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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | 57 | ||
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include <math.h> |
59 | #include <math.h> |
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "led.h" |
61 | #include "led.h" |
62 | #include "gps.h" |
62 | #include "gps.h" |
63 | #include "uart1.h" |
63 | #include "uart1.h" |
64 | #include "spi_slave.h" |
64 | #include "spi_slave.h" |
65 | #include "compass.h" |
65 | #include "compass.h" |
66 | #include "timer1.h" |
66 | #include "timer1.h" |
67 | #include "timer2.h" |
67 | #include "timer2.h" |
68 | #include "config.h" |
68 | #include "config.h" |
69 | #include "main.h" |
69 | #include "main.h" |
70 | #include "compass.h" |
70 | #include "compass.h" |
71 | #include "params.h" |
71 | #include "params.h" |
72 | 72 | ||
73 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE1 0xAA |
74 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_RXSYNCBYTE2 0x83 |
75 | #define SPI_TXSYNCBYTE1 0x81 |
75 | #define SPI_TXSYNCBYTE1 0x81 |
76 | #define SPI_TXSYNCBYTE2 0x55 |
76 | #define SPI_TXSYNCBYTE2 0x55 |
77 | 77 | ||
78 | //communication packets |
78 | //communication packets |
79 | FromFlightCtrl_t FromFlightCtrl; |
79 | FromFlightCtrl_t FromFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
81 | #define SPI0_TIMEOUT 500 // 500ms |
81 | #define SPI0_TIMEOUT 500 // 500ms |
82 | volatile u32 SPI0_Timeout = 0; |
82 | volatile u32 SPI0_Timeout = 0; |
83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
83 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
84 | 84 | ||
85 | // tx packet buffer |
85 | // tx packet buffer |
86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
86 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
87 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
88 | volatile u8 SPI_TxBufferIndex = 0; |
88 | volatile u8 SPI_TxBufferIndex = 0; |
89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
89 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
90 | 90 | ||
91 | // rx packet buffer |
91 | // rx packet buffer |
92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
92 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
93 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
94 | volatile u8 SPI_RxBufferIndex = 0; |
94 | volatile u8 SPI_RxBufferIndex = 0; |
95 | volatile u8 SPI_RxBuffer_Request = 0; |
95 | volatile u8 SPI_RxBuffer_Request = 0; |
96 | #define SPI_COMMAND_INDEX 0 |
96 | #define SPI_COMMAND_INDEX 0 |
97 | 97 | ||
98 | s32 Kalman_K = 32; |
98 | s32 Kalman_K = 32; |
99 | s32 Kalman_MaxDrift = 5 * 16; |
99 | s32 Kalman_MaxDrift = 5 * 16; |
100 | s32 Kalman_MaxFusion = 64; |
100 | s32 Kalman_MaxFusion = 64; |
101 | s32 Kalman_Kompass = 32; |
101 | s32 Kalman_Kompass = 32; |
102 | s32 ToFcGpsZ = 0; |
102 | s32 ToFcGpsZ = 0; |
103 | 103 | ||
104 | 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 }; |
104 | 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 }; |
105 | u8 SPI_CommandCounter = 0; |
105 | u8 SPI_CommandCounter = 0; |
106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
106 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
107 | s32 HeadFreeStartAngle = 0; |
107 | s32 HeadFreeStartAngle = 0; |
108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
108 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
109 | u32 ToFC_AltitudeRate = 0; |
109 | u32 ToFC_AltitudeRate = 0; |
110 | s32 ToFC_AltitudeSetpoint = 0; |
110 | s32 ToFC_AltitudeSetpoint = 0; |
111 | u8 FromFC_VarioCharacter = ' '; |
111 | u8 FromFC_VarioCharacter = ' '; |
112 | u8 GPS_Aid_StickMultiplikator = 0; |
112 | u8 GPS_Aid_StickMultiplikator = 0; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
113 | u8 NC_GPS_ModeCharacter = ' '; |
114 | u8 FCCalibActive = 0; |
114 | u8 FCCalibActive = 0; |
115 | u8 FC_is_Calibrated = 0; |
115 | u8 FC_is_Calibrated = 0; |
116 | u8 MotorCurrent[12]; |
116 | u8 MotorCurrent[12]; |
117 | u8 MotorTemperature[12]; |
117 | u8 MotorTemperature[12]; |
118 | u8 NC_To_FC_Flags = 0; |
118 | u8 NC_To_FC_Flags = 0; |
119 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
119 | u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
120 | u32 FC_I2C_ErrorConter; |
120 | u32 FC_I2C_ErrorConter; |
121 | SPI_Version_t FC_Version; |
121 | SPI_Version_t FC_Version; |
122 | s16 POI_KameraNick = 0; |
122 | s16 POI_KameraNick = 0; |
123 | 123 | ||
124 | //-------------------------------------------------------------- |
124 | //-------------------------------------------------------------- |
125 | void SSP0_IRQHandler(void) |
125 | void SSP0_IRQHandler(void) |
126 | { |
126 | { |
127 | static u8 rxchksum = 0; |
127 | static u8 rxchksum = 0; |
128 | u8 rxdata; |
128 | u8 rxdata; |
129 | 129 | ||
130 | #define SPI_SYNC1 0 |
130 | #define SPI_SYNC1 0 |
131 | #define SPI_SYNC2 1 |
131 | #define SPI_SYNC2 1 |
132 | #define SPI_DATA 2 |
132 | #define SPI_DATA 2 |
133 | static u8 SPI_State = SPI_SYNC1; |
133 | static u8 SPI_State = SPI_SYNC1; |
134 | 134 | ||
135 | IENABLE; |
135 | IENABLE; |
136 | 136 | ||
137 | // clear pending bits |
137 | // clear pending bits |
138 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
138 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
139 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
139 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
140 | 140 | ||
141 | // while RxFIFO not empty |
141 | // while RxFIFO not empty |
142 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
142 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
143 | { |
143 | { |
144 | rxdata = SSP0->DR; // catch the received byte |
144 | rxdata = SSP0->DR; // catch the received byte |
145 | // Fill TxFIFO while its not full or end of packet is reached |
145 | // Fill TxFIFO while its not full or end of packet is reached |
146 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
146 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
147 | { |
147 | { |
148 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
148 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
149 | { |
149 | { |
150 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
150 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
151 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
151 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
152 | SPI_TxBufferIndex++; // pointer to next byte |
152 | SPI_TxBufferIndex++; // pointer to next byte |
153 | } |
153 | } |
154 | else // end of packet is reached reset and copy data to tx buffer |
154 | else // end of packet is reached reset and copy data to tx buffer |
155 | { |
155 | { |
156 | SPI_TxBufferIndex = 0; // reset buffer index |
156 | SPI_TxBufferIndex = 0; // reset buffer index |
157 | ToFlightCtrl.Chksum = 0; // initialize checksum |
157 | ToFlightCtrl.Chksum = 0; // initialize checksum |
158 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
158 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
159 | BeepTime = 0; // reset local beeptime |
159 | BeepTime = 0; // reset local beeptime |
160 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
160 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
161 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
161 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
162 | } |
162 | } |
163 | } |
163 | } |
164 | switch (SPI_State) |
164 | switch (SPI_State) |
165 | { |
165 | { |
166 | case SPI_SYNC1: |
166 | case SPI_SYNC1: |
167 | SPI_RxBufferIndex = 0; // reset buffer index |
167 | SPI_RxBufferIndex = 0; // reset buffer index |
168 | rxchksum = rxdata; // init checksum |
168 | rxchksum = rxdata; // init checksum |
169 | if (rxdata == SPI_RXSYNCBYTE1) |
169 | if (rxdata == SPI_RXSYNCBYTE1) |
170 | { // 1st syncbyte ok |
170 | { // 1st syncbyte ok |
171 | SPI_State = SPI_SYNC2; // step to sync2 |
171 | SPI_State = SPI_SYNC2; // step to sync2 |
172 | } |
172 | } |
173 | break; |
173 | break; |
174 | case SPI_SYNC2: |
174 | case SPI_SYNC2: |
175 | if (rxdata == SPI_RXSYNCBYTE2) |
175 | if (rxdata == SPI_RXSYNCBYTE2) |
176 | { // 2nd Syncbyte ok |
176 | { // 2nd Syncbyte ok |
177 | rxchksum += rxdata; |
177 | rxchksum += rxdata; |
178 | SPI_State = SPI_DATA; |
178 | SPI_State = SPI_DATA; |
179 | } // 2nd Syncbyte does not match |
179 | } // 2nd Syncbyte does not match |
180 | else |
180 | else |
181 | { |
181 | { |
182 | SPI_State = SPI_SYNC1; //jump back to sync1 |
182 | SPI_State = SPI_SYNC1; //jump back to sync1 |
183 | } |
183 | } |
184 | break; |
184 | break; |
185 | case SPI_DATA: |
185 | case SPI_DATA: |
186 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
186 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
187 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
187 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
188 | { |
188 | { |
189 | if (rxdata == rxchksum) // verify checksum byte |
189 | if (rxdata == rxchksum) // verify checksum byte |
190 | { |
190 | { |
191 | // copy SPI_RxBuffer -> FromFlightCtrl |
191 | // copy SPI_RxBuffer -> FromFlightCtrl |
192 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
192 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
193 | { |
193 | { |
194 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
194 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
195 | SPI_RxBuffer_Request = 1; |
195 | SPI_RxBuffer_Request = 1; |
196 | } |
196 | } |
197 | // reset timeout counter on good packet |
197 | // reset timeout counter on good packet |
198 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
198 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
199 | DebugOut.Analog[13]++; |
199 | DebugOut.Analog[13]++; |
200 | } |
200 | } |
201 | else // bad checksum byte |
201 | else // bad checksum byte |
202 | { |
202 | { |
203 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
203 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
204 | } |
204 | } |
205 | SPI_State = SPI_SYNC1; // reset state |
205 | SPI_State = SPI_SYNC1; // reset state |
206 | } |
206 | } |
207 | else // end of packet not reached |
207 | else // end of packet not reached |
208 | { |
208 | { |
209 | rxchksum += rxdata; // update checksum |
209 | rxchksum += rxdata; // update checksum |
210 | } |
210 | } |
211 | break; |
211 | break; |
212 | default: |
212 | default: |
213 | SPI_State = SPI_SYNC1; |
213 | SPI_State = SPI_SYNC1; |
214 | break; |
214 | break; |
215 | } |
215 | } |
216 | } |
216 | } |
217 | 217 | ||
218 | IDISABLE; |
218 | IDISABLE; |
219 | } |
219 | } |
220 | 220 | ||
221 | //-------------------------------------------------------------- |
221 | //-------------------------------------------------------------- |
222 | void SPI0_Init(void) |
222 | void SPI0_Init(void) |
223 | { |
223 | { |
224 | GPIO_InitTypeDef GPIO_InitStructure; |
224 | GPIO_InitTypeDef GPIO_InitStructure; |
225 | SSP_InitTypeDef SSP_InitStructure; |
225 | SSP_InitTypeDef SSP_InitStructure; |
226 | 226 | ||
227 | UART1_PutString("\r\n SPI init..."); |
227 | UART1_PutString("\r\n SPI init..."); |
228 | 228 | ||
229 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
229 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
230 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
230 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
231 | 231 | ||
232 | GPIO_DeInit(GPIO2); |
232 | GPIO_DeInit(GPIO2); |
233 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
233 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
234 | GPIO_StructInit(&GPIO_InitStructure); |
234 | GPIO_StructInit(&GPIO_InitStructure); |
235 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
235 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
236 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
236 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
237 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
237 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
238 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
238 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
239 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
239 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
240 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
240 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
241 | 241 | ||
242 | // SSP0_MISO pin GPIO2.6 |
242 | // SSP0_MISO pin GPIO2.6 |
243 | GPIO_StructInit(&GPIO_InitStructure); |
243 | GPIO_StructInit(&GPIO_InitStructure); |
244 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
244 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
245 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
245 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
246 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
246 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
247 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
247 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
248 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
248 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
249 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
249 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
250 | 250 | ||
251 | SSP_DeInit(SSP0); |
251 | SSP_DeInit(SSP0); |
252 | SSP_StructInit(&SSP_InitStructure); |
252 | SSP_StructInit(&SSP_InitStructure); |
253 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
253 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
254 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
254 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
255 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
255 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
256 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
256 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
257 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
257 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
258 | SSP_InitStructure.SSP_ClockRate = 0; |
258 | SSP_InitStructure.SSP_ClockRate = 0; |
259 | 259 | ||
260 | SSP_Init(SSP0, &SSP_InitStructure); |
260 | SSP_Init(SSP0, &SSP_InitStructure); |
261 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
261 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
262 | 262 | ||
263 | SSP_Cmd(SSP0, ENABLE); |
263 | SSP_Cmd(SSP0, ENABLE); |
264 | // initialize the syncbytes in the tx buffer |
264 | // initialize the syncbytes in the tx buffer |
265 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
265 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
266 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
266 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
267 | // set the pointer to the checksum byte in the tx buffer |
267 | // set the pointer to the checksum byte in the tx buffer |
268 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
268 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
269 | 269 | ||
270 | ToFlightCtrl.GPSStick.Nick = 0; |
270 | ToFlightCtrl.GPSStick.Nick = 0; |
271 | ToFlightCtrl.GPSStick.Roll = 0; |
271 | ToFlightCtrl.GPSStick.Roll = 0; |
272 | ToFlightCtrl.GPSStick.Yaw = 0; |
272 | ToFlightCtrl.GPSStick.Yaw = 0; |
273 | 273 | ||
274 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
274 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
275 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
275 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
276 | 276 | ||
277 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
277 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
278 | 278 | ||
279 | UART1_PutString("ok"); |
279 | UART1_PutString("ok"); |
280 | } |
280 | } |
281 | 281 | ||
282 | 282 | ||
283 | //------------------------------------------------------ |
283 | //------------------------------------------------------ |
284 | void SPI0_UpdateBuffer(void) |
284 | void SPI0_UpdateBuffer(void) |
285 | { |
285 | { |
286 | static u32 timeout = 0; |
286 | static u32 timeout = 0; |
287 | static u8 counter = 50,hott_index = 0; |
287 | static u8 counter = 50,hott_index = 0; |
288 | static u8 CompassCalState = 0; |
288 | static u8 CompassCalState = 0; |
289 | s16 tmp; |
289 | s16 tmp; |
290 | s32 i1,i2; |
290 | s32 i1,i2; |
291 | 291 | ||
292 | if (SPI_RxBuffer_Request) |
292 | if (SPI_RxBuffer_Request) |
293 | { |
293 | { |
294 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
294 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
295 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
295 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
296 | ToFlightCtrl.CompassHeading = Compass_Heading; |
296 | ToFlightCtrl.CompassHeading = Compass_Heading; |
297 | 297 | ||
298 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
298 | //ToFlightCtrl.CompassHeading += 360 + ((s32) Poti8 - 128); |
299 | //ToFlightCtrl.CompassHeading %= 360; |
299 | //ToFlightCtrl.CompassHeading %= 360; |
300 | 300 | ||
301 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
301 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
302 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
302 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
303 | // ToFlightCtrl.MagVecX = MagVector.X; |
303 | // ToFlightCtrl.MagVecX = MagVector.X; |
304 | // ToFlightCtrl.MagVecY = MagVector.Y; |
304 | // ToFlightCtrl.MagVecY = MagVector.Y; |
305 | ToFlightCtrl.MagVecZ = MagVector.Z; |
305 | ToFlightCtrl.MagVecZ = MagVector.Z; |
306 | ToFlightCtrl.NCStatus = 0; |
306 | ToFlightCtrl.NCStatus = 0; |
307 | // cycle spi commands |
307 | // cycle spi commands |
308 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
308 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
309 | // restart command cycle at the end |
309 | // restart command cycle at the end |
310 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
310 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
311 | #define FLAG_GPS_AID 0x01 |
311 | #define FLAG_GPS_AID 0x01 |
312 | switch (ToFlightCtrl.Command) |
312 | switch (ToFlightCtrl.Command) |
313 | { |
313 | { |
314 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
314 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
315 | CalcHeadFree(); |
315 | CalcHeadFree(); |
316 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
316 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
317 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
317 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
318 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
318 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
319 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
319 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
320 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
320 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
321 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
321 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
322 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
322 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
323 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
323 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
324 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
324 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
325 | { |
325 | { |
326 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
326 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
327 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
327 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
328 | } |
328 | } |
329 | else |
329 | else |
330 | { |
330 | { |
331 | ToFlightCtrl.Param.sInt[4] = -1; |
331 | ToFlightCtrl.Param.sInt[4] = -1; |
332 | } |
332 | } |
333 | 333 | ||
334 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
334 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
335 | { |
335 | { |
336 | POI_KameraNick = tmp; |
336 | POI_KameraNick = tmp; |
337 | } |
337 | } |
338 | else |
338 | else |
339 | { |
339 | { |
340 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
340 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
341 | POI_KameraNick = CAM_Orientation.Elevation; |
341 | POI_KameraNick = CAM_Orientation.Elevation; |
342 | //else ToFlightCtrl.Param.sInt[5] = 0; |
342 | //else ToFlightCtrl.Param.sInt[5] = 0; |
343 | } |
343 | } |
344 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
344 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
345 | break; |
345 | break; |
346 | 346 | ||
347 | case SPI_NCCMD_VERSION: |
347 | case SPI_NCCMD_VERSION: |
- | 348 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 349 | //+ higher than the maximum allowed altitude |
|
- | 350 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
348 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
351 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
349 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
352 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
350 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
353 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
351 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
354 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
352 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
355 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
353 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
356 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
354 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
357 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
355 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
358 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
356 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
359 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
357 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
360 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
358 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
361 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
- | 362 | if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
|
359 | ToFlightCtrl.Param.Byte[11] = 0; |
363 | else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
360 | break; |
364 | break; |
361 | case SPI_MISC: |
365 | case SPI_MISC: |
362 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
366 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
363 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
367 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
364 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
368 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
365 | ToFlightCtrl.Param.Byte[3] = 0; |
369 | ToFlightCtrl.Param.Byte[3] = 0; |
366 | ToFlightCtrl.Param.Byte[4] = 0; |
370 | ToFlightCtrl.Param.Byte[4] = 0; |
367 | ToFlightCtrl.Param.Byte[5] = 0; |
371 | ToFlightCtrl.Param.Byte[5] = 0; |
368 | ToFlightCtrl.Param.Byte[6] = 0; |
372 | ToFlightCtrl.Param.Byte[6] = 0; |
369 | ToFlightCtrl.Param.Byte[7] = 0; |
373 | ToFlightCtrl.Param.Byte[7] = 0; |
370 | ToFlightCtrl.Param.Byte[8] = 0; |
374 | ToFlightCtrl.Param.Byte[8] = 0; |
371 | ToFlightCtrl.Param.Byte[9] = 0; |
375 | ToFlightCtrl.Param.Byte[9] = 0; |
372 | ToFlightCtrl.Param.Byte[10] = 0; |
376 | ToFlightCtrl.Param.Byte[10] = 0; |
373 | ToFlightCtrl.Param.Byte[11] = 0; |
377 | ToFlightCtrl.Param.Byte[11] = 0; |
374 | break; |
378 | break; |
375 | 379 | ||
376 | case SPI_NCCMD_GPSINFO: |
380 | case SPI_NCCMD_GPSINFO: |
377 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
381 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
378 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
382 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
379 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
383 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
380 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
384 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
381 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
385 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
382 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
386 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
383 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
387 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
384 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
388 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
385 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
389 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
386 | { |
390 | { |
387 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
391 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
388 | } |
392 | } |
389 | else |
393 | else |
390 | { |
394 | { |
391 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
395 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
392 | } |
396 | } |
393 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
397 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
394 | { |
398 | { |
395 | ToFlightCtrl.Param.sInt[5] = tmp; |
399 | ToFlightCtrl.Param.sInt[5] = tmp; |
396 | } |
400 | } |
397 | else |
401 | else |
398 | { |
402 | { |
399 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
403 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
400 | } |
404 | } |
401 | break; |
405 | break; |
402 | /* |
406 | /* |
403 | typedef struct |
407 | typedef struct |
404 | { |
408 | { |
405 | unsigned char StartByte; //0 // 0x7C |
409 | unsigned char StartByte; //0 // 0x7C |
406 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
410 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
407 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
411 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
408 | unsigned char Heading; //3 // 1 = 2° |
412 | unsigned char Heading; //3 // 1 = 2° |
409 | unsigned int Speed; //4+5 // in km/h |
413 | unsigned int Speed; //4+5 // in km/h |
410 | unsigned char Lat_North; //6 |
414 | unsigned char Lat_North; //6 |
411 | unsigned char Lat_G; //7 |
415 | unsigned char Lat_G; //7 |
412 | unsigned char Lat_M; //8 |
416 | unsigned char Lat_M; //8 |
413 | unsigned char Lat_Sek1; //9 |
417 | unsigned char Lat_Sek1; //9 |
414 | unsigned char Lat_Sek2; //10 |
418 | unsigned char Lat_Sek2; //10 |
415 | unsigned char Lon_East; //11 |
419 | unsigned char Lon_East; //11 |
416 | unsigned char Lon_G; //12 |
420 | unsigned char Lon_G; //12 |
417 | unsigned char Lon_M; //13 |
421 | unsigned char Lon_M; //13 |
418 | unsigned char Lon_Sek1; //14 |
422 | unsigned char Lon_Sek1; //14 |
419 | unsigned char Lon_Sek2; //15 |
423 | unsigned char Lon_Sek2; //15 |
420 | unsigned int Distance; //16+17 // 9000 = 0m |
424 | unsigned int Distance; //16+17 // 9000 = 0m |
421 | unsigned int Altitude; //18+19 // 500 = 0m |
425 | unsigned int Altitude; //18+19 // 500 = 0m |
422 | unsigned int m_sec; //20+21 // 3000 = 0 |
426 | unsigned int m_sec; //20+21 // 3000 = 0 |
423 | unsigned int m_3sec; //22+23 // 3000 = 0 |
427 | unsigned int m_3sec; //22+23 // 3000 = 0 |
424 | unsigned int m_10sec; //24+25 // 3000 = 0 |
428 | unsigned int m_10sec; //24+25 // 3000 = 0 |
425 | unsigned char NullByte; // 0x00 |
429 | unsigned char NullByte; // 0x00 |
426 | unsigned char NullByte1; // 0x00 |
430 | unsigned char NullByte1; // 0x00 |
427 | unsigned char EndByte; // 0x7D |
431 | unsigned char EndByte; // 0x7D |
428 | } GPSPacket_t; |
432 | } GPSPacket_t; |
429 | */ |
433 | */ |
430 | /* |
434 | /* |
431 | typedef struct |
435 | typedef struct |
432 | { |
436 | { |
433 | unsigned char StartByte; //0 0x7C |
437 | unsigned char StartByte; //0 0x7C |
434 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
438 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
435 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
439 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
436 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
440 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
437 | unsigned char VoltageCell2; //4 |
441 | unsigned char VoltageCell2; //4 |
438 | unsigned char VoltageCell3; //5 |
442 | unsigned char VoltageCell3; //5 |
439 | unsigned char VoltageCell4; //6 |
443 | unsigned char VoltageCell4; //6 |
440 | unsigned char VoltageCell5; //7 |
444 | unsigned char VoltageCell5; //7 |
441 | unsigned char VoltageCell6; //8 |
445 | unsigned char VoltageCell6; //8 |
442 | unsigned int Battery1; //9 51 = 5,1V |
446 | unsigned int Battery1; //9 51 = 5,1V |
443 | unsigned int Battery2; //11 51 = 5,1V |
447 | unsigned int Battery2; //11 51 = 5,1V |
444 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
448 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
445 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
449 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
446 | unsigned char FuelPercent; //15 |
450 | unsigned char FuelPercent; //15 |
447 | signed int FuelCapacity; //16 |
451 | signed int FuelCapacity; //16 |
448 | unsigned int Rpm; |
452 | unsigned int Rpm; |
449 | unsigned int Altitude; |
453 | unsigned int Altitude; |
450 | unsigned int m_sec; // 3000 = 0 |
454 | unsigned int m_sec; // 3000 = 0 |
451 | unsigned char m_3sec; // 120 = 0 |
455 | unsigned char m_3sec; // 120 = 0 |
452 | unsigned int Current; // 1 = 0.1A |
456 | unsigned int Current; // 1 = 0.1A |
453 | unsigned int InputVoltage; // 66 = 6,6V |
457 | unsigned int InputVoltage; // 66 = 6,6V |
454 | unsigned int Capacity; // 1 = 10mAh |
458 | unsigned int Capacity; // 1 = 10mAh |
455 | unsigned char NullByte1; // 0x00 |
459 | unsigned char NullByte1; // 0x00 |
456 | unsigned char NullByte2; // 0x00 |
460 | unsigned char NullByte2; // 0x00 |
457 | unsigned char EndByte; // 0x7D |
461 | unsigned char EndByte; // 0x7D |
458 | } HoTTGeneral_t; |
462 | } HoTTGeneral_t; |
459 | */ |
463 | */ |
460 | case SPI_NCCMD_HOTT_INFO: |
464 | case SPI_NCCMD_HOTT_INFO: |
461 | switch(hott_index++) |
465 | switch(hott_index++) |
462 | { |
466 | { |
463 | case 0: |
467 | case 0: |
464 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
468 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
465 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
469 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
466 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
470 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
467 | ToFlightCtrl.Param.Byte[0] = 3; // index |
471 | ToFlightCtrl.Param.Byte[0] = 3; // index |
468 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
472 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
469 | //----------------------------- |
473 | //----------------------------- |
470 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
474 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
471 | i1 = GPSData.Speed_Ground; // in cm/sec |
475 | i1 = GPSData.Speed_Ground; // in cm/sec |
472 | i1 *= 36; |
476 | i1 *= 36; |
473 | i1 /= 1000; |
477 | i1 /= 1000; |
474 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
478 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
475 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
479 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
476 | //----------------------------- |
480 | //----------------------------- |
477 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
481 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
478 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
482 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
479 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
483 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
480 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
484 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
481 | i1 *= 100; |
485 | i1 *= 100; |
482 | i1 += i2 / 100000; |
486 | i1 += i2 / 100000; |
483 | i2 = i2 % 100000; |
487 | i2 = i2 % 100000; |
484 | i2 /= 10; |
488 | i2 /= 10; |
485 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
489 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
486 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
490 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
487 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
491 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
488 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
492 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
489 | break; |
493 | break; |
490 | case 1: |
494 | case 1: |
491 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
495 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
492 | ToFlightCtrl.Param.Byte[0] = 11; // index |
496 | ToFlightCtrl.Param.Byte[0] = 11; // index |
493 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
497 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
494 | //----------------------------- |
498 | //----------------------------- |
495 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
499 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
496 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
500 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
497 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
501 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
498 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
502 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
499 | i1 *= 100; |
503 | i1 *= 100; |
500 | i1 += i2 / 100000; |
504 | i1 += i2 / 100000; |
501 | i2 = i2 % 100000; |
505 | i2 = i2 % 100000; |
502 | i2 /= 10; |
506 | i2 /= 10; |
503 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
507 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
504 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
508 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
505 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
509 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
506 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
510 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
507 | //----------------------------- |
511 | //----------------------------- |
508 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
512 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
509 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
513 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
510 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
514 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
511 | break; |
515 | break; |
512 | case 2: |
516 | case 2: |
513 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
517 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
514 | ToFlightCtrl.Param.Byte[0] = 5; // index |
518 | ToFlightCtrl.Param.Byte[0] = 5; // index |
515 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
519 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
516 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
520 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
517 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
521 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
518 | hott_index = 0; |
522 | hott_index = 0; |
519 | break; |
523 | break; |
520 | default: |
524 | default: |
521 | ToFlightCtrl.Param.Byte[0] = 255; |
525 | ToFlightCtrl.Param.Byte[0] = 255; |
522 | hott_index = 0; |
526 | hott_index = 0; |
523 | break; |
527 | break; |
524 | } |
528 | } |
525 | break; |
529 | break; |
526 | default: |
530 | default: |
527 | break; |
531 | break; |
528 | // 0 = 0,1 |
532 | // 0 = 0,1 |
529 | // 1 = 2,3 |
533 | // 1 = 2,3 |
530 | // 2 = 4,5 |
534 | // 2 = 4,5 |
531 | // 3 = 6,7 |
535 | // 3 = 6,7 |
532 | // 4 = 8,9 |
536 | // 4 = 8,9 |
533 | // 5 = 10,11 |
537 | // 5 = 10,11 |
534 | } |
538 | } |
535 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
539 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
536 | 540 | ||
537 | switch(FromFlightCtrl.Command) |
541 | switch(FromFlightCtrl.Command) |
538 | { |
542 | { |
539 | case SPI_FCCMD_USER: |
543 | case SPI_FCCMD_USER: |
540 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
544 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
541 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
545 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
542 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
546 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
543 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
547 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
544 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
548 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
545 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
549 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
546 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
550 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
547 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
551 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
548 | if(ClearFCStatusFlags) |
552 | if(ClearFCStatusFlags) |
549 | { |
553 | { |
550 | FC.StatusFlags = 0; |
554 | FC.StatusFlags = 0; |
551 | ClearFCStatusFlags = 0; |
555 | ClearFCStatusFlags = 0; |
552 | } |
556 | } |
553 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
557 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
554 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
558 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
555 | { |
559 | { |
556 | HeadFreeStartAngle = Compass_Heading * 10; |
560 | HeadFreeStartAngle = Compass_Heading * 10; |
557 | Compass_Init(); |
561 | Compass_Init(); |
558 | FCCalibActive = 10; |
562 | FCCalibActive = 10; |
559 | FC_is_Calibrated = 0; |
563 | FC_is_Calibrated = 0; |
560 | } |
564 | } |
561 | else |
565 | else |
562 | { |
566 | { |
563 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
567 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
564 | } |
568 | } |
565 | if(FC.StatusFlags & FC_STATUS_START) |
569 | if(FC.StatusFlags & FC_STATUS_START) |
566 | { |
570 | { |
567 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
571 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
568 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
572 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
569 | } |
573 | } |
570 | 574 | ||
571 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
575 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
572 | { |
576 | { |
573 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
577 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
574 | { |
578 | { |
575 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
579 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
576 | { |
580 | { |
577 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
581 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
578 | } |
582 | } |
579 | else // Ansonsten die aktuelle Richtung übernehmen |
583 | else // Ansonsten die aktuelle Richtung übernehmen |
580 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
584 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
581 | } |
585 | } |
582 | } |
586 | } |
583 | 587 | ||
584 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
588 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
585 | 589 | ||
586 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
590 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
587 | DebugOut.Analog[5] = FC.StatusFlags; |
591 | DebugOut.Analog[5] = FC.StatusFlags; |
588 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
592 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
589 | NaviData.FCStatusFlags = FC.StatusFlags; |
593 | NaviData.FCStatusFlags = FC.StatusFlags; |
590 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
594 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
591 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
595 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
592 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
596 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
593 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
597 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
594 | break; |
598 | break; |
595 | 599 | ||
596 | case SPI_FCCMD_ACCU: |
600 | case SPI_FCCMD_ACCU: |
597 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
601 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
598 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
602 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
599 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
603 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
600 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
604 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
601 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
605 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
602 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
606 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
603 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
607 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
604 | MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10]; |
608 | MotorTemperature[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[10]; |
605 | MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11]; |
609 | MotorCurrent[FromFlightCtrl.Param.Byte[9]] = FromFlightCtrl.Param.Byte[11]; |
606 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
610 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
607 | { |
611 | { |
608 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
612 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
609 | } |
613 | } |
610 | NaviData.UBat = FC.BAT_Voltage; |
614 | NaviData.UBat = FC.BAT_Voltage; |
611 | NaviData.Current = FC.BAT_Current; |
615 | NaviData.Current = FC.BAT_Current; |
612 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
616 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
613 | break; |
617 | break; |
614 | 618 | ||
615 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
619 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
616 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
620 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
617 | 621 | ||
618 | case SPI_FCCMD_PARAMETER1: |
622 | case SPI_FCCMD_PARAMETER1: |
619 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
623 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
620 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
624 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
621 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
625 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
622 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
626 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
623 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
627 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
624 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
628 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
625 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
629 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
626 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
630 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
627 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
631 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
628 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
632 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
629 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
633 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
630 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
634 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
631 | break; |
635 | break; |
632 | 636 | ||
633 | case SPI_FCCMD_STICK: |
637 | case SPI_FCCMD_STICK: |
634 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
638 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
635 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
639 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
636 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
640 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
637 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
641 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
638 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
642 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
639 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
643 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
640 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
644 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
641 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
645 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
642 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
646 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
643 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
647 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
644 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
648 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
645 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
649 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
646 | break; |
650 | break; |
647 | 651 | ||
648 | case SPI_FCCMD_MISC: |
652 | case SPI_FCCMD_MISC: |
649 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
653 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
650 | { // put only new CompassCalState into queue to send via I2C |
654 | { // put only new CompassCalState into queue to send via I2C |
651 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
655 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
652 | Compass_SetCalState(CompassCalState); |
656 | Compass_SetCalState(CompassCalState); |
653 | } |
657 | } |
654 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
658 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
655 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
659 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
656 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
660 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
657 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
661 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
658 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
662 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
659 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
663 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
660 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
664 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
661 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
665 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
662 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
666 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
663 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
667 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
664 | // NaviData.RC_RSSI = FC.RC_RSSI; |
668 | // NaviData.RC_RSSI = FC.RC_RSSI; |
665 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
669 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
666 | break; |
670 | break; |
667 | 671 | ||
668 | case SPI_FCCMD_SERVOS: |
672 | case SPI_FCCMD_SERVOS: |
669 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
673 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
670 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
674 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
671 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
675 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
672 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
676 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
673 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
677 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
674 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
678 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
675 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
679 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
676 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
680 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
677 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
681 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
678 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
682 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
679 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
683 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[10]; |
680 | break; |
684 | break; |
681 | 685 | ||
682 | case SPI_FCCMD_VERSION: |
686 | case SPI_FCCMD_VERSION: |
683 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
687 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
684 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
688 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
685 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
689 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
686 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
690 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
687 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
691 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
688 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
692 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
689 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
693 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
690 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
694 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
691 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
695 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
692 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
696 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
693 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
697 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
694 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
698 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
695 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
699 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
696 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
700 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
697 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
701 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.StatusRed |= AMPEL_FC; |
698 | else DebugOut.StatusRed &= ~AMPEL_FC; |
702 | else DebugOut.StatusRed &= ~AMPEL_FC; |
699 | break; |
703 | break; |
700 | default: |
704 | default: |
701 | break; |
705 | break; |
702 | } |
706 | } |
703 | 707 | ||
704 | /* |
708 | /* |
705 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
709 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | // Einkommentieren, falls der Flug simultert werden soll |
710 | // Einkommentieren, falls der Flug simultert werden soll |
707 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
711 | if(Parameter.User8 < 100) FC.StatusFlags = 0; |
708 | else |
712 | else |
709 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
713 | if(Parameter.User8 < 150) FC.StatusFlags = FC_STATUS_START; |
710 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
714 | else FC.StatusFlags = FC_STATUS_FLY | FC_STATUS_MOTOR_RUN; |
711 | BL_MinOfMaxPWM = 255; |
715 | BL_MinOfMaxPWM = 255; |
712 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
716 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
713 | */ |
717 | */ |
714 | // every time we got new data from the FC via SPI call the navigation routine |
718 | // every time we got new data from the FC via SPI call the navigation routine |
715 | // and update GPSStick that are returned to FC |
719 | // and update GPSStick that are returned to FC |
716 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
720 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
717 | ClearFCStatusFlags = 1; |
721 | ClearFCStatusFlags = 1; |
718 | 722 | ||
719 | if(counter) |
723 | if(counter) |
720 | { |
724 | { |
721 | counter--; // count down to enable servo |
725 | counter--; // count down to enable servo |
722 | if(!counter) TIMER2_Init(); // enable Servo Output |
726 | if(!counter) TIMER2_Init(); // enable Servo Output |
723 | } |
727 | } |
724 | 728 | ||
725 | SPI_RxBuffer_Request = 0; |
729 | SPI_RxBuffer_Request = 0; |
726 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
730 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
727 | 731 | ||
728 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
732 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
729 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
733 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
730 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
734 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
731 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
735 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
732 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
736 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
733 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
737 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
734 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
738 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
735 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
739 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
736 | } // EOF if(SPI_RxBuffer_Request) |
740 | } // EOF if(SPI_RxBuffer_Request) |
737 | else // no new SPI data |
741 | else // no new SPI data |
738 | { |
742 | { |
739 | if(CheckDelay(timeout) && (counter == 0)) |
743 | if(CheckDelay(timeout) && (counter == 0)) |
740 | { |
744 | { |
741 | TIMER2_Deinit(); // disable Servo Output |
745 | TIMER2_Deinit(); // disable Servo Output |
742 | counter = 50; // reset counter for enabling Servo Output |
746 | counter = 50; // reset counter for enabling Servo Output |
743 | } |
747 | } |
744 | } |
748 | } |
745 | } |
749 | } |
746 | 750 | ||
747 | //------------------------------------------------------ |
751 | //------------------------------------------------------ |
748 | void SPI0_GetFlightCtrlVersion(void) |
752 | void SPI0_GetFlightCtrlVersion(void) |
749 | { |
753 | { |
750 | u32 timeout; |
754 | u32 timeout; |
751 | u8 repeat; |
755 | u8 repeat; |
752 | u8 msg[64]; |
756 | u8 msg[64]; |
753 | 757 | ||
754 | UART1_PutString("\r\n Looking for FlightControl"); |
758 | UART1_PutString("\r\n Looking for FlightControl"); |
755 | FC_Version.Major = 0xFF; |
759 | FC_Version.Major = 0xFF; |
756 | FC_Version.Minor = 0xFF; |
760 | FC_Version.Minor = 0xFF; |
757 | FC_Version.Patch = 0xFF; |
761 | FC_Version.Patch = 0xFF; |
758 | FC_Version.Compatible = 0xFF; |
762 | FC_Version.Compatible = 0xFF; |
759 | 763 | ||
760 | // polling FC version info |
764 | // polling FC version info |
761 | repeat = 0; |
765 | repeat = 0; |
762 | do |
766 | do |
763 | { |
767 | { |
764 | timeout = SetDelay(250); |
768 | timeout = SetDelay(250); |
765 | do |
769 | do |
766 | { |
770 | { |
767 | SPI0_UpdateBuffer(); |
771 | SPI0_UpdateBuffer(); |
768 | if (FC_Version.Major != 0xFF) break; |
772 | if (FC_Version.Major != 0xFF) break; |
769 | }while (!CheckDelay(timeout)); |
773 | }while (!CheckDelay(timeout)); |
770 | UART1_PutString("."); |
774 | UART1_PutString("."); |
771 | repeat++; |
775 | repeat++; |
772 | FCCalibActive = 1; |
776 | FCCalibActive = 1; |
773 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
777 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
774 | // if we got it |
778 | // if we got it |
775 | if (FC_Version.Major != 0xFF) |
779 | if (FC_Version.Major != 0xFF) |
776 | { |
780 | { |
777 | 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); |
781 | 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); |
778 | UART1_PutString(msg); |
782 | UART1_PutString(msg); |
779 | } |
783 | } |
780 | else UART1_PutString("\n\r not found!"); |
784 | else UART1_PutString("\n\r not found!"); |
781 | } |
785 | } |
782 | 786 | ||
783 | 787 | ||
784 | 788 |