Rev 23 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 23 | Rev 171 | ||
---|---|---|---|
1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include "main.h" |
57 | #include "main.h" |
58 | 58 | ||
59 | struct str_FromFlightCtrl FromFlightCtrl; |
59 | struct str_FromFlightCtrl FromFlightCtrl; |
60 | struct str_ToFlightCtrl ToFlightCtrl; |
60 | struct str_ToFlightCtrl ToFlightCtrl; |
61 | 61 | ||
62 | struct str_ToFlightCtrl SPI_TxBuffer; |
62 | struct str_ToFlightCtrl SPI_TxBuffer; |
63 | 63 | ||
64 | volatile unsigned char SPI_Buffer[sizeof(FromFlightCtrl)]; |
64 | volatile unsigned char SPI_Buffer[sizeof(FromFlightCtrl)]; |
65 | volatile unsigned char SPI_BufferIndex = 0; |
65 | volatile unsigned char SPI_BufferIndex = 0; |
66 | volatile unsigned char SPI_TXBufferIndex = 0; |
66 | volatile unsigned char SPI_TXBufferIndex = 0; |
67 | 67 | ||
68 | s16 CompassValue; |
68 | s16 CompassValue; |
69 | 69 | ||
70 | volatile struct str_MicroMag MicroMag; |
70 | volatile struct str_MicroMag MicroMag; |
71 | 71 | ||
72 | #define SPI_COMMAND_INDEX 0 |
72 | #define SPI_COMMAND_INDEX 0 |
73 | unsigned char *Ptr_buffer_Tx = (unsigned char *) &SPI_TxBuffer; |
73 | unsigned char *Ptr_buffer_Tx = (unsigned char *) &SPI_TxBuffer; |
74 | //unsigned char *Ptr_buffer_Tx = (unsigned char *) &ToFlightCtrl; |
74 | //unsigned char *Ptr_buffer_Tx = (unsigned char *) &ToFlightCtrl; |
75 | unsigned char *Ptr_buffer_Rx = (unsigned char *) &FromFlightCtrl; |
75 | unsigned char *Ptr_buffer_Rx = (unsigned char *) &FromFlightCtrl; |
76 | volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
76 | volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
77 | 77 | ||
78 | unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
78 | unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
79 | unsigned char SPI_CommandCounter = 0; |
79 | unsigned char SPI_CommandCounter = 0; |
80 | 80 | ||
81 | 81 | ||
82 | //-------------------------------------------------------------- |
82 | //-------------------------------------------------------------- |
83 | void SSP0_IRQHandler(void) |
83 | void SSP0_IRQHandler(void) |
84 | { |
84 | { |
85 | static u8 chksum = 0; |
85 | static u8 chksum = 0; |
86 | u8 data; |
86 | u8 data; |
87 | 87 | ||
88 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
88 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
89 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
89 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
90 | 90 | ||
91 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
91 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
92 | { |
92 | { |
93 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
93 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
94 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
94 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
95 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
95 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
96 | SPI_TXBufferIndex++; |
96 | SPI_TXBufferIndex++; |
97 | } |
97 | } |
98 | else |
98 | else |
99 | { |
99 | { |
100 | SPI_TXBufferIndex = 0; |
100 | SPI_TXBufferIndex = 0; |
101 | SPI_TXUpdatebufferRequest = 1; |
101 | SPI_TXUpdatebufferRequest = 1; |
102 | ToFlightCtrl.Chksum = 0; |
102 | ToFlightCtrl.Chksum = 0; |
103 | ToFlightCtrl.BeepTime = BeepTime; |
103 | ToFlightCtrl.BeepTime = BeepTime; |
104 | BeepTime = 0; |
104 | BeepTime = 0; |
105 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
105 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
106 | } |
106 | } |
107 | } |
107 | } |
108 | 108 | ||
109 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
109 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
110 | { |
110 | { |
111 | 111 | ||
112 | data = SSP0->DR; |
112 | data = SSP0->DR; |
113 | 113 | ||
114 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
114 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
115 | { |
115 | { |
116 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
116 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
117 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
117 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
118 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
118 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
119 | SPI_TXBufferIndex++; |
119 | SPI_TXBufferIndex++; |
120 | } |
120 | } |
121 | else |
121 | else |
122 | { |
122 | { |
123 | SPI_TXBufferIndex = 0; |
123 | SPI_TXBufferIndex = 0; |
124 | ToFlightCtrl.Chksum = 0; |
124 | ToFlightCtrl.Chksum = 0; |
125 | SPI_TXUpdatebufferRequest = 1; |
125 | SPI_TXUpdatebufferRequest = 1; |
126 | ToFlightCtrl.BeepTime = BeepTime; |
126 | ToFlightCtrl.BeepTime = BeepTime; |
127 | BeepTime = 0; |
127 | BeepTime = 0; |
128 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
128 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
129 | } |
129 | } |
130 | 130 | ||
131 | } |
131 | } |
132 | switch (SPI_state ) |
132 | switch (SPI_state ) |
133 | { |
133 | { |
134 | case 0: |
134 | case 0: |
135 | SPI_BufferIndex = 0; |
135 | SPI_BufferIndex = 0; |
136 | 136 | ||
137 | chksum = data; |
137 | chksum = data; |
138 | if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
138 | if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
139 | 139 | ||
140 | break; |
140 | break; |
141 | 141 | ||
142 | case 1: |
142 | case 1: |
143 | if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
143 | if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
144 | else SPI_state = 0; |
144 | else SPI_state = 0; |
145 | 145 | ||
146 | break; |
146 | break; |
147 | 147 | ||
148 | case 2: |
148 | case 2: |
149 | SPI_Buffer[SPI_BufferIndex++]= data; // get data |
149 | SPI_Buffer[SPI_BufferIndex++]= data; // get data |
150 | 150 | ||
151 | if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
151 | if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
152 | { |
152 | { |
153 | if (data == chksum) |
153 | if (data == chksum) |
154 | { |
154 | { |
155 | u8 i; |
155 | u8 i; |
156 | SPI_RXUpdatebufferRequest = 1; |
156 | SPI_RXUpdatebufferRequest = 1; |
157 | for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
157 | for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
158 | 158 | ||
159 | DebugOut.Analog[13]++; |
159 | DebugOut.Analog[13]++; |
160 | } |
160 | } |
161 | else { DebugOut.Analog[12]++; } |
161 | else { DebugOut.Analog[12]++; } |
162 | 162 | ||
163 | SPI_state = 0; |
163 | SPI_state = 0; |
164 | } |
164 | } |
165 | else chksum += data; |
165 | else chksum += data; |
166 | break; |
166 | break; |
167 | 167 | ||
168 | default: SPI_state = 0; break; |
168 | default: SPI_state = 0; break; |
169 | } |
169 | } |
170 | } |
170 | } |
171 | 171 | ||
172 | 172 | ||
173 | 173 | ||
174 | } |
174 | } |
175 | 175 | ||
176 | //-------------------------------------------------------------- |
176 | //-------------------------------------------------------------- |
177 | void SPI0_Init(void) |
177 | void SPI0_Init(void) |
178 | { |
178 | { |
179 | GPIO_InitTypeDef GPIO_InitStructure; |
179 | GPIO_InitTypeDef GPIO_InitStructure; |
180 | SSP_InitTypeDef SSP_InitStructure; |
180 | SSP_InitTypeDef SSP_InitStructure; |
181 | 181 | ||
182 | SerialPutString("SPI init..."); |
182 | SerialPutString("SPI init..."); |
183 | 183 | ||
184 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
184 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
185 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
185 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
186 | 186 | ||
187 | GPIO_DeInit(GPIO2); |
187 | GPIO_DeInit(GPIO2); |
188 | //SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
188 | //SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
189 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
189 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
190 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
190 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
191 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
191 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
192 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
192 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
193 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
193 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
194 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
194 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
195 | 195 | ||
196 | // SSP0_MISO pin GPIO2.6 |
196 | // SSP0_MISO pin GPIO2.6 |
197 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
197 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
198 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
198 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
199 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
199 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
200 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
200 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
201 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2 ; |
201 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2 ; |
202 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
202 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
203 | 203 | ||
204 | SSP_DeInit(SSP0); |
204 | SSP_DeInit(SSP0); |
205 | SSP_StructInit(&SSP_InitStructure); |
205 | SSP_StructInit(&SSP_InitStructure); |
206 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
206 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
207 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
207 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
208 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
208 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
209 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
209 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
210 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
210 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
211 | SSP_InitStructure.SSP_ClockRate = 0; |
211 | SSP_InitStructure.SSP_ClockRate = 0; |
212 | 212 | ||
213 | SSP_Init(SSP0, &SSP_InitStructure); |
213 | SSP_Init(SSP0, &SSP_InitStructure); |
214 | 214 | ||
215 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
215 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
216 | 216 | ||
217 | SSP_Cmd(SSP0, ENABLE); |
217 | SSP_Cmd(SSP0, ENABLE); |
218 | 218 | ||
219 | ToFlightCtrl.Sync1 = 0x81; |
219 | ToFlightCtrl.Sync1 = 0x81; |
220 | ToFlightCtrl.Sync2 = 0x55; |
220 | ToFlightCtrl.Sync2 = 0x55; |
221 | 221 | ||
222 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
222 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
223 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
223 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
224 | 224 | ||
225 | SerialPutString("ok\n\r"); |
225 | SerialPutString("ok\n\r"); |
226 | 226 | ||
227 | 227 | ||
228 | } |
228 | } |
229 | 229 | ||
230 | //------------------------------------------------------ |
230 | //------------------------------------------------------ |
231 | void SPI_CheckSlaveSelect(void) |
231 | void SPI_CheckSlaveSelect(void) |
232 | { |
232 | { |
233 | 233 | ||
234 | //if (SS_PIN) { SPI_BufferIndex = 0; } |
234 | //if (SS_PIN) { SPI_BufferIndex = 0; } |
235 | 235 | ||
236 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
236 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
237 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
237 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
238 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
238 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
239 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
239 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
240 | 240 | ||
241 | /* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
241 | /* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
242 | DebugOut.Analog[3] = FromFlightCtrl.Command; |
242 | DebugOut.Analog[3] = FromFlightCtrl.Command; |
243 | DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
243 | DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
244 | DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
244 | DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
245 | */ |
245 | */ |
246 | DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
246 | DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
247 | 247 | ||
248 | } |
248 | } |
249 | //------------------------------------------------------ |
249 | //------------------------------------------------------ |
250 | void UpdateSPI_Buffer(void) |
250 | void UpdateSPI_Buffer(void) |
251 | { |
251 | { |
252 | if (SPI_RXUpdatebufferRequest) |
252 | if (SPI_RXUpdatebufferRequest) |
253 | { |
253 | { |
254 | if (CompassUpdateActiv) return; // testweise deaktiviert |
254 | if (CompassUpdateActiv) return; // testweise deaktiviert |
255 | 255 | ||
256 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
256 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
257 | 257 | ||
258 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
258 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
259 | ToFlightCtrl.GPS_Nick = GPS_Nick; |
259 | ToFlightCtrl.GPS_Nick = GPS_Nick; |
260 | ToFlightCtrl.GPS_Roll = GPS_Roll; |
260 | ToFlightCtrl.GPS_Roll = GPS_Roll; |
261 | DebugOut.Analog[26] = I2C_Heading.Heading; |
261 | DebugOut.Analog[26] = I2C_Heading.Heading; |
262 | 262 | ||
263 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
263 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
264 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
264 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
265 | 265 | ||
266 | switch (ToFlightCtrl.Command) |
266 | switch (ToFlightCtrl.Command) |
267 | { |
267 | { |
268 | case SPI_CMD_OSD_DATA: |
268 | case SPI_CMD_OSD_DATA: |
269 | ToFlightCtrl.Param.Byte[0] = OsdBar; |
269 | ToFlightCtrl.Param.Byte[0] = OsdBar; |
270 | ToFlightCtrl.Param.Int[1] = OsdDistance; |
270 | ToFlightCtrl.Param.Int[1] = OsdDistance; |
271 | break; |
271 | break; |
272 | 272 | ||
273 | case SPI_CMD_GPS_POS: |
273 | case SPI_CMD_GPS_POS: |
274 | ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
274 | ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
275 | ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
275 | ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
276 | break; |
276 | break; |
277 | 277 | ||
278 | case SPI_CMD_GPS_TARGET: |
278 | case SPI_CMD_GPS_TARGET: |
279 | ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
279 | ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
280 | ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
280 | ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
281 | break; |
281 | break; |
282 | 282 | ||
283 | default: |
283 | default: |
284 | break; |
284 | break; |
285 | } |
285 | } |
286 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
286 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
287 | 287 | ||
288 | if (I2C_Heading.Heading <= 359) |
288 | if (I2C_Heading.Heading <= 359) |
289 | { |
289 | { |
290 | } |
290 | } |
291 | else |
291 | else |
292 | { |
292 | { |
293 | if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
293 | if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
294 | return; |
294 | return; |
295 | } |
295 | } |
296 | 296 | ||
297 | SPI_TXUpdatebufferRequest = 0; |
297 | SPI_TXUpdatebufferRequest = 0; |
298 | 298 | ||
299 | //---------------- |
299 | //---------------- |
300 | 300 | ||
301 | // DebugOut.Analog[11] = FromFlightCtrl.Command; |
301 | // DebugOut.Analog[11] = FromFlightCtrl.Command; |
302 | switch(FromFlightCtrl.Command) |
302 | switch(FromFlightCtrl.Command) |
303 | { |
303 | { |
304 | case SPI_CMD_USER: |
304 | case SPI_CMD_USER: |
305 | DebugOut.Analog[7]++; |
305 | DebugOut.Analog[7]++; |
306 | Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
306 | Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
307 | Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
307 | Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
308 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
308 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
309 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
309 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
310 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
310 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
311 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
311 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
312 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
312 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
313 | break; |
313 | break; |
314 | case SPI_CMD_STICK: |
314 | case SPI_CMD_STICK: |
315 | DebugOut.Analog[8]++; |
315 | DebugOut.Analog[8]++; |
316 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
316 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
317 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
317 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
318 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
318 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
319 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
319 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
320 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
320 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
321 | FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
321 | FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
322 | FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
322 | FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
323 | FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
323 | FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
324 | SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
324 | SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
325 | break; |
325 | break; |
326 | 326 | ||
327 | case SPI_CMD_CAL_COMPASS: |
327 | case SPI_CMD_CAL_COMPASS: |
328 | DebugOut.Analog[9]++; |
328 | DebugOut.Analog[9]++; |
329 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
329 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
330 | break; |
330 | break; |
331 | 331 | ||
332 | default: |
332 | default: |
333 | break; |
333 | break; |
334 | } |
334 | } |
335 | 335 | ||
336 | 336 | ||
337 | //------------ |
337 | //------------ |
338 | I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
338 | I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
339 | I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
339 | I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
340 | 340 | ||
341 | Navigation(); |
341 | Navigation(); |
342 | 342 | ||
343 | SPI_RXUpdatebufferRequest = 0; |
343 | SPI_RXUpdatebufferRequest = 0; |
344 | } |
344 | } |
345 | } |
345 | } |
346 | 346 | ||
347 | 347 |