Subversion Repositories NaviCtrl

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Ignore whitespace Rev 346 → Rev 347

/tags/V0.26f/spi_slave.c
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/*#######################################################################################*/
/* !!! 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
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// + with our written permission
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// + clearly linked as origin
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//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#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, SPI_MISC, 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;
 
//ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128);
//ToFlightCtrl.CompassHeading %= 360;
 
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;
ToFlightCtrl.Param.Byte[10] = 0;
ToFlightCtrl.Param.Byte[11] = 0;
break;
case SPI_MISC:
ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5;
ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination;
ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic;
ToFlightCtrl.Param.Byte[3] = 0;
ToFlightCtrl.Param.Byte[4] = 0;
ToFlightCtrl.Param.Byte[5] = 0;
ToFlightCtrl.Param.Byte[6] = 0;
ToFlightCtrl.Param.Byte[7] = 0;
ToFlightCtrl.Param.Byte[8] = 0;
ToFlightCtrl.Param.Byte[9] = 0;
ToFlightCtrl.Param.Byte[10] = 0;
ToFlightCtrl.Param.Byte[11] = 0;
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!");
}