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/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch |
// + FOR NON COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
// |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
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struct str_FromFlightCtrl FromFlightCtrl; |
struct str_ToFlightCtrl ToFlightCtrl; |
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struct str_ToFlightCtrl SPI_TxBuffer; |
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volatile unsigned char SPI_Buffer[sizeof(FromFlightCtrl)]; |
volatile unsigned char SPI_BufferIndex = 0; |
volatile unsigned char SPI_TXBufferIndex = 0; |
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s16 CompassValue; |
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volatile struct str_MicroMag MicroMag; |
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#define SPI_COMMAND_INDEX 0 |
unsigned char *Ptr_buffer_Tx = (unsigned char *) &SPI_TxBuffer; |
//unsigned char *Ptr_buffer_Tx = (unsigned char *) &ToFlightCtrl; |
unsigned char *Ptr_buffer_Rx = (unsigned char *) &FromFlightCtrl; |
volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
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unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
unsigned char SPI_CommandCounter = 0; |
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//-------------------------------------------------------------- |
void SSP0_IRQHandler(void) |
{ |
static u8 chksum = 0; |
u8 data; |
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GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
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while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
{ |
if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
{ SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
SPI_TXBufferIndex++; |
} |
else |
{ |
SPI_TXBufferIndex = 0; |
SPI_TXUpdatebufferRequest = 1; |
ToFlightCtrl.Chksum = 0; |
ToFlightCtrl.BeepTime = BeepTime; |
BeepTime = 0; |
memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
} |
} |
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while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
{ |
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data = SSP0->DR; |
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while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
{ |
if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
{ SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
SPI_TXBufferIndex++; |
} |
else |
{ |
SPI_TXBufferIndex = 0; |
ToFlightCtrl.Chksum = 0; |
SPI_TXUpdatebufferRequest = 1; |
ToFlightCtrl.BeepTime = BeepTime; |
BeepTime = 0; |
memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
} |
|
} |
switch (SPI_state ) |
{ |
case 0: |
SPI_BufferIndex = 0; |
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chksum = data; |
if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
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break; |
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case 1: |
if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
else SPI_state = 0; |
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break; |
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case 2: |
SPI_Buffer[SPI_BufferIndex++]= data; // get data |
|
if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
{ |
if (data == chksum) |
{ |
u8 i; |
SPI_RXUpdatebufferRequest = 1; |
for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
|
DebugOut.Analog[13]++; |
} |
else { DebugOut.Analog[12]++; } |
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SPI_state = 0; |
} |
else chksum += data; |
break; |
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default: SPI_state = 0; break; |
} |
} |
|
|
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} |
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//-------------------------------------------------------------- |
void SPI0_Init(void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
SSP_InitTypeDef SSP_InitStructure; |
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SerialPutString("SPI init..."); |
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SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
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GPIO_DeInit(GPIO2); |
//SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
GPIO_Init (GPIO2, &GPIO_InitStructure); |
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// SSP0_MISO pin GPIO2.6 |
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2 ; |
GPIO_Init (GPIO2, &GPIO_InitStructure); |
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SSP_DeInit(SSP0); |
SSP_StructInit(&SSP_InitStructure); |
SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
SSP_InitStructure.SSP_ClockRate = 0; |
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SSP_Init(SSP0, &SSP_InitStructure); |
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SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
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SSP_Cmd(SSP0, ENABLE); |
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ToFlightCtrl.Sync1 = 0x81; |
ToFlightCtrl.Sync2 = 0x55; |
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VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
VIC_ITCmd(SSP0_ITLine, ENABLE); |
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SerialPutString("ok\n\r"); |
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} |
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//------------------------------------------------------ |
void SPI_CheckSlaveSelect(void) |
{ |
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//if (SS_PIN) { SPI_BufferIndex = 0; } |
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DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
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/* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
DebugOut.Analog[3] = FromFlightCtrl.Command; |
DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
*/ |
DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
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} |
//------------------------------------------------------ |
void UpdateSPI_Buffer(void) |
{ |
if (SPI_RXUpdatebufferRequest) |
{ |
if (CompassUpdateActiv) return; // testweise deaktiviert |
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VIC_ITCmd(SSP0_ITLine, DISABLE); |
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ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
ToFlightCtrl.GPS_Nick = GPS_Nick; |
ToFlightCtrl.GPS_Roll = GPS_Roll; |
DebugOut.Analog[26] = I2C_Heading.Heading; |
|
ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
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switch (ToFlightCtrl.Command) |
{ |
case SPI_CMD_OSD_DATA: |
ToFlightCtrl.Param.Byte[0] = OsdBar; |
ToFlightCtrl.Param.Int[1] = OsdDistance; |
break; |
|
case SPI_CMD_GPS_POS: |
ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
break; |
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case SPI_CMD_GPS_TARGET: |
ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
break; |
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default: |
break; |
} |
VIC_ITCmd(SSP0_ITLine, ENABLE); |
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if (I2C_Heading.Heading <= 359) |
{ |
} |
else |
{ |
if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
return; |
} |
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SPI_TXUpdatebufferRequest = 0; |
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//---------------- |
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// DebugOut.Analog[11] = FromFlightCtrl.Command; |
switch(FromFlightCtrl.Command) |
{ |
case SPI_CMD_USER: |
DebugOut.Analog[7]++; |
Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
break; |
case SPI_CMD_STICK: |
DebugOut.Analog[8]++; |
FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
break; |
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case SPI_CMD_CAL_COMPASS: |
DebugOut.Analog[9]++; |
CompassCalState = FromFlightCtrl.Param.Byte[0]; |
break; |
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default: |
break; |
} |
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//------------ |
I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
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Navigation(); |
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SPI_RXUpdatebufferRequest = 0; |
} |
} |
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