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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 | 57 | ||
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "GPS.h" |
61 | #include "GPS.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
64 | #include "i2c.h" |
64 | #include "i2c.h" |
65 | #include "timer1.h" |
65 | #include "timer1.h" |
66 | #include "timer2.h" |
66 | #include "timer2.h" |
67 | #include "config.h" |
67 | #include "config.h" |
68 | #include "main.h" |
68 | #include "main.h" |
69 | #include "fifo.h" |
69 | #include "fifo.h" |
70 | 70 | ||
71 | 71 | ||
72 | #define SPI_RXSYNCBYTE1 0xAA |
72 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE2 0x83 |
73 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_TXSYNCBYTE1 0x81 |
74 | #define SPI_TXSYNCBYTE1 0x81 |
75 | #define SPI_TXSYNCBYTE2 0x55 |
75 | #define SPI_TXSYNCBYTE2 0x55 |
76 | 76 | ||
77 | typedef enum |
77 | typedef enum |
78 | { |
78 | { |
79 | SPI_SYNC1, |
79 | SPI_SYNC1, |
80 | SPI_SYNC2, |
80 | SPI_SYNC2, |
81 | SPI_DATA |
81 | SPI_DATA |
82 | } SPI_State_t; |
82 | } SPI_State_t; |
83 | 83 | ||
84 | //communication packets |
84 | //communication packets |
85 | volatile FromFlightCtrl_t FromFlightCtrl; |
85 | volatile FromFlightCtrl_t FromFlightCtrl; |
86 | volatile ToFlightCtrl_t ToFlightCtrl; |
86 | volatile ToFlightCtrl_t ToFlightCtrl; |
87 | 87 | ||
88 | // tx packet buffer |
88 | // tx packet buffer |
89 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
89 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
90 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
90 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
91 | volatile u8 SPI_TxBufferIndex = 0; |
91 | volatile u8 SPI_TxBufferIndex = 0; |
92 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
92 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
93 | 93 | ||
94 | // rx packet buffer |
94 | // rx packet buffer |
95 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
95 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
96 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
96 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
97 | volatile u8 SPI_RxBufferIndex = 0; |
97 | volatile u8 SPI_RxBufferIndex = 0; |
98 | volatile u8 SPI_RxBuffer_Request = 0; |
98 | volatile u8 SPI_RxBuffer_Request = 0; |
99 | #define SPI_COMMAND_INDEX 0 |
99 | #define SPI_COMMAND_INDEX 0 |
100 | 100 | ||
101 | s32 FC_Kalman_K = 32; |
101 | s32 FC_Kalman_K = 32; |
102 | s32 Kalman_MaxDrift = 5 * 16; |
102 | s32 Kalman_MaxDrift = 5 * 16; |
103 | s32 Kalman_MaxFusion = 64; |
103 | s32 Kalman_MaxFusion = 64; |
104 | u32 CheckSPIOkay = 0; |
104 | u32 CheckSPIOkay = 0; |
105 | 105 | ||
106 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
106 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
107 | u8 SPI_CommandCounter = 0; |
107 | u8 SPI_CommandCounter = 0; |
108 | 108 | ||
109 | SPI_Version_t FC_Version; |
109 | SPI_Version_t FC_Version; |
110 | 110 | ||
111 | u8 CompassCalStateQueue[10]; |
111 | u8 CompassCalStateQueue[10]; |
112 | fifo_t CompassCalcStateFiFo; |
112 | fifo_t CompassCalcStateFiFo; |
113 | 113 | ||
114 | u8 CompassCalState = 0; |
114 | u8 CompassCalState = 0; |
115 | 115 | ||
116 | //-------------------------------------------------------------- |
116 | //-------------------------------------------------------------- |
117 | void SSP0_IRQHandler(void) |
117 | void SSP0_IRQHandler(void) |
118 | { |
118 | { |
119 | static u8 rxchksum = 0; |
119 | static u8 rxchksum = 0; |
120 | u8 rxdata; |
120 | u8 rxdata; |
121 | static SPI_State_t SPI_State = SPI_SYNC1; |
121 | static SPI_State_t SPI_State = SPI_SYNC1; |
122 | 122 | ||
123 | // clear pending bit |
123 | // clear pending bits |
- | 124 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
|
- | 125 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
|
124 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
126 | /* |
125 | // Fill TxFIFO while its not full or end of packet is reached |
127 | // Fill TxFIFO while its not full or end of packet is reached |
126 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
128 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
127 | { |
129 | { |
128 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
130 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
129 | { |
131 | { |
130 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
132 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
131 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
133 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
132 | SPI_TxBufferIndex++; // pointer to next byte |
134 | SPI_TxBufferIndex++; // pointer to next byte |
133 | } |
135 | } |
134 | else // TxBuffer end is reached then reset and copy data to tx buffer |
136 | else // TxBuffer end is reached then reset and copy data to tx buffer |
135 | { |
137 | { |
136 | SPI_TxBufferIndex = 0; // reset buffer index |
138 | SPI_TxBufferIndex = 0; // reset buffer index |
137 | ToFlightCtrl.Chksum = 0; // initialize checksum |
139 | ToFlightCtrl.Chksum = 0; // initialize checksum |
138 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
140 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
139 | BeepTime = 0; // reset local beeptime |
141 | BeepTime = 0; // reset local beeptime |
140 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
142 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
141 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
143 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
142 | } |
144 | } |
143 | } |
145 | } |
- | 146 | */ |
|
144 | // while RxFIFO not empty |
147 | // while RxFIFO not empty |
145 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
148 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
146 | { |
149 | { |
147 | rxdata = SSP0->DR; // catch the received byte |
150 | rxdata = SSP0->DR; // catch the received byte |
148 | // Fill TxFIFO while its not full or end of packet is reached |
151 | // Fill TxFIFO while its not full or end of packet is reached |
149 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
152 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
150 | { |
153 | { |
151 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
154 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
152 | { |
155 | { |
153 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
156 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
154 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
157 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
155 | SPI_TxBufferIndex++; // pointer to next byte |
158 | SPI_TxBufferIndex++; // pointer to next byte |
156 | } |
159 | } |
157 | else // end of packet is reached reset and copy data to tx buffer |
160 | else // end of packet is reached reset and copy data to tx buffer |
158 | { |
161 | { |
159 | SPI_TxBufferIndex = 0; // reset buffer index |
162 | SPI_TxBufferIndex = 0; // reset buffer index |
160 | ToFlightCtrl.Chksum = 0; // initialize checksum |
163 | ToFlightCtrl.Chksum = 0; // initialize checksum |
161 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
164 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
162 | BeepTime = 0; // reset local beeptime |
165 | BeepTime = 0; // reset local beeptime |
163 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
166 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
164 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
167 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
165 | } |
168 | } |
166 | } |
169 | } |
167 | switch (SPI_State) |
170 | switch (SPI_State) |
168 | { |
171 | { |
169 | case SPI_SYNC1: |
172 | case SPI_SYNC1: |
170 | SPI_RxBufferIndex = 0; // reset buffer index |
173 | SPI_RxBufferIndex = 0; // reset buffer index |
171 | rxchksum = rxdata; // init checksum |
174 | rxchksum = rxdata; // init checksum |
172 | if (rxdata == SPI_RXSYNCBYTE1) |
175 | if (rxdata == SPI_RXSYNCBYTE1) |
173 | { // 1st syncbyte ok |
176 | { // 1st syncbyte ok |
174 | SPI_State = SPI_SYNC2; // step to sync2 |
177 | SPI_State = SPI_SYNC2; // step to sync2 |
175 | } |
178 | } |
176 | break; |
179 | break; |
177 | case SPI_SYNC2: |
180 | case SPI_SYNC2: |
178 | if (rxdata == SPI_RXSYNCBYTE2) |
181 | if (rxdata == SPI_RXSYNCBYTE2) |
179 | { // 2nd Syncbyte ok |
182 | { // 2nd Syncbyte ok |
180 | rxchksum += rxdata; |
183 | rxchksum += rxdata; |
181 | SPI_State = SPI_DATA; |
184 | SPI_State = SPI_DATA; |
182 | } // 2nd Syncbyte does not match |
185 | } // 2nd Syncbyte does not match |
183 | else |
186 | else |
184 | { |
187 | { |
185 | SPI_State = SPI_SYNC1; //jump back to sync1 |
188 | SPI_State = SPI_SYNC1; //jump back to sync1 |
186 | } |
189 | } |
187 | break; |
190 | break; |
188 | case SPI_DATA: |
191 | case SPI_DATA: |
189 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
192 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
190 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
193 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
191 | { |
194 | { |
192 | if (rxdata == rxchksum) // verify checksum byte |
195 | if (rxdata == rxchksum) // verify checksum byte |
193 | { |
196 | { |
194 | // copy SPI_RxBuffer -> FromFlightCtrl |
197 | // copy SPI_RxBuffer -> FromFlightCtrl |
195 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
198 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
196 | { |
199 | { |
197 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
200 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
198 | SPI_RxBuffer_Request = 1; |
201 | SPI_RxBuffer_Request = 1; |
199 | } |
202 | } |
200 | CheckSPIOkay++; |
203 | CheckSPIOkay++; |
201 | DebugOut.Analog[13]++; |
204 | DebugOut.Analog[13]++; |
202 | } |
205 | } |
203 | else // bad checksum byte |
206 | else // bad checksum byte |
204 | { |
207 | { |
205 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
208 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
206 | } |
209 | } |
207 | SPI_State = SPI_SYNC1; // reset state |
210 | SPI_State = SPI_SYNC1; // reset state |
208 | } |
211 | } |
209 | else // end of packet not reached |
212 | else // end of packet not reached |
210 | { |
213 | { |
211 | rxchksum += rxdata; // update checksum |
214 | rxchksum += rxdata; // update checksum |
212 | } |
215 | } |
213 | break; |
216 | break; |
214 | default: |
217 | default: |
215 | SPI_State = SPI_SYNC1; |
218 | SPI_State = SPI_SYNC1; |
216 | break; |
219 | break; |
217 | } |
220 | } |
218 | } |
221 | } |
219 | } |
222 | } |
220 | 223 | ||
221 | //-------------------------------------------------------------- |
224 | //-------------------------------------------------------------- |
222 | void SPI0_Init(void) |
225 | void SPI0_Init(void) |
223 | { |
226 | { |
224 | GPIO_InitTypeDef GPIO_InitStructure; |
227 | GPIO_InitTypeDef GPIO_InitStructure; |
225 | SSP_InitTypeDef SSP_InitStructure; |
228 | SSP_InitTypeDef SSP_InitStructure; |
226 | 229 | ||
227 | UART1_PutString("\r\n SPI init..."); |
230 | UART1_PutString("\r\n SPI init..."); |
228 | 231 | ||
229 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
232 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
230 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
233 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
231 | 234 | ||
232 | GPIO_DeInit(GPIO2); |
235 | GPIO_DeInit(GPIO2); |
233 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
236 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
234 | GPIO_StructInit(&GPIO_InitStructure); |
237 | GPIO_StructInit(&GPIO_InitStructure); |
235 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
238 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
236 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
239 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
237 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
240 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
238 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
241 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
239 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
242 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
240 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
243 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
241 | 244 | ||
242 | // SSP0_MISO pin GPIO2.6 |
245 | // SSP0_MISO pin GPIO2.6 |
243 | GPIO_StructInit(&GPIO_InitStructure); |
246 | GPIO_StructInit(&GPIO_InitStructure); |
244 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
247 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
245 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
248 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
246 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
249 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
247 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
250 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
248 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
251 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
249 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
252 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
250 | 253 | ||
251 | SSP_DeInit(SSP0); |
254 | SSP_DeInit(SSP0); |
252 | SSP_StructInit(&SSP_InitStructure); |
255 | SSP_StructInit(&SSP_InitStructure); |
253 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
256 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
254 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
257 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
255 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
258 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
256 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
259 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
257 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
260 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
258 | SSP_InitStructure.SSP_ClockRate = 0; |
261 | SSP_InitStructure.SSP_ClockRate = 0; |
259 | 262 | ||
260 | SSP_Init(SSP0, &SSP_InitStructure); |
263 | SSP_Init(SSP0, &SSP_InitStructure); |
261 | 264 | ||
- | 265 | //SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
|
- | 266 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
|
262 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
267 | |
263 | 268 | ||
264 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
269 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
265 | 270 | ||
266 | SSP_Cmd(SSP0, ENABLE); |
271 | SSP_Cmd(SSP0, ENABLE); |
267 | // initialize the syncbytes in the tx buffer |
272 | // initialize the syncbytes in the tx buffer |
268 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
273 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
269 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
274 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
270 | // set the pointer to the checksum byte in the tx buffer |
275 | // set the pointer to the checksum byte in the tx buffer |
271 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
276 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
272 | 277 | ||
273 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
278 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
274 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
279 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
275 | 280 | ||
276 | UART1_PutString("ok"); |
281 | UART1_PutString("ok"); |
277 | } |
282 | } |
278 | 283 | ||
279 | //------------------------------------------------------ |
284 | //------------------------------------------------------ |
280 | void SPI0_UpdateBuffer(void) |
285 | void SPI0_UpdateBuffer(void) |
281 | { |
286 | { |
282 | if (SPI_RxBuffer_Request) |
287 | if (SPI_RxBuffer_Request) |
283 | { |
288 | { |
284 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
289 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
285 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
290 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
286 | 291 | ||
287 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
292 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
288 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
293 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
289 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
294 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
290 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
295 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
291 | // cycle spi commands |
296 | // cycle spi commands |
292 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
297 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
293 | // restart command cycle at the end |
298 | // restart command cycle at the end |
294 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
299 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
295 | 300 | ||
296 | switch (ToFlightCtrl.Command) |
301 | switch (ToFlightCtrl.Command) |
297 | { |
302 | { |
298 | case SPI_KALMAN: |
303 | case SPI_KALMAN: |
299 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
304 | ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K; |
300 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
305 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
301 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
306 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
302 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
307 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
303 | break; |
308 | break; |
304 | 309 | ||
305 | default: |
310 | default: |
306 | break; |
311 | break; |
307 | } |
312 | } |
308 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
313 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
309 | 314 | ||
310 | 315 | ||
311 | switch(FromFlightCtrl.Command) |
316 | switch(FromFlightCtrl.Command) |
312 | { |
317 | { |
313 | case SPI_CMD_USER: |
318 | case SPI_CMD_USER: |
314 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
319 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
315 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
320 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
316 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
321 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
317 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
322 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
318 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
323 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
319 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
324 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
320 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
325 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
321 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
326 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
322 | if(ClearMKFlags) |
327 | if(ClearMKFlags) |
323 | { |
328 | { |
324 | FC.MKFlags = 0; |
329 | FC.MKFlags = 0; |
325 | ClearMKFlags = 0; |
330 | ClearMKFlags = 0; |
326 | } |
331 | } |
327 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
332 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
328 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
333 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
329 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
334 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
330 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
335 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
331 | DebugOut.Analog[5] = FC.MKFlags; |
336 | DebugOut.Analog[5] = FC.MKFlags; |
332 | break; |
337 | break; |
333 | 338 | ||
334 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
339 | #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
335 | case SPI_CMD_PARAMETER1: |
340 | case SPI_CMD_PARAMETER1: |
336 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
341 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
337 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
342 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
338 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
343 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
339 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
344 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
340 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
345 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
341 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
346 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
342 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
347 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
343 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
348 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
344 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
349 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
345 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
350 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
346 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
351 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
347 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
352 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
348 | break; |
353 | break; |
349 | 354 | ||
350 | case SPI_CMD_STICK: |
355 | case SPI_CMD_STICK: |
351 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
356 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
352 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
357 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
353 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
358 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
354 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
359 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
355 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
360 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
356 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
361 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
357 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
362 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
358 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
363 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
359 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
364 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
360 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
365 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
361 | break; |
366 | break; |
362 | 367 | ||
363 | case SPI_CMD_MISC: |
368 | case SPI_CMD_MISC: |
364 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
369 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
365 | { // put only new CompassCalState into queue to send via I2C |
370 | { // put only new CompassCalState into queue to send via I2C |
366 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
371 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
367 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
372 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
368 | } |
373 | } |
369 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
374 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
370 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
375 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
371 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
376 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
372 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
377 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[4],0,255); |
373 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
378 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[5],0,255); |
374 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
379 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[6],0,255); |
375 | break; |
380 | break; |
376 | 381 | ||
377 | case SPI_CMD_SERVOS: |
382 | case SPI_CMD_SERVOS: |
378 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
383 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
379 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
384 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
380 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
385 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
381 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
386 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
382 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
387 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
383 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
388 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
384 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
389 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
385 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
390 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
386 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
391 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
387 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
392 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
388 | break; |
393 | break; |
389 | 394 | ||
390 | case SPI_CMD_VERSION: |
395 | case SPI_CMD_VERSION: |
391 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
396 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
392 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
397 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
393 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
398 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
394 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
399 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
395 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
400 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
396 | break; |
401 | break; |
397 | 402 | ||
398 | default: |
403 | default: |
399 | break; |
404 | break; |
400 | } |
405 | } |
401 | 406 | ||
402 | // every time we got new data from the FC via SPI call the navigation routine |
407 | // every time we got new data from the FC via SPI call the navigation routine |
403 | GPS_Navigation(); |
408 | GPS_Navigation(); |
404 | ClearMKFlags = 1; |
409 | ClearMKFlags = 1; |
405 | 410 | ||
406 | SPI_RxBuffer_Request = 0; |
411 | SPI_RxBuffer_Request = 0; |
407 | 412 | ||
408 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
413 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
409 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
414 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
410 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
415 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
411 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
416 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
412 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
417 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
413 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
418 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
414 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
419 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
415 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
420 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
416 | } // EOF if(SPI_RxBuffer_Request) |
421 | } // EOF if(SPI_RxBuffer_Request) |
417 | } |
422 | } |
418 | 423 | ||
419 | //------------------------------------------------------ |
424 | //------------------------------------------------------ |
420 | void SPI0_GetFlightCtrlVersion(void) |
425 | void SPI0_GetFlightCtrlVersion(void) |
421 | { |
426 | { |
422 | u16 timeout; |
427 | u16 timeout; |
423 | u8 msg[64]; |
428 | u8 msg[64]; |
424 | 429 | ||
425 | FC_Version.Major = 0xFF; |
430 | FC_Version.Major = 0xFF; |
426 | FC_Version.Minor = 0xFF; |
431 | FC_Version.Minor = 0xFF; |
427 | FC_Version.Patch = 0xFF; |
432 | FC_Version.Patch = 0xFF; |
428 | FC_Version.Compatible = 0xFF; |
433 | FC_Version.Compatible = 0xFF; |
429 | 434 | ||
430 | // polling FC version info for 2 second |
435 | // polling FC version info for 2 second |
431 | timeout = SetDelay(2000); |
436 | timeout = SetDelay(2000); |
432 | do |
437 | do |
433 | { |
438 | { |
434 | SPI0_UpdateBuffer(); |
439 | SPI0_UpdateBuffer(); |
435 | if (FC_Version.Major != 0xFF) break; |
440 | if (FC_Version.Major != 0xFF) break; |
436 | }while (!CheckDelay(timeout)); |
441 | }while (!CheckDelay(timeout)); |
437 | // if we got it |
442 | // if we got it |
438 | if (FC_Version.Major != 0xFF) |
443 | if (FC_Version.Major != 0xFF) |
439 | { |
444 | { |
440 | sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
445 | sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
441 | UART1_PutString(msg); |
446 | UART1_PutString(msg); |
442 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
447 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
443 | UART1_PutString(msg); |
448 | UART1_PutString(msg); |
444 | } |
449 | } |
445 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
450 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
446 | } |
451 | } |
447 | 452 | ||
448 | 453 | ||
449 | 454 |