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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 / NON-COMMERCIAL USE ONLY |
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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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 "compass.h" |
64 | #include "compass.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 "compass.h" |
69 | #include "compass.h" |
70 | #include "params.h" |
70 | #include "params.h" |
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 | //communication packets |
77 | //communication packets |
78 | FromFlightCtrl_t FromFlightCtrl; |
78 | FromFlightCtrl_t FromFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
80 | #define SPI0_TIMEOUT 500 // 500ms |
80 | #define SPI0_TIMEOUT 500 // 500ms |
81 | volatile u32 SPI0_Timeout = 0; |
81 | volatile u32 SPI0_Timeout = 0; |
82 | 82 | ||
83 | // tx packet buffer |
83 | // tx packet buffer |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
86 | volatile u8 SPI_TxBufferIndex = 0; |
86 | volatile u8 SPI_TxBufferIndex = 0; |
87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
88 | 88 | ||
89 | // rx packet buffer |
89 | // rx packet buffer |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
92 | volatile u8 SPI_RxBufferIndex = 0; |
92 | volatile u8 SPI_RxBufferIndex = 0; |
93 | volatile u8 SPI_RxBuffer_Request = 0; |
93 | volatile u8 SPI_RxBuffer_Request = 0; |
94 | #define SPI_COMMAND_INDEX 0 |
94 | #define SPI_COMMAND_INDEX 0 |
95 | 95 | ||
96 | s32 Kalman_K = 32; |
96 | s32 Kalman_K = 32; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxFusion = 64; |
98 | s32 Kalman_MaxFusion = 64; |
99 | s32 ToFcGpsZ = 0; |
99 | s32 ToFcGpsZ = 0; |
100 | 100 | ||
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
101 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_KALMAN}; |
102 | u8 SPI_CommandCounter = 0; |
102 | u8 SPI_CommandCounter = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
103 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
104 | s32 HeadFreeStartAngle = 0; |
104 | s32 HeadFreeStartAngle = 0; |
105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
105 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
106 | u32 ToFC_AltitudeRate = 0; |
106 | u32 ToFC_AltitudeRate = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
107 | s32 ToFC_AltitudeSetpoint = 0; |
108 | u8 FromFC_VarioCharacter = ' '; |
108 | u8 FromFC_VarioCharacter = ' '; |
109 | 109 | ||
110 | SPI_Version_t FC_Version; |
110 | SPI_Version_t FC_Version; |
111 | 111 | ||
112 | //-------------------------------------------------------------- |
112 | //-------------------------------------------------------------- |
113 | void SSP0_IRQHandler(void) |
113 | void SSP0_IRQHandler(void) |
114 | { |
114 | { |
115 | static u8 rxchksum = 0; |
115 | static u8 rxchksum = 0; |
116 | u8 rxdata; |
116 | u8 rxdata; |
117 | 117 | ||
118 | #define SPI_SYNC1 0 |
118 | #define SPI_SYNC1 0 |
119 | #define SPI_SYNC2 1 |
119 | #define SPI_SYNC2 1 |
120 | #define SPI_DATA 2 |
120 | #define SPI_DATA 2 |
121 | static u8 SPI_State = SPI_SYNC1; |
121 | static u8 SPI_State = SPI_SYNC1; |
122 | 122 | ||
123 | IENABLE; |
123 | IENABLE; |
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 | // while RxFIFO not empty |
129 | // while RxFIFO not empty |
130 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
130 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
131 | { |
131 | { |
132 | rxdata = SSP0->DR; // catch the received byte |
132 | rxdata = SSP0->DR; // catch the received byte |
133 | // Fill TxFIFO while its not full or end of packet is reached |
133 | // Fill TxFIFO while its not full or end of packet is reached |
134 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
134 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
135 | { |
135 | { |
136 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
136 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
137 | { |
137 | { |
138 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
138 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
139 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
139 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
140 | SPI_TxBufferIndex++; // pointer to next byte |
140 | SPI_TxBufferIndex++; // pointer to next byte |
141 | } |
141 | } |
142 | else // end of packet is reached reset and copy data to tx buffer |
142 | else // end of packet is reached reset and copy data to tx buffer |
143 | { |
143 | { |
144 | SPI_TxBufferIndex = 0; // reset buffer index |
144 | SPI_TxBufferIndex = 0; // reset buffer index |
145 | ToFlightCtrl.Chksum = 0; // initialize checksum |
145 | ToFlightCtrl.Chksum = 0; // initialize checksum |
146 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
146 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
147 | BeepTime = 0; // reset local beeptime |
147 | BeepTime = 0; // reset local beeptime |
148 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
148 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
149 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
149 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
150 | } |
150 | } |
151 | } |
151 | } |
152 | switch (SPI_State) |
152 | switch (SPI_State) |
153 | { |
153 | { |
154 | case SPI_SYNC1: |
154 | case SPI_SYNC1: |
155 | SPI_RxBufferIndex = 0; // reset buffer index |
155 | SPI_RxBufferIndex = 0; // reset buffer index |
156 | rxchksum = rxdata; // init checksum |
156 | rxchksum = rxdata; // init checksum |
157 | if (rxdata == SPI_RXSYNCBYTE1) |
157 | if (rxdata == SPI_RXSYNCBYTE1) |
158 | { // 1st syncbyte ok |
158 | { // 1st syncbyte ok |
159 | SPI_State = SPI_SYNC2; // step to sync2 |
159 | SPI_State = SPI_SYNC2; // step to sync2 |
160 | } |
160 | } |
161 | break; |
161 | break; |
162 | case SPI_SYNC2: |
162 | case SPI_SYNC2: |
163 | if (rxdata == SPI_RXSYNCBYTE2) |
163 | if (rxdata == SPI_RXSYNCBYTE2) |
164 | { // 2nd Syncbyte ok |
164 | { // 2nd Syncbyte ok |
165 | rxchksum += rxdata; |
165 | rxchksum += rxdata; |
166 | SPI_State = SPI_DATA; |
166 | SPI_State = SPI_DATA; |
167 | } // 2nd Syncbyte does not match |
167 | } // 2nd Syncbyte does not match |
168 | else |
168 | else |
169 | { |
169 | { |
170 | SPI_State = SPI_SYNC1; //jump back to sync1 |
170 | SPI_State = SPI_SYNC1; //jump back to sync1 |
171 | } |
171 | } |
172 | break; |
172 | break; |
173 | case SPI_DATA: |
173 | case SPI_DATA: |
174 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
174 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
175 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
175 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
176 | { |
176 | { |
177 | if (rxdata == rxchksum) // verify checksum byte |
177 | if (rxdata == rxchksum) // verify checksum byte |
178 | { |
178 | { |
179 | // copy SPI_RxBuffer -> FromFlightCtrl |
179 | // copy SPI_RxBuffer -> FromFlightCtrl |
180 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
180 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
181 | { |
181 | { |
182 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
182 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
183 | SPI_RxBuffer_Request = 1; |
183 | SPI_RxBuffer_Request = 1; |
184 | } |
184 | } |
185 | // reset timeout counter on good packet |
185 | // reset timeout counter on good packet |
186 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
186 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
187 | DebugOut.Analog[13]++; |
187 | DebugOut.Analog[13]++; |
188 | } |
188 | } |
189 | else // bad checksum byte |
189 | else // bad checksum byte |
190 | { |
190 | { |
191 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
191 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
192 | } |
192 | } |
193 | SPI_State = SPI_SYNC1; // reset state |
193 | SPI_State = SPI_SYNC1; // reset state |
194 | } |
194 | } |
195 | else // end of packet not reached |
195 | else // end of packet not reached |
196 | { |
196 | { |
197 | rxchksum += rxdata; // update checksum |
197 | rxchksum += rxdata; // update checksum |
198 | } |
198 | } |
199 | break; |
199 | break; |
200 | default: |
200 | default: |
201 | SPI_State = SPI_SYNC1; |
201 | SPI_State = SPI_SYNC1; |
202 | break; |
202 | break; |
203 | } |
203 | } |
204 | } |
204 | } |
205 | 205 | ||
206 | IDISABLE; |
206 | IDISABLE; |
207 | } |
207 | } |
208 | 208 | ||
209 | //-------------------------------------------------------------- |
209 | //-------------------------------------------------------------- |
210 | void SPI0_Init(void) |
210 | void SPI0_Init(void) |
211 | { |
211 | { |
212 | GPIO_InitTypeDef GPIO_InitStructure; |
212 | GPIO_InitTypeDef GPIO_InitStructure; |
213 | SSP_InitTypeDef SSP_InitStructure; |
213 | SSP_InitTypeDef SSP_InitStructure; |
214 | 214 | ||
215 | UART1_PutString("\r\n SPI init..."); |
215 | UART1_PutString("\r\n SPI init..."); |
216 | 216 | ||
217 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
217 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
218 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
218 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
219 | 219 | ||
220 | GPIO_DeInit(GPIO2); |
220 | GPIO_DeInit(GPIO2); |
221 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
221 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
222 | GPIO_StructInit(&GPIO_InitStructure); |
222 | GPIO_StructInit(&GPIO_InitStructure); |
223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
226 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
226 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
227 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
227 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
228 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
228 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
229 | 229 | ||
230 | // SSP0_MISO pin GPIO2.6 |
230 | // SSP0_MISO pin GPIO2.6 |
231 | GPIO_StructInit(&GPIO_InitStructure); |
231 | GPIO_StructInit(&GPIO_InitStructure); |
232 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
232 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
233 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
233 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
234 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
234 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
235 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
235 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
236 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
236 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
237 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
237 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
238 | 238 | ||
239 | SSP_DeInit(SSP0); |
239 | SSP_DeInit(SSP0); |
240 | SSP_StructInit(&SSP_InitStructure); |
240 | SSP_StructInit(&SSP_InitStructure); |
241 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
241 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
242 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
242 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
243 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
243 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
244 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
244 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
245 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
245 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
246 | SSP_InitStructure.SSP_ClockRate = 0; |
246 | SSP_InitStructure.SSP_ClockRate = 0; |
247 | 247 | ||
248 | SSP_Init(SSP0, &SSP_InitStructure); |
248 | SSP_Init(SSP0, &SSP_InitStructure); |
249 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
249 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
250 | 250 | ||
251 | SSP_Cmd(SSP0, ENABLE); |
251 | SSP_Cmd(SSP0, ENABLE); |
252 | // initialize the syncbytes in the tx buffer |
252 | // initialize the syncbytes in the tx buffer |
253 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
253 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
254 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
254 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
255 | // set the pointer to the checksum byte in the tx buffer |
255 | // set the pointer to the checksum byte in the tx buffer |
256 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
256 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
257 | 257 | ||
258 | ToFlightCtrl.GPSStick.Nick = 0; |
258 | ToFlightCtrl.GPSStick.Nick = 0; |
259 | ToFlightCtrl.GPSStick.Roll = 0; |
259 | ToFlightCtrl.GPSStick.Roll = 0; |
260 | ToFlightCtrl.GPSStick.Yaw = 0; |
260 | ToFlightCtrl.GPSStick.Yaw = 0; |
261 | 261 | ||
262 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
262 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
263 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
263 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
264 | 264 | ||
265 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
265 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
266 | 266 | ||
267 | UART1_PutString("ok"); |
267 | UART1_PutString("ok"); |
268 | } |
268 | } |
269 | 269 | ||
270 | 270 | ||
271 | //------------------------------------------------------ |
271 | //------------------------------------------------------ |
272 | void SPI0_UpdateBuffer(void) |
272 | void SPI0_UpdateBuffer(void) |
273 | { |
273 | { |
274 | static u32 timeout = 0; |
274 | static u32 timeout = 0; |
275 | static u8 counter = 50; |
275 | static u8 counter = 50; |
276 | static u8 CompassCalState = 0; |
276 | static u8 CompassCalState = 0; |
277 | static u8 FCCalibActive = 0; |
277 | static u8 FCCalibActive = 0; |
278 | s16 tmp; |
278 | s16 tmp; |
279 | 279 | ||
280 | if (SPI_RxBuffer_Request) |
280 | if (SPI_RxBuffer_Request) |
281 | { |
281 | { |
282 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
282 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
283 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
283 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
284 | ToFlightCtrl.CompassHeading = Compass_Heading; |
284 | ToFlightCtrl.CompassHeading = Compass_Heading; |
285 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
285 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
286 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
286 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
287 | ToFlightCtrl.MagVecX = MagVector.X; |
287 | ToFlightCtrl.MagVecX = MagVector.X; |
288 | ToFlightCtrl.MagVecY = MagVector.Y; |
288 | ToFlightCtrl.MagVecY = MagVector.Y; |
289 | ToFlightCtrl.MagVecZ = MagVector.Z; |
289 | ToFlightCtrl.MagVecZ = MagVector.Z; |
290 | ToFlightCtrl.NCStatus = 0; |
290 | ToFlightCtrl.NCStatus = 0; |
291 | // cycle spi commands |
291 | // cycle spi commands |
292 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
292 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
293 | // restart command cycle at the end |
293 | // restart command cycle at the end |
294 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
294 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
295 | 295 | ||
296 | switch (ToFlightCtrl.Command) |
296 | switch (ToFlightCtrl.Command) |
297 | { |
297 | { |
298 | case SPI_NCCMD_KALMAN: |
298 | case SPI_NCCMD_KALMAN: |
299 | CalcHeadFree(); |
299 | CalcHeadFree(); |
300 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
300 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
301 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
301 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
302 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
302 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
303 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
303 | ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay; |
304 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
304 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
305 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
305 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
306 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
306 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
307 | //ToFlightCtrl.Param.Byte[7] = |
307 | //ToFlightCtrl.Param.Byte[7] = |
308 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
308 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
309 | { |
309 | { |
310 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
310 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
311 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
311 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
312 | } |
312 | } |
313 | else |
313 | else |
314 | { |
314 | { |
315 | ToFlightCtrl.Param.sInt[4] = -1; |
315 | ToFlightCtrl.Param.sInt[4] = -1; |
316 | } |
316 | } |
317 | 317 | ||
318 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
318 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
319 | { |
319 | { |
320 | ToFlightCtrl.Param.sInt[5] = tmp; |
320 | ToFlightCtrl.Param.sInt[5] = tmp; |
321 | } |
321 | } |
322 | else |
322 | else |
323 | { |
323 | { |
324 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
324 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
325 | else ToFlightCtrl.Param.sInt[5] = 0; |
325 | else ToFlightCtrl.Param.sInt[5] = 0; |
326 | } |
326 | } |
327 | break; |
327 | break; |
328 | 328 | ||
329 | case SPI_NCCMD_VERSION: |
329 | case SPI_NCCMD_VERSION: |
330 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
330 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
331 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
331 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
332 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
332 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
333 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
333 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
334 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
334 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
335 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
335 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
336 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
336 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
337 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
337 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
338 | break; |
338 | break; |
339 | 339 | ||
340 | case SPI_NCCMD_GPSINFO: |
340 | case SPI_NCCMD_GPSINFO: |
341 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
341 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
342 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
342 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
343 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
343 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
344 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
344 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
345 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
345 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
346 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
346 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
- | 347 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
|
347 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 110); |
348 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
348 | - | ||
349 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
349 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
350 | { |
350 | { |
351 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
351 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
352 | } |
352 | } |
353 | else |
353 | else |
354 | { |
354 | { |
355 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
355 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
356 | } |
356 | } |
357 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
357 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
358 | { |
358 | { |
359 | ToFlightCtrl.Param.sInt[5] = tmp; |
359 | ToFlightCtrl.Param.sInt[5] = tmp; |
360 | } |
360 | } |
361 | else |
361 | else |
362 | { |
362 | { |
363 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
363 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
364 | } |
364 | } |
365 | // DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
365 | // DebugOut.Analog[25] = (s16)ToFlightCtrl.Param.Byte[9]; |
366 | // DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
366 | // DebugOut.Analog[20] = ToFlightCtrl.Param.sInt[5]; |
367 | break; |
367 | break; |
368 | 368 | ||
369 | default: |
369 | default: |
370 | break; |
370 | break; |
371 | // 0 = 0,1 |
371 | // 0 = 0,1 |
372 | // 1 = 2,3 |
372 | // 1 = 2,3 |
373 | // 2 = 4,5 |
373 | // 2 = 4,5 |
374 | // 3 = 6,7 |
374 | // 3 = 6,7 |
375 | // 4 = 8,9 |
375 | // 4 = 8,9 |
376 | // 5 = 10,11 |
376 | // 5 = 10,11 |
377 | } |
377 | } |
378 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
378 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
379 | 379 | ||
380 | 380 | ||
381 | switch(FromFlightCtrl.Command) |
381 | switch(FromFlightCtrl.Command) |
382 | { |
382 | { |
383 | case SPI_FCCMD_USER: |
383 | case SPI_FCCMD_USER: |
384 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
384 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
385 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
385 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
386 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
386 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
387 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
387 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
388 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
388 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
389 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
389 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
390 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
390 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
391 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
391 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
392 | if(ClearFCStatusFlags) |
392 | if(ClearFCStatusFlags) |
393 | { |
393 | { |
394 | FC.StatusFlags = 0; |
394 | FC.StatusFlags = 0; |
395 | ClearFCStatusFlags = 0; |
395 | ClearFCStatusFlags = 0; |
396 | } |
396 | } |
397 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
397 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
398 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
398 | if(FC.StatusFlags&FC_STATUS_CALIBRATE && !FCCalibActive) |
399 | { |
399 | { |
400 | Compass_Init(); |
400 | Compass_Init(); |
401 | FCCalibActive = 1; |
401 | FCCalibActive = 1; |
402 | } |
402 | } |
403 | else |
403 | else |
404 | { |
404 | { |
405 | FCCalibActive = 0; |
405 | FCCalibActive = 0; |
406 | } |
406 | } |
407 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
407 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
408 | DebugOut.Analog[5] = FC.StatusFlags; |
408 | DebugOut.Analog[5] = FC.StatusFlags; |
409 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
409 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
410 | NaviData.FCStatusFlags = FC.StatusFlags; |
410 | NaviData.FCStatusFlags = FC.StatusFlags; |
411 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
411 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
412 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
412 | HeadFreeStartAngle = (s32) FromFlightCtrl.Param.Byte[10] * 20; // convert to 0.1° |
413 | break; |
413 | break; |
414 | 414 | ||
415 | case SPI_FCCMD_ACCU: |
415 | case SPI_FCCMD_ACCU: |
416 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
416 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
417 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
417 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
418 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
418 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
419 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
419 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
420 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
420 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
421 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
421 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
422 | { |
422 | { |
423 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
423 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
424 | } |
424 | } |
425 | 425 | ||
426 | NaviData.UBat = FC.BAT_Voltage; |
426 | NaviData.UBat = FC.BAT_Voltage; |
427 | NaviData.Current = FC.BAT_Current; |
427 | NaviData.Current = FC.BAT_Current; |
428 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
428 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
429 | break; |
429 | break; |
430 | 430 | ||
431 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
431 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
432 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
432 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
433 | 433 | ||
434 | case SPI_FCCMD_PARAMETER1: |
434 | case SPI_FCCMD_PARAMETER1: |
435 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
435 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
436 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
436 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
437 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
437 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
438 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
438 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
439 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
439 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
440 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
440 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
441 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
441 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
442 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
442 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
443 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
443 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
444 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
444 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
445 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
445 | CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
446 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
446 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
447 | break; |
447 | break; |
448 | 448 | ||
449 | case SPI_FCCMD_STICK: |
449 | case SPI_FCCMD_STICK: |
450 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
450 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
451 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
451 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
452 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
452 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
453 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
453 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
454 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
454 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
455 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
455 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
456 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
456 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
457 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
457 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
458 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
458 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
459 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
459 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
460 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
460 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
461 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
461 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
462 | break; |
462 | break; |
463 | 463 | ||
464 | case SPI_FCCMD_MISC: |
464 | case SPI_FCCMD_MISC: |
465 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
465 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
466 | { // put only new CompassCalState into queue to send via I2C |
466 | { // put only new CompassCalState into queue to send via I2C |
467 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
467 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
468 | Compass_SetCalState(CompassCalState); |
468 | Compass_SetCalState(CompassCalState); |
469 | } |
469 | } |
470 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
470 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
471 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
471 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
472 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
472 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
473 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
473 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
474 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
474 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
475 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
475 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
476 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
476 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
477 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
477 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
478 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
478 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
479 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
479 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
480 | // NaviData.RC_RSSI = FC.RC_RSSI; |
480 | // NaviData.RC_RSSI = FC.RC_RSSI; |
481 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
481 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
482 | break; |
482 | break; |
483 | 483 | ||
484 | case SPI_FCCMD_SERVOS: |
484 | case SPI_FCCMD_SERVOS: |
485 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
485 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
486 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
486 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
487 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
487 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
488 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
488 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
489 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
489 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
490 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
490 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
491 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
491 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
492 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
492 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
493 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
493 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
494 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
494 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
495 | break; |
495 | break; |
496 | 496 | ||
497 | case SPI_FCCMD_VERSION: |
497 | case SPI_FCCMD_VERSION: |
498 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
498 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
499 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
499 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
500 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
500 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
501 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
501 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
502 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
502 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
503 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
503 | FC.Error[0] = FromFlightCtrl.Param.Byte[5]; |
504 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
504 | FC.Error[1] = FromFlightCtrl.Param.Byte[6]; |
505 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
505 | FC.Error[2] = FromFlightCtrl.Param.Byte[7]; |
506 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
506 | FC.Error[3] = FromFlightCtrl.Param.Byte[8]; |
507 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
507 | FC.Error[4] = FromFlightCtrl.Param.Byte[9]; |
508 | DebugOut.Status[0] |= 0x01; // status of FC Present |
508 | DebugOut.Status[0] |= 0x01; // status of FC Present |
509 | DebugOut.Status[0] |= 0x02; // status of BL Present |
509 | DebugOut.Status[0] |= 0x02; // status of BL Present |
510 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
510 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
511 | else DebugOut.Status[1] &= ~0x01; |
511 | else DebugOut.Status[1] &= ~0x01; |
512 | break; |
512 | break; |
513 | default: |
513 | default: |
514 | break; |
514 | break; |
515 | } |
515 | } |
516 | 516 | ||
517 | // every time we got new data from the FC via SPI call the navigation routine |
517 | // every time we got new data from the FC via SPI call the navigation routine |
518 | // and update GPSStick that are returned to FC |
518 | // and update GPSStick that are returned to FC |
519 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
519 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
520 | ClearFCStatusFlags = 1; |
520 | ClearFCStatusFlags = 1; |
521 | 521 | ||
522 | if(counter) |
522 | if(counter) |
523 | { |
523 | { |
524 | counter--; // count down to enable servo |
524 | counter--; // count down to enable servo |
525 | if(!counter) TIMER2_Init(); // enable Servo Output |
525 | if(!counter) TIMER2_Init(); // enable Servo Output |
526 | } |
526 | } |
527 | 527 | ||
528 | SPI_RxBuffer_Request = 0; |
528 | SPI_RxBuffer_Request = 0; |
529 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
529 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
530 | 530 | ||
531 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
531 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
532 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
532 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
533 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
533 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
534 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
534 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
535 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
535 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
536 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
536 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
537 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
537 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
538 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
538 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
539 | } // EOF if(SPI_RxBuffer_Request) |
539 | } // EOF if(SPI_RxBuffer_Request) |
540 | else // no new SPI data |
540 | else // no new SPI data |
541 | { |
541 | { |
542 | if(CheckDelay(timeout) && (counter == 0)) |
542 | if(CheckDelay(timeout) && (counter == 0)) |
543 | { |
543 | { |
544 | TIMER2_Deinit(); // disable Servo Output |
544 | TIMER2_Deinit(); // disable Servo Output |
545 | counter = 50; // reset counter for enabling Servo Output |
545 | counter = 50; // reset counter for enabling Servo Output |
546 | } |
546 | } |
547 | } |
547 | } |
548 | } |
548 | } |
549 | 549 | ||
550 | //------------------------------------------------------ |
550 | //------------------------------------------------------ |
551 | void SPI0_GetFlightCtrlVersion(void) |
551 | void SPI0_GetFlightCtrlVersion(void) |
552 | { |
552 | { |
553 | u32 timeout; |
553 | u32 timeout; |
554 | u8 repeat; |
554 | u8 repeat; |
555 | u8 msg[64]; |
555 | u8 msg[64]; |
556 | 556 | ||
557 | UART1_PutString("\r\n Looking for FlightControl"); |
557 | UART1_PutString("\r\n Looking for FlightControl"); |
558 | FC_Version.Major = 0xFF; |
558 | FC_Version.Major = 0xFF; |
559 | FC_Version.Minor = 0xFF; |
559 | FC_Version.Minor = 0xFF; |
560 | FC_Version.Patch = 0xFF; |
560 | FC_Version.Patch = 0xFF; |
561 | FC_Version.Compatible = 0xFF; |
561 | FC_Version.Compatible = 0xFF; |
562 | 562 | ||
563 | // polling FC version info |
563 | // polling FC version info |
564 | repeat = 0; |
564 | repeat = 0; |
565 | do |
565 | do |
566 | { |
566 | { |
567 | timeout = SetDelay(250); |
567 | timeout = SetDelay(250); |
568 | do |
568 | do |
569 | { |
569 | { |
570 | SPI0_UpdateBuffer(); |
570 | SPI0_UpdateBuffer(); |
571 | if (FC_Version.Major != 0xFF) break; |
571 | if (FC_Version.Major != 0xFF) break; |
572 | }while (!CheckDelay(timeout)); |
572 | }while (!CheckDelay(timeout)); |
573 | UART1_PutString("."); |
573 | UART1_PutString("."); |
574 | repeat++; |
574 | repeat++; |
575 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
575 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
576 | // if we got it |
576 | // if we got it |
577 | if (FC_Version.Major != 0xFF) |
577 | if (FC_Version.Major != 0xFF) |
578 | { |
578 | { |
579 | sprintf(msg, " FC 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); |
579 | sprintf(msg, " FC 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); |
580 | UART1_PutString(msg); |
580 | UART1_PutString(msg); |
581 | } |
581 | } |
582 | else UART1_PutString("\n\r not found!"); |
582 | else UART1_PutString("\n\r not found!"); |
583 | } |
583 | } |
584 | 584 | ||
585 | 585 | ||
586 | 586 |