WebSVN - NaviCtrl - Blame - Rev 144 - /tags/V0_24e/spi

Rev	Author	Line No.	Line
1	ingob	1	/#######################################################################################/
		2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
		3	/#######################################################################################/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
		6	// + Nur f�r den privaten Gebrauch
		7	// + FOR NON COMMERCIAL USE ONLY
		8	// + www.MikroKopter.com
		9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	10	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		11	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
1	ingob	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		15	// + Verkauf von Luftbildaufnahmen, usw.
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
1	ingob	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		21	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		22	// + eindeutig als Ursprung verlinkt werden
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		25	// + Benutzung auf eigene Gefahr
		26	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1	ingob	29	// + mit unserer Zustimmung zul�ssig
		30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1	ingob	34	// + this list of conditions and the following disclaimer.
		35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		36	// + from this software without specific prior written permission.
41	ingob	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
1	ingob	38	// + for non-commercial use (directly or indirectly)
41	ingob	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1	ingob	40	// + with our written permission
41	ingob	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		42	// + clearly linked as origin
1	ingob	43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
		44	//
		45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
		53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
41	ingob	55	// + POSSIBILITY OF SUCH DAMAGE.
1	ingob	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
41	ingob	57
		58	#include <string.h>
		59	#include "91x_lib.h"
		60	#include "led.h"
		61	#include "GPS.h"
		62	#include "uart1.h"
		63	#include "spi_slave.h"
		64	#include "i2c.h"
119	killagreg	65	#include "timer1.h"
		66	#include "timer2.h"
136	killagreg	67	#include "config.h"
1	ingob	68	#include "main.h"
41	ingob	69	#include "fifo.h"
1	ingob	70
		71
41	ingob	72	#define SPI_RXSYNCBYTE1 0xAA
		73	#define SPI_RXSYNCBYTE2 0x83
		74	#define SPI_TXSYNCBYTE1 0x81
		75	#define SPI_TXSYNCBYTE2 0x55
1	ingob	76
41	ingob	77	typedef enum
		78	{
		79	SPI_SYNC1,
		80	SPI_SYNC2,
		81	SPI_DATA
		82	} SPI_State_t;
1	ingob	83
41	ingob	84	//communication packets
		85	volatile FromFlightCtrl_t FromFlightCtrl;
		86	volatile ToFlightCtrl_t ToFlightCtrl;
1	ingob	87
41	ingob	88	// tx packet buffer
		89	#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
		90	volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN];
		91	volatile u8 SPI_TxBufferIndex = 0;
		92	u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer
1	ingob	93
41	ingob	94	// rx packet buffer
		95	#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl)
		96	volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN];
		97	volatile u8 SPI_RxBufferIndex = 0;
		98	volatile u8 SPI_RxBuffer_Request = 0;
1	ingob	99	#define SPI_COMMAND_INDEX 0
		100
41	ingob	101	s32 FC_Kalman_K = 32;
		102	s32 Kalman_MaxDrift = 5 * 16;
		103	s32 Kalman_MaxFusion = 64;
		104	u32 CheckSPIOkay = 0;
1	ingob	105
121	killagreg	106	u8 SPI_CommandSequence[] = { SPI_KALMAN };
41	ingob	107	u8 SPI_CommandCounter = 0;
58	killagreg	108
41	ingob	109	SPI_Version_t FC_Version;
1	ingob	110
41	ingob	111	u8 CompassCalStateQueue[10];
		112	fifo_t CompassCalcStateFiFo;
1	ingob	113
41	ingob	114	u8 CompassCalState = 0;
1	ingob	115
41	ingob	116	//--------------------------------------------------------------
		117	void SSP0_IRQHandler(void)
		118	{
		119	static u8 rxchksum = 0;
		120	u8 rxdata;
		121	static SPI_State_t SPI_State = SPI_SYNC1;
1	ingob	122
144	killagreg	123	// clear pending bits
41	ingob	124	SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut);
144	killagreg	125	SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo);
		126	/*
41	ingob	127	// Fill TxFIFO while its not full or end of packet is reached
		128	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
		129	{
		130	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		131	{
		132	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
		133	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		134	SPI_TxBufferIndex++; // pointer to next byte
		135	}
		136	else // TxBuffer end is reached then reset and copy data to tx buffer
		137	{
		138	SPI_TxBufferIndex = 0; // reset buffer index
		139	ToFlightCtrl.Chksum = 0; // initialize checksum
		140	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		141	BeepTime = 0; // reset local beeptime
		142	// copy contents of ToFlightCtrl->SPI_TxBuffer
		143	memcpy( (u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		144	}
79	killagreg	145	}
144	killagreg	146	*/
79	killagreg	147	// while RxFIFO not empty
		148	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET)
		149	{
41	ingob	150	rxdata = SSP0->DR; // catch the received byte
		151	// Fill TxFIFO while its not full or end of packet is reached
79	killagreg	152	while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET)
41	ingob	153	{
79	killagreg	154	if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ?
		155	{
41	ingob	156	SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte
79	killagreg	157	*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum
		158	SPI_TxBufferIndex++; // pointer to next byte
		159	}
		160	else // end of packet is reached reset and copy data to tx buffer
		161	{
		162	SPI_TxBufferIndex = 0; // reset buffer index
		163	ToFlightCtrl.Chksum = 0; // initialize checksum
		164	ToFlightCtrl.BeepTime = BeepTime; // set beeptime
		165	BeepTime = 0; // reset local beeptime
41	ingob	166	// copy contents of ToFlightCtrl->SPI_TxBuffer
79	killagreg	167	memcpy((u8 ) &(SPI_TxBuffer[2]), (u8 ) &ToFlightCtrl, sizeof(ToFlightCtrl));
		168	}
41	ingob	169	}
		170	switch (SPI_State)
		171	{
		172	case SPI_SYNC1:
		173	SPI_RxBufferIndex = 0; // reset buffer index
		174	rxchksum = rxdata; // init checksum
		175	if (rxdata == SPI_RXSYNCBYTE1)
		176	{ // 1st syncbyte ok
		177	SPI_State = SPI_SYNC2; // step to sync2
		178	}
		179	break;
79	killagreg	180	case SPI_SYNC2:
41	ingob	181	if (rxdata == SPI_RXSYNCBYTE2)
		182	{ // 2nd Syncbyte ok
		183	rxchksum += rxdata;
		184	SPI_State = SPI_DATA;
		185	} // 2nd Syncbyte does not match
		186	else
		187	{
		188	SPI_State = SPI_SYNC1; //jump back to sync1
		189	}
		190	break;
		191	case SPI_DATA:
		192	SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer
		193	if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached
		194	{
		195	if (rxdata == rxchksum) // verify checksum byte
		196	{
		197	// copy SPI_RxBuffer -> FromFlightCtrl
		198	if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access
		199	{
		200	memcpy((u8 ) &FromFlightCtrl, (u8 ) SPI_RxBuffer, sizeof(FromFlightCtrl));
		201	SPI_RxBuffer_Request = 1;
		202	}
		203	CheckSPIOkay++;
		204	DebugOut.Analog[13]++;
		205	}
		206	else // bad checksum byte
		207	{
		208	DebugOut.Analog[12]++; // increase SPI chksum error counter
		209	}
		210	SPI_State = SPI_SYNC1; // reset state
		211	}
		212	else // end of packet not reached
		213	{
		214	rxchksum += rxdata; // update checksum
		215	}
		216	break;
		217	default:
		218	SPI_State = SPI_SYNC1;
		219	break;
		220	}
		221	}
1	ingob	222	}
		223
		224	//--------------------------------------------------------------
		225	void SPI0_Init(void)
		226	{
41	ingob	227	GPIO_InitTypeDef GPIO_InitStructure;
		228	SSP_InitTypeDef SSP_InitStructure;
1	ingob	229
110	killagreg	230	UART1_PutString("\r\n SPI init...");
1	ingob	231
41	ingob	232	SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
		233	SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
1	ingob	234
41	ingob	235	GPIO_DeInit(GPIO2);
		236	//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins
		237	GPIO_StructInit(&GPIO_InitStructure);
		238	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
		239	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 \| GPIO_Pin_5 \| GPIO_Pin_7;
		240	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
		241	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
		242	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
		243	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	244
41	ingob	245	// SSP0_MISO pin GPIO2.6
		246	GPIO_StructInit(&GPIO_InitStructure);
		247	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
		248	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
		249	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
		250	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
		251	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
		252	GPIO_Init (GPIO2, &GPIO_InitStructure);
1	ingob	253
41	ingob	254	SSP_DeInit(SSP0);
		255	SSP_StructInit(&SSP_InitStructure);
		256	SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;
		257	SSP_InitStructure.SSP_Mode = SSP_Mode_Slave;
		258	SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable;
		259	SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;
		260	SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
		261	SSP_InitStructure.SSP_ClockRate = 0;
1	ingob	262
41	ingob	263	SSP_Init(SSP0, &SSP_InitStructure);
1	ingob	264
144	killagreg	265	//SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_TxFifo \| SSP_IT_RxTimeOut, ENABLE);
		266	SSP_ITConfig(SSP0, SSP_IT_RxFifo \| SSP_IT_RxTimeOut, ENABLE);
1	ingob	267
144	killagreg	268
41	ingob	269	fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue));
		270
		271	SSP_Cmd(SSP0, ENABLE);
		272	// initialize the syncbytes in the tx buffer
		273	SPI_TxBuffer[0] = SPI_TXSYNCBYTE1;
		274	SPI_TxBuffer[1] = SPI_TXSYNCBYTE2;
		275	// set the pointer to the checksum byte in the tx buffer
		276	Ptr_TxChksum = (u8 ) &(((ToFlightCtrl_t ) &(SPI_TxBuffer[2]))->Chksum);
		277
136	killagreg	278	VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0);
41	ingob	279	VIC_ITCmd(SSP0_ITLine, ENABLE);
		280
110	killagreg	281	UART1_PutString("ok");
1	ingob	282	}
41	ingob	283
1	ingob	284	//------------------------------------------------------
41	ingob	285	void SPI0_UpdateBuffer(void)
1	ingob	286	{
41	ingob	287	if (SPI_RxBuffer_Request)
		288	{
		289	// avoid sending data via SPI during the update of the ToFlightCtrl structure
		290	VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt
1	ingob	291
41	ingob	292	ToFlightCtrl.CompassHeading = I2C_Heading.Heading;
		293	ToFlightCtrl.GPS_Nick = GPS_Stick.Nick;
		294	ToFlightCtrl.GPS_Roll = GPS_Stick.Roll;
		295	ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw;
		296	// cycle spi commands
		297	ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
118	killagreg	298	// restart command cycle at the end
41	ingob	299	if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0;
1	ingob	300
41	ingob	301	switch (ToFlightCtrl.Command)
		302	{
		303	case SPI_KALMAN:
92	killagreg	304	ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K;
		305	ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
		306	ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
118	killagreg	307	ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
121	killagreg	308	break;
58	killagreg	309
41	ingob	310	default:
		311	break;
		312	}
		313	VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt
1	ingob	314
		315
41	ingob	316	switch(FromFlightCtrl.Command)
		317	{
		318	case SPI_CMD_USER:
		319	Parameter.User1 = FromFlightCtrl.Param.Byte[0];
		320	Parameter.User2 = FromFlightCtrl.Param.Byte[1];
		321	Parameter.User3 = FromFlightCtrl.Param.Byte[2];
		322	Parameter.User4 = FromFlightCtrl.Param.Byte[3];
		323	Parameter.User5 = FromFlightCtrl.Param.Byte[4];
		324	Parameter.User6 = FromFlightCtrl.Param.Byte[5];
		325	Parameter.User7 = FromFlightCtrl.Param.Byte[6];
		326	Parameter.User8 = FromFlightCtrl.Param.Byte[7];
		327	if(ClearMKFlags)
		328	{
		329	FC.MKFlags = 0;
		330	ClearMKFlags = 0;
		331	}
		332	FC.MKFlags \|= FromFlightCtrl.Param.Byte[8];
		333	FC.UBat = FromFlightCtrl.Param.Byte[9];
		334	Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10];
		335	Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11];
79	killagreg	336	DebugOut.Analog[5] = FC.MKFlags;
41	ingob	337	break;
1	ingob	338
41	ingob	339	#define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
		340	case SPI_CMD_PARAMETER1:
		341	CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255);
		342	CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255);
		343	CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255);
		344	CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255);
		345	CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255);
		346	CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255);
		347	Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6];
		348	Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7];
103	killagreg	349	CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255);
41	ingob	350	CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255);
		351	CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255);
		352	CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255);
121	killagreg	353	break;
1	ingob	354
41	ingob	355	case SPI_CMD_STICK:
		356	FC.StickGas = FromFlightCtrl.Param.sByte[0];
		357	FC.StickYaw = FromFlightCtrl.Param.sByte[1];
		358	FC.StickRoll = FromFlightCtrl.Param.sByte[2];
		359	FC.StickNick = FromFlightCtrl.Param.sByte[3];
		360	FC.Poti1 = FromFlightCtrl.Param.Byte[4];
		361	FC.Poti2 = FromFlightCtrl.Param.Byte[5];
		362	FC.Poti3 = FromFlightCtrl.Param.Byte[6];
		363	FC.Poti4 = FromFlightCtrl.Param.Byte[7];
		364	FC.RC_Quality = FromFlightCtrl.Param.Byte[8];
125	killagreg	365	FC.RC_RSSI = FromFlightCtrl.Param.Byte[9];
41	ingob	366	break;
27	holgerb	367
41	ingob	368	case SPI_CMD_MISC:
		369	if(CompassCalState != FromFlightCtrl.Param.Byte[0])
		370	{ // put only new CompassCalState into queue to send via I2C
		371	CompassCalState = FromFlightCtrl.Param.Byte[0];
		372	fifo_put(&CompassCalcStateFiFo, CompassCalState);
		373	}
58	killagreg	374	Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1];
79	killagreg	375	NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch
58	killagreg	376	NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3
79	killagreg	377	CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255);
		378	CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255);
		379	CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255);
41	ingob	380	break;
119	killagreg	381
121	killagreg	382	case SPI_CMD_SERVOS:
		383	ServoParams.Refresh = FromFlightCtrl.Param.Byte[0];
		384	ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1];
		385	ServoParams.NickControl = FromFlightCtrl.Param.Byte[2];
		386	ServoParams.NickComp = FromFlightCtrl.Param.Byte[3];
		387	ServoParams.NickMin = FromFlightCtrl.Param.Byte[4];
		388	ServoParams.NickMax = FromFlightCtrl.Param.Byte[5];
		389	ServoParams.RollControl = FromFlightCtrl.Param.Byte[6];
		390	ServoParams.RollComp = FromFlightCtrl.Param.Byte[7];
		391	ServoParams.RollMin = FromFlightCtrl.Param.Byte[8];
		392	ServoParams.RollMax = FromFlightCtrl.Param.Byte[9];
119	killagreg	393	break;
1	ingob	394
41	ingob	395	case SPI_CMD_VERSION:
119	killagreg	396	FC_Version.Major = FromFlightCtrl.Param.Byte[0];
		397	FC_Version.Minor = FromFlightCtrl.Param.Byte[1];
		398	FC_Version.Patch = FromFlightCtrl.Param.Byte[2];
		399	FC_Version.Compatible = FromFlightCtrl.Param.Byte[3];
		400	FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
41	ingob	401	break;
1	ingob	402
41	ingob	403	default:
		404	break;
		405	}
1	ingob	406
41	ingob	407	// every time we got new data from the FC via SPI call the navigation routine
		408	GPS_Navigation();
		409	ClearMKFlags = 1;
1	ingob	410
41	ingob	411	SPI_RxBuffer_Request = 0;
1	ingob	412
62	killagreg	413	DebugOut.Analog[0] = FromFlightCtrl.AngleNick;
		414	DebugOut.Analog[1] = FromFlightCtrl.AngleRoll;
61	holgerb	415	DebugOut.Analog[2] = FromFlightCtrl.AccNick;
		416	DebugOut.Analog[3] = FromFlightCtrl.AccRoll;
62	killagreg	417	DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg
79	killagreg	418	Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
		419	Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
		420	Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
		421	} // EOF if(SPI_RxBuffer_Request)
1	ingob	422	}
		423
41	ingob	424	//------------------------------------------------------
		425	void SPI0_GetFlightCtrlVersion(void)
		426	{
		427	u16 timeout;
78	holgerb	428	u8 msg[64];
41	ingob	429
		430	FC_Version.Major = 0xFF;
		431	FC_Version.Minor = 0xFF;
		432	FC_Version.Patch = 0xFF;
		433	FC_Version.Compatible = 0xFF;
		434
		435	// polling FC version info for 2 second
		436	timeout = SetDelay(2000);
		437	do
		438	{
		439	SPI0_UpdateBuffer();
		440	if (FC_Version.Major != 0xFF) break;
		441	}while (!CheckDelay(timeout));
		442	// if we got it
		443	if (FC_Version.Major != 0xFF)
		444	{
61	holgerb	445	sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10);
110	killagreg	446	UART1_PutString(msg);
41	ingob	447	sprintf(msg, " Compatible: %d", FC_Version.Compatible);
110	killagreg	448	UART1_PutString(msg);
41	ingob	449	}
110	killagreg	450	else UART1_PutString("\n\r No version information from FlightCtrl.");
41	ingob	451	}
		452
		453

Subversion Repositories NaviCtrl

(root)/tags/V0_24e/spi_slave.c @ 313 - Rev 144