0,0 → 1,748 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + 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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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 <string.h> |
#include <math.h> |
#include "91x_lib.h" |
#include "led.h" |
#include "gps.h" |
#include "uart1.h" |
#include "spi_slave.h" |
#include "compass.h" |
#include "timer1.h" |
#include "timer2.h" |
#include "config.h" |
#include "main.h" |
#include "compass.h" |
#include "params.h" |
|
#define SPI_RXSYNCBYTE1 0xAA |
#define SPI_RXSYNCBYTE2 0x83 |
#define SPI_TXSYNCBYTE1 0x81 |
#define SPI_TXSYNCBYTE2 0x55 |
|
//communication packets |
FromFlightCtrl_t FromFlightCtrl; |
ToFlightCtrl_t ToFlightCtrl; |
#define SPI0_TIMEOUT 500 // 500ms |
volatile u32 SPI0_Timeout = 0; |
u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
|
// tx packet buffer |
#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
volatile u8 SPI_TxBufferIndex = 0; |
u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
|
// rx packet buffer |
#define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
volatile u8 SPI_RxBufferIndex = 0; |
volatile u8 SPI_RxBuffer_Request = 0; |
#define SPI_COMMAND_INDEX 0 |
|
s32 Kalman_K = 32; |
s32 Kalman_MaxDrift = 5 * 16; |
s32 Kalman_MaxFusion = 64; |
s32 Kalman_Kompass = 32; |
s32 ToFcGpsZ = 0; |
|
u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN}; |
u8 SPI_CommandCounter = 0; |
s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
s32 HeadFreeStartAngle = 0; |
s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
u32 ToFC_AltitudeRate = 0; |
s32 ToFC_AltitudeSetpoint = 0; |
u8 FromFC_VarioCharacter = ' '; |
u8 GPS_Aid_StickMultiplikator = 0; |
u8 NC_GPS_ModeCharacter = ' '; |
u8 FCCalibActive = 0; |
u8 FC_is_Calibrated = 0; |
u8 MotorCurrent[12]; |
u8 MotorTemperature[12]; |
u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
u32 FC_I2C_ErrorConter; |
SPI_Version_t FC_Version; |
|
//-------------------------------------------------------------- |
void SSP0_IRQHandler(void) |
{ |
static u8 rxchksum = 0; |
u8 rxdata; |
|
#define SPI_SYNC1 0 |
#define SPI_SYNC2 1 |
#define SPI_DATA 2 |
static u8 SPI_State = SPI_SYNC1; |
|
IENABLE; |
|
// clear pending bits |
SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
|
// while RxFIFO not empty |
while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
{ |
rxdata = SSP0->DR; // catch the received byte |
// Fill TxFIFO while its not full or end of packet is reached |
while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
{ |
if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
{ |
SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
*Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
SPI_TxBufferIndex++; // pointer to next byte |
} |
else // end of packet is reached reset and copy data to tx buffer |
{ |
SPI_TxBufferIndex = 0; // reset buffer index |
ToFlightCtrl.Chksum = 0; // initialize checksum |
ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
BeepTime = 0; // reset local beeptime |
// copy contents of ToFlightCtrl->SPI_TxBuffer |
memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
} |
} |
switch (SPI_State) |
{ |
case SPI_SYNC1: |
SPI_RxBufferIndex = 0; // reset buffer index |
rxchksum = rxdata; // init checksum |
if (rxdata == SPI_RXSYNCBYTE1) |
{ // 1st syncbyte ok |
SPI_State = SPI_SYNC2; // step to sync2 |
} |
break; |
case SPI_SYNC2: |
if (rxdata == SPI_RXSYNCBYTE2) |
{ // 2nd Syncbyte ok |
rxchksum += rxdata; |
SPI_State = SPI_DATA; |
} // 2nd Syncbyte does not match |
else |
{ |
SPI_State = SPI_SYNC1; //jump back to sync1 |
} |
break; |
case SPI_DATA: |
SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
{ |
if (rxdata == rxchksum) // verify checksum byte |
{ |
// copy SPI_RxBuffer -> FromFlightCtrl |
if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
{ |
memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
SPI_RxBuffer_Request = 1; |
} |
// reset timeout counter on good packet |
SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
DebugOut.Analog[13]++; |
} |
else // bad checksum byte |
{ |
DebugOut.Analog[12]++; // increase SPI chksum error counter |
} |
SPI_State = SPI_SYNC1; // reset state |
} |
else // end of packet not reached |
{ |
rxchksum += rxdata; // update checksum |
} |
break; |
default: |
SPI_State = SPI_SYNC1; |
break; |
} |
} |
|
IDISABLE; |
} |
|
//-------------------------------------------------------------- |
void SPI0_Init(void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
SSP_InitTypeDef SSP_InitStructure; |
|
UART1_PutString("\r\n SPI init..."); |
|
SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
|
GPIO_DeInit(GPIO2); |
//SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
GPIO_StructInit(&GPIO_InitStructure); |
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_IPInputConnected = GPIO_IPInputConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
GPIO_Init (GPIO2, &GPIO_InitStructure); |
|
// SSP0_MISO pin GPIO2.6 |
GPIO_StructInit(&GPIO_InitStructure); |
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
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_RxTimeOut, ENABLE); |
|
SSP_Cmd(SSP0, ENABLE); |
// initialize the syncbytes in the tx buffer |
SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
// set the pointer to the checksum byte in the tx buffer |
Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
|
ToFlightCtrl.GPSStick.Nick = 0; |
ToFlightCtrl.GPSStick.Roll = 0; |
ToFlightCtrl.GPSStick.Yaw = 0; |
|
VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
VIC_ITCmd(SSP0_ITLine, ENABLE); |
|
SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
|
UART1_PutString("ok"); |
} |
|
|
//------------------------------------------------------ |
void SPI0_UpdateBuffer(void) |
{ |
static u32 timeout = 0; |
static u8 counter = 50,hott_index = 0; |
static u8 CompassCalState = 0; |
s16 tmp; |
s32 i1,i2; |
|
if (SPI_RxBuffer_Request) |
{ |
// avoid sending data via SPI during the update of the ToFlightCtrl structure |
VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
ToFlightCtrl.CompassHeading = Compass_Heading; |
DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
// ToFlightCtrl.MagVecX = MagVector.X; |
// ToFlightCtrl.MagVecY = MagVector.Y; |
ToFlightCtrl.MagVecZ = MagVector.Z; |
ToFlightCtrl.NCStatus = 0; |
// cycle spi commands |
ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
// restart command cycle at the end |
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
#define FLAG_GPS_AID 0x01 |
switch (ToFlightCtrl.Command) |
{ |
case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
CalcHeadFree(); |
ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
{ |
ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
} |
else |
{ |
ToFlightCtrl.Param.sInt[4] = -1; |
} |
|
if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
{ |
ToFlightCtrl.Param.sInt[5] = tmp; |
} |
else |
{ |
if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
else ToFlightCtrl.Param.sInt[5] = 0; |
} |
break; |
|
case SPI_NCCMD_VERSION: |
ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
ToFlightCtrl.Param.Byte[4] = Version_HW; |
ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
ToFlightCtrl.Param.Byte[7] = ErrorCode; |
ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
break; |
|
case SPI_NCCMD_GPSINFO: |
ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
{ |
ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
} |
else |
{ |
ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
} |
if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
{ |
ToFlightCtrl.Param.sInt[5] = tmp; |
} |
else |
{ |
ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
} |
break; |
/* |
typedef struct |
{ |
unsigned char StartByte; //0 // 0x7C |
unsigned char Packet_ID; //1 // 0x89 - Vario ID |
unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
unsigned char Heading; //3 // 1 = 2° |
unsigned int Speed; //4+5 // in km/h |
unsigned char Lat_North; //6 |
unsigned char Lat_G; //7 |
unsigned char Lat_M; //8 |
unsigned char Lat_Sek1; //9 |
unsigned char Lat_Sek2; //10 |
unsigned char Lon_East; //11 |
unsigned char Lon_G; //12 |
unsigned char Lon_M; //13 |
unsigned char Lon_Sek1; //14 |
unsigned char Lon_Sek2; //15 |
unsigned int Distance; //16+17 // 9000 = 0m |
unsigned int Altitude; //18+19 // 500 = 0m |
unsigned int m_sec; //20+21 // 3000 = 0 |
unsigned int m_3sec; //22+23 // 3000 = 0 |
unsigned int m_10sec; //24+25 // 3000 = 0 |
unsigned char NullByte; // 0x00 |
unsigned char NullByte1; // 0x00 |
unsigned char EndByte; // 0x7D |
} GPSPacket_t; |
*/ |
/* |
typedef struct |
{ |
unsigned char StartByte; //0 0x7C |
unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
unsigned char VoltageCell2; //4 |
unsigned char VoltageCell3; //5 |
unsigned char VoltageCell4; //6 |
unsigned char VoltageCell5; //7 |
unsigned char VoltageCell6; //8 |
unsigned int Battery1; //9 51 = 5,1V |
unsigned int Battery2; //11 51 = 5,1V |
unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
unsigned char FuelPercent; //15 |
signed int FuelCapacity; //16 |
unsigned int Rpm; |
unsigned int Altitude; |
unsigned int m_sec; // 3000 = 0 |
unsigned char m_3sec; // 120 = 0 |
unsigned int Current; // 1 = 0.1A |
unsigned int InputVoltage; // 66 = 6,6V |
unsigned int Capacity; // 1 = 10mAh |
unsigned char NullByte1; // 0x00 |
unsigned char NullByte2; // 0x00 |
unsigned char EndByte; // 0x7D |
} HoTTGeneral_t; |
*/ |
case SPI_NCCMD_HOTT_INFO: |
switch(hott_index++) |
{ |
case 0: |
//Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
//53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
ToFlightCtrl.Param.Byte[0] = 3; // index |
ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
//----------------------------- |
ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
i1 = GPSData.Speed_Ground; // in cm/sec |
i1 *= 36; |
i1 /= 1000; |
ToFlightCtrl.Param.Byte[3] = i1 % 256; |
ToFlightCtrl.Param.Byte[4] = i1 / 256; |
//----------------------------- |
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
i1 = abs(GPSData.Position.Latitude)/10000000L; |
i2 = abs(GPSData.Position.Latitude)%10000000L; |
i1 *= 100; |
i1 += i2 / 100000; |
i2 = i2 % 100000; |
i2 /= 10; |
ToFlightCtrl.Param.Byte[6] = i1 % 256; |
ToFlightCtrl.Param.Byte[7] = i1 / 256; |
ToFlightCtrl.Param.Byte[8] = i2 % 256; |
ToFlightCtrl.Param.Byte[9] = i2 / 256; |
break; |
case 1: |
ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
ToFlightCtrl.Param.Byte[0] = 11; // index |
ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
//----------------------------- |
if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
i1 = abs(GPSData.Position.Longitude)/10000000L; |
i2 = abs(GPSData.Position.Longitude)%10000000L; |
i1 *= 100; |
i1 += i2 / 100000; |
i2 = i2 % 100000; |
i2 /= 10; |
ToFlightCtrl.Param.Byte[3] = i1 % 256; |
ToFlightCtrl.Param.Byte[4] = i1 / 256; |
ToFlightCtrl.Param.Byte[5] = i2 % 256; |
ToFlightCtrl.Param.Byte[6] = i2 / 256; |
//----------------------------- |
i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
ToFlightCtrl.Param.Byte[7] = i1 % 256; |
ToFlightCtrl.Param.Byte[8] = i1 / 256; |
break; |
case 2: |
ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
ToFlightCtrl.Param.Byte[0] = 5; // index |
ToFlightCtrl.Param.Byte[1] = 2; // how many |
ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
hott_index = 0; |
break; |
default: |
ToFlightCtrl.Param.Byte[0] = 255; |
hott_index = 0; |
break; |
} |
break; |
default: |
break; |
// 0 = 0,1 |
// 1 = 2,3 |
// 2 = 4,5 |
// 3 = 6,7 |
// 4 = 8,9 |
// 5 = 10,11 |
} |
VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
|
switch(FromFlightCtrl.Command) |
{ |
case SPI_FCCMD_USER: |
Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
if(ClearFCStatusFlags) |
{ |
FC.StatusFlags = 0; |
ClearFCStatusFlags = 0; |
} |
FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
{ |
HeadFreeStartAngle = Compass_Heading * 10; |
Compass_Init(); |
FCCalibActive = 10; |
FC_is_Calibrated = 0; |
} |
else |
{ |
if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
} |
if(FC.StatusFlags & FC_STATUS_START) |
{ |
if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
} |
|
if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
{ |
if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
{ |
if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
{ |
HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
} |
else // Ansonsten die aktuelle Richtung übernehmen |
HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
} |
} |
|
//DebugOut.Analog[16] = HeadFreeStartAngle; |
|
Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
DebugOut.Analog[5] = FC.StatusFlags; |
FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
NaviData.FCStatusFlags = FC.StatusFlags; |
NaviData.FCStatusFlags2 = FC.StatusFlags2; |
Logging_FCStatusFlags1 |= FC.StatusFlags; |
Logging_FCStatusFlags2 |= FC.StatusFlags2; |
Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
break; |
|
case SPI_FCCMD_ACCU: |
FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10]; |
MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11]; |
if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
{ |
NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
} |
NaviData.UBat = FC.BAT_Voltage; |
NaviData.Current = FC.BAT_Current; |
NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
break; |
|
#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
|
case SPI_FCCMD_PARAMETER1: |
CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
break; |
|
case SPI_FCCMD_STICK: |
FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
break; |
|
case SPI_FCCMD_MISC: |
if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
{ // put only new CompassCalState into queue to send via I2C |
CompassCalState = FromFlightCtrl.Param.Byte[0]; |
Compass_SetCalState(CompassCalState); |
} |
Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
// NaviData.RC_RSSI = FC.RC_RSSI; |
NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
break; |
|
case SPI_FCCMD_SERVOS: |
ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
break; |
|
case SPI_FCCMD_VERSION: |
FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
else DebugOut.StatusRed &= ~AMPEL_FC; |
break; |
default: |
break; |
} |
|
// every time we got new data from the FC via SPI call the navigation routine |
// and update GPSStick that are returned to FC |
GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
ClearFCStatusFlags = 1; |
|
if(counter) |
{ |
counter--; // count down to enable servo |
if(!counter) TIMER2_Init(); // enable Servo Output |
} |
|
SPI_RxBuffer_Request = 0; |
timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
|
DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
} // EOF if(SPI_RxBuffer_Request) |
else // no new SPI data |
{ |
if(CheckDelay(timeout) && (counter == 0)) |
{ |
TIMER2_Deinit(); // disable Servo Output |
counter = 50; // reset counter for enabling Servo Output |
} |
} |
} |
|
//------------------------------------------------------ |
void SPI0_GetFlightCtrlVersion(void) |
{ |
u32 timeout; |
u8 repeat; |
u8 msg[64]; |
|
UART1_PutString("\r\n Looking for FlightControl"); |
FC_Version.Major = 0xFF; |
FC_Version.Minor = 0xFF; |
FC_Version.Patch = 0xFF; |
FC_Version.Compatible = 0xFF; |
|
// polling FC version info |
repeat = 0; |
do |
{ |
timeout = SetDelay(250); |
do |
{ |
SPI0_UpdateBuffer(); |
if (FC_Version.Major != 0xFF) break; |
}while (!CheckDelay(timeout)); |
UART1_PutString("."); |
repeat++; |
FCCalibActive = 1; |
}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
// if we got it |
if (FC_Version.Major != 0xFF) |
{ |
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); |
UART1_PutString(msg); |
} |
else UART1_PutString("\n\r not found!"); |
} |
|
|