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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | 56 | ||
57 | #include <string.h> |
57 | #include <string.h> |
58 | #include <math.h> |
58 | #include <math.h> |
59 | #include <stdlib.h> |
59 | #include <stdlib.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 "params.h" |
70 | #include "params.h" |
71 | #include "settings.h" |
71 | #include "settings.h" |
- | 72 | #include "triggerlog.h" |
|
72 | 73 | ||
73 | #define SPI_FCSYNCBYTE1 0xAA |
74 | #define SPI_FCSYNCBYTE1 0xAA |
74 | #define SPI_FCSYNCBYTE2 0x85 |
75 | #define SPI_FCSYNCBYTE2 0x85 |
75 | #define SPI_FCSYNCBYTE_HB1 0xA2 // for the huge Block |
76 | #define SPI_FCSYNCBYTE_HB1 0xA2 // for the huge Block |
76 | #define SPI_FCSYNCBYTE_HB2 0x48 // for the huge Block |
77 | #define SPI_FCSYNCBYTE_HB2 0x48 // for the huge Block |
77 | #define SPI_NCSYNCBYTE1 0x82 |
78 | #define SPI_NCSYNCBYTE1 0x82 |
78 | #define SPI_NCSYNCBYTE2 0x55 |
79 | #define SPI_NCSYNCBYTE2 0x55 |
79 | #define SPI_NCSYNCBYTE_HB2 0xA5 // for the huge Block |
80 | #define SPI_NCSYNCBYTE_HB2 0xA5 // for the huge Block |
80 | 81 | ||
81 | 82 | ||
82 | //communication packets |
83 | //communication packets |
83 | FromFlightCtrl_t FromFlightCtrl; |
84 | FromFlightCtrl_t FromFlightCtrl; |
84 | ToFlightCtrl_t ToFlightCtrl; |
85 | ToFlightCtrl_t ToFlightCtrl; |
85 | paramset_t EE_Parameter; |
86 | paramset_t EE_Parameter; |
86 | #define SPI0_TIMEOUT 2500 //ms |
87 | #define SPI0_TIMEOUT 2500 //ms |
87 | volatile u32 SPI0_Timeout = 0; |
88 | volatile u32 SPI0_Timeout = 0; |
88 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
89 | u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0; |
89 | u8 SpeakHoTT = 0; |
90 | u8 SpeakHoTT = 0; |
90 | u32 LoggingGasFilter = 0, LoggingGasCnt = 0; |
91 | u32 LoggingGasFilter = 0, LoggingGasCnt = 0; |
91 | u8 Out1TriggerUpdateBlocked = 0; |
92 | u8 Out1TriggerUpdateBlocked = 0; |
92 | u8 Out1TriggerUpdateNewData = 0; |
93 | u8 Out1TriggerUpdateNewData = 0; |
93 | 94 | ||
94 | // tx packet buffer |
95 | // tx packet buffer |
95 | volatile u8 SPI_TxBuffer[sizeof(HugeBlockFromFC) + 10]; |
96 | volatile u8 SPI_TxBuffer[sizeof(HugeBlockFromFC) + 10]; |
96 | volatile u8 SPI_TxBufferIndex = 0; |
97 | volatile u8 SPI_TxBufferIndex = 0; |
97 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
98 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
98 | u16 SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; |
99 | u16 SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; |
99 | // rx packet buffer |
100 | // rx packet buffer |
100 | volatile u8 SPI_RxBuffer[sizeof(HugeBlockFromFC)+10]; |
101 | volatile u8 SPI_RxBuffer[sizeof(HugeBlockFromFC)+10]; |
101 | volatile u8 SPI_RxBufferIndex = 0; |
102 | volatile u8 SPI_RxBufferIndex = 0; |
102 | volatile u8 SPI_RxBuffer_Request = 0; |
103 | volatile u8 SPI_RxBuffer_Request = 0; |
103 | #define SPI_COMMAND_INDEX 0 |
104 | #define SPI_COMMAND_INDEX 0 |
104 | 105 | ||
105 | s32 Kalman_K = 32; |
106 | s32 Kalman_K = 32; |
106 | s32 Kalman_MaxDrift = 5 * 16; |
107 | s32 Kalman_MaxDrift = 5 * 16; |
107 | s32 Kalman_MaxFusion = 64; |
108 | s32 Kalman_MaxFusion = 64; |
108 | s32 Kalman_Kompass = 32; |
109 | s32 Kalman_Kompass = 32; |
109 | s32 ToFcGpsZ = 0; |
110 | s32 ToFcGpsZ = 0; |
110 | u8 CompassCalState = 0; |
111 | u8 CompassCalState = 0; |
111 | u8 RequestConfigFromFC = 1; |
112 | u8 RequestConfigFromFC = 1; |
112 | 113 | ||
113 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO, SPI_SERIAL_CH, // Achtung: SPI_SERIAL_CH darf nicht am Ende des Arrays stehen (wird gescipped) |
114 | u8 SPI_CommandSequence[] = { SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO, SPI_SERIAL_CH, // Achtung: SPI_SERIAL_CH darf nicht am Ende des Arrays stehen (wird gescipped) |
114 | SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, |
115 | SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, |
115 | SPI_NCCMD_KALMAN, SPI_MISC, |
116 | SPI_NCCMD_KALMAN, SPI_MISC, |
116 | SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
117 | SPI_NCCMD_KALMAN, SPI_NCCMD_VERSION }; |
117 | u8 SPI_CommandCounter = 0; |
118 | u8 SPI_CommandCounter = 0; |
118 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
119 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
119 | s32 HeadFreeStartAngle = 0; // in 0,1° |
120 | s32 HeadFreeStartAngle = 0; // in 0,1° |
120 | s32 CompassDirectionAtMotorStart = 0; // in 0,1° |
121 | s32 CompassDirectionAtMotorStart = 0; // in 0,1° |
121 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0, FC_WP_EventChannel_Processed = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
122 | s16 FC_WP_EventChannel = 0, LogFC_WP_EventChannel = 0, FC_WP_EventChannel_Processed = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
122 | u32 ToFC_AltitudeRate = 0; |
123 | u32 ToFC_AltitudeRate = 0; |
123 | s32 ToFC_AltitudeSetpoint = 0; |
124 | s32 ToFC_AltitudeSetpoint = 0; |
124 | u8 FromFC_VarioCharacter = ' '; |
125 | u8 FromFC_VarioCharacter = ' '; |
125 | s16 GPS_Aid_StickMultiplikator = 0; |
126 | s16 GPS_Aid_StickMultiplikator = 0; |
126 | u8 NC_GPS_ModeCharacter = ' '; |
127 | u8 NC_GPS_ModeCharacter = ' '; |
127 | u8 FCCalibActive = 0; |
128 | u8 FCCalibActive = 0; |
128 | u8 FC_is_Calibrated = 0; |
129 | u8 FC_is_Calibrated = 0; |
129 | Motor_t Motor[MAX_MOTORS]; |
130 | Motor_t Motor[MAX_MOTORS]; |
130 | u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
131 | u8 Motor_Version[MAX_MOTORS]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
131 | u8 NC_To_FC_Flags = 0; |
132 | u8 NC_To_FC_Flags = 0; |
132 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
133 | u8 BL_MinOfMaxPWM = 255; // indication if all BL-controllers run on full power |
133 | u8 Logging_BL_MinOfMaxPWM = 255; |
134 | u8 Logging_BL_MinOfMaxPWM = 255; |
134 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
135 | u8 ErrorCheck_BL_MinOfMaxPWM = 255; |
135 | u32 FC_I2C_ErrorConter; |
136 | u32 FC_I2C_ErrorConter; |
136 | SPI_Version_t FC_Version; |
137 | SPI_Version_t FC_Version; |
137 | s16 POI_KameraNick = 0; |
138 | s16 POI_KameraNick = 0; |
138 | u8 NC_Wait_for_LED = 0; |
139 | u8 NC_Wait_for_LED = 0; |
139 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
140 | s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
140 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
141 | s16 CompassSetpointCorrected = 0; // The compass setpoint that the FC tries to keep - corrected with the magnetic declination |
141 | s16 CompassSetpoint = 0; // in 0,1° |
142 | s16 CompassSetpoint = 0; // in 0,1° |
142 | s16 SimulatedDirection = 0; // only for flight simulation |
143 | s16 SimulatedDirection = 0; // only for flight simulation |
143 | u8 AmountOfMotors = 0; |
144 | u8 AmountOfMotors = 0; |
144 | u16 FlugMinutenGesamt; |
145 | u16 FlugMinutenGesamt; |
145 | u8 HoverGas = 0; |
146 | u8 HoverGas = 0; |
146 | u8 LowVoltageLandingActive = 0; |
147 | u8 LowVoltageLandingActive = 0; |
147 | s8 PPM_In[MAX_RC_IN] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
148 | s8 PPM_In[MAX_RC_IN] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
148 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
149 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
149 | str_HugeBlockFromFC HugeBlockFromFC; |
150 | str_HugeBlockFromFC HugeBlockFromFC; |
150 | str_HugeBlockToFC HugeBlockToFC; |
151 | str_HugeBlockToFC HugeBlockToFC; |
151 | //-------------------------------------------------------------- |
152 | //-------------------------------------------------------------- |
152 | void SSP0_IRQHandler(void) |
153 | void SSP0_IRQHandler(void) |
153 | { |
154 | { |
154 | static u8 rxchksum = 0; |
155 | static u8 rxchksum = 0; |
155 | u8 rxdata; |
156 | u8 rxdata; |
156 | 157 | ||
157 | #define SPI_SYNC1 0 |
158 | #define SPI_SYNC1 0 |
158 | #define SPI_SYNC2 1 |
159 | #define SPI_SYNC2 1 |
159 | #define SPI_DATA 2 |
160 | #define SPI_DATA 2 |
160 | #define SPI_SYNC_HB 3 |
161 | #define SPI_SYNC_HB 3 |
161 | #define SPI_DATA_HB 4 |
162 | #define SPI_DATA_HB 4 |
162 | static u8 SPI_State = SPI_SYNC1; |
163 | static u8 SPI_State = SPI_SYNC1; |
163 | //IENABLE; |
164 | //IENABLE; |
164 | 165 | ||
165 | // clear pending bits |
166 | // clear pending bits |
166 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
167 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
167 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
168 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
168 | 169 | ||
169 | // while RxFIFO not empty |
170 | // while RxFIFO not empty |
170 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
171 | while(SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
171 | { |
172 | { |
172 | rxdata = SSP0->DR; // catch the received byte |
173 | rxdata = SSP0->DR; // catch the received byte |
173 | switch (SPI_State) |
174 | switch (SPI_State) |
174 | { |
175 | { |
175 | case SPI_SYNC1: |
176 | case SPI_SYNC1: |
176 | SPI_RxBufferIndex = 0; // reset buffer index |
177 | SPI_RxBufferIndex = 0; // reset buffer index |
177 | SPI_TxBufferIndex = 0; // reset buffer index |
178 | SPI_TxBufferIndex = 0; // reset buffer index |
178 | rxchksum = rxdata; // init checksum |
179 | rxchksum = rxdata; // init checksum |
179 | if (rxdata == SPI_FCSYNCBYTE1) |
180 | if (rxdata == SPI_FCSYNCBYTE1) |
180 | { // 1st syncbyte ok |
181 | { // 1st syncbyte ok |
181 | SPI_State = SPI_SYNC2; // step to sync2 |
182 | SPI_State = SPI_SYNC2; // step to sync2 |
182 | ToFlightCtrl.Chksum = 0; |
183 | ToFlightCtrl.Chksum = 0; |
183 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
184 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
184 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
185 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
185 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
186 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
186 | SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; // +2 weil die Syncbytes nicht in dem Block stehen |
187 | SPI_Tx_Datasize = sizeof(ToFlightCtrl) + 2; // +2 weil die Syncbytes nicht in dem Block stehen |
187 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
188 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
188 | } |
189 | } |
189 | else |
190 | else |
190 | if (rxdata == SPI_FCSYNCBYTE_HB1) |
191 | if (rxdata == SPI_FCSYNCBYTE_HB1) |
191 | { // 1st syncbyte ok |
192 | { // 1st syncbyte ok |
192 | SPI_State = SPI_SYNC_HB; // step to syncHB |
193 | SPI_State = SPI_SYNC_HB; // step to syncHB |
193 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync1 |
194 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync1 |
194 | HugeBlockToFC.Sync1 = SPI_NCSYNCBYTE1; |
195 | HugeBlockToFC.Sync1 = SPI_NCSYNCBYTE1; |
195 | HugeBlockToFC.Sync2 = SPI_NCSYNCBYTE_HB2; |
196 | HugeBlockToFC.Sync2 = SPI_NCSYNCBYTE_HB2; |
196 | HugeBlockToFC.Chksum = 0; |
197 | HugeBlockToFC.Chksum = 0; |
197 | memcpy((u8 *) &(SPI_TxBuffer[0]), (u8 *) &HugeBlockToFC, sizeof(HugeBlockToFC)); |
198 | memcpy((u8 *) &(SPI_TxBuffer[0]), (u8 *) &HugeBlockToFC, sizeof(HugeBlockToFC)); |
198 | SPI_Tx_Datasize = sizeof(HugeBlockToFC); |
199 | SPI_Tx_Datasize = sizeof(HugeBlockToFC); |
199 | Ptr_TxChksum = (u8 *) &(((str_HugeBlockToFC *) &(SPI_TxBuffer[0]))->Chksum); |
200 | Ptr_TxChksum = (u8 *) &(((str_HugeBlockToFC *) &(SPI_TxBuffer[0]))->Chksum); |
200 | *Ptr_TxChksum = 0; |
201 | *Ptr_TxChksum = 0; |
201 | } |
202 | } |
202 | break; |
203 | break; |
203 | case SPI_SYNC2: |
204 | case SPI_SYNC2: |
204 | if (rxdata == SPI_FCSYNCBYTE2) |
205 | if (rxdata == SPI_FCSYNCBYTE2) |
205 | { // 2nd Syncbyte ok |
206 | { // 2nd Syncbyte ok |
206 | rxchksum += rxdata; |
207 | rxchksum += rxdata; |
207 | SPI_State = SPI_DATA; |
208 | SPI_State = SPI_DATA; |
208 | } // 2nd Syncbyte does not match |
209 | } // 2nd Syncbyte does not match |
209 | else |
210 | else |
210 | { |
211 | { |
211 | SPI_State = SPI_SYNC1; //jump back to sync1 |
212 | SPI_State = SPI_SYNC1; //jump back to sync1 |
212 | } |
213 | } |
213 | break; |
214 | break; |
214 | case SPI_SYNC_HB: |
215 | case SPI_SYNC_HB: |
215 | if (rxdata == SPI_FCSYNCBYTE_HB2) |
216 | if (rxdata == SPI_FCSYNCBYTE_HB2) |
216 | { // 2nd Syncbyte ok |
217 | { // 2nd Syncbyte ok |
217 | rxchksum += rxdata; |
218 | rxchksum += rxdata; |
218 | SPI_State = SPI_DATA_HB; |
219 | SPI_State = SPI_DATA_HB; |
219 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync2 |
220 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // sync2 |
220 | } // 2nd Syncbyte does not match |
221 | } // 2nd Syncbyte does not match |
221 | else |
222 | else |
222 | { |
223 | { |
223 | SPI_State = SPI_SYNC1; //jump back to sync1 |
224 | SPI_State = SPI_SYNC1; //jump back to sync1 |
224 | } |
225 | } |
225 | break; |
226 | break; |
226 | case SPI_DATA: |
227 | case SPI_DATA: |
227 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
228 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
228 | if(SPI_RxBufferIndex >= sizeof(ToFlightCtrl)) // end of packet is reached |
229 | if(SPI_RxBufferIndex >= sizeof(ToFlightCtrl)) // end of packet is reached |
229 | { |
230 | { |
230 | if (rxdata == rxchksum) // verify checksum byte |
231 | if (rxdata == rxchksum) // verify checksum byte |
231 | { |
232 | { |
232 | // copy SPI_RxBuffer -> FromFlightCtrl |
233 | // copy SPI_RxBuffer -> FromFlightCtrl |
233 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
234 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
234 | { |
235 | { |
235 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
236 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
236 | SPI_RxBuffer_Request = 1; |
237 | SPI_RxBuffer_Request = 1; |
237 | } |
238 | } |
238 | // reset timeout counter on good packet |
239 | // reset timeout counter on good packet |
239 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
240 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
240 | // DebugOut.Analog[13]++; |
241 | // DebugOut.Analog[13]++; |
241 | } |
242 | } |
242 | else // bad checksum byte |
243 | else // bad checksum byte |
243 | { |
244 | { |
244 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
245 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
245 | } |
246 | } |
246 | SPI_State = SPI_SYNC1; // reset state |
247 | SPI_State = SPI_SYNC1; // reset state |
247 | } |
248 | } |
248 | else // end of packet not reached |
249 | else // end of packet not reached |
249 | { |
250 | { |
250 | rxchksum += rxdata; // update checksum |
251 | rxchksum += rxdata; // update checksum |
251 | } |
252 | } |
252 | break; |
253 | break; |
253 | case SPI_DATA_HB: |
254 | case SPI_DATA_HB: |
254 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
255 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
255 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromFC)) // end of packet is reached |
256 | if(SPI_RxBufferIndex >= sizeof(HugeBlockFromFC)) // end of packet is reached |
256 | { |
257 | { |
257 | if (rxdata == rxchksum) // verify checksum byte |
258 | if (rxdata == rxchksum) // verify checksum byte |
258 | { |
259 | { |
259 | // copy SPI_RxBuffer -> FromFlightCtrl |
260 | // copy SPI_RxBuffer -> FromFlightCtrl |
260 | memcpy((u8 *) &HugeBlockFromFC, (u8 *) SPI_RxBuffer, sizeof(HugeBlockFromFC)); |
261 | memcpy((u8 *) &HugeBlockFromFC, (u8 *) SPI_RxBuffer, sizeof(HugeBlockFromFC)); |
261 | // reset timeout counter on good packet |
262 | // reset timeout counter on good packet |
262 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
263 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
263 | } |
264 | } |
264 | else // bad checksum byte |
265 | else // bad checksum byte |
265 | { |
266 | { |
266 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
267 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
267 | } |
268 | } |
268 | SPI_State = SPI_SYNC1; // reset state |
269 | SPI_State = SPI_SYNC1; // reset state |
269 | } |
270 | } |
270 | else // end of packet not reached |
271 | else // end of packet not reached |
271 | { |
272 | { |
272 | rxchksum += rxdata; // update checksum |
273 | rxchksum += rxdata; // update checksum |
273 | } |
274 | } |
274 | break; |
275 | break; |
275 | default: |
276 | default: |
276 | SPI_State = SPI_SYNC1; |
277 | SPI_State = SPI_SYNC1; |
277 | break; |
278 | break; |
278 | } |
279 | } |
279 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
280 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
280 | // + Ouput Data |
281 | // + Ouput Data |
281 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
282 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
282 | // Fill TxFIFO while its not full or end of packet is reached |
283 | // Fill TxFIFO while its not full or end of packet is reached |
283 | while((SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) && (SPI_TxBufferIndex < SPI_Tx_Datasize)) |
284 | while((SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) && (SPI_TxBufferIndex < SPI_Tx_Datasize)) |
284 | { |
285 | { |
285 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
286 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
286 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
287 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
287 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
288 | if(SPIWatchDog == 0) *Ptr_TxChksum += 1; // disturbe this packet to stop the communication! |
288 | SPI_TxBufferIndex++; // pointer to next byte |
289 | SPI_TxBufferIndex++; // pointer to next byte |
289 | } |
290 | } |
290 | } |
291 | } |
291 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
292 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
292 | } |
293 | } |
293 | 294 | ||
294 | //-------------------------------------------------------------- |
295 | //-------------------------------------------------------------- |
295 | void SPI0_Init(void) |
296 | void SPI0_Init(void) |
296 | { |
297 | { |
297 | GPIO_InitTypeDef GPIO_InitStructure; |
298 | GPIO_InitTypeDef GPIO_InitStructure; |
298 | SSP_InitTypeDef SSP_InitStructure; |
299 | SSP_InitTypeDef SSP_InitStructure; |
299 | 300 | ||
300 | UART1_PutString("\r\n SPI init..."); |
301 | UART1_PutString("\r\n SPI init..."); |
301 | 302 | ||
302 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
303 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
303 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
304 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
304 | 305 | ||
305 | GPIO_DeInit(GPIO2); |
306 | GPIO_DeInit(GPIO2); |
306 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
307 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
307 | GPIO_StructInit(&GPIO_InitStructure); |
308 | GPIO_StructInit(&GPIO_InitStructure); |
308 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
309 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
309 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
310 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
310 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
311 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
311 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
312 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
312 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
313 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
313 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
314 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
314 | 315 | ||
315 | // SSP0_MISO pin GPIO2.6 |
316 | // SSP0_MISO pin GPIO2.6 |
316 | GPIO_StructInit(&GPIO_InitStructure); |
317 | GPIO_StructInit(&GPIO_InitStructure); |
317 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
318 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
318 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
319 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
319 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
320 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
320 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
321 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
321 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
322 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
322 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
323 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
323 | GPIO_WriteBit(GPIO2, GPIO_Pin_6, Bit_RESET); // switch MISO to low |
324 | GPIO_WriteBit(GPIO2, GPIO_Pin_6, Bit_RESET); // switch MISO to low |
324 | 325 | ||
325 | SSP_DeInit(SSP0); |
326 | SSP_DeInit(SSP0); |
326 | SSP_StructInit(&SSP_InitStructure); |
327 | SSP_StructInit(&SSP_InitStructure); |
327 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
328 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
328 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
329 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
329 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
330 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
330 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
331 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
331 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
332 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
332 | SSP_InitStructure.SSP_ClockRate = 0; |
333 | SSP_InitStructure.SSP_ClockRate = 0; |
333 | 334 | ||
334 | SSP_Init(SSP0, &SSP_InitStructure); |
335 | SSP_Init(SSP0, &SSP_InitStructure); |
335 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
336 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
336 | SSP_Cmd(SSP0, ENABLE); |
337 | SSP_Cmd(SSP0, ENABLE); |
337 | // initialize the syncbytes in the tx buffer |
338 | // initialize the syncbytes in the tx buffer |
338 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
339 | SPI_TxBuffer[0] = SPI_NCSYNCBYTE1; |
339 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
340 | SPI_TxBuffer[1] = SPI_NCSYNCBYTE2; |
340 | // set the pointer to the checksum byte in the tx buffer |
341 | // set the pointer to the checksum byte in the tx buffer |
341 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
342 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
342 | 343 | ||
343 | ToFlightCtrl.GPSStick.Nick = 0; |
344 | ToFlightCtrl.GPSStick.Nick = 0; |
344 | ToFlightCtrl.GPSStick.Roll = 0; |
345 | ToFlightCtrl.GPSStick.Roll = 0; |
345 | // ToFlightCtrl.GPSStick.Yaw = 0; |
346 | // ToFlightCtrl.GPSStick.Yaw = 0; |
346 | 347 | ||
347 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
348 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
348 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
349 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
349 | 350 | ||
350 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
351 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
351 | EE_Parameter.Revision = 0; |
352 | EE_Parameter.Revision = 0; |
352 | sprintf(EE_Parameter.Name,"???\0"); |
353 | sprintf(EE_Parameter.Name,"???\0"); |
353 | UART1_PutString("ok"); |
354 | UART1_PutString("ok"); |
354 | } |
355 | } |
355 | 356 | ||
356 | 357 | ||
357 | //------------------------------------------------------ |
358 | //------------------------------------------------------ |
358 | void SPI0_UpdateBuffer(void) |
359 | void SPI0_UpdateBuffer(void) |
359 | { |
360 | { |
360 | static u32 timeout = 0; |
361 | static u32 timeout = 0; |
361 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
362 | static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0; |
362 | static s16 last_wp_event = 0; |
363 | static s16 last_wp_event = 0; |
363 | u8 index; |
364 | u8 index; |
364 | s16 tmp; |
365 | s16 tmp; |
365 | s32 i1,i2; |
366 | s32 i1,i2; |
366 | /* |
367 | /* |
367 | union |
368 | union |
368 | { |
369 | { |
369 | unsigned char Byte[4]; |
370 | unsigned char Byte[4]; |
370 | unsigned int Int[2]; |
371 | unsigned int Int[2]; |
371 | unsigned long Long; |
372 | unsigned long Long; |
372 | } Temp; |
373 | } Temp; |
373 | */ |
374 | */ |
374 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
375 | SPIWatchDog = 3500; // stop communication to FC after this timeout |
375 | if(SPI_RxBuffer_Request) |
376 | if(SPI_RxBuffer_Request) |
376 | { |
377 | { |
377 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
378 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
378 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
379 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
379 | ToFlightCtrl.CompassHeading = Compass_Heading; |
380 | ToFlightCtrl.CompassHeading = Compass_Heading; |
380 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
381 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
381 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
382 | GyroCompassCorrected = (3600 + FromFlightCtrl.GyroHeading + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
382 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
383 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
383 | // ToFlightCtrl.MagVecX = MagVector.X; |
384 | // ToFlightCtrl.MagVecX = MagVector.X; |
384 | // ToFlightCtrl.MagVecY = MagVector.Y; |
385 | // ToFlightCtrl.MagVecY = MagVector.Y; |
385 | // ToFlightCtrl.MagVecZ = MagVector.Z; |
386 | // ToFlightCtrl.MagVecZ = MagVector.Z; |
386 | // ToFlightCtrl.NCStatus = 0; |
387 | // ToFlightCtrl.NCStatus = 0; |
387 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
388 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
388 | 389 | ||
389 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
390 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
390 | // cycle spi commands |
391 | // cycle spi commands |
391 | if(ErrorCode != last_error_code && enable_injecting) |
392 | if(ErrorCode != last_error_code && enable_injecting) |
392 | { |
393 | { |
393 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
394 | ToFlightCtrl.Command = SPI_NCCMD_VERSION; |
394 | last_error_code = ErrorCode; |
395 | last_error_code = ErrorCode; |
395 | enable_injecting = 0; |
396 | enable_injecting = 0; |
396 | } |
397 | } |
397 | else |
398 | else |
398 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
399 | if(FC_WP_EventChannel != last_wp_event && enable_injecting) |
399 | { |
400 | { |
400 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
401 | ToFlightCtrl.Command = SPI_NCCMD_GPSINFO; |
401 | last_wp_event = FC_WP_EventChannel; |
402 | last_wp_event = FC_WP_EventChannel; |
402 | enable_injecting = 0; |
403 | enable_injecting = 0; |
403 | } |
404 | } |
404 | else |
405 | else |
405 | { |
406 | { |
406 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
407 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
407 | if((ToFlightCtrl.Command == SPI_SERIAL_CH) && !NewSerialChannelFrame) ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
408 | if((ToFlightCtrl.Command == SPI_SERIAL_CH) && !NewSerialChannelFrame) ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
408 | // restart command cycle at the end |
409 | // restart command cycle at the end |
409 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
410 | if(SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
410 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
411 | if(ToFlightCtrl.Command == SPI_NCCMD_KALMAN) enable_injecting = 1; |
411 | } |
412 | } |
412 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
413 | // ++++++++++++++++++++++++++++++++++++++++++++++++ |
413 | 414 | ||
414 | #define FLAG_GPS_AID 0x01 |
415 | #define FLAG_GPS_AID 0x01 |
415 | switch (ToFlightCtrl.Command) |
416 | switch (ToFlightCtrl.Command) |
416 | { |
417 | { |
417 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
418 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
418 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
419 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
419 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
420 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
420 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
421 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
421 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
422 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
422 | ToFlightCtrl.Param.Byte[4] = 0; // siehe bitcodiert unten |
423 | ToFlightCtrl.Param.Byte[4] = 0; // siehe bitcodiert unten |
423 | if(DebugUART == UART2) ToFlightCtrl.Param.Byte[4] = 0x02; // informs the FC to listen to the UART |
424 | if(DebugUART == UART2) ToFlightCtrl.Param.Byte[4] = 0x02; // informs the FC to listen to the UART |
424 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
425 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
425 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
426 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
426 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
427 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
427 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
428 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
428 | { |
429 | { |
429 | // if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.OrientationAngle * 15)) % 360; // the FC uses the uncorrected comnpass value |
430 | // if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.OrientationAngle * 15)) % 360; // the FC uses the uncorrected comnpass value |
430 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.CamOrientation * 15)) % 360; // the FC uses the uncorrected comnpass value |
431 | if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.CamOrientation * 15)) % 360; // the FC uses the uncorrected comnpass value |
431 | else CAM_Orientation.Azimuth = -1; |
432 | else CAM_Orientation.Azimuth = -1; |
432 | if(CAM_Orientation.UpdateMask & FORCE_AZIMUTH_ROTATION) ToFlightCtrl.Param.Byte[4] |= 0x01; // allows Yawing without CareFree (Yawing at Coming Home) |
433 | if(CAM_Orientation.UpdateMask & FORCE_AZIMUTH_ROTATION) ToFlightCtrl.Param.Byte[4] |= 0x01; // allows Yawing without CareFree (Yawing at Coming Home) |
433 | CAM_Orientation.UpdateMask &= ~(CAM_UPDATE_AZIMUTH | FORCE_AZIMUTH_ROTATION); |
434 | CAM_Orientation.UpdateMask &= ~(CAM_UPDATE_AZIMUTH | FORCE_AZIMUTH_ROTATION); |
434 | } |
435 | } |
435 | else |
436 | else |
436 | { |
437 | { |
437 | ToFlightCtrl.Param.sInt[4] = -1; |
438 | ToFlightCtrl.Param.sInt[4] = -1; |
438 | } |
439 | } |
439 | 440 | ||
440 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
441 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
441 | { |
442 | { |
442 | POI_KameraNick = tmp; |
443 | POI_KameraNick = tmp; |
443 | } |
444 | } |
444 | else |
445 | else |
445 | { |
446 | { |
446 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
447 | //if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active |
447 | POI_KameraNick = CAM_Orientation.Elevation; |
448 | POI_KameraNick = CAM_Orientation.Elevation; |
448 | //else ToFlightCtrl.Param.sInt[5] = 0; |
449 | //else ToFlightCtrl.Param.sInt[5] = 0; |
449 | } |
450 | } |
450 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
451 | ToFlightCtrl.Param.sInt[5] = POI_KameraNick; |
451 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
452 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
452 | if(BeepTime > 255 * 16) BeepTime = 255 * 16; |
453 | if(BeepTime > 255 * 16) BeepTime = 255 * 16; |
453 | ToFlightCtrl.Param.Byte[12] = BeepTime/16; // set beeptime |
454 | ToFlightCtrl.Param.Byte[12] = BeepTime/16; // set beeptime |
454 | BeepTime = 0; // reset local beeptime |
455 | BeepTime = 0; // reset local beeptime |
455 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
456 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
456 | if(NewExternalControlFrame) |
457 | if(NewExternalControlFrame) |
457 | { |
458 | { |
458 | NewExternalControlFrame = 0; |
459 | NewExternalControlFrame = 0; |
459 | ToFlightCtrl.Param.Byte[4] |= 0x10; // Bit: there is External Control in the Data |
460 | ToFlightCtrl.Param.Byte[4] |= 0x10; // Bit: there is External Control in the Data |
460 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[13]), (u8 *) &ExternControl, 7); // 6 Bytes External Control |
461 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[13]), (u8 *) &ExternControl, 7); // 6 Bytes External Control |
461 | } |
462 | } |
462 | break; |
463 | break; |
463 | 464 | ||
464 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
465 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
465 | case SPI_SERIAL_CH: |
466 | case SPI_SERIAL_CH: |
466 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[0]), (u8 *) &SerialChannel, 12); // 12 Bytes Serial Channels |
467 | memcpy((u8 *) &(ToFlightCtrl.Param.Byte[0]), (u8 *) &SerialChannel, 12); // 12 Bytes Serial Channels |
467 | NewSerialChannelFrame = 0; |
468 | NewSerialChannelFrame = 0; |
468 | break; |
469 | break; |
469 | case SPI_NCCMD_VERSION: |
470 | case SPI_NCCMD_VERSION: |
470 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
471 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
471 | //+ higher than the maximum allowed altitude |
472 | //+ higher than the maximum allowed altitude |
472 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
473 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
473 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
474 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
474 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
475 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
475 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
476 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
476 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
477 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
477 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
478 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
478 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
479 | ToFlightCtrl.Param.Byte[5] = DebugOut.StatusGreen; |
479 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
480 | ToFlightCtrl.Param.Byte[6] = DebugOut.StatusRed; |
480 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
481 | ToFlightCtrl.Param.Byte[7] = ErrorCode; // muss in SPI_NCCMD_VERSION bleiben! (siehe oben) |
481 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
482 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
482 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
483 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
483 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
484 | ToFlightCtrl.Param.Byte[10] = NC_To_FC_Flags; |
484 | ToFlightCtrl.Param.Byte[11] = SpeakHoTT; |
485 | ToFlightCtrl.Param.Byte[11] = SpeakHoTT; |
485 | ToFlightCtrl.Param.Byte[12] = RequestConfigFromFC & 0x01; |
486 | ToFlightCtrl.Param.Byte[12] = RequestConfigFromFC & 0x01; |
486 | SpeakHoTT = 0; |
487 | SpeakHoTT = 0; |
487 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
488 | // if(AbsoluteFlyingAltitude > 255) ToFlightCtrl.Param.Byte[11] = 0; // then the limitation of the FC doesn't work |
488 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
489 | // else ToFlightCtrl.Param.Byte[11] = AbsoluteFlyingAltitude; |
489 | break; |
490 | break; |
490 | case SPI_MISC: |
491 | case SPI_MISC: |
491 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
492 | ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5; |
492 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
493 | ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination; |
493 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
494 | ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic; |
494 | ToFlightCtrl.Param.Byte[3] = 0; |
495 | ToFlightCtrl.Param.Byte[3] = 0; |
495 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
496 | ToFlightCtrl.Param.Byte[4] = NaviData.WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
496 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
497 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
497 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
498 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
498 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
499 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
499 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
500 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
500 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
501 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
501 | break; |
502 | break; |
502 | 503 | ||
503 | case SPI_NCCMD_GPSINFO: |
504 | case SPI_NCCMD_GPSINFO: |
504 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
505 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
505 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
506 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
506 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
507 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
507 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
508 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
508 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
509 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
509 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
510 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
510 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
511 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; // Muss in SPI_NCCMD_GPSINFO bleiben! (siehe oben) |
511 | if(FC_WP_EventChannel) |
512 | if(FC_WP_EventChannel) |
512 | { |
513 | { |
513 | LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
514 | LogFC_WP_EventChannel = FC_WP_EventChannel; // to make sure that it will be logged |
514 | NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
515 | NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; // to make sure that it will be logged |
515 | Out1TriggerUpdateBlocked = 3; // makes sure that the right trigger-pos is sent in command 18 |
516 | Out1TriggerUpdateBlocked = 3; // makes sure that the right trigger-pos is sent in command 18 |
516 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
517 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
517 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
518 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
518 | } |
519 | } |
519 | FC_WP_EventChannel_Processed = 1; |
520 | FC_WP_EventChannel_Processed = 1; |
520 | //DebugOut.Analog[] = FC_WP_EventChannel; |
521 | //DebugOut.Analog[] = FC_WP_EventChannel; |
521 | // ++++++++++++++++++++++++++++++++++ |
522 | // ++++++++++++++++++++++++++++++++++ |
522 | // Waypoint event +++++++++++++++++++ |
523 | // Waypoint event +++++++++++++++++++ |
523 | // ++++++++++++++++++++++++++++++++++ |
524 | // ++++++++++++++++++++++++++++++++++ |
524 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
525 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_ONCE, &tmp)) |
525 | { |
526 | { |
526 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
527 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
527 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
528 | NCParams_ClearValue(NCPARAMS_WP_EVENT_ONCE); |
528 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
529 | NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
529 | } |
530 | } |
530 | else |
531 | else |
531 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
532 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_WP_EVENT_FOREVER, &tmp)) |
532 | { |
533 | { |
533 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
534 | ToFlightCtrl.Param.Byte[8] = (s8)(tmp - 127); |
534 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
535 | if(tmp == 0) NCParams_ClearValue(NCPARAMS_WP_EVENT_FOREVER); |
535 | } |
536 | } |
536 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
537 | else ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
537 | // FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
538 | // FC_WP_EventChannel = 0; // the GPS-Routine will set it again |
538 | // ++++++++++++++++++++++++++++++++++ |
539 | // ++++++++++++++++++++++++++++++++++ |
539 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
540 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
540 | { |
541 | { |
541 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
542 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
542 | } |
543 | } |
543 | else |
544 | else |
544 | { |
545 | { |
545 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
546 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
546 | } |
547 | } |
547 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
548 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
548 | { |
549 | { |
549 | ToFlightCtrl.Param.sInt[5] = tmp; |
550 | ToFlightCtrl.Param.sInt[5] = tmp; |
550 | } |
551 | } |
551 | else |
552 | else |
552 | { |
553 | { |
553 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
554 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
554 | } |
555 | } |
555 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
556 | //DebugOut.Analog[] = ToFlightCtrl.Param.Byte[8]; |
556 | break; |
557 | break; |
557 | case SPI_NCCMD_HOTT_INFO: |
558 | case SPI_NCCMD_HOTT_INFO: |
558 | if(NewWPL_Name) hott_index = 100; |
559 | if(NewWPL_Name) hott_index = 100; |
559 | switch(hott_index++) |
560 | switch(hott_index++) |
560 | { |
561 | { |
561 | case 0: |
562 | case 0: |
562 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
563 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
563 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
564 | //53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
564 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
565 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
565 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
566 | ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
566 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
567 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
567 | //----------------------------- |
568 | //----------------------------- |
568 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
569 | ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2; |
569 | i1 = GPSData.Speed_Ground; // in cm/sec |
570 | i1 = GPSData.Speed_Ground; // in cm/sec |
570 | i1 *= 36; |
571 | i1 *= 36; |
571 | i1 /= 1000; |
572 | i1 /= 1000; |
572 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
573 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
573 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
574 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
574 | //----------------------------- |
575 | //----------------------------- |
575 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
576 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
576 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
577 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
577 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
578 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
578 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
579 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
579 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
580 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
580 | i1 *= 100; |
581 | i1 *= 100; |
581 | // Minuten |
582 | // Minuten |
582 | i2 *= 6; |
583 | i2 *= 6; |
583 | i2 /= 10; |
584 | i2 /= 10; |
584 | i1 += i2 / 100000; |
585 | i1 += i2 / 100000; |
585 | i2 = i2 % 100000; |
586 | i2 = i2 % 100000; |
586 | i2 /= 10; |
587 | i2 /= 10; |
587 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
588 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
588 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
589 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
589 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
590 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
590 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
591 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
591 | break; |
592 | break; |
592 | case 1: |
593 | case 1: |
593 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
594 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
594 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
595 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
595 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
596 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
596 | //----------------------------- |
597 | //----------------------------- |
597 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
598 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
598 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
599 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
599 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
600 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
600 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
601 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
601 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
602 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
602 | i1 *= 100; |
603 | i1 *= 100; |
603 | // Minuten |
604 | // Minuten |
604 | i2 *= 6; |
605 | i2 *= 6; |
605 | i2 /= 10; |
606 | i2 /= 10; |
606 | i1 += i2 / 100000; |
607 | i1 += i2 / 100000; |
607 | i2 = i2 % 100000; |
608 | i2 = i2 % 100000; |
608 | i2 /= 10; |
609 | i2 /= 10; |
609 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
610 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
610 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
611 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
611 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
612 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
612 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
613 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
613 | //----------------------------- |
614 | //----------------------------- |
614 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
615 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
615 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
616 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
616 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
617 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
617 | break; |
618 | break; |
618 | case 2: |
619 | case 2: |
619 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
620 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
620 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
621 | ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
621 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
622 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
622 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
623 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
623 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
624 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
624 | break; |
625 | break; |
625 | case 3: |
626 | case 3: |
626 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
627 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1; |
627 | ToFlightCtrl.Param.Byte[0] = 0; // index |
628 | ToFlightCtrl.Param.Byte[0] = 0; // index |
628 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
629 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
629 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
630 | //JetiExData[14].Value = 53 * 0x10000 + 23467; |
630 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
631 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40; |
631 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
632 | else ToFlightCtrl.Param.Byte[5] = 0x00; |
632 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
633 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L; |
633 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
634 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
634 | i2 *= 6; |
635 | i2 *= 6; |
635 | i2 /= 1000; |
636 | i2 /= 1000; |
636 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
637 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
637 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
638 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
638 | break; |
639 | break; |
639 | case 4: |
640 | case 4: |
640 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
641 | ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2; |
641 | ToFlightCtrl.Param.Byte[0] = 0; // index |
642 | ToFlightCtrl.Param.Byte[0] = 0; // index |
642 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
643 | ToFlightCtrl.Param.Byte[1] = 4; // how many |
643 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
644 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60; |
644 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
645 | else ToFlightCtrl.Param.Byte[5] = 0x20; |
645 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
646 | ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L; |
646 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
647 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
647 | i2 *= 6; |
648 | i2 *= 6; |
648 | i2 /= 1000; |
649 | i2 /= 1000; |
649 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
650 | ToFlightCtrl.Param.Byte[3] = i2 / 256; |
650 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
651 | ToFlightCtrl.Param.Byte[2] = i2 % 256; |
651 | hott_index = 0; |
652 | hott_index = 0; |
652 | break; |
653 | break; |
653 | 654 | ||
654 | case 100: |
655 | case 100: |
655 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
656 | ToFlightCtrl.Param.Byte[11] = HOTT_WPL_NAME; |
656 | ToFlightCtrl.Param.Byte[0] = 0; // index |
657 | ToFlightCtrl.Param.Byte[0] = 0; // index |
657 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
658 | ToFlightCtrl.Param.Byte[2] = WPL_Store.Name[0]; |
658 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
659 | ToFlightCtrl.Param.Byte[3] = WPL_Store.Name[1]; |
659 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
660 | ToFlightCtrl.Param.Byte[4] = WPL_Store.Name[2]; |
660 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
661 | ToFlightCtrl.Param.Byte[5] = WPL_Store.Name[3]; |
661 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
662 | ToFlightCtrl.Param.Byte[6] = WPL_Store.Name[4]; |
662 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
663 | ToFlightCtrl.Param.Byte[7] = WPL_Store.Name[5]; |
663 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
664 | ToFlightCtrl.Param.Byte[8] = WPL_Store.Name[6]; |
664 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
665 | ToFlightCtrl.Param.Byte[9] = WPL_Store.Name[7]; |
665 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
666 | ToFlightCtrl.Param.Byte[10]= WPL_Store.Name[8]; |
666 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
667 | ToFlightCtrl.Param.Byte[1] = 9; // how many |
667 | NewWPL_Name = 0; |
668 | NewWPL_Name = 0; |
668 | hott_index = 0; |
669 | hott_index = 0; |
669 | break; |
670 | break; |
670 | default: |
671 | default: |
671 | ToFlightCtrl.Param.Byte[0] = 255; |
672 | ToFlightCtrl.Param.Byte[0] = 255; |
672 | hott_index = 0; |
673 | hott_index = 0; |
673 | break; |
674 | break; |
674 | } |
675 | } |
675 | break; |
676 | break; |
676 | default: |
677 | default: |
677 | break; |
678 | break; |
678 | // 0 = 0,1 |
679 | // 0 = 0,1 |
679 | // 1 = 2,3 |
680 | // 1 = 2,3 |
680 | // 2 = 4,5 |
681 | // 2 = 4,5 |
681 | // 3 = 6,7 |
682 | // 3 = 6,7 |
682 | // 4 = 8,9 |
683 | // 4 = 8,9 |
683 | // 5 = 10,11 |
684 | // 5 = 10,11 |
684 | } |
685 | } |
685 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
686 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
686 | switch(FromFlightCtrl.Command) |
687 | switch(FromFlightCtrl.Command) |
687 | { |
688 | { |
688 | case SPI_FCCMD_USER: |
689 | case SPI_FCCMD_USER: |
689 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
690 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
690 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
691 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
691 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
692 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
692 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
693 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
693 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
694 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
694 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
695 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
695 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
696 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
696 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
697 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
697 | FC.RealStatusFlags = FromFlightCtrl.Param.Byte[8]; |
698 | FC.RealStatusFlags = FromFlightCtrl.Param.Byte[8]; |
698 | if(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN) SimulationFlags = 0; // stop the simulation if the motors would really start |
699 | if(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN) SimulationFlags = 0; // stop the simulation if the motors would really start |
699 | 700 | ||
700 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
701 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
701 | { |
702 | { |
702 | if(ClearFCStatusFlags) |
703 | if(ClearFCStatusFlags) |
703 | { |
704 | { |
704 | FC.StatusFlags = 0; |
705 | FC.StatusFlags = 0; |
705 | ClearFCStatusFlags = 0; |
706 | ClearFCStatusFlags = 0; |
706 | } |
707 | } |
707 | } |
708 | } |
708 | FC.StatusFlags |= FC.RealStatusFlags; |
709 | FC.StatusFlags |= FC.RealStatusFlags; |
709 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
710 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
710 | { |
711 | { |
711 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
712 | HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
712 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
713 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
713 | Compass_Init(); |
714 | Compass_Init(); |
714 | FCCalibActive = 15; |
715 | FCCalibActive = 15; |
715 | FC_is_Calibrated = 0; |
716 | FC_is_Calibrated = 0; |
716 | FreqNewGpsData = 50; |
717 | FreqNewGpsData = 50; |
717 | } |
718 | } |
718 | else |
719 | else |
719 | { |
720 | { |
720 | if(FCCalibActive) |
721 | if(FCCalibActive) |
721 | { |
722 | { |
722 | if(--FCCalibActive == 0) |
723 | if(--FCCalibActive == 0) |
723 | { |
724 | { |
724 | FC_is_Calibrated = 1; |
725 | FC_is_Calibrated = 1; |
725 | Compass_Check(); |
726 | Compass_Check(); |
726 | } |
727 | } |
727 | } |
728 | } |
728 | } |
729 | } |
729 | if(FC.StatusFlags & FC_STATUS_START) |
730 | if(FC.StatusFlags & FC_STATUS_START) |
730 | { |
731 | { |
731 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
732 | if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 + GeoMagDec) % 3600; |
732 | else HeadFreeStartAngle = GyroCompassCorrected; |
733 | else HeadFreeStartAngle = GyroCompassCorrected; |
733 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
734 | CompassDirectionAtMotorStart = HeadFreeStartAngle; |
734 | } |
735 | } |
735 | 736 | ||
736 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
737 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
737 | { |
738 | { |
738 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
739 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
739 | { |
740 | { |
740 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
741 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
741 | { |
742 | { |
742 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
743 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
743 | } |
744 | } |
744 | else // Ansonsten die aktuelle Richtung übernehmen |
745 | else // Ansonsten die aktuelle Richtung übernehmen |
745 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
746 | HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
746 | } |
747 | } |
747 | } |
748 | } |
748 | NaviData.FCStatusFlags = FC.StatusFlags; |
749 | NaviData.FCStatusFlags = FC.StatusFlags; |
749 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
750 | if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY; |
750 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[9]; |
751 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[9]; |
751 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
752 | NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE))); |
752 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
753 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; |
753 | else |
754 | else |
754 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
755 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; |
755 | 756 | ||
756 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
757 | if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; |
757 | else |
758 | else |
758 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
759 | if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; |
759 | //DebugOut.Analog[] = (NaviData.FCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE); |
760 | //DebugOut.Analog[] = (NaviData.FCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE); |
760 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
761 | Logging_FCStatusFlags1 |= FC.StatusFlags; |
761 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
762 | Logging_FCStatusFlags2 |= FC.StatusFlags2; |
762 | FC.BAT_Voltage = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
763 | FC.BAT_Voltage = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
763 | DebugOut.Analog[7] = FC.BAT_Voltage; |
764 | DebugOut.Analog[7] = FC.BAT_Voltage; |
764 | DebugOut.Analog[5] = FC.StatusFlags; |
765 | DebugOut.Analog[5] = FC.StatusFlags; |
765 | NaviData.UBat = (u8) FC.BAT_Voltage; // Achtung: die (u8) NaviData.UBat kann überlaufen -> das KopterTool müsste dann 25,5V drauf rechnen |
766 | NaviData.UBat = (u8) FC.BAT_Voltage; // Achtung: die (u8) NaviData.UBat kann überlaufen -> das KopterTool müsste dann 25,5V drauf rechnen |
766 | break; |
767 | break; |
767 | case SPI_FCCMD_BL_ACCU: |
768 | case SPI_FCCMD_BL_ACCU: |
768 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
769 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
769 | DebugOut.Analog[8] = FC.BAT_Current; |
770 | DebugOut.Analog[8] = FC.BAT_Current; |
770 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
771 | BL_MinOfMaxPWM = FromFlightCtrl.Param.Byte[3]; |
771 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
772 | if(BL_MinOfMaxPWM < Logging_BL_MinOfMaxPWM) Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until logged |
772 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
773 | if(BL_MinOfMaxPWM < ErrorCheck_BL_MinOfMaxPWM) ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; // hold the value until Error processed |
773 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
774 | Parameter.NaviGpsModeControl = FromFlightCtrl.Param.Byte[4]; |
774 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
775 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[5]; |
775 | //0x40 |
776 | //0x40 |
776 | //0x20 |
777 | //0x20 |
777 | //0x10 |
778 | //0x10 |
778 | if(FromFlightCtrl.Param.Byte[2] & 0x80) // this Flag marks a changed Out1 |
779 | if(FromFlightCtrl.Param.Byte[2] & 0x80) // this Flag marks a changed Out1 |
779 | { |
780 | { |
780 | Out1TriggerUpdateNewData = 1; |
781 | Out1TriggerUpdateNewData = 1; |
781 | if(!Out1TriggerUpdateBlocked) |
782 | if(!Out1TriggerUpdateBlocked) |
782 | { |
783 | { |
783 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
784 | NaviData_Out1Trigger.Longitude = NaviData.CurrentPosition.Longitude; |
784 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
785 | NaviData_Out1Trigger.Latitude = NaviData.CurrentPosition.Latitude; |
785 | } |
786 | } |
786 | Out1TriggerUpdateBlocked = 0; |
787 | Out1TriggerUpdateBlocked = 0; |
787 | } |
788 | } |
788 | if(Out1TriggerUpdateBlocked) Out1TriggerUpdateBlocked--; |
789 | if(Out1TriggerUpdateBlocked) Out1TriggerUpdateBlocked--; |
789 | index = FromFlightCtrl.Param.Byte[2] & 0x0f; //MAX_MOTORS |
790 | index = FromFlightCtrl.Param.Byte[2] & 0x0f; //MAX_MOTORS |
790 | if(AmountOfMotors < index+1) AmountOfMotors = index+1; |
791 | if(AmountOfMotors < index+1) AmountOfMotors = index+1; |
791 | Motor[index].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
792 | Motor[index].NotReadyCnt = FromFlightCtrl.Param.Byte[6]; |
792 | Motor_Version[index] = FromFlightCtrl.Param.Byte[7]; |
793 | Motor_Version[index] = FromFlightCtrl.Param.Byte[7]; |
793 | Motor[index].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
794 | Motor[index].MaxPWM = FromFlightCtrl.Param.Byte[8]; |
794 | Motor[index].State = FromFlightCtrl.Param.Byte[9]; |
795 | Motor[index].State = FromFlightCtrl.Param.Byte[9]; |
795 | Motor[index].Temperature = FromFlightCtrl.Param.Byte[10]; |
796 | Motor[index].Temperature = FromFlightCtrl.Param.Byte[10]; |
796 | Motor[index].Current = FromFlightCtrl.Param.Byte[11]; |
797 | Motor[index].Current = FromFlightCtrl.Param.Byte[11]; |
797 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
798 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
798 | { |
799 | { |
799 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
800 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
800 | } |
801 | } |
801 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.Current = FC.BAT_Current; |
802 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.Current = FC.BAT_Current; |
802 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
803 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
803 | FromFlightCtrl_AccNick = FromFlightCtrl.Param.sInt[6]; |
804 | FromFlightCtrl_AccNick = FromFlightCtrl.Param.sInt[6]; |
804 | FromFlightCtrl_AccRoll = FromFlightCtrl.Param.sInt[7]; |
805 | FromFlightCtrl_AccRoll = FromFlightCtrl.Param.sInt[7]; |
805 | DebugOut.Analog[2] = FromFlightCtrl_AccNick; |
806 | DebugOut.Analog[2] = FromFlightCtrl_AccNick; |
806 | DebugOut.Analog[3] = FromFlightCtrl_AccRoll; |
807 | DebugOut.Analog[3] = FromFlightCtrl_AccRoll; |
807 | break; |
808 | break; |
808 | case SPI_FCCMD_PARAMETER1: |
809 | case SPI_FCCMD_PARAMETER1: |
809 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
810 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[0]; |
810 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
811 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
811 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
812 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
812 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
813 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
813 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
814 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
814 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
815 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
815 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
816 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
816 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
817 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
817 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
818 | // CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
818 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
819 | Parameter.NaviMaxFlyingRange = FromFlightCtrl.Param.Byte[8]; |
819 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
820 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
820 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
821 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
821 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
822 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
822 | break; |
823 | break; |
823 | case SPI_FCCMD_PARAMETER2: |
824 | case SPI_FCCMD_PARAMETER2: |
824 | CHK_POTI_MM(FC.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
825 | CHK_POTI_MM(FC.AutoPhotoDistance,FromFlightCtrl.Param.Byte[0],0,255); |
825 | if(FromFlightCtrl.Param.Byte[1]) |
826 | if(FromFlightCtrl.Param.Byte[1]) |
826 | { |
827 | { |
827 | FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
828 | FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
828 | } |
829 | } |
829 | if(NaviData_Flags_SpeakHoTT_Processed) |
830 | if(NaviData_Flags_SpeakHoTT_Processed) |
830 | { |
831 | { |
831 | NaviData_Flags.SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared after the Uart-Trasmitting |
832 | NaviData_Flags.SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared after the Uart-Trasmitting |
832 | NaviData_Flags_SpeakHoTT_Processed = 0; |
833 | NaviData_Flags_SpeakHoTT_Processed = 0; |
833 | } |
834 | } |
834 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
835 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
835 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
836 | Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
836 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
837 | if(FromFlightCtrl.Param.Byte[5]) FromFC_LoadWP_List = FromFlightCtrl.Param.Byte[5]; |
837 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
838 | if(FromFlightCtrl.Param.Byte[6]) FromFC_Load_SinglePoint = FromFlightCtrl.Param.Byte[6]; |
838 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
839 | if(FromFlightCtrl.Param.Byte[7]) FromFC_Save_SinglePoint = FromFlightCtrl.Param.Byte[7]; |
839 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
840 | CompassSetpoint = FromFlightCtrl.Param.sInt[4] * 10; // 8 & 9 |
840 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
841 | CompassSetpointCorrected = (3600 + CompassSetpoint + FC.FromFC_CompassOffset + GeoMagDec) % 3600; |
841 | FC.StatusFlags3 = FromFlightCtrl.Param.Byte[10]; |
842 | FC.StatusFlags3 = FromFlightCtrl.Param.Byte[10]; |
842 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
843 | Parameter.SingleWpSpeed = FromFlightCtrl.Param.Byte[11]; |
843 | break; |
844 | break; |
844 | case SPI_FCCMD_STICK: |
845 | case SPI_FCCMD_STICK: |
845 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
846 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
846 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
847 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
847 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
848 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
848 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
849 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
849 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
850 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
850 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
851 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
851 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
852 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
852 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
853 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
853 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
854 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
854 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
855 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
855 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
856 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
856 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
857 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
857 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
858 | CHK_POTI_MM(WaypointAcceleration,WaypointAccelerationSetting,0,255); // that could be a Poti-Value |
858 | break; |
859 | break; |
859 | case SPI_FCCMD_STICK2: |
860 | case SPI_FCCMD_STICK2: |
860 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
861 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
861 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
862 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
862 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
863 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
863 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
864 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
864 | memcpy((u8 *) &(PPM_In[1]), (u8 *) &FromFlightCtrl.Param.sByte[4], 16); // 16 Bytes PPM-Data |
865 | memcpy((u8 *) &(PPM_In[1]), (u8 *) &FromFlightCtrl.Param.sByte[4], 16); // 16 Bytes PPM-Data |
865 | PPM_In[0] = 0; |
866 | PPM_In[0] = 0; |
866 | break; |
867 | break; |
867 | case SPI_FCCMD_MISC: |
868 | case SPI_FCCMD_MISC: |
868 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
869 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
869 | { // put only new CompassCalState into queue to send via I2C |
870 | { // put only new CompassCalState into queue to send via I2C |
870 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
871 | // if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0) |
871 | { |
872 | { |
872 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
873 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
873 | Compass_SetCalState(CompassCalState); |
874 | Compass_SetCalState(CompassCalState); |
874 | } |
875 | } |
875 | // else CompassCalState = 0; |
876 | // else CompassCalState = 0; |
876 | } |
877 | } |
877 | HoverGas = FromFlightCtrl.Param.Byte[1]; |
878 | HoverGas = FromFlightCtrl.Param.Byte[1]; |
878 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
879 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
879 | FC.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
880 | FC.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
880 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
881 | if(!(SimulationFlags & SIMULATION_ACTIVE)) NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
881 | FC.Error[0] |= FromFlightCtrl.Param.Byte[6]; |
882 | FC.Error[0] |= FromFlightCtrl.Param.Byte[6]; |
882 | FC.Error[1] |= FromFlightCtrl.Param.Byte[7]; |
883 | FC.Error[1] |= FromFlightCtrl.Param.Byte[7]; |
883 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
884 | DebugOut.StatusGreen |= AMPEL_FC; // status of FC Present |
884 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
885 | DebugOut.StatusGreen |= AMPEL_BL; // status of BL Present |
885 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
886 | if(FC.Error[0] || FC.Error[1] /* || FC.Error[2] || FC.Error[3] || FC.Error[4]*/) DebugOut.StatusRed |= AMPEL_FC; |
886 | else DebugOut.StatusRed &= ~AMPEL_FC; |
887 | else DebugOut.StatusRed &= ~AMPEL_FC; |
887 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[8]; |
888 | FC_I2C_ErrorConter = FromFlightCtrl.Param.Byte[8]; |
888 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
889 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
889 | if(FC.RC_Quality > 160) NaviData.RC_Quality = 200; else NaviData.RC_Quality = FC.RC_Quality; |
890 | if(FC.RC_Quality > 160) NaviData.RC_Quality = 200; else NaviData.RC_Quality = FC.RC_Quality; |
890 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
891 | NC_Wait_for_LED = FromFlightCtrl.Param.Byte[10]; |
891 | //DebugOut.Analog[] = NC_Wait_for_LED; |
892 | //DebugOut.Analog[] = NC_Wait_for_LED; |
892 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
893 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
893 | if(LoggingGasCnt == 0) LoggingGasFilter = 0; |
894 | if(LoggingGasCnt == 0) LoggingGasFilter = 0; |
894 | LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11]; |
895 | LoggingGasFilter += (u32) FromFlightCtrl.Param.Byte[11]; |
895 | LoggingGasCnt++; |
896 | LoggingGasCnt++; |
896 | break; |
897 | break; |
897 | 898 | ||
898 | case SPI_FCCMD_VERSION: // slow! |
899 | case SPI_FCCMD_VERSION: // slow! |
899 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
900 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
900 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
901 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
901 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
902 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
902 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
903 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
903 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
904 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
904 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[5]; |
905 | Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[5]; |
905 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[6]; |
906 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[6]; |
906 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[7],0,255); |
907 | CHK_POTI_MM(Parameter.AutoPhotoAltitudes,FromFlightCtrl.Param.Byte[7],0,255); |
907 | UART_VersionInfo.BL_Firmware = FromFlightCtrl.Param.Byte[8]; |
908 | UART_VersionInfo.BL_Firmware = FromFlightCtrl.Param.Byte[8]; |
908 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
909 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
909 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
910 | FlugMinutenGesamt = FromFlightCtrl.Param.Int[5]; // 10 & 11 |
- | 911 | if(FromFlightCtrl.Param.Byte[12] == 1) IamMaster = MASTER; |
|
- | 912 | else |
|
- | 913 | if(FromFlightCtrl.Param.Byte[12] == 2) IamMaster = SLAVE; |
|
910 | break; |
914 | break; |
911 | case SPI_FCCMD_NEUTRAL: // slow! |
915 | case SPI_FCCMD_NEUTRAL: // slow! |
912 | FC.AdNeutralNick = FromFlightCtrl.Param.Int[0]; |
916 | FC.AdNeutralNick = FromFlightCtrl.Param.Int[0]; |
913 | FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1]; |
917 | FC.AdNeutralRoll = FromFlightCtrl.Param.Int[1]; |
914 | FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2]; |
918 | FC.AdNeutralYaw = FromFlightCtrl.Param.Int[2]; |
915 | Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6]; |
919 | Parameter.Driftkomp = FromFlightCtrl.Param.Byte[6]; |
916 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[7]; |
920 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[7]; |
917 | Parameter.ReceiverType = FromFlightCtrl.Param.Byte[8]; |
921 | Parameter.ReceiverType = FromFlightCtrl.Param.Byte[8]; |
918 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[9],0,255); |
922 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[9],0,255); |
919 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[10],0,255); |
923 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[10],0,255); |
920 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[11],0,255); |
924 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[11],0,255); |
921 | break; |
925 | break; |
922 | case SPI_FCCMD_SLOW2: // slow! |
926 | case SPI_FCCMD_SLOW2: // slow! |
923 | FC.BoatNeutralNick = FromFlightCtrl.Param.Int[0]; // 0 & 1 |
927 | FC.BoatNeutralNick = FromFlightCtrl.Param.Int[0]; // 0 & 1 |
924 | FC.BoatNeutralRoll = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
928 | FC.BoatNeutralRoll = FromFlightCtrl.Param.Int[1]; // 2 & 3 |
925 | FC.BoatNeutralYaw = FromFlightCtrl.Param.Int[2]; // 4 & 5 |
929 | FC.BoatNeutralYaw = FromFlightCtrl.Param.Int[2]; // 4 & 5 |
926 | Parameter.CamOrientation = FromFlightCtrl.Param.Byte[6]; |
930 | Parameter.CamOrientation = FromFlightCtrl.Param.Byte[6]; |
927 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
931 | if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
928 | { |
932 | { |
929 | FC.FromFC_DisableDeclination = 1; |
933 | FC.FromFC_DisableDeclination = 1; |
930 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
934 | FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
931 | GeoMagDec = 0; |
935 | GeoMagDec = 0; |
932 | } |
936 | } |
933 | else |
937 | else |
934 | { |
938 | { |
935 | FC.FromFC_DisableDeclination = 0; |
939 | FC.FromFC_DisableDeclination = 0; |
936 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
940 | FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
937 | } |
941 | } |
938 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
942 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
939 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
943 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
940 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
944 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
941 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
945 | Parameter.GlobalConfig3 = FromFlightCtrl.Param.Byte[11]; |
942 | break; |
946 | break; |
943 | case SPI_FCCMD_SLOW3: // slow! |
947 | case SPI_FCCMD_SLOW3: // slow! |
944 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[0]; |
948 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[0]; |
945 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[1]; |
949 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[1]; |
946 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[2]; |
950 | Parameter.DescendRange = FromFlightCtrl.Param.Byte[2]; |
947 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[3]; |
951 | Parameter.MaximumAltitude = FromFlightCtrl.Param.Byte[3]; |
948 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[4]; |
952 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[4]; |
949 | Parameter.HomeYawMode = ((ServoParams.CompInvert & 0x18) >> 3); |
953 | Parameter.HomeYawMode = ((ServoParams.CompInvert & 0x18) >> 3); |
950 | NaviData_Home.LipoCellCount = FromFlightCtrl.Param.Byte[5]; |
954 | NaviData_Home.LipoCellCount = FromFlightCtrl.Param.Byte[5]; |
- | 955 | if(UART_VersionInfo.HWMajor >= 30) NaviData_Volatile.ShutterCounter = TrigLogging.Count; |
|
951 | NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
956 | else NaviData_Volatile.ShutterCounter = FromFlightCtrl.Param.Int[3]; // 6 & 7 |
952 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
957 | LowVoltageLandingActive = FromFlightCtrl.Param.Byte[8]; |
953 | Parameter.FailSafeTime = FromFlightCtrl.Param.Byte[9]; |
958 | Parameter.FailSafeTime = FromFlightCtrl.Param.Byte[9]; |
954 | // DebugOut.Analog[] = NaviData_Volatile.ShutterCounter; |
959 | // DebugOut.Analog[] = NaviData_Volatile.ShutterCounter; |
955 | // 8 |
960 | // 8 |
956 | // 9 |
961 | // 9 |
957 | // 10 |
962 | // 10 |
958 | // 11 |
963 | // 11 |
959 | break; |
964 | break; |
960 | 965 | ||
961 | default: |
966 | default: |
962 | break; |
967 | break; |
963 | } |
968 | } |
964 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
969 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
965 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
970 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
966 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
971 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
967 | // every time we got new data from the FC via SPI call the navigation routine |
972 | // every time we got new data from the FC via SPI call the navigation routine |
968 | // and update GPSStick that are returned to FC |
973 | // and update GPSStick that are returned to FC |
969 | SPI_RxBuffer_Request = 0; |
974 | SPI_RxBuffer_Request = 0; |
970 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
975 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
971 | ClearFCStatusFlags = 1; |
976 | ClearFCStatusFlags = 1; |
972 | if(counter) |
977 | if(counter) |
973 | { |
978 | { |
974 | counter--; // count down to enable servo |
979 | counter--; // count down to enable servo |
975 | if(!counter) TIMER2_Init(); // enable Servo Output |
980 | if(!counter) TIMER2_Init(); // enable Servo Output |
976 | } |
981 | } |
977 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
982 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
978 | 983 | ||
979 | } // EOF if(SPI_RxBuffer_Request) |
984 | } // EOF if(SPI_RxBuffer_Request) |
980 | else // no new SPI data |
985 | else // no new SPI data |
981 | { |
986 | { |
982 | if(CheckDelay(timeout) && (counter == 0)) |
987 | if(CheckDelay(timeout) && (counter == 0)) |
983 | { |
988 | { |
984 | TIMER2_Deinit(); // disable Servo Output |
989 | TIMER2_Deinit(); // disable Servo Output |
985 | counter = 50; // reset counter for enabling Servo Output |
990 | counter = 50; // reset counter for enabling Servo Output |
986 | } |
991 | } |
987 | } |
992 | } |
988 | } |
993 | } |
989 | 994 | ||
990 | //------------------------------------------------------ |
995 | //------------------------------------------------------ |
991 | void SPI0_GetFlightCtrlVersion(void) |
996 | void SPI0_GetFlightCtrlVersion(void) |
992 | { |
997 | { |
993 | u32 timeout; |
998 | u32 timeout; |
994 | u8 repeat; |
999 | u8 repeat; |
995 | u8 msg[64]; |
1000 | u8 msg[64]; |
996 | 1001 | ||
997 | UART1_PutString("\r\n Looking for FlightControl"); |
1002 | UART1_PutString("\r\n Looking for FlightControl"); |
998 | FC_Version.Major = 0xFF; |
1003 | FC_Version.Major = 0xFF; |
999 | FC_Version.Minor = 0xFF; |
1004 | FC_Version.Minor = 0xFF; |
1000 | FC_Version.Patch = 0xFF; |
1005 | FC_Version.Patch = 0xFF; |
1001 | FC_Version.Compatible = 0xFF; |
1006 | FC_Version.Compatible = 0xFF; |
1002 | 1007 | ||
1003 | // polling FC version info |
1008 | // polling FC version info |
1004 | repeat = 0; |
1009 | repeat = 0; |
1005 | do |
1010 | do |
1006 | { |
1011 | { |
1007 | timeout = SetDelay(250); |
1012 | timeout = SetDelay(250); |
1008 | do |
1013 | do |
1009 | { |
1014 | { |
1010 | SPI0_UpdateBuffer(); |
1015 | SPI0_UpdateBuffer(); |
1011 | if (FC_Version.Major != 0xFF) break; |
1016 | if (FC_Version.Major != 0xFF) break; |
1012 | }while (!CheckDelay(timeout)); |
1017 | }while (!CheckDelay(timeout)); |
1013 | UART1_PutString("."); |
1018 | UART1_PutString("."); |
1014 | repeat++; |
1019 | repeat++; |
1015 | FCCalibActive = 0; |
1020 | FCCalibActive = 0; |
1016 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
1021 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
1017 | // if we got it |
1022 | // if we got it |
1018 | if (FC_Version.Major != 0xFF) |
1023 | if (FC_Version.Major != 0xFF) |
1019 | { |
1024 | { |
1020 | sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
1025 | sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
1021 | UART1_PutString(msg); |
1026 | UART1_PutString(msg); |
1022 | } |
1027 | } |
1023 | else UART1_PutString("\n\r not found!"); |
1028 | else UART1_PutString("\n\r not found!"); |
1024 | 1029 | ||
1025 | //sprintf(msg, "\n\r size: HugeBlockFromFC %i",sizeof(HugeBlockFromFC)); |
1030 | //sprintf(msg, "\n\r size: HugeBlockFromFC %i",sizeof(HugeBlockFromFC)); |
1026 | //UART1_PutString(msg); |
1031 | //UART1_PutString(msg); |
1027 | } |
1032 | } |
1028 | 1033 | ||
1029 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1034 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1030 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
1035 | // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
1031 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1036 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1032 | u16 BL3_Current(u8 who) // in 0,1A |
1037 | u16 BL3_Current(u8 who) // in 0,1A |
1033 | { |
1038 | { |
1034 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
1039 | if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
1035 | else |
1040 | else |
1036 | { |
1041 | { |
1037 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
1042 | if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
1038 | else return((u16) Motor[who].Current); |
1043 | else return((u16) Motor[who].Current); |
1039 | } |
1044 | } |
1040 | } |
1045 | } |
1041 | 1046 | ||
1042 | 1047 |