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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
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 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 this software (or part of it) to systems (other than 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 | - | ||
81 | 80 | ||
82 | //-------------------------------------------------------------- |
81 | //-------------------------------------------------------------- |
83 | void SSP0_IRQHandler(void) |
82 | void SSP0_IRQHandler(void) |
84 | { |
83 | { |
85 | static u8 chksum = 0; |
84 | static u8 chksum = 0; |
86 | u8 data; |
85 | u8 data; |
87 | 86 | ||
88 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
87 | GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
89 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
88 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
90 | 89 | ||
91 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
90 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
92 | { |
91 | { |
93 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
92 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
94 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
93 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
95 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
94 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
96 | SPI_TXBufferIndex++; |
95 | SPI_TXBufferIndex++; |
97 | } |
96 | } |
98 | else |
97 | else |
99 | { |
98 | { |
100 | SPI_TXBufferIndex = 0; |
99 | SPI_TXBufferIndex = 0; |
101 | SPI_TXUpdatebufferRequest = 1; |
100 | SPI_TXUpdatebufferRequest = 1; |
102 | ToFlightCtrl.Chksum = 0; |
101 | ToFlightCtrl.Chksum = 0; |
103 | ToFlightCtrl.BeepTime = BeepTime; |
102 | ToFlightCtrl.BeepTime = BeepTime; |
104 | BeepTime = 0; |
103 | BeepTime = 0; |
105 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
104 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
106 | } |
105 | } |
107 | } |
106 | } |
108 | 107 | ||
109 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
108 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
110 | { |
109 | { |
111 | 110 | ||
112 | data = SSP0->DR; |
111 | data = SSP0->DR; |
113 | 112 | ||
114 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
113 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
115 | { |
114 | { |
116 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
115 | if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
117 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
116 | { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
118 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
117 | SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
119 | SPI_TXBufferIndex++; |
118 | SPI_TXBufferIndex++; |
120 | } |
119 | } |
121 | else |
120 | else |
122 | { |
121 | { |
123 | SPI_TXBufferIndex = 0; |
122 | SPI_TXBufferIndex = 0; |
124 | ToFlightCtrl.Chksum = 0; |
123 | ToFlightCtrl.Chksum = 0; |
125 | SPI_TXUpdatebufferRequest = 1; |
124 | SPI_TXUpdatebufferRequest = 1; |
126 | ToFlightCtrl.BeepTime = BeepTime; |
125 | ToFlightCtrl.BeepTime = BeepTime; |
127 | BeepTime = 0; |
126 | BeepTime = 0; |
128 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
127 | memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
129 | } |
128 | } |
130 | 129 | ||
131 | } |
130 | } |
132 | switch (SPI_state ) |
131 | switch (SPI_state ) |
133 | { |
132 | { |
134 | case 0: |
133 | case 0: |
135 | SPI_BufferIndex = 0; |
134 | SPI_BufferIndex = 0; |
136 | 135 | ||
137 | chksum = data; |
136 | chksum = data; |
138 | if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
137 | if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
139 | 138 | ||
140 | break; |
139 | break; |
141 | 140 | ||
142 | case 1: |
141 | case 1: |
143 | if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
142 | if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
144 | else SPI_state = 0; |
143 | else SPI_state = 0; |
145 | 144 | ||
146 | break; |
145 | break; |
147 | 146 | ||
148 | case 2: |
147 | case 2: |
149 | SPI_Buffer[SPI_BufferIndex++]= data; // get data |
148 | SPI_Buffer[SPI_BufferIndex++]= data; // get data |
150 | 149 | ||
151 | if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
150 | if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
152 | { |
151 | { |
153 | if (data == chksum) |
152 | if (data == chksum) |
154 | { |
153 | { |
155 | u8 i; |
154 | u8 i; |
156 | SPI_RXUpdatebufferRequest = 1; |
155 | SPI_RXUpdatebufferRequest = 1; |
157 | for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
156 | for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
158 | 157 | ||
159 | DebugOut.Analog[13]++; |
158 | DebugOut.Analog[13]++; |
160 | } |
159 | } |
161 | else { DebugOut.Analog[12]++; } |
160 | else { DebugOut.Analog[12]++; } |
162 | 161 | ||
163 | SPI_state = 0; |
162 | SPI_state = 0; |
164 | } |
163 | } |
165 | else chksum += data; |
164 | else chksum += data; |
166 | break; |
165 | break; |
167 | 166 | ||
168 | default: SPI_state = 0; break; |
167 | default: SPI_state = 0; break; |
169 | } |
168 | } |
170 | } |
169 | } |
171 | 170 | ||
172 | 171 | ||
173 | 172 | ||
174 | } |
173 | } |
175 | 174 | ||
176 | //-------------------------------------------------------------- |
175 | //-------------------------------------------------------------- |
177 | void SPI0_Init(void) |
176 | void SPI0_Init(void) |
178 | { |
177 | { |
179 | GPIO_InitTypeDef GPIO_InitStructure; |
178 | GPIO_InitTypeDef GPIO_InitStructure; |
180 | SSP_InitTypeDef SSP_InitStructure; |
179 | SSP_InitTypeDef SSP_InitStructure; |
181 | 180 | ||
182 | SerialPutString("SPI init..."); |
181 | SerialPutString("SPI init..."); |
183 | 182 | ||
184 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
183 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
185 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
184 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
186 | 185 | ||
187 | GPIO_DeInit(GPIO2); |
186 | GPIO_DeInit(GPIO2); |
188 | //SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
187 | //SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
189 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
188 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
190 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
189 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
191 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
190 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
192 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
191 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
193 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
192 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
194 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
193 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
195 | 194 | ||
196 | // SSP0_MISO pin GPIO2.6 |
195 | // SSP0_MISO pin GPIO2.6 |
197 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
196 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
198 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
197 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
199 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
198 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
200 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
199 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
201 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2 ; |
200 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2 ; |
202 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
201 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
203 | 202 | ||
204 | SSP_DeInit(SSP0); |
203 | SSP_DeInit(SSP0); |
205 | SSP_StructInit(&SSP_InitStructure); |
204 | SSP_StructInit(&SSP_InitStructure); |
206 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
205 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
207 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
206 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
208 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
207 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
209 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
208 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
210 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
209 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
211 | SSP_InitStructure.SSP_ClockRate = 0; |
210 | SSP_InitStructure.SSP_ClockRate = 0; |
212 | 211 | ||
213 | SSP_Init(SSP0, &SSP_InitStructure); |
212 | SSP_Init(SSP0, &SSP_InitStructure); |
214 | 213 | ||
215 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
214 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
216 | 215 | ||
217 | SSP_Cmd(SSP0, ENABLE); |
216 | SSP_Cmd(SSP0, ENABLE); |
218 | 217 | ||
219 | ToFlightCtrl.Sync1 = 0x81; |
218 | ToFlightCtrl.Sync1 = 0x81; |
220 | ToFlightCtrl.Sync2 = 0x55; |
219 | ToFlightCtrl.Sync2 = 0x55; |
221 | 220 | ||
222 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
221 | VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
223 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
222 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
224 | 223 | ||
225 | SerialPutString("ok\n\r"); |
224 | SerialPutString("ok\n\r"); |
226 | 225 | ||
227 | 226 | ||
228 | } |
227 | } |
229 | 228 | ||
230 | //------------------------------------------------------ |
229 | //------------------------------------------------------ |
231 | void SPI_CheckSlaveSelect(void) |
230 | void SPI_CheckSlaveSelect(void) |
232 | { |
231 | { |
233 | 232 | ||
234 | //if (SS_PIN) { SPI_BufferIndex = 0; } |
233 | //if (SS_PIN) { SPI_BufferIndex = 0; } |
235 | 234 | ||
236 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
235 | DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
237 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
236 | DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
238 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
237 | DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
239 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
238 | DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
240 | 239 | ||
241 | /* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
240 | /* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
242 | DebugOut.Analog[3] = FromFlightCtrl.Command; |
241 | DebugOut.Analog[3] = FromFlightCtrl.Command; |
243 | DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
242 | DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
244 | DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
243 | DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
245 | */ |
244 | */ |
246 | DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
245 | DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
247 | 246 | ||
248 | } |
247 | } |
249 | //------------------------------------------------------ |
248 | //------------------------------------------------------ |
250 | void UpdateSPI_Buffer(void) |
249 | void UpdateSPI_Buffer(void) |
251 | { |
250 | { |
- | 251 | if(CompassUpdateActiv) return; // testweise deaktiviert |
|
252 | if (SPI_RXUpdatebufferRequest) |
252 | if(SPI_RXUpdatebufferRequest) |
253 | { |
253 | { |
254 | if (CompassUpdateActiv) return; // testweise deaktiviert |
- | |
255 | 254 | ||
256 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
255 | VIC_ITCmd(SSP0_ITLine, DISABLE); |
257 | 256 | ||
258 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
257 | ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
259 | ToFlightCtrl.GPS_Nick = GPS_Nick; |
258 | ToFlightCtrl.GPS_Nick = GPS_Nick; |
260 | ToFlightCtrl.GPS_Roll = GPS_Roll; |
259 | ToFlightCtrl.GPS_Roll = GPS_Roll; |
261 | DebugOut.Analog[26] = I2C_Heading.Heading; |
260 | DebugOut.Analog[26] = I2C_Heading.Heading; |
262 | 261 | ||
263 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
262 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
264 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
263 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
265 | 264 | ||
266 | switch (ToFlightCtrl.Command) |
265 | switch (ToFlightCtrl.Command) |
267 | { |
266 | { |
268 | case SPI_CMD_OSD_DATA: |
267 | case SPI_CMD_OSD_DATA: |
269 | ToFlightCtrl.Param.Byte[0] = OsdBar; |
268 | ToFlightCtrl.Param.Byte[0] = OsdBar; |
270 | ToFlightCtrl.Param.Int[1] = OsdDistance; |
269 | ToFlightCtrl.Param.Int[1] = OsdDistance; |
271 | break; |
270 | break; |
272 | 271 | ||
273 | case SPI_CMD_GPS_POS: |
272 | case SPI_CMD_GPS_POS: |
274 | ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
273 | ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
275 | ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
274 | ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
276 | break; |
275 | break; |
277 | 276 | ||
278 | case SPI_CMD_GPS_TARGET: |
277 | case SPI_CMD_GPS_TARGET: |
279 | ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
278 | ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
280 | ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
279 | ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
281 | break; |
280 | break; |
282 | 281 | ||
283 | default: |
282 | default: |
284 | break; |
283 | break; |
285 | } |
284 | } |
286 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
285 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
287 | 286 | ||
288 | if (I2C_Heading.Heading <= 359) |
287 | if (I2C_Heading.Heading <= 359) |
289 | { |
288 | { |
290 | } |
289 | } |
291 | else |
290 | else |
292 | { |
291 | { |
293 | if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
292 | if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
294 | return; |
293 | return; |
295 | } |
294 | } |
296 | 295 | ||
297 | SPI_TXUpdatebufferRequest = 0; |
296 | SPI_TXUpdatebufferRequest = 0; |
298 | 297 | ||
299 | //---------------- |
298 | //---------------- |
300 | 299 | ||
301 | // DebugOut.Analog[11] = FromFlightCtrl.Command; |
300 | // DebugOut.Analog[11] = FromFlightCtrl.Command; |
302 | switch(FromFlightCtrl.Command) |
301 | switch(FromFlightCtrl.Command) |
303 | { |
302 | { |
304 | case SPI_CMD_USER: |
303 | case SPI_CMD_USER: |
305 | DebugOut.Analog[7]++; |
304 | DebugOut.Analog[7]++; |
306 | Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
305 | Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
307 | Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
306 | Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
308 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
307 | Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
309 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
308 | Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
310 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
309 | Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
311 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
310 | Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
312 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
311 | Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
- | 312 | Parameter_UserParam8 = FromFlightCtrl.Param.Byte[7]; |
|
- | 313 | if(ClearFlags) {MikroKopterFlags = 0; ClearFlags = 0;}; |
|
- | 314 | MikroKopterFlags |= (s32) FromFlightCtrl.Param.Byte[8]; |
|
- | 315 | UBat = FromFlightCtrl.Param.Byte[9]; |
|
- | 316 | UndervoltageLevel = FromFlightCtrl.Param.Byte[10]; |
|
- | 317 | ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
|
- | 318 | //DebugOut.Analog[7] = MikroKopterFlags; |
|
- | 319 | if(MikroKopterFlags & 0x004) DebugOut.Analog[8]++; |
|
- | 320 | break; |
|
- | 321 | ||
- | 322 | case SPI_CMD_PARAMETER1: |
|
- | 323 | Parameter_NaviGpsModeControl = FromFlightCtrl.Param.Byte[0]; |
|
- | 324 | Parameter_NaviGpsGain = FromFlightCtrl.Param.Byte[1]; |
|
- | 325 | Parameter_NaviGpsP = FromFlightCtrl.Param.Byte[2]; |
|
- | 326 | Parameter_NaviGpsI = FromFlightCtrl.Param.Byte[3]; |
|
- | 327 | Parameter_NaviGpsD = FromFlightCtrl.Param.Byte[4]; |
|
- | 328 | Parameter_NaviGpsACC = FromFlightCtrl.Param.Byte[5]; |
|
- | 329 | Parameter_NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
|
- | 330 | Parameter_NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
|
- | 331 | Parameter_RadiusAlert = FromFlightCtrl.Param.Byte[8]; |
|
313 | break; |
332 | break; |
314 | case SPI_CMD_STICK: |
333 | case SPI_CMD_STICK: |
315 | DebugOut.Analog[8]++; |
- | |
316 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
334 | FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
317 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
335 | FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
318 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
336 | FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
319 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
337 | FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
320 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
338 | FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
321 | FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
339 | FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
322 | FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
340 | FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
323 | FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
341 | FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
324 | SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
342 | SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
325 | break; |
343 | break; |
326 | 344 | ||
327 | case SPI_CMD_CAL_COMPASS: |
345 | case SPI_CMD_CAL_COMPASS: |
328 | DebugOut.Analog[9]++; |
346 | DebugOut.Analog[9]++; |
329 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
347 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
330 | break; |
348 | break; |
331 | 349 | ||
332 | default: |
350 | default: |
333 | break; |
351 | break; |
334 | } |
352 | } |
335 | 353 | ||
336 | 354 | ||
337 | //------------ |
355 | //------------ |
338 | I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
356 | I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
339 | I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
357 | I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
340 | 358 | ||
341 | Navigation(); |
359 | Navigation(); |
342 | 360 | ||
343 | SPI_RXUpdatebufferRequest = 0; |
361 | SPI_RXUpdatebufferRequest = 0; |
344 | } |
362 | } |
345 | } |
363 | } |
346 | 364 | ||
347 | 365 |