/trunk/gpx.c |
---|
394,14 → 394,18 |
sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic)); |
fputs_(string, doc->file); |
// BL Information |
sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",MotorCurrent[0],MotorCurrent[1],MotorCurrent[2],MotorCurrent[3],MotorCurrent[4],MotorCurrent[5],MotorCurrent[6],MotorCurrent[7],MotorCurrent[8],MotorCurrent[9],MotorCurrent[10],MotorCurrent[11]); |
sprintf(string, "<MotorCurrent>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</MotorCurrent>\r\n",Motor[0].Current,Motor[1].Current,Motor[2].Current,Motor[3].Current,Motor[4].Current,Motor[5].Current,Motor[6].Current,Motor[7].Current,Motor[8].Current,Motor[9].Current,Motor[10].Current,Motor[11].Current); |
fputs_(string, doc->file); |
sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",MotorTemperature[0],MotorTemperature[1],MotorTemperature[2],MotorTemperature[3],MotorTemperature[4],MotorTemperature[5],MotorTemperature[6],MotorTemperature[7],MotorTemperature[8],MotorTemperature[9],MotorTemperature[10],MotorTemperature[11]); |
sprintf(string, "<BL_Temperature>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_Temperature>\r\n",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature,Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature,Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature); |
fputs_(string, doc->file); |
break; |
case 6: |
sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
/* sprintf(string, "<BL_State>0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x,0x%02x</BL_State>\r\n",Motor.State[0],Motor.State[1],Motor.State[2],Motor.State[3],Motor.State[4],Motor.State[5],Motor.State[6],Motor.State[7],Motor.State[8],Motor.State[9],Motor.State[10],Motor.State[11]); |
fputs_(string, doc->file); |
sprintf(string, "<BL_MaxPWM>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_MaxPWM>\r\n",Motor.MaxPWM[0],Motor.MaxPWM[1],Motor.MaxPWM[2],Motor.MaxPWM[3],Motor.MaxPWM[4],Motor.MaxPWM[5],Motor.MaxPWM[6],Motor.MaxPWM[7],Motor.MaxPWM[8],Motor.MaxPWM[9],Motor.MaxPWM[10],Motor.MaxPWM[11]); |
fputs_(string, doc->file); |
*/ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",BL_MinOfMaxPWM); |
fputs_(string, doc->file); |
sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
fputs_(string, doc->file); |
// Analog inputs of the NC |
/trunk/main.h |
---|
39,7 → 39,7 |
#define VERSION_SERIAL_MINOR 0 |
#ifndef FOLLOW_ME |
#define FC_SPI_COMPATIBLE 30 |
#define FC_SPI_COMPATIBLE 31 |
#else |
#define FC_SPI_COMPATIBLE 0xFF |
#endif |
/trunk/spi_slave.c |
---|
113,8 → 113,7 |
u8 NC_GPS_ModeCharacter = ' '; |
u8 FCCalibActive = 0; |
u8 FC_is_Calibrated = 0; |
u8 MotorCurrent[12]; |
u8 MotorTemperature[12]; |
Motor_t Motor[12]; |
u8 NC_To_FC_Flags = 0; |
u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
u32 FC_I2C_ErrorConter; |
603,10 → 602,10 |
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]; |
Motor[FromFlightCtrl.Param.Byte[7]].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
Motor[FromFlightCtrl.Param.Byte[7]].State = FromFlightCtrl.Param.Byte[9]; |
Motor[FromFlightCtrl.Param.Byte[7]].Temperature = FromFlightCtrl.Param.Byte[10]; |
Motor[FromFlightCtrl.Param.Byte[7]].Current = FromFlightCtrl.Param.Byte[11]; |
if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
{ |
NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
692,8 → 691,8 |
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.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
707,13 → 706,6 |
/* |
//+++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Einkommentieren, falls der Flug simultert werden soll |
if(Parameter.User8 < 100) FC.StatusFlags = 0; |
else |
if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
BL_MinOfMaxPWM = 255; |
//+++++++++++++++++++++++++++++++++++++++++++++++++++ |
*/ |
// every time we got new data from the FC via SPI call the navigation routine |
// and update GPSStick that are returned to FC |
/trunk/spi_slave.h |
---|
28,8 → 28,11 |
extern u8 NC_GPS_ModeCharacter; |
extern u8 FC_is_Calibrated; |
extern u8 FCCalibActive; |
extern u8 MotorCurrent[12]; |
/*extern u8 MotorCurrent[12]; |
extern u8 MotorTemperature[12]; |
extern u8 MotorState[12]; |
extern u8 MotorMaxPwm[12]; |
*/ |
extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
extern u32 FC_I2C_ErrorConter; |
extern u8 FromFC_VarioCharacter; |
102,7 → 105,16 |
u8 Chksum; |
} __attribute__((packed)) ToFlightCtrl_t; |
typedef struct |
{ |
u8 Current; |
u8 Temperature; |
u8 MaxPWM; |
u8 State; |
} __attribute__((packed)) Motor_t; |
extern Motor_t Motor[12]; |
typedef struct |
{ |
u8 Major; |
/trunk/uart1.c |
---|
76,6 → 76,7 |
#include "params.h" |
#include "fifo.h" |
#include "debug.h" |
#include "spi_slave.h" |
#include "ftphelper.h" |
#define FALSE 0 |
95,6 → 96,7 |
u8 UART1_Request_WritePoint = 0xFF; |
u8 UART1_Request_ReadPoint = 0; |
u8 UART1_Request_Data3D = FALSE; |
u8 UART1_Request_MotorData = FALSE; |
u8 UART1_Request_Echo = FALSE; |
u8 UART1_Request_ParameterId = 0; |
u8 UART1_Request_Parameter = FALSE; |
181,6 → 183,8 |
u32 UART1_NaviData_Interval = 0; // in ms |
u32 UART1_Data3D_Timer = 0; |
u32 UART1_Data3D_Interval = 0; // in ms |
u32 UART1_MotorData_Timer = 0; |
u32 UART1_MotorData_Interval = 0; // in ms |
u32 UART1_Display_Timer = 0; |
u32 UART1_Display_Interval = 0; // in ms |
550,6 → 554,12 |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
case 'k': // request for Motor data; |
UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
case 'h':// reqest for display line |
if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
{ |
659,6 → 669,7 |
/**************************************************************/ |
void UART1_TransmitTxData(void) |
{ |
static u8 motorindex1 = 255, motorindex2 = 0; |
if(DebugUART != UART1) return; |
if(CheckDelay(UART1_AboTimeOut)) |
728,10 → 739,29 |
} |
else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
Data3D.StickNick = FC.StickNick; |
Data3D.StickRoll = FC.StickRoll; |
Data3D.StickYaw = FC.StickYaw; |
Data3D.StickGas = FC.StickGas; |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
UART1_Request_Data3D = FALSE; |
} |
else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
do |
{ |
motorindex1++; |
motorindex1%=12; |
if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
if(motorindex1 == motorindex2) break; |
} |
while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
UART1_Request_MotorData = FALSE; |
} |
/* |
else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
{ |
/trunk/uart1.h |
---|
31,7 → 31,11 |
s16 AngleNick; // in 0.1 deg |
s16 AngleRoll; // in 0.1 deg |
s16 Heading; // in 0.1 deg |
u8 reserve[8]; |
u8 StickNick; |
u8 StickRoll; |
u8 StickYaw; |
u8 StickGas; |
u8 reserve[4]; |
} __attribute__((packed)) Data3D_t; |
extern Data3D_t Data3D; |