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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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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 41 | ingob | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 41 | ingob | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
| 41 | ingob | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 40 | // + with our written permission |
| 41 | ingob | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 41 | ingob | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 57 | |
| 58 | #include <string.h> |
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| 59 | #include "91x_lib.h" |
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| 60 | #include "led.h" |
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| 215 | killagreg | 61 | #include "gps.h" |
| 41 | ingob | 62 | #include "uart1.h" |
| 63 | #include "spi_slave.h" |
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| 242 | killagreg | 64 | #include "compass.h" |
| 119 | killagreg | 65 | #include "timer1.h" |
| 66 | #include "timer2.h" |
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| 136 | killagreg | 67 | #include "config.h" |
| 1 | ingob | 68 | #include "main.h" |
| 284 | killagreg | 69 | #include "compass.h" |
| 294 | holgerb | 70 | #include "params.h" |
| 1 | ingob | 71 | |
| 41 | ingob | 72 | #define SPI_RXSYNCBYTE1 0xAA |
| 73 | #define SPI_RXSYNCBYTE2 0x83 |
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| 74 | #define SPI_TXSYNCBYTE1 0x81 |
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| 75 | #define SPI_TXSYNCBYTE2 0x55 |
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| 1 | ingob | 76 | |
| 41 | ingob | 77 | //communication packets |
| 215 | killagreg | 78 | FromFlightCtrl_t FromFlightCtrl; |
| 79 | ToFlightCtrl_t ToFlightCtrl; |
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| 183 | killagreg | 80 | #define SPI0_TIMEOUT 500 // 500ms |
| 146 | killagreg | 81 | volatile u32 SPI0_Timeout = 0; |
| 1 | ingob | 82 | |
| 41 | ingob | 83 | // tx packet buffer |
| 84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
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| 85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
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| 86 | volatile u8 SPI_TxBufferIndex = 0; |
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| 87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
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| 1 | ingob | 88 | |
| 41 | ingob | 89 | // rx packet buffer |
| 90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
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| 91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
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| 92 | volatile u8 SPI_RxBufferIndex = 0; |
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| 93 | volatile u8 SPI_RxBuffer_Request = 0; |
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| 1 | ingob | 94 | #define SPI_COMMAND_INDEX 0 |
| 95 | |||
| 149 | killagreg | 96 | s32 Kalman_K = 32; |
| 41 | ingob | 97 | s32 Kalman_MaxDrift = 5 * 16; |
| 98 | s32 Kalman_MaxFusion = 64; |
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| 148 | holgerb | 99 | s32 ToFcGpsZ = 0; |
| 1 | ingob | 100 | |
| 204 | killagreg | 101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
| 41 | ingob | 102 | u8 SPI_CommandCounter = 0; |
| 222 | holgerb | 103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
| 104 | s32 HeadFreeStartAngle = 0; |
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| 277 | killagreg | 105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
| 286 | killagreg | 106 | u32 ToFC_AltitudeRate = 0; |
| 285 | holgerb | 107 | s32 ToFC_AltitudeSetpoint = 0; |
| 298 | holgerb | 108 | u8 FromFC_VarioCharacter = ' '; |
| 58 | killagreg | 109 | |
| 41 | ingob | 110 | SPI_Version_t FC_Version; |
| 1 | ingob | 111 | |
| 41 | ingob | 112 | //-------------------------------------------------------------- |
| 113 | void SSP0_IRQHandler(void) |
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| 114 | { |
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| 115 | static u8 rxchksum = 0; |
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| 116 | u8 rxdata; |
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| 1 | ingob | 117 | |
| 189 | killagreg | 118 | #define SPI_SYNC1 0 |
| 119 | #define SPI_SYNC2 1 |
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| 120 | #define SPI_DATA 2 |
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| 121 | static u8 SPI_State = SPI_SYNC1; |
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| 122 | |||
| 195 | killagreg | 123 | IENABLE; |
| 124 | |||
| 161 | killagreg | 125 | // clear pending bits |
| 41 | ingob | 126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| 144 | killagreg | 127 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
| 189 | killagreg | 128 | |
| 79 | killagreg | 129 | // while RxFIFO not empty |
| 130 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
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| 131 | { |
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| 41 | ingob | 132 | rxdata = SSP0->DR; // catch the received byte |
| 133 | // Fill TxFIFO while its not full or end of packet is reached |
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| 79 | killagreg | 134 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| 161 | killagreg | 135 | { |
| 79 | killagreg | 136 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| 137 | { |
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| 41 | ingob | 138 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| 79 | killagreg | 139 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| 140 | SPI_TxBufferIndex++; // pointer to next byte |
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| 141 | } |
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| 142 | else // end of packet is reached reset and copy data to tx buffer |
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| 143 | { |
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| 144 | SPI_TxBufferIndex = 0; // reset buffer index |
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| 145 | ToFlightCtrl.Chksum = 0; // initialize checksum |
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| 146 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
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| 147 | BeepTime = 0; // reset local beeptime |
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| 41 | ingob | 148 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
| 79 | killagreg | 149 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| 150 | } |
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| 41 | ingob | 151 | } |
| 152 | switch (SPI_State) |
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| 153 | { |
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| 154 | case SPI_SYNC1: |
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| 155 | SPI_RxBufferIndex = 0; // reset buffer index |
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| 156 | rxchksum = rxdata; // init checksum |
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| 157 | if (rxdata == SPI_RXSYNCBYTE1) |
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| 158 | { // 1st syncbyte ok |
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| 159 | SPI_State = SPI_SYNC2; // step to sync2 |
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| 160 | } |
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| 161 | break; |
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| 79 | killagreg | 162 | case SPI_SYNC2: |
| 41 | ingob | 163 | if (rxdata == SPI_RXSYNCBYTE2) |
| 164 | { // 2nd Syncbyte ok |
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| 165 | rxchksum += rxdata; |
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| 166 | SPI_State = SPI_DATA; |
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| 167 | } // 2nd Syncbyte does not match |
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| 168 | else |
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| 169 | { |
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| 170 | SPI_State = SPI_SYNC1; //jump back to sync1 |
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| 171 | } |
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| 172 | break; |
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| 173 | case SPI_DATA: |
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| 174 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
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| 175 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
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| 176 | { |
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| 177 | if (rxdata == rxchksum) // verify checksum byte |
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| 178 | { |
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| 179 | // copy SPI_RxBuffer -> FromFlightCtrl |
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| 180 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
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| 181 | { |
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| 182 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
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| 183 | SPI_RxBuffer_Request = 1; |
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| 184 | } |
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| 146 | killagreg | 185 | // reset timeout counter on good packet |
| 186 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
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| 41 | ingob | 187 | DebugOut.Analog[13]++; |
| 188 | } |
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| 189 | else // bad checksum byte |
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| 190 | { |
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| 191 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
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| 192 | } |
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| 193 | SPI_State = SPI_SYNC1; // reset state |
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| 194 | } |
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| 195 | else // end of packet not reached |
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| 196 | { |
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| 197 | rxchksum += rxdata; // update checksum |
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| 198 | } |
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| 199 | break; |
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| 200 | default: |
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| 201 | SPI_State = SPI_SYNC1; |
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| 202 | break; |
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| 203 | } |
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| 204 | } |
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| 195 | killagreg | 205 | |
| 206 | IDISABLE; |
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| 1 | ingob | 207 | } |
| 208 | |||
| 209 | //-------------------------------------------------------------- |
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| 210 | void SPI0_Init(void) |
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| 211 | { |
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| 41 | ingob | 212 | GPIO_InitTypeDef GPIO_InitStructure; |
| 213 | SSP_InitTypeDef SSP_InitStructure; |
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| 1 | ingob | 214 | |
| 110 | killagreg | 215 | UART1_PutString("\r\n SPI init..."); |
| 1 | ingob | 216 | |
| 41 | ingob | 217 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| 218 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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| 1 | ingob | 219 | |
| 41 | ingob | 220 | GPIO_DeInit(GPIO2); |
| 221 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
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| 222 | GPIO_StructInit(&GPIO_InitStructure); |
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| 223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
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| 225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 226 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 227 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| 228 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 229 | |
| 41 | ingob | 230 | // SSP0_MISO pin GPIO2.6 |
| 231 | GPIO_StructInit(&GPIO_InitStructure); |
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| 232 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 233 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 234 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 235 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 236 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
| 237 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
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| 1 | ingob | 238 | |
| 41 | ingob | 239 | SSP_DeInit(SSP0); |
| 240 | SSP_StructInit(&SSP_InitStructure); |
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| 241 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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| 242 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
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| 243 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
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| 244 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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| 245 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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| 246 | SSP_InitStructure.SSP_ClockRate = 0; |
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| 1 | ingob | 247 | |
| 41 | ingob | 248 | SSP_Init(SSP0, &SSP_InitStructure); |
| 144 | killagreg | 249 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
| 202 | killagreg | 250 | |
| 41 | ingob | 251 | SSP_Cmd(SSP0, ENABLE); |
| 252 | // initialize the syncbytes in the tx buffer |
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| 253 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
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| 254 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
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| 255 | // set the pointer to the checksum byte in the tx buffer |
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| 256 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
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| 257 | |||
| 215 | killagreg | 258 | ToFlightCtrl.GPSStick.Nick = 0; |
| 259 | ToFlightCtrl.GPSStick.Roll = 0; |
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| 260 | ToFlightCtrl.GPSStick.Yaw = 0; |
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| 261 | |||
| 136 | killagreg | 262 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
| 41 | ingob | 263 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
| 264 | |||
| 146 | killagreg | 265 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
| 266 | |||
| 110 | killagreg | 267 | UART1_PutString("ok"); |
| 1 | ingob | 268 | } |
| 41 | ingob | 269 | |
| 222 | holgerb | 270 | |
| 1 | ingob | 271 | //------------------------------------------------------ |
| 41 | ingob | 272 | void SPI0_UpdateBuffer(void) |
| 1 | ingob | 273 | { |
| 180 | killagreg | 274 | static u32 timeout = 0; |
| 275 | static u8 counter = 50; |
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| 254 | killagreg | 276 | static u8 CompassCalState = 0; |
| 268 | killagreg | 277 | static u8 FCCalibActive = 0; |
| 299 | killagreg | 278 | s16 tmp; |
| 202 | killagreg | 279 | |
| 41 | ingob | 280 | if (SPI_RxBuffer_Request) |
| 281 | { |
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| 282 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
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| 283 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
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| 254 | killagreg | 284 | ToFlightCtrl.CompassHeading = Compass_Heading; |
| 189 | killagreg | 285 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
| 228 | holgerb | 286 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
| 286 | killagreg | 287 | ToFlightCtrl.MagVecX = MagVector.X; |
| 288 | ToFlightCtrl.MagVecY = MagVector.Y; |
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| 289 | ToFlightCtrl.MagVecZ = MagVector.Z; |
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| 284 | killagreg | 290 | ToFlightCtrl.NCStatus = 0; |
| 41 | ingob | 291 | // cycle spi commands |
| 292 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
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| 118 | killagreg | 293 | // restart command cycle at the end |
| 41 | ingob | 294 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| 1 | ingob | 295 | |
| 41 | ingob | 296 | switch (ToFlightCtrl.Command) |
| 297 | { |
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| 202 | killagreg | 298 | case SPI_NCCMD_KALMAN: |
| 223 | killagreg | 299 | CalcHeadFree(); |
| 149 | killagreg | 300 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
| 92 | killagreg | 301 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
| 302 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
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| 118 | killagreg | 303 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
| 149 | killagreg | 304 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
| 222 | holgerb | 305 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
| 223 | killagreg | 306 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
| 285 | holgerb | 307 | //ToFlightCtrl.Param.Byte[7] = |
| 280 | killagreg | 308 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| 278 | killagreg | 309 | { |
| 310 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
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| 280 | killagreg | 311 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 312 | } |
| 313 | else |
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| 280 | killagreg | 314 | { |
| 278 | killagreg | 315 | ToFlightCtrl.Param.sInt[4] = -1; |
| 316 | } |
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| 294 | holgerb | 317 | |
| 299 | killagreg | 318 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
| 295 | killagreg | 319 | { |
| 299 | killagreg | 320 | ToFlightCtrl.Param.sInt[5] = tmp; |
| 321 | } |
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| 322 | else |
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| 323 | { |
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| 295 | killagreg | 324 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
| 325 | else ToFlightCtrl.Param.sInt[5] = 0; |
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| 326 | } |
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| 161 | killagreg | 327 | break; |
| 58 | killagreg | 328 | |
| 202 | killagreg | 329 | case SPI_NCCMD_VERSION: |
| 330 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
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| 331 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
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| 204 | killagreg | 332 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
| 202 | killagreg | 333 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
| 264 | killagreg | 334 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
| 231 | holgerb | 335 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
| 336 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
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| 233 | holgerb | 337 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
| 202 | killagreg | 338 | break; |
| 223 | killagreg | 339 | |
| 204 | killagreg | 340 | case SPI_NCCMD_GPSINFO: |
| 341 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
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| 342 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
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| 343 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
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| 232 | killagreg | 344 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
| 258 | holgerb | 345 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
| 346 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
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| 306 | holgerb | 347 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
| 348 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
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| 299 | killagreg | 349 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
| 350 | { |
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| 351 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
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| 295 | killagreg | 352 | } |
| 299 | killagreg | 353 | else |
| 354 | { |
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| 355 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
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| 356 | } |
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| 357 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
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| 358 | { |
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| 359 | ToFlightCtrl.Param.sInt[5] = tmp; |
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| 360 | } |
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| 361 | else |
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| 362 | { |
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| 363 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
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| 364 | } |
||
| 300 | holgerb | 365 | // DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
| 366 | // DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
||
| 204 | killagreg | 367 | break; |
| 299 | killagreg | 368 | |
| 41 | ingob | 369 | default: |
| 370 | break; |
||
| 285 | holgerb | 371 | // 0 = 0,1 |
| 372 | // 1 = 2,3 |
||
| 373 | // 2 = 4,5 |
||
| 374 | // 3 = 6,7 |
||
| 375 | // 4 = 8,9 |
||
| 376 | // 5 = 10,11 |
||
| 41 | ingob | 377 | } |
| 378 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
||
| 1 | ingob | 379 | |
| 380 | |||
| 41 | ingob | 381 | switch(FromFlightCtrl.Command) |
| 382 | { |
||
| 202 | killagreg | 383 | case SPI_FCCMD_USER: |
| 41 | ingob | 384 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| 385 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
||
| 386 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
||
| 387 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
||
| 388 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
||
| 389 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
||
| 390 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
||
| 391 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
||
| 255 | killagreg | 392 | if(ClearFCStatusFlags) |
| 41 | ingob | 393 | { |
| 255 | killagreg | 394 | FC.StatusFlags = 0; |
| 395 | ClearFCStatusFlags = 0; |
||
| 41 | ingob | 396 | } |
| 255 | killagreg | 397 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
| 284 | killagreg | 398 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
| 268 | killagreg | 399 | { |
| 400 | Compass_Init(); |
||
| 401 | FCCalibActive = 1; |
||
| 402 | } |
||
| 403 | else |
||
| 404 | { |
||
| 284 | killagreg | 405 | FCCalibActive = 0; |
| 268 | killagreg | 406 | } |
| 223 | killagreg | 407 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| 255 | killagreg | 408 | DebugOut.Analog[5] = FC.StatusFlags; |
| 294 | holgerb | 409 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
| 255 | killagreg | 410 | NaviData.FCStatusFlags = FC.StatusFlags; |
| 294 | holgerb | 411 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
| 223 | killagreg | 412 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
| 41 | ingob | 413 | break; |
| 1 | ingob | 414 | |
| 206 | killagreg | 415 | case SPI_FCCMD_ACCU: |
| 223 | killagreg | 416 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
| 206 | killagreg | 417 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
| 418 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
||
| 419 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
||
| 298 | holgerb | 420 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
| 421 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
||
| 422 | { |
||
| 423 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
||
| 424 | } |
||
| 425 | |||
| 206 | killagreg | 426 | NaviData.UBat = FC.BAT_Voltage; |
| 427 | NaviData.Current = FC.BAT_Current; |
||
| 428 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
||
| 429 | break; |
||
| 430 | |||
| 193 | killagreg | 431 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
| 190 | killagreg | 432 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
| 433 | |||
| 202 | killagreg | 434 | case SPI_FCCMD_PARAMETER1: |
| 41 | ingob | 435 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| 436 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
||
| 437 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
||
| 438 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
||
| 439 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
||
| 440 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
||
| 441 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
||
| 442 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
||
| 103 | killagreg | 443 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
| 41 | ingob | 444 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| 445 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
||
| 446 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
||
| 121 | killagreg | 447 | break; |
| 1 | ingob | 448 | |
| 202 | killagreg | 449 | case SPI_FCCMD_STICK: |
| 41 | ingob | 450 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 451 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
||
| 452 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
||
| 453 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
||
| 190 | killagreg | 454 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
| 455 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
||
| 456 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
||
| 457 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
||
| 458 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
||
| 459 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
||
| 460 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
||
| 202 | killagreg | 461 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
| 41 | ingob | 462 | break; |
| 27 | holgerb | 463 | |
| 202 | killagreg | 464 | case SPI_FCCMD_MISC: |
| 41 | ingob | 465 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| 466 | { // put only new CompassCalState into queue to send via I2C |
||
| 467 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
||
| 254 | killagreg | 468 | Compass_SetCalState(CompassCalState); |
| 41 | ingob | 469 | } |
| 58 | killagreg | 470 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
| 205 | killagreg | 471 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
| 287 | holgerb | 472 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
| 473 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
||
| 160 | holgerb | 474 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
| 475 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
||
| 476 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
||
| 190 | killagreg | 477 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
| 478 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
||
| 294 | holgerb | 479 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
| 480 | // NaviData.RC_RSSI = FC.RC_RSSI; |
||
| 206 | killagreg | 481 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
| 41 | ingob | 482 | break; |
| 161 | killagreg | 483 | |
| 202 | killagreg | 484 | case SPI_FCCMD_SERVOS: |
| 121 | killagreg | 485 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
| 486 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
||
| 487 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
||
| 488 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
||
| 161 | killagreg | 489 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
| 121 | killagreg | 490 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
| 491 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
||
| 492 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
||
| 161 | killagreg | 493 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
| 494 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
||
| 119 | killagreg | 495 | break; |
| 1 | ingob | 496 | |
| 202 | killagreg | 497 | case SPI_FCCMD_VERSION: |
| 119 | killagreg | 498 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| 499 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
||
| 500 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
||
| 501 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
||
| 502 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
||
| 255 | killagreg | 503 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
| 504 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
||
| 505 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
||
| 506 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
||
| 507 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
||
| 231 | holgerb | 508 | DebugOut.Status[0] |= 0x01; // status of FC Present |
| 232 | killagreg | 509 | DebugOut.Status[0] |= 0x02; // status of BL Present |
| 255 | killagreg | 510 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
| 232 | killagreg | 511 | else DebugOut.Status[1] &= ~0x01; |
| 41 | ingob | 512 | break; |
| 513 | default: |
||
| 204 | killagreg | 514 | break; |
| 41 | ingob | 515 | } |
| 1 | ingob | 516 | |
| 41 | ingob | 517 | // every time we got new data from the FC via SPI call the navigation routine |
| 215 | killagreg | 518 | // and update GPSStick that are returned to FC |
| 519 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
||
| 255 | killagreg | 520 | ClearFCStatusFlags = 1; |
| 202 | killagreg | 521 | |
| 180 | killagreg | 522 | if(counter) |
| 523 | { |
||
| 524 | counter--; // count down to enable servo |
||
| 202 | killagreg | 525 | if(!counter) TIMER2_Init(); // enable Servo Output |
| 180 | killagreg | 526 | } |
| 1 | ingob | 527 | |
| 41 | ingob | 528 | SPI_RxBuffer_Request = 0; |
| 180 | killagreg | 529 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
| 1 | ingob | 530 | |
| 62 | killagreg | 531 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
| 532 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
||
| 61 | holgerb | 533 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
| 534 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
||
| 62 | killagreg | 535 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
| 79 | killagreg | 536 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
| 537 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
| 538 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
| 539 | } // EOF if(SPI_RxBuffer_Request) |
||
| 180 | killagreg | 540 | else // no new SPI data |
| 202 | killagreg | 541 | { |
| 180 | killagreg | 542 | if(CheckDelay(timeout) && (counter == 0)) |
| 543 | { |
||
| 544 | TIMER2_Deinit(); // disable Servo Output |
||
| 545 | counter = 50; // reset counter for enabling Servo Output |
||
| 546 | } |
||
| 547 | } |
||
| 1 | ingob | 548 | } |
| 549 | |||
| 41 | ingob | 550 | //------------------------------------------------------ |
| 551 | void SPI0_GetFlightCtrlVersion(void) |
||
| 552 | { |
||
| 154 | killagreg | 553 | u32 timeout; |
| 554 | u8 repeat; |
||
| 78 | holgerb | 555 | u8 msg[64]; |
| 41 | ingob | 556 | |
| 297 | ingob | 557 | UART1_PutString("\r\n Looking for FlightControl"); |
| 41 | ingob | 558 | FC_Version.Major = 0xFF; |
| 559 | FC_Version.Minor = 0xFF; |
||
| 560 | FC_Version.Patch = 0xFF; |
||
| 561 | FC_Version.Compatible = 0xFF; |
||
| 562 | |||
| 165 | killagreg | 563 | // polling FC version info |
| 154 | killagreg | 564 | repeat = 0; |
| 41 | ingob | 565 | do |
| 566 | { |
||
| 154 | killagreg | 567 | timeout = SetDelay(250); |
| 568 | do |
||
| 569 | { |
||
| 570 | SPI0_UpdateBuffer(); |
||
| 571 | if (FC_Version.Major != 0xFF) break; |
||
| 572 | }while (!CheckDelay(timeout)); |
||
| 573 | UART1_PutString("."); |
||
| 574 | repeat++; |
||
| 180 | killagreg | 575 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| 41 | ingob | 576 | // if we got it |
| 577 | if (FC_Version.Major != 0xFF) |
||
| 578 | { |
||
| 242 | killagreg | 579 | sprintf(msg, " FC V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| 110 | killagreg | 580 | UART1_PutString(msg); |
| 41 | ingob | 581 | } |
| 242 | killagreg | 582 | else UART1_PutString("\n\r not found!"); |
| 41 | ingob | 583 | } |
| 584 | |||
| 585 |