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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" |
| |
| struct str_FromFlightCtrl FromFlightCtrl; |
| struct str_ToFlightCtrl ToFlightCtrl; |
| |
| struct str_ToFlightCtrl SPI_TxBuffer; |
| |
| volatile unsigned char SPI_Buffer[sizeof(FromFlightCtrl)]; |
| volatile unsigned char SPI_BufferIndex = 0; |
| volatile unsigned char SPI_TXBufferIndex = 0; |
| |
| s16 CompassValue; |
| |
| volatile struct str_MicroMag MicroMag; |
| |
| #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; |
| |
| unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
| unsigned char SPI_CommandCounter = 0; |
| |
| |
| //-------------------------------------------------------------- |
| void SSP0_IRQHandler(void) |
| { |
| static u8 chksum = 0; |
| u8 data; |
| |
| GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
| SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| |
| 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)); |
| } |
| } |
| |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
| { |
| |
| data = SSP0->DR; |
| |
| 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; |
| |
| chksum = data; |
| if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
| |
| break; |
| |
| case 1: |
| if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
| else SPI_state = 0; |
| |
| break; |
| |
| 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]++; } |
| |
| SPI_state = 0; |
| } |
| else chksum += data; |
| break; |
| |
| default: SPI_state = 0; break; |
| } |
| } |
| |
| |
| |
| } |
| |
| //-------------------------------------------------------------- |
| void SPI0_Init(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SSP_InitTypeDef SSP_InitStructure; |
| |
| SerialPutString("SPI init..."); |
| |
| SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
| |
| 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); |
| |
| // 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); |
| |
| 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; |
| |
| SSP_Init(SSP0, &SSP_InitStructure); |
| |
| SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
| |
| SSP_Cmd(SSP0, ENABLE); |
| |
| ToFlightCtrl.Sync1 = 0x81; |
| ToFlightCtrl.Sync2 = 0x55; |
| |
| VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
| VIC_ITCmd(SSP0_ITLine, ENABLE); |
| |
| SerialPutString("ok\n\r"); |
| |
| |
| } |
| |
| //------------------------------------------------------ |
| void SPI_CheckSlaveSelect(void) |
| { |
| |
| //if (SS_PIN) { SPI_BufferIndex = 0; } |
| |
| DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
| DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
| DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
| DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
| |
| /* 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; |
| |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| if (SPI_RXUpdatebufferRequest) |
| { |
| if (CompassUpdateActiv) return; // testweise deaktiviert |
| |
| VIC_ITCmd(SSP0_ITLine, DISABLE); |
| |
| 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; |
| |
| 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; |
| |
| case SPI_CMD_GPS_TARGET: |
| ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
| ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
| break; |
| |
| default: |
| break; |
| } |
| VIC_ITCmd(SSP0_ITLine, ENABLE); |
| |
| if (I2C_Heading.Heading <= 359) |
| { |
| } |
| else |
| { |
| if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
| return; |
| } |
| |
| SPI_TXUpdatebufferRequest = 0; |
| |
| //---------------- |
| |
| // 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; |
| |
| case SPI_CMD_CAL_COMPASS: |
| DebugOut.Analog[9]++; |
| CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| break; |
| |
| default: |
| break; |
| } |
| |
| |
| //------------ |
| I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
| I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
| |
| Navigation(); |
| |
| SPI_RXUpdatebufferRequest = 0; |
| } |
| } |
| |