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| 362 | } |
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| 363 | } |
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| 364 |