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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 / 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 | 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 | #define SPI0_TIMEOUT 500 // 500 ms |
87 | #define SPI0_TIMEOUT 500 // 500 ms |
88 | volatile u32 SPI0_Timeout = 0; |
88 | volatile u32 SPI0_Timeout = 0; |
89 | 89 | ||
90 | // tx packet buffer |
90 | // tx packet buffer |
91 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
91 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
92 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
92 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
93 | volatile u8 SPI_TxBufferIndex = 0; |
93 | volatile u8 SPI_TxBufferIndex = 0; |
94 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
94 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
95 | 95 | ||
96 | // rx packet buffer |
96 | // rx packet buffer |
97 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
97 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
98 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
98 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
99 | volatile u8 SPI_RxBufferIndex = 0; |
99 | volatile u8 SPI_RxBufferIndex = 0; |
100 | volatile u8 SPI_RxBuffer_Request = 0; |
100 | volatile u8 SPI_RxBuffer_Request = 0; |
101 | #define SPI_COMMAND_INDEX 0 |
101 | #define SPI_COMMAND_INDEX 0 |
102 | 102 | ||
103 | s32 Kalman_K = 32; |
103 | s32 Kalman_K = 32; |
104 | s32 Kalman_MaxDrift = 5 * 16; |
104 | s32 Kalman_MaxDrift = 5 * 16; |
105 | s32 Kalman_MaxFusion = 64; |
105 | s32 Kalman_MaxFusion = 64; |
106 | s32 ToFcGpsZ = 0; |
106 | s32 ToFcGpsZ = 0; |
107 | 107 | ||
108 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
108 | u8 SPI_CommandSequence[] = { SPI_KALMAN }; |
109 | u8 SPI_CommandCounter = 0; |
109 | u8 SPI_CommandCounter = 0; |
110 | 110 | ||
111 | SPI_Version_t FC_Version; |
111 | SPI_Version_t FC_Version; |
112 | 112 | ||
113 | u8 CompassCalStateQueue[10]; |
113 | u8 CompassCalStateQueue[10]; |
114 | fifo_t CompassCalcStateFiFo; |
114 | fifo_t CompassCalcStateFiFo; |
115 | 115 | ||
116 | u8 CompassCalState = 0; |
116 | u8 CompassCalState = 0; |
117 | 117 | ||
118 | //-------------------------------------------------------------- |
118 | //-------------------------------------------------------------- |
119 | void SSP0_IRQHandler(void) |
119 | void SSP0_IRQHandler(void) |
120 | { |
120 | { |
121 | static u8 rxchksum = 0; |
121 | static u8 rxchksum = 0; |
122 | u8 rxdata; |
122 | u8 rxdata; |
123 | static SPI_State_t SPI_State = SPI_SYNC1; |
123 | static SPI_State_t SPI_State = SPI_SYNC1; |
124 | 124 | ||
125 | // clear pending bits |
125 | // clear pending bits |
126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
126 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
127 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
127 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
128 | /* |
128 | /* |
129 | // Fill TxFIFO while its not full or end of packet is reached |
129 | // Fill TxFIFO while its not full or end of packet is reached |
130 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
130 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
131 | { |
131 | { |
132 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
132 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
133 | { |
133 | { |
134 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
134 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
135 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
135 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
136 | SPI_TxBufferIndex++; // pointer to next byte |
136 | SPI_TxBufferIndex++; // pointer to next byte |
137 | } |
137 | } |
138 | else // TxBuffer end is reached then reset and copy data to tx buffer |
138 | else // TxBuffer end is reached then reset and copy data to tx buffer |
139 | { |
139 | { |
140 | SPI_TxBufferIndex = 0; // reset buffer index |
140 | SPI_TxBufferIndex = 0; // reset buffer index |
141 | ToFlightCtrl.Chksum = 0; // initialize checksum |
141 | ToFlightCtrl.Chksum = 0; // initialize checksum |
142 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
142 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
143 | BeepTime = 0; // reset local beeptime |
143 | BeepTime = 0; // reset local beeptime |
144 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
144 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
145 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
145 | memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
146 | } |
146 | } |
147 | } |
147 | } |
148 | */ |
148 | */ |
149 | // while RxFIFO not empty |
149 | // while RxFIFO not empty |
150 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
150 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
151 | { |
151 | { |
152 | rxdata = SSP0->DR; // catch the received byte |
152 | rxdata = SSP0->DR; // catch the received byte |
153 | // Fill TxFIFO while its not full or end of packet is reached |
153 | // Fill TxFIFO while its not full or end of packet is reached |
154 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
154 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
155 | { |
155 | { |
156 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
156 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
157 | { |
157 | { |
158 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
158 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
159 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
159 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
160 | SPI_TxBufferIndex++; // pointer to next byte |
160 | SPI_TxBufferIndex++; // pointer to next byte |
161 | } |
161 | } |
162 | else // end of packet is reached reset and copy data to tx buffer |
162 | else // end of packet is reached reset and copy data to tx buffer |
163 | { |
163 | { |
164 | SPI_TxBufferIndex = 0; // reset buffer index |
164 | SPI_TxBufferIndex = 0; // reset buffer index |
165 | ToFlightCtrl.Chksum = 0; // initialize checksum |
165 | ToFlightCtrl.Chksum = 0; // initialize checksum |
166 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
166 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
167 | BeepTime = 0; // reset local beeptime |
167 | BeepTime = 0; // reset local beeptime |
168 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
168 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
169 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
169 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
170 | } |
170 | } |
171 | } |
171 | } |
172 | switch (SPI_State) |
172 | switch (SPI_State) |
173 | { |
173 | { |
174 | case SPI_SYNC1: |
174 | case SPI_SYNC1: |
175 | SPI_RxBufferIndex = 0; // reset buffer index |
175 | SPI_RxBufferIndex = 0; // reset buffer index |
176 | rxchksum = rxdata; // init checksum |
176 | rxchksum = rxdata; // init checksum |
177 | if (rxdata == SPI_RXSYNCBYTE1) |
177 | if (rxdata == SPI_RXSYNCBYTE1) |
178 | { // 1st syncbyte ok |
178 | { // 1st syncbyte ok |
179 | SPI_State = SPI_SYNC2; // step to sync2 |
179 | SPI_State = SPI_SYNC2; // step to sync2 |
180 | } |
180 | } |
181 | break; |
181 | break; |
182 | case SPI_SYNC2: |
182 | case SPI_SYNC2: |
183 | if (rxdata == SPI_RXSYNCBYTE2) |
183 | if (rxdata == SPI_RXSYNCBYTE2) |
184 | { // 2nd Syncbyte ok |
184 | { // 2nd Syncbyte ok |
185 | rxchksum += rxdata; |
185 | rxchksum += rxdata; |
186 | SPI_State = SPI_DATA; |
186 | SPI_State = SPI_DATA; |
187 | } // 2nd Syncbyte does not match |
187 | } // 2nd Syncbyte does not match |
188 | else |
188 | else |
189 | { |
189 | { |
190 | SPI_State = SPI_SYNC1; //jump back to sync1 |
190 | SPI_State = SPI_SYNC1; //jump back to sync1 |
191 | } |
191 | } |
192 | break; |
192 | break; |
193 | case SPI_DATA: |
193 | case SPI_DATA: |
194 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
194 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
195 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
195 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
196 | { |
196 | { |
197 | if (rxdata == rxchksum) // verify checksum byte |
197 | if (rxdata == rxchksum) // verify checksum byte |
198 | { |
198 | { |
199 | // copy SPI_RxBuffer -> FromFlightCtrl |
199 | // copy SPI_RxBuffer -> FromFlightCtrl |
200 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
200 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
201 | { |
201 | { |
202 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
202 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
203 | SPI_RxBuffer_Request = 1; |
203 | SPI_RxBuffer_Request = 1; |
204 | } |
204 | } |
205 | // reset timeout counter on good packet |
205 | // reset timeout counter on good packet |
206 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
206 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
207 | DebugOut.Analog[13]++; |
207 | DebugOut.Analog[13]++; |
208 | } |
208 | } |
209 | else // bad checksum byte |
209 | else // bad checksum byte |
210 | { |
210 | { |
211 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
211 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
212 | } |
212 | } |
213 | SPI_State = SPI_SYNC1; // reset state |
213 | SPI_State = SPI_SYNC1; // reset state |
214 | } |
214 | } |
215 | else // end of packet not reached |
215 | else // end of packet not reached |
216 | { |
216 | { |
217 | rxchksum += rxdata; // update checksum |
217 | rxchksum += rxdata; // update checksum |
218 | } |
218 | } |
219 | break; |
219 | break; |
220 | default: |
220 | default: |
221 | SPI_State = SPI_SYNC1; |
221 | SPI_State = SPI_SYNC1; |
222 | break; |
222 | break; |
223 | } |
223 | } |
224 | } |
224 | } |
225 | } |
225 | } |
226 | 226 | ||
227 | //-------------------------------------------------------------- |
227 | //-------------------------------------------------------------- |
228 | void SPI0_Init(void) |
228 | void SPI0_Init(void) |
229 | { |
229 | { |
230 | GPIO_InitTypeDef GPIO_InitStructure; |
230 | GPIO_InitTypeDef GPIO_InitStructure; |
231 | SSP_InitTypeDef SSP_InitStructure; |
231 | SSP_InitTypeDef SSP_InitStructure; |
232 | 232 | ||
233 | UART1_PutString("\r\n SPI init..."); |
233 | UART1_PutString("\r\n SPI init..."); |
234 | 234 | ||
235 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
235 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
236 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
236 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
237 | 237 | ||
238 | GPIO_DeInit(GPIO2); |
238 | GPIO_DeInit(GPIO2); |
239 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
239 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
240 | GPIO_StructInit(&GPIO_InitStructure); |
240 | GPIO_StructInit(&GPIO_InitStructure); |
241 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
241 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
242 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
242 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
243 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
243 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
244 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
244 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
245 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
245 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
246 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
246 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
247 | 247 | ||
248 | // SSP0_MISO pin GPIO2.6 |
248 | // SSP0_MISO pin GPIO2.6 |
249 | GPIO_StructInit(&GPIO_InitStructure); |
249 | GPIO_StructInit(&GPIO_InitStructure); |
250 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
250 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
251 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
251 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
252 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
252 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
253 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
253 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
254 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
254 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
255 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
255 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
256 | 256 | ||
257 | SSP_DeInit(SSP0); |
257 | SSP_DeInit(SSP0); |
258 | SSP_StructInit(&SSP_InitStructure); |
258 | SSP_StructInit(&SSP_InitStructure); |
259 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
259 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
260 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
260 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
261 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
261 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
262 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
262 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
263 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
263 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
264 | SSP_InitStructure.SSP_ClockRate = 0; |
264 | SSP_InitStructure.SSP_ClockRate = 0; |
265 | 265 | ||
266 | SSP_Init(SSP0, &SSP_InitStructure); |
266 | SSP_Init(SSP0, &SSP_InitStructure); |
267 | 267 | ||
268 | //SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
268 | //SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
269 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
269 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
270 | 270 | ||
271 | 271 | ||
272 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
272 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
273 | 273 | ||
274 | SSP_Cmd(SSP0, ENABLE); |
274 | SSP_Cmd(SSP0, ENABLE); |
275 | // initialize the syncbytes in the tx buffer |
275 | // initialize the syncbytes in the tx buffer |
276 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
276 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
277 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
277 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
278 | // set the pointer to the checksum byte in the tx buffer |
278 | // set the pointer to the checksum byte in the tx buffer |
279 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
279 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
280 | 280 | ||
281 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
281 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
282 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
282 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
283 | 283 | ||
284 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
284 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
285 | 285 | ||
286 | UART1_PutString("ok"); |
286 | UART1_PutString("ok"); |
287 | } |
287 | } |
288 | 288 | ||
289 | //------------------------------------------------------ |
289 | //------------------------------------------------------ |
290 | void SPI0_UpdateBuffer(void) |
290 | void SPI0_UpdateBuffer(void) |
291 | { |
291 | { |
292 | if (SPI_RxBuffer_Request) |
292 | if (SPI_RxBuffer_Request) |
293 | { |
293 | { |
294 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
294 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
295 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
295 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
296 | 296 | ||
297 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
297 | ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
298 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
298 | ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
299 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
299 | ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
300 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
300 | ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
301 | // cycle spi commands |
301 | // cycle spi commands |
302 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
302 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
303 | // restart command cycle at the end |
303 | // restart command cycle at the end |
304 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
304 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
305 | 305 | ||
306 | switch (ToFlightCtrl.Command) |
306 | switch (ToFlightCtrl.Command) |
307 | { |
307 | { |
308 | case SPI_KALMAN: |
308 | case SPI_KALMAN: |
309 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
309 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
310 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
310 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
311 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
311 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
312 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
312 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
313 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
313 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
314 | break; |
314 | break; |
315 | 315 | ||
316 | default: |
316 | default: |
317 | break; |
317 | break; |
318 | } |
318 | } |
319 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
319 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
320 | 320 | ||
321 | 321 | ||
322 | switch(FromFlightCtrl.Command) |
322 | switch(FromFlightCtrl.Command) |
323 | { |
323 | { |
324 | case SPI_CMD_USER: |
324 | case SPI_CMD_USER: |
325 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
325 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
326 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
326 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
327 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
327 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
328 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
328 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
329 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
329 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
330 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
330 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
331 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
331 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
332 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
332 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
333 | if(ClearMKFlags) |
333 | if(ClearMKFlags) |
334 | { |
334 | { |
335 | FC.MKFlags = 0; |
335 | FC.MKFlags = 0; |
336 | ClearMKFlags = 0; |
336 | ClearMKFlags = 0; |
337 | } |
337 | } |
338 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
338 | FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
339 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
339 | FC.UBat = FromFlightCtrl.Param.Byte[9]; |
340 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
340 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
341 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
341 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
342 | DebugOut.Analog[5] = FC.MKFlags; |
342 | DebugOut.Analog[5] = FC.MKFlags; |
343 | break; |
343 | break; |
344 | 344 | ||
345 | #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;} |
345 | #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;} |
346 | case SPI_CMD_PARAMETER1: |
346 | case SPI_CMD_PARAMETER1: |
347 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
347 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
348 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
348 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
349 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
349 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
350 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
350 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
351 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
351 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
352 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
352 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
353 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
353 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
354 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
354 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
355 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
355 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
356 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
356 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
357 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
357 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
358 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
358 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
359 | break; |
359 | break; |
360 | 360 | ||
361 | case SPI_CMD_STICK: |
361 | case SPI_CMD_STICK: |
362 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
362 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
363 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
363 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
364 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
364 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
365 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
365 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
366 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
366 | FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
367 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
367 | FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
368 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
368 | FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
369 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
369 | FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
370 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
370 | FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
371 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
371 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[9]; |
372 | NaviData.Gas = (FC.UBat * (u32) FromFlightCtrl.Param.Byte[10]) / (u32) Parameter.LowVoltageWarning; |
372 | NaviData.Gas = (FC.UBat * (u32) FromFlightCtrl.Param.Byte[10]) / (u32) Parameter.LowVoltageWarning; |
373 | break; |
373 | break; |
374 | 374 | ||
375 | case SPI_CMD_MISC: |
375 | case SPI_CMD_MISC: |
376 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
376 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
377 | { // put only new CompassCalState into queue to send via I2C |
377 | { // put only new CompassCalState into queue to send via I2C |
378 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
378 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
379 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
379 | fifo_put(&CompassCalcStateFiFo, CompassCalState); |
380 | } |
380 | } |
381 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
381 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
382 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
382 | NaviData.Variometer = (NaviData.Variometer + 2 * ((s16) FromFlightCtrl.Param.Int[1] - NaviData.Altimeter)) / 2; // provisorisch |
383 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
383 | NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; // is located at byte 2 and 3 |
384 | NaviData.SetpointAltitude = (s16) FromFlightCtrl.Param.Int[2]; // is located at byte 4 and 5 |
384 | NaviData.SetpointAltitude = (s16) FromFlightCtrl.Param.Int[2]; // is located at byte 4 and 5 |
385 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
385 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
386 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
386 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
387 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
387 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
388 | break; |
388 | break; |
389 | 389 | ||
390 | case SPI_CMD_SERVOS: |
390 | case SPI_CMD_SERVOS: |
391 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
391 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
392 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
392 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
393 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
393 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
394 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
394 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
395 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
395 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
396 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
396 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
397 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
397 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
398 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
398 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
399 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
399 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
400 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
400 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
401 | break; |
401 | break; |
402 | 402 | ||
403 | case SPI_CMD_VERSION: |
403 | case SPI_CMD_VERSION: |
404 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
404 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
405 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
405 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
406 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
406 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
407 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
407 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
408 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
408 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
409 | break; |
409 | break; |
410 | 410 | ||
411 | default: |
411 | default: |
412 | break; |
412 | break; |
413 | } |
413 | } |
414 | 414 | ||
415 | // every time we got new data from the FC via SPI call the navigation routine |
415 | // every time we got new data from the FC via SPI call the navigation routine |
416 | GPS_Navigation(); |
416 | GPS_Navigation(); |
417 | ClearMKFlags = 1; |
417 | ClearMKFlags = 1; |
418 | 418 | ||
419 | SPI_RxBuffer_Request = 0; |
419 | SPI_RxBuffer_Request = 0; |
420 | 420 | ||
421 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
421 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
422 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
422 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
423 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
423 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
424 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
424 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
425 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
425 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
426 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
426 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
427 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
427 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
428 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
428 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
429 | } // EOF if(SPI_RxBuffer_Request) |
429 | } // EOF if(SPI_RxBuffer_Request) |
430 | } |
430 | } |
431 | 431 | ||
432 | //------------------------------------------------------ |
432 | //------------------------------------------------------ |
433 | void SPI0_GetFlightCtrlVersion(void) |
433 | void SPI0_GetFlightCtrlVersion(void) |
434 | { |
434 | { |
435 | u32 timeout; |
435 | u32 timeout; |
436 | u8 repeat; |
436 | u8 repeat; |
437 | u8 msg[64]; |
437 | u8 msg[64]; |
438 | 438 | ||
439 | UART1_PutString("\r\n Getting Version from FC"); |
439 | UART1_PutString("\r\n Getting Version from FC"); |
440 | FC_Version.Major = 0xFF; |
440 | FC_Version.Major = 0xFF; |
441 | FC_Version.Minor = 0xFF; |
441 | FC_Version.Minor = 0xFF; |
442 | FC_Version.Patch = 0xFF; |
442 | FC_Version.Patch = 0xFF; |
443 | FC_Version.Compatible = 0xFF; |
443 | FC_Version.Compatible = 0xFF; |
444 | 444 | ||
445 | // polling FC version info |
445 | // polling FC version info |
446 | repeat = 0; |
446 | repeat = 0; |
447 | do |
447 | do |
448 | { |
448 | { |
449 | timeout = SetDelay(250); |
449 | timeout = SetDelay(250); |
450 | do |
450 | do |
451 | { |
451 | { |
452 | SPI0_UpdateBuffer(); |
452 | SPI0_UpdateBuffer(); |
453 | if (FC_Version.Major != 0xFF) break; |
453 | if (FC_Version.Major != 0xFF) break; |
454 | }while (!CheckDelay(timeout)); |
454 | }while (!CheckDelay(timeout)); |
455 | UART1_PutString("."); |
455 | UART1_PutString("."); |
456 | repeat++; |
456 | repeat++; |
457 | }while((FC_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms = 3s |
457 | }while((FC_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms = 3s |
458 | // if we got it |
458 | // if we got it |
459 | if (FC_Version.Major != 0xFF) |
459 | if (FC_Version.Major != 0xFF) |
460 | { |
460 | { |
461 | 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); |
461 | 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); |
462 | UART1_PutString(msg); |
462 | UART1_PutString(msg); |
463 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
463 | sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
464 | UART1_PutString(msg); |
464 | UART1_PutString(msg); |
465 | } |
465 | } |
466 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
466 | else UART1_PutString("\n\r No version information from FlightCtrl."); |
467 | } |
467 | } |
468 | 468 | ||
469 | 469 | ||
470 | 470 |