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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 <math.h> |
|
59 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
60 | #include "led.h" |
61 | #include "led.h" |
61 | #include "gps.h" |
62 | #include "gps.h" |
62 | #include "uart1.h" |
63 | #include "uart1.h" |
63 | #include "spi_slave.h" |
64 | #include "spi_slave.h" |
64 | #include "compass.h" |
65 | #include "compass.h" |
65 | #include "timer1.h" |
66 | #include "timer1.h" |
66 | #include "timer2.h" |
67 | #include "timer2.h" |
67 | #include "config.h" |
68 | #include "config.h" |
68 | #include "main.h" |
69 | #include "main.h" |
69 | #include "compass.h" |
70 | #include "compass.h" |
70 | #include "params.h" |
71 | #include "params.h" |
71 | 72 | ||
72 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE1 0xAA |
73 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_RXSYNCBYTE2 0x83 |
74 | #define SPI_TXSYNCBYTE1 0x81 |
75 | #define SPI_TXSYNCBYTE1 0x81 |
75 | #define SPI_TXSYNCBYTE2 0x55 |
76 | #define SPI_TXSYNCBYTE2 0x55 |
76 | 77 | ||
77 | //communication packets |
78 | //communication packets |
78 | FromFlightCtrl_t FromFlightCtrl; |
79 | FromFlightCtrl_t FromFlightCtrl; |
79 | ToFlightCtrl_t ToFlightCtrl; |
80 | ToFlightCtrl_t ToFlightCtrl; |
80 | #define SPI0_TIMEOUT 500 // 500ms |
81 | #define SPI0_TIMEOUT 500 // 500ms |
81 | volatile u32 SPI0_Timeout = 0; |
82 | volatile u32 SPI0_Timeout = 0; |
82 | 83 | ||
83 | // tx packet buffer |
84 | // tx packet buffer |
84 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
85 | #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
85 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
86 | volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
86 | volatile u8 SPI_TxBufferIndex = 0; |
87 | volatile u8 SPI_TxBufferIndex = 0; |
87 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
88 | u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
88 | 89 | ||
89 | // rx packet buffer |
90 | // rx packet buffer |
90 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
91 | #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
91 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
92 | volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
92 | volatile u8 SPI_RxBufferIndex = 0; |
93 | volatile u8 SPI_RxBufferIndex = 0; |
93 | volatile u8 SPI_RxBuffer_Request = 0; |
94 | volatile u8 SPI_RxBuffer_Request = 0; |
94 | #define SPI_COMMAND_INDEX 0 |
95 | #define SPI_COMMAND_INDEX 0 |
95 | 96 | ||
96 | s32 Kalman_K = 32; |
97 | s32 Kalman_K = 32; |
97 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxDrift = 5 * 16; |
98 | s32 Kalman_MaxFusion = 64; |
99 | s32 Kalman_MaxFusion = 64; |
99 | s32 Kalman_Kompass = 32; |
100 | s32 Kalman_Kompass = 32; |
100 | s32 ToFcGpsZ = 0; |
101 | s32 ToFcGpsZ = 0; |
101 | 102 | ||
102 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN}; |
103 | u8 SPI_CommandSequence[] = { SPI_NCCMD_VERSION, SPI_NCCMD_KALMAN, SPI_NCCMD_GPSINFO ,SPI_NCCMD_KALMAN, SPI_NCCMD_HOTT_INFO, SPI_NCCMD_KALMAN}; |
103 | u8 SPI_CommandCounter = 0; |
104 | u8 SPI_CommandCounter = 0; |
104 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
105 | s32 ToFC_Rotate_C = 64, ToFC_Rotate_S = 0; |
105 | s32 HeadFreeStartAngle = 0; |
106 | s32 HeadFreeStartAngle = 0; |
106 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
107 | s16 FC_WP_EventChannel = 0; // gibt einen Schaltkanal an die FC weiter, wenn der Wegpunkt erreicht wurde |
107 | u32 ToFC_AltitudeRate = 0; |
108 | u32 ToFC_AltitudeRate = 0; |
108 | s32 ToFC_AltitudeSetpoint = 0; |
109 | s32 ToFC_AltitudeSetpoint = 0; |
109 | u8 FromFC_VarioCharacter = ' '; |
110 | u8 FromFC_VarioCharacter = ' '; |
110 | u8 DisableFC_Sticks = 0; |
111 | u8 GPS_Aid_StickMultiplikator = 0; |
111 | u8 NC_GPS_ModeCharacter = ' '; |
112 | u8 NC_GPS_ModeCharacter = ' '; |
112 | u8 FCCalibActive = 0; |
113 | u8 FCCalibActive = 0; |
113 | u8 FC_is_Calibrated = 0; |
114 | u8 FC_is_Calibrated = 0; |
114 | 115 | ||
115 | SPI_Version_t FC_Version; |
116 | SPI_Version_t FC_Version; |
116 | 117 | ||
117 | //-------------------------------------------------------------- |
118 | //-------------------------------------------------------------- |
118 | void SSP0_IRQHandler(void) |
119 | void SSP0_IRQHandler(void) |
119 | { |
120 | { |
120 | static u8 rxchksum = 0; |
121 | static u8 rxchksum = 0; |
121 | u8 rxdata; |
122 | u8 rxdata; |
122 | 123 | ||
123 | #define SPI_SYNC1 0 |
124 | #define SPI_SYNC1 0 |
124 | #define SPI_SYNC2 1 |
125 | #define SPI_SYNC2 1 |
125 | #define SPI_DATA 2 |
126 | #define SPI_DATA 2 |
126 | static u8 SPI_State = SPI_SYNC1; |
127 | static u8 SPI_State = SPI_SYNC1; |
127 | 128 | ||
128 | IENABLE; |
129 | IENABLE; |
129 | 130 | ||
130 | // clear pending bits |
131 | // clear pending bits |
131 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
132 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
132 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
133 | SSP_ClearITPendingBit(SSP0, SSP_IT_RxFifo); |
133 | 134 | ||
134 | // while RxFIFO not empty |
135 | // while RxFIFO not empty |
135 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
136 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty) == SET) |
136 | { |
137 | { |
137 | rxdata = SSP0->DR; // catch the received byte |
138 | rxdata = SSP0->DR; // catch the received byte |
138 | // Fill TxFIFO while its not full or end of packet is reached |
139 | // Fill TxFIFO while its not full or end of packet is reached |
139 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
140 | while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
140 | { |
141 | { |
141 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
142 | if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
142 | { |
143 | { |
143 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
144 | SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
144 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
145 | *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
145 | SPI_TxBufferIndex++; // pointer to next byte |
146 | SPI_TxBufferIndex++; // pointer to next byte |
146 | } |
147 | } |
147 | else // end of packet is reached reset and copy data to tx buffer |
148 | else // end of packet is reached reset and copy data to tx buffer |
148 | { |
149 | { |
149 | SPI_TxBufferIndex = 0; // reset buffer index |
150 | SPI_TxBufferIndex = 0; // reset buffer index |
150 | ToFlightCtrl.Chksum = 0; // initialize checksum |
151 | ToFlightCtrl.Chksum = 0; // initialize checksum |
151 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
152 | ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
152 | BeepTime = 0; // reset local beeptime |
153 | BeepTime = 0; // reset local beeptime |
153 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
154 | // copy contents of ToFlightCtrl->SPI_TxBuffer |
154 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
155 | memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
155 | } |
156 | } |
156 | } |
157 | } |
157 | switch (SPI_State) |
158 | switch (SPI_State) |
158 | { |
159 | { |
159 | case SPI_SYNC1: |
160 | case SPI_SYNC1: |
160 | SPI_RxBufferIndex = 0; // reset buffer index |
161 | SPI_RxBufferIndex = 0; // reset buffer index |
161 | rxchksum = rxdata; // init checksum |
162 | rxchksum = rxdata; // init checksum |
162 | if (rxdata == SPI_RXSYNCBYTE1) |
163 | if (rxdata == SPI_RXSYNCBYTE1) |
163 | { // 1st syncbyte ok |
164 | { // 1st syncbyte ok |
164 | SPI_State = SPI_SYNC2; // step to sync2 |
165 | SPI_State = SPI_SYNC2; // step to sync2 |
165 | } |
166 | } |
166 | break; |
167 | break; |
167 | case SPI_SYNC2: |
168 | case SPI_SYNC2: |
168 | if (rxdata == SPI_RXSYNCBYTE2) |
169 | if (rxdata == SPI_RXSYNCBYTE2) |
169 | { // 2nd Syncbyte ok |
170 | { // 2nd Syncbyte ok |
170 | rxchksum += rxdata; |
171 | rxchksum += rxdata; |
171 | SPI_State = SPI_DATA; |
172 | SPI_State = SPI_DATA; |
172 | } // 2nd Syncbyte does not match |
173 | } // 2nd Syncbyte does not match |
173 | else |
174 | else |
174 | { |
175 | { |
175 | SPI_State = SPI_SYNC1; //jump back to sync1 |
176 | SPI_State = SPI_SYNC1; //jump back to sync1 |
176 | } |
177 | } |
177 | break; |
178 | break; |
178 | case SPI_DATA: |
179 | case SPI_DATA: |
179 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
180 | SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
180 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
181 | if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
181 | { |
182 | { |
182 | if (rxdata == rxchksum) // verify checksum byte |
183 | if (rxdata == rxchksum) // verify checksum byte |
183 | { |
184 | { |
184 | // copy SPI_RxBuffer -> FromFlightCtrl |
185 | // copy SPI_RxBuffer -> FromFlightCtrl |
185 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
186 | if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
186 | { |
187 | { |
187 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
188 | memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
188 | SPI_RxBuffer_Request = 1; |
189 | SPI_RxBuffer_Request = 1; |
189 | } |
190 | } |
190 | // reset timeout counter on good packet |
191 | // reset timeout counter on good packet |
191 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
192 | SPI0_Timeout = SetDelay(SPI0_TIMEOUT); |
192 | DebugOut.Analog[13]++; |
193 | DebugOut.Analog[13]++; |
193 | } |
194 | } |
194 | else // bad checksum byte |
195 | else // bad checksum byte |
195 | { |
196 | { |
196 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
197 | DebugOut.Analog[12]++; // increase SPI chksum error counter |
197 | } |
198 | } |
198 | SPI_State = SPI_SYNC1; // reset state |
199 | SPI_State = SPI_SYNC1; // reset state |
199 | } |
200 | } |
200 | else // end of packet not reached |
201 | else // end of packet not reached |
201 | { |
202 | { |
202 | rxchksum += rxdata; // update checksum |
203 | rxchksum += rxdata; // update checksum |
203 | } |
204 | } |
204 | break; |
205 | break; |
205 | default: |
206 | default: |
206 | SPI_State = SPI_SYNC1; |
207 | SPI_State = SPI_SYNC1; |
207 | break; |
208 | break; |
208 | } |
209 | } |
209 | } |
210 | } |
210 | 211 | ||
211 | IDISABLE; |
212 | IDISABLE; |
212 | } |
213 | } |
213 | 214 | ||
214 | //-------------------------------------------------------------- |
215 | //-------------------------------------------------------------- |
215 | void SPI0_Init(void) |
216 | void SPI0_Init(void) |
216 | { |
217 | { |
217 | GPIO_InitTypeDef GPIO_InitStructure; |
218 | GPIO_InitTypeDef GPIO_InitStructure; |
218 | SSP_InitTypeDef SSP_InitStructure; |
219 | SSP_InitTypeDef SSP_InitStructure; |
219 | 220 | ||
220 | UART1_PutString("\r\n SPI init..."); |
221 | UART1_PutString("\r\n SPI init..."); |
221 | 222 | ||
222 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
223 | SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
223 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
224 | SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
224 | 225 | ||
225 | GPIO_DeInit(GPIO2); |
226 | GPIO_DeInit(GPIO2); |
226 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
227 | //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
227 | GPIO_StructInit(&GPIO_InitStructure); |
228 | GPIO_StructInit(&GPIO_InitStructure); |
228 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
229 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
229 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
230 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
230 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
231 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
231 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
232 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
232 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
233 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
233 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
234 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
234 | 235 | ||
235 | // SSP0_MISO pin GPIO2.6 |
236 | // SSP0_MISO pin GPIO2.6 |
236 | GPIO_StructInit(&GPIO_InitStructure); |
237 | GPIO_StructInit(&GPIO_InitStructure); |
237 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
238 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
238 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
239 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
239 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
240 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
240 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
241 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
241 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
242 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO |
242 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
243 | GPIO_Init (GPIO2, &GPIO_InitStructure); |
243 | 244 | ||
244 | SSP_DeInit(SSP0); |
245 | SSP_DeInit(SSP0); |
245 | SSP_StructInit(&SSP_InitStructure); |
246 | SSP_StructInit(&SSP_InitStructure); |
246 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
247 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
247 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
248 | SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
248 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
249 | SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
249 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
250 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
250 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
251 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
251 | SSP_InitStructure.SSP_ClockRate = 0; |
252 | SSP_InitStructure.SSP_ClockRate = 0; |
252 | 253 | ||
253 | SSP_Init(SSP0, &SSP_InitStructure); |
254 | SSP_Init(SSP0, &SSP_InitStructure); |
254 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
255 | SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_RxTimeOut, ENABLE); |
255 | 256 | ||
256 | SSP_Cmd(SSP0, ENABLE); |
257 | SSP_Cmd(SSP0, ENABLE); |
257 | // initialize the syncbytes in the tx buffer |
258 | // initialize the syncbytes in the tx buffer |
258 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
259 | SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
259 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
260 | SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
260 | // set the pointer to the checksum byte in the tx buffer |
261 | // set the pointer to the checksum byte in the tx buffer |
261 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
262 | Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
262 | 263 | ||
263 | ToFlightCtrl.GPSStick.Nick = 0; |
264 | ToFlightCtrl.GPSStick.Nick = 0; |
264 | ToFlightCtrl.GPSStick.Roll = 0; |
265 | ToFlightCtrl.GPSStick.Roll = 0; |
265 | ToFlightCtrl.GPSStick.Yaw = 0; |
266 | ToFlightCtrl.GPSStick.Yaw = 0; |
266 | 267 | ||
267 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
268 | VIC_Config(SSP0_ITLine, VIC_IRQ, PRIORITY_SPI0); |
268 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
269 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
269 | 270 | ||
270 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
271 | SPI0_Timeout = SetDelay(4*SPI0_TIMEOUT); |
271 | 272 | ||
272 | UART1_PutString("ok"); |
273 | UART1_PutString("ok"); |
273 | } |
274 | } |
274 | 275 | ||
275 | 276 | ||
276 | //------------------------------------------------------ |
277 | //------------------------------------------------------ |
277 | void SPI0_UpdateBuffer(void) |
278 | void SPI0_UpdateBuffer(void) |
278 | { |
279 | { |
279 | static u32 timeout = 0; |
280 | static u32 timeout = 0; |
280 | static u8 counter = 50,hott_index = 0; |
281 | static u8 counter = 50,hott_index = 0; |
281 | static u8 CompassCalState = 0; |
282 | static u8 CompassCalState = 0; |
282 | s16 tmp; |
283 | s16 tmp; |
283 | s32 i1,i2; |
284 | s32 i1,i2; |
284 | 285 | ||
285 | if (SPI_RxBuffer_Request) |
286 | if (SPI_RxBuffer_Request) |
286 | { |
287 | { |
287 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
288 | // avoid sending data via SPI during the update of the ToFlightCtrl structure |
288 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
289 | VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
289 | ToFlightCtrl.CompassHeading = Compass_Heading; |
290 | ToFlightCtrl.CompassHeading = Compass_Heading; |
290 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
291 | DebugOut.Analog[10] = ToFlightCtrl.CompassHeading; |
291 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
292 | if(ToFlightCtrl.CompassHeading >= 0) ToFlightCtrl.CompassHeading = (360 + ToFlightCtrl.CompassHeading + FromFlightCtrl.GyroYaw / 12) % 360; |
292 | // ToFlightCtrl.MagVecX = MagVector.X; |
293 | // ToFlightCtrl.MagVecX = MagVector.X; |
293 | // ToFlightCtrl.MagVecY = MagVector.Y; |
294 | // ToFlightCtrl.MagVecY = MagVector.Y; |
294 | ToFlightCtrl.MagVecZ = MagVector.Z; |
295 | ToFlightCtrl.MagVecZ = MagVector.Z; |
295 | ToFlightCtrl.NCStatus = 0; |
296 | ToFlightCtrl.NCStatus = 0; |
296 | // cycle spi commands |
297 | // cycle spi commands |
297 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
298 | ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
298 | // restart command cycle at the end |
299 | // restart command cycle at the end |
299 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
300 | if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
300 | #define FLAG_GPS_AID 0x01 |
301 | #define FLAG_GPS_AID 0x01 |
301 | switch (ToFlightCtrl.Command) |
302 | switch (ToFlightCtrl.Command) |
302 | { |
303 | { |
303 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
304 | case SPI_NCCMD_KALMAN: // wird am häufigsten betätigt |
304 | CalcHeadFree(); |
305 | CalcHeadFree(); |
305 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
306 | ToFlightCtrl.Param.sByte[0] = (s8) Kalman_K; |
306 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
307 | ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion; |
307 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
308 | ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift; |
308 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
309 | ToFlightCtrl.Param.Byte[3] = (u8) Kalman_Kompass; |
309 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
310 | ToFlightCtrl.Param.sByte[4] = (s8) ToFcGpsZ; |
310 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
311 | ToFlightCtrl.Param.Byte[5] = (s8) ToFC_Rotate_C; |
311 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
312 | ToFlightCtrl.Param.Byte[6] = (s8) ToFC_Rotate_S; |
312 | if(DisableFC_Sticks) ToFlightCtrl.Param.Byte[7] = FLAG_GPS_AID; else ToFlightCtrl.Param.Byte[7] = 0x00; |
313 | ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
313 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
314 | if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
314 | { |
315 | { |
315 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
316 | ToFlightCtrl.Param.sInt[4] = CAM_Orientation.Azimuth; |
316 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
317 | CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
317 | } |
318 | } |
318 | else |
319 | else |
319 | { |
320 | { |
320 | ToFlightCtrl.Param.sInt[4] = -1; |
321 | ToFlightCtrl.Param.sInt[4] = -1; |
321 | } |
322 | } |
322 | 323 | ||
323 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
324 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_NEW_CAMERA_ELEVATION, &tmp)) // Elevation set via 'j' command |
324 | { |
325 | { |
325 | ToFlightCtrl.Param.sInt[5] = tmp; |
326 | ToFlightCtrl.Param.sInt[5] = tmp; |
326 | } |
327 | } |
327 | else |
328 | else |
328 | { |
329 | { |
329 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
330 | if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) ToFlightCtrl.Param.sInt[5] = CAM_Orientation.Elevation; // only, if carefree is active |
330 | else ToFlightCtrl.Param.sInt[5] = 0; |
331 | else ToFlightCtrl.Param.sInt[5] = 0; |
331 | } |
332 | } |
332 | break; |
333 | break; |
333 | 334 | ||
334 | case SPI_NCCMD_VERSION: |
335 | case SPI_NCCMD_VERSION: |
335 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
336 | ToFlightCtrl.Param.Byte[0] = VERSION_MAJOR; |
336 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
337 | ToFlightCtrl.Param.Byte[1] = VERSION_MINOR; |
337 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
338 | ToFlightCtrl.Param.Byte[2] = VERSION_PATCH; |
338 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
339 | ToFlightCtrl.Param.Byte[3] = FC_SPI_COMPATIBLE; |
339 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
340 | ToFlightCtrl.Param.Byte[4] = Version_HW; |
340 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
341 | ToFlightCtrl.Param.Byte[5] = DebugOut.Status[0]; |
341 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
342 | ToFlightCtrl.Param.Byte[6] = DebugOut.Status[1]; |
342 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
343 | ToFlightCtrl.Param.Byte[7] = ErrorCode; |
343 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
344 | ToFlightCtrl.Param.Byte[8] = NC_GPS_ModeCharacter; |
344 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
345 | ToFlightCtrl.Param.Byte[9] = SerialLinkOkay; |
345 | break; |
346 | break; |
346 | 347 | ||
347 | case SPI_NCCMD_GPSINFO: |
348 | case SPI_NCCMD_GPSINFO: |
348 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
349 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
349 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
350 | ToFlightCtrl.Param.Byte[1] = GPSData.NumOfSats; |
350 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
351 | ToFlightCtrl.Param.Byte[2] = GPSData.SatFix; |
351 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
352 | ToFlightCtrl.Param.Byte[3] = GPSData.Speed_Ground / 100; // m/s |
352 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
353 | ToFlightCtrl.Param.Int[2] = NaviData.HomePositionDeviation.Distance; // dm //4&5 |
353 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
354 | ToFlightCtrl.Param.sInt[3] = NaviData.HomePositionDeviation.Bearing; // deg //6&7 |
354 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
355 | if(FC_WP_EventChannel > 254) FC_WP_EventChannel = 254; |
355 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
356 | ToFlightCtrl.Param.Byte[8] = (s8)(FC_WP_EventChannel - 127); |
356 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
357 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_RATE, &tmp)) |
357 | { |
358 | { |
358 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
359 | ToFlightCtrl.Param.Byte[9] = (u8)tmp; |
359 | } |
360 | } |
360 | else |
361 | else |
361 | { |
362 | { |
362 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
363 | ToFlightCtrl.Param.Byte[9] = (u8)ToFC_AltitudeRate; |
363 | } |
364 | } |
364 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
365 | if(NCRARAM_STATE_VALID == NCParams_GetValue(NCPARAMS_ALTITUDE_SETPOINT, &tmp)) |
365 | { |
366 | { |
366 | ToFlightCtrl.Param.sInt[5] = tmp; |
367 | ToFlightCtrl.Param.sInt[5] = tmp; |
367 | } |
368 | } |
368 | else |
369 | else |
369 | { |
370 | { |
370 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
371 | ToFlightCtrl.Param.sInt[5] = (s16)ToFC_AltitudeSetpoint; |
371 | } |
372 | } |
372 | break; |
373 | break; |
373 | /* |
374 | /* |
374 | typedef struct |
375 | typedef struct |
375 | { |
376 | { |
376 | unsigned char StartByte; //0 // 0x7C |
377 | unsigned char StartByte; //0 // 0x7C |
377 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
378 | unsigned char Packet_ID; //1 // 0x89 - Vario ID |
378 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
379 | unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
379 | unsigned char Heading; //3 // 1 = 2° |
380 | unsigned char Heading; //3 // 1 = 2° |
380 | unsigned int Speed; //4+5 // in km/h |
381 | unsigned int Speed; //4+5 // in km/h |
381 | unsigned char Lat_North; //6 |
382 | unsigned char Lat_North; //6 |
382 | unsigned char Lat_G; //7 |
383 | unsigned char Lat_G; //7 |
383 | unsigned char Lat_M; //8 |
384 | unsigned char Lat_M; //8 |
384 | unsigned char Lat_Sek1; //9 |
385 | unsigned char Lat_Sek1; //9 |
385 | unsigned char Lat_Sek2; //10 |
386 | unsigned char Lat_Sek2; //10 |
386 | unsigned char Lon_East; //11 |
387 | unsigned char Lon_East; //11 |
387 | unsigned char Lon_G; //12 |
388 | unsigned char Lon_G; //12 |
388 | unsigned char Lon_M; //13 |
389 | unsigned char Lon_M; //13 |
389 | unsigned char Lon_Sek1; //14 |
390 | unsigned char Lon_Sek1; //14 |
390 | unsigned char Lon_Sek2; //15 |
391 | unsigned char Lon_Sek2; //15 |
391 | unsigned int Distance; //16+17 // 9000 = 0m |
392 | unsigned int Distance; //16+17 // 9000 = 0m |
392 | unsigned int Altitude; //18+19 // 500 = 0m |
393 | unsigned int Altitude; //18+19 // 500 = 0m |
393 | unsigned int m_sec; //20+21 // 3000 = 0 |
394 | unsigned int m_sec; //20+21 // 3000 = 0 |
394 | unsigned int m_3sec; //22+23 // 3000 = 0 |
395 | unsigned int m_3sec; //22+23 // 3000 = 0 |
395 | unsigned int m_10sec; //24+25 // 3000 = 0 |
396 | unsigned int m_10sec; //24+25 // 3000 = 0 |
396 | unsigned char NullByte; // 0x00 |
397 | unsigned char NullByte; // 0x00 |
397 | unsigned char NullByte1; // 0x00 |
398 | unsigned char NullByte1; // 0x00 |
398 | unsigned char EndByte; // 0x7D |
399 | unsigned char EndByte; // 0x7D |
399 | } GPSPacket_t; |
400 | } GPSPacket_t; |
400 | */ |
401 | */ |
401 | /* |
402 | /* |
402 | typedef struct |
403 | typedef struct |
403 | { |
404 | { |
404 | unsigned char StartByte; //0 0x7C |
405 | unsigned char StartByte; //0 0x7C |
405 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
406 | unsigned char Packet_ID; //1 HOTT_GENERAL_PACKET_ID |
406 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
407 | unsigned char WarnBeep; //2 Anzahl der Töne 0..36 |
407 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
408 | unsigned char VoltageCell1; //3 208 = 4,16V (Voltage * 50 = Wert) |
408 | unsigned char VoltageCell2; //4 |
409 | unsigned char VoltageCell2; //4 |
409 | unsigned char VoltageCell3; //5 |
410 | unsigned char VoltageCell3; //5 |
410 | unsigned char VoltageCell4; //6 |
411 | unsigned char VoltageCell4; //6 |
411 | unsigned char VoltageCell5; //7 |
412 | unsigned char VoltageCell5; //7 |
412 | unsigned char VoltageCell6; //8 |
413 | unsigned char VoltageCell6; //8 |
413 | unsigned int Battery1; //9 51 = 5,1V |
414 | unsigned int Battery1; //9 51 = 5,1V |
414 | unsigned int Battery2; //11 51 = 5,1V |
415 | unsigned int Battery2; //11 51 = 5,1V |
415 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
416 | unsigned char Temperature1; //13 44 = 24°C, 0 = -20°C |
416 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
417 | unsigned char Temperature2; //14 44 = 24°C, 0 = -20°C |
417 | unsigned char FuelPercent; //15 |
418 | unsigned char FuelPercent; //15 |
418 | signed int FuelCapacity; //16 |
419 | signed int FuelCapacity; //16 |
419 | unsigned int Rpm; |
420 | unsigned int Rpm; |
420 | unsigned int Altitude; |
421 | unsigned int Altitude; |
421 | unsigned int m_sec; // 3000 = 0 |
422 | unsigned int m_sec; // 3000 = 0 |
422 | unsigned char m_3sec; // 120 = 0 |
423 | unsigned char m_3sec; // 120 = 0 |
423 | unsigned int Current; // 1 = 0.1A |
424 | unsigned int Current; // 1 = 0.1A |
424 | unsigned int InputVoltage; // 66 = 6,6V |
425 | unsigned int InputVoltage; // 66 = 6,6V |
425 | unsigned int Capacity; // 1 = 10mAh |
426 | unsigned int Capacity; // 1 = 10mAh |
426 | unsigned char NullByte1; // 0x00 |
427 | unsigned char NullByte1; // 0x00 |
427 | unsigned char NullByte2; // 0x00 |
428 | unsigned char NullByte2; // 0x00 |
428 | unsigned char EndByte; // 0x7D |
429 | unsigned char EndByte; // 0x7D |
429 | } HoTTGeneral_t; |
430 | } HoTTGeneral_t; |
430 | */ |
431 | */ |
431 | case SPI_NCCMD_HOTT_INFO: |
432 | case SPI_NCCMD_HOTT_INFO: |
432 | switch(hott_index++) |
433 | switch(hott_index++) |
433 | { |
434 | { |
434 | case 0: |
435 | case 0: |
435 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
436 | //Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden |
436 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
437 | //53.285788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017" |
437 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
438 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
438 | ToFlightCtrl.Param.Byte[0] = 3; // index |
439 | ToFlightCtrl.Param.Byte[0] = 3; // index |
439 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
440 | ToFlightCtrl.Param.Byte[1] = 9-1; // how many |
440 | //----------------------------- |
441 | //----------------------------- |
441 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
442 | ToFlightCtrl.Param.Byte[2] = NaviData.HomePositionDeviation.Bearing / 2; |
442 | i1 = GPSData.Speed_Ground; // in cm/sec |
443 | i1 = GPSData.Speed_Ground; // in cm/sec |
443 | i1 *= 36; |
444 | i1 *= 36; |
444 | i1 /= 1000; |
445 | i1 /= 1000; |
445 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
446 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
446 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
447 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
447 | //----------------------------- |
448 | //----------------------------- |
448 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
449 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = S |
449 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
450 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
450 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
451 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
451 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
452 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
452 | i1 *= 100; |
453 | i1 *= 100; |
453 | i1 += i2 / 100000; |
454 | i1 += i2 / 100000; |
454 | i2 = i2 % 100000; |
455 | i2 = i2 % 100000; |
455 | i2 /= 10; |
456 | i2 /= 10; |
456 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
457 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
457 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
458 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
458 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
459 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
459 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
460 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
460 | break; |
461 | break; |
461 | case 1: |
462 | case 1: |
462 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
463 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
463 | ToFlightCtrl.Param.Byte[0] = 11; // index |
464 | ToFlightCtrl.Param.Byte[0] = 11; // index |
464 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
465 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
465 | //----------------------------- |
466 | //----------------------------- |
466 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
467 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
467 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
468 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
468 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
469 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
469 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
470 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
470 | i1 *= 100; |
471 | i1 *= 100; |
471 | i1 += i2 / 100000; |
472 | i1 += i2 / 100000; |
472 | i2 = i2 % 100000; |
473 | i2 = i2 % 100000; |
473 | i2 /= 10; |
474 | i2 /= 10; |
474 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
475 | ToFlightCtrl.Param.Byte[3] = i1 % 256; |
475 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
476 | ToFlightCtrl.Param.Byte[4] = i1 / 256; |
476 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
477 | ToFlightCtrl.Param.Byte[5] = i2 % 256; |
477 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
478 | ToFlightCtrl.Param.Byte[6] = i2 / 256; |
478 | //----------------------------- |
479 | //----------------------------- |
479 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
480 | i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m |
480 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
481 | ToFlightCtrl.Param.Byte[7] = i1 % 256; |
481 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
482 | ToFlightCtrl.Param.Byte[8] = i1 / 256; |
482 | break; |
483 | break; |
483 | case 2: |
484 | case 2: |
484 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
485 | ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID; |
485 | ToFlightCtrl.Param.Byte[0] = 5; // index |
486 | ToFlightCtrl.Param.Byte[0] = 5; // index |
486 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
487 | ToFlightCtrl.Param.Byte[1] = 2; // how many |
487 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
488 | ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2); |
488 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
489 | ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2; |
489 | hott_index = 0; |
490 | hott_index = 0; |
490 | break; |
491 | break; |
491 | default: |
492 | default: |
492 | ToFlightCtrl.Param.Byte[0] = 255; |
493 | ToFlightCtrl.Param.Byte[0] = 255; |
493 | hott_index = 0; |
494 | hott_index = 0; |
494 | break; |
495 | break; |
495 | } |
496 | } |
496 | break; |
497 | break; |
497 | default: |
498 | default: |
498 | break; |
499 | break; |
499 | // 0 = 0,1 |
500 | // 0 = 0,1 |
500 | // 1 = 2,3 |
501 | // 1 = 2,3 |
501 | // 2 = 4,5 |
502 | // 2 = 4,5 |
502 | // 3 = 6,7 |
503 | // 3 = 6,7 |
503 | // 4 = 8,9 |
504 | // 4 = 8,9 |
504 | // 5 = 10,11 |
505 | // 5 = 10,11 |
505 | } |
506 | } |
506 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
507 | VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
507 | 508 | ||
508 | switch(FromFlightCtrl.Command) |
509 | switch(FromFlightCtrl.Command) |
509 | { |
510 | { |
510 | case SPI_FCCMD_USER: |
511 | case SPI_FCCMD_USER: |
511 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
512 | Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
512 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
513 | Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
513 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
514 | Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
514 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
515 | Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
515 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
516 | Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
516 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
517 | Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
517 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
518 | Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
518 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
519 | Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
519 | if(ClearFCStatusFlags) |
520 | if(ClearFCStatusFlags) |
520 | { |
521 | { |
521 | FC.StatusFlags = 0; |
522 | FC.StatusFlags = 0; |
522 | ClearFCStatusFlags = 0; |
523 | ClearFCStatusFlags = 0; |
523 | } |
524 | } |
524 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
525 | FC.StatusFlags |= FromFlightCtrl.Param.Byte[8]; |
525 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
526 | if(FC.StatusFlags & FC_STATUS_CALIBRATE && !FCCalibActive) |
526 | { |
527 | { |
527 | HeadFreeStartAngle = Compass_Heading * 10; |
528 | HeadFreeStartAngle = Compass_Heading * 10; |
528 | Compass_Init(); |
529 | Compass_Init(); |
529 | FCCalibActive = 10; |
530 | FCCalibActive = 10; |
530 | } |
531 | } |
531 | else |
532 | else |
532 | { |
533 | { |
533 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
534 | if(FCCalibActive) if(--FCCalibActive == 0) FC_is_Calibrated = 1; |
534 | } |
535 | } |
535 | if(FC.StatusFlags & FC_STATUS_START) |
536 | if(FC.StatusFlags & FC_STATUS_START) |
536 | { |
537 | { |
537 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
538 | if(Compass_Heading != -1) HeadFreeStartAngle = Compass_Heading * 10; else |
538 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
539 | HeadFreeStartAngle = FromFlightCtrl.GyroHeading; |
539 | } |
540 | } |
540 | 541 | ||
541 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
542 | if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE)) |
542 | { |
543 | { |
543 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
544 | if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen |
544 | { |
545 | { |
545 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
546 | if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m |
546 | { |
547 | { |
547 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
548 | HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1° |
548 | } |
549 | } |
549 | else // Ansonsten die aktuelle Richtung übernehmen |
550 | else // Ansonsten die aktuelle Richtung übernehmen |
550 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
551 | HeadFreeStartAngle = (3600 + FromFlightCtrl.GyroHeading /*+ Parameter.OrientationAngle * 150*/) % 3600; // in 0.1° |
551 | } |
552 | } |
552 | } |
553 | } |
553 | 554 | ||
554 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
555 | //DebugOut.Analog[16] = HeadFreeStartAngle; |
555 | 556 | ||
556 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
557 | Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
557 | DebugOut.Analog[5] = FC.StatusFlags; |
558 | DebugOut.Analog[5] = FC.StatusFlags; |
558 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
559 | FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11]; |
559 | NaviData.FCStatusFlags = FC.StatusFlags; |
560 | NaviData.FCStatusFlags = FC.StatusFlags; |
560 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
561 | NaviData.FCStatusFlags2 = FC.StatusFlags2; |
561 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
562 | Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[10]; |
562 | break; |
563 | break; |
563 | 564 | ||
564 | case SPI_FCCMD_ACCU: |
565 | case SPI_FCCMD_ACCU: |
565 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
566 | FC.BAT_Current = FromFlightCtrl.Param.Int[0]; |
566 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
567 | FC.BAT_UsedCapacity = FromFlightCtrl.Param.Int[1]; |
567 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
568 | FC.BAT_Voltage = FromFlightCtrl.Param.Byte[4]; |
568 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
569 | Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[5]; |
569 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
570 | FromFC_VarioCharacter = FromFlightCtrl.Param.Byte[6]; |
570 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
571 | Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[7]; |
571 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
572 | Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[8]; |
572 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
573 | if(FromFC_VarioCharacter == '+' || FromFC_VarioCharacter == '-') // manual setpoint clears the NC-Parameter command |
573 | { |
574 | { |
574 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
575 | NCParams_ClearValue(NCPARAMS_ALTITUDE_RATE); |
575 | } |
576 | } |
576 | NaviData.UBat = FC.BAT_Voltage; |
577 | NaviData.UBat = FC.BAT_Voltage; |
577 | NaviData.Current = FC.BAT_Current; |
578 | NaviData.Current = FC.BAT_Current; |
578 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
579 | NaviData.UsedCapacity = FC.BAT_UsedCapacity; |
579 | break; |
580 | break; |
580 | 581 | ||
581 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
582 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
582 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
583 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
583 | 584 | ||
584 | case SPI_FCCMD_PARAMETER1: |
585 | case SPI_FCCMD_PARAMETER1: |
585 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
586 | CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
586 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
587 | CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
587 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
588 | CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
588 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
589 | CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
589 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
590 | CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
590 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
591 | CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
591 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
592 | Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
592 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
593 | Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
593 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
594 | CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],0,255); |
594 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
595 | CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
595 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
596 | CHK_POTI_MM(Parameter.NaviAccCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
596 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
597 | CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
597 | break; |
598 | break; |
598 | 599 | ||
599 | case SPI_FCCMD_STICK: |
600 | case SPI_FCCMD_STICK: |
600 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
601 | FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
601 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
602 | FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
602 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
603 | FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
603 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
604 | FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
604 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
605 | FC.Poti[0] = FromFlightCtrl.Param.Byte[4]; |
605 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
606 | FC.Poti[1] = FromFlightCtrl.Param.Byte[5]; |
606 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
607 | FC.Poti[2] = FromFlightCtrl.Param.Byte[6]; |
607 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
608 | FC.Poti[3] = FromFlightCtrl.Param.Byte[7]; |
608 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
609 | FC.Poti[4] = FromFlightCtrl.Param.Byte[8]; |
609 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
610 | FC.Poti[5] = FromFlightCtrl.Param.Byte[9]; |
610 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
611 | FC.Poti[6] = FromFlightCtrl.Param.Byte[10]; |
611 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
612 | FC.Poti[7] = FromFlightCtrl.Param.Byte[11]; |
612 | break; |
613 | break; |
613 | 614 | ||
614 | case SPI_FCCMD_MISC: |
615 | case SPI_FCCMD_MISC: |
615 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
616 | if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
616 | { // put only new CompassCalState into queue to send via I2C |
617 | { // put only new CompassCalState into queue to send via I2C |
617 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
618 | CompassCalState = FromFlightCtrl.Param.Byte[0]; |
618 | Compass_SetCalState(CompassCalState); |
619 | Compass_SetCalState(CompassCalState); |
619 | } |
620 | } |
620 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
621 | Parameter.NaviPH_LoginTime = FromFlightCtrl.Param.Byte[1]; |
621 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
622 | NaviData.Variometer = (NaviData.Variometer + 2 * (FromFlightCtrl.Param.sInt[1] - NaviData.Altimeter)) / 2; // provisorisch |
622 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
623 | NaviData.Altimeter = FromFlightCtrl.Param.sInt[1]; // in 5cm |
623 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
624 | NaviData.SetpointAltitude = FromFlightCtrl.Param.sInt[2]; // in 5cm |
624 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
625 | CHK_POTI_MM(Parameter.NaviGpsPLimit,FromFlightCtrl.Param.Byte[6],0,255); |
625 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
626 | CHK_POTI_MM(Parameter.NaviGpsILimit,FromFlightCtrl.Param.Byte[7],0,255); |
626 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
627 | CHK_POTI_MM(Parameter.NaviGpsDLimit,FromFlightCtrl.Param.Byte[8],0,255); |
627 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
628 | FC.RC_Quality = FromFlightCtrl.Param.Byte[9]; |
628 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
629 | FC.RC_RSSI = FromFlightCtrl.Param.Byte[10]; |
629 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
630 | if(!FC.RC_RSSI) NaviData.RC_Quality = FC.RC_Quality; else NaviData.RC_Quality = FC.RC_RSSI; |
630 | // NaviData.RC_RSSI = FC.RC_RSSI; |
631 | // NaviData.RC_RSSI = FC.RC_RSSI; |
631 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
632 | NaviData.Gas = (FC.BAT_Voltage * (u32) FromFlightCtrl.Param.Byte[11]) / (u32) Parameter.LowVoltageWarning; |
632 | break; |
633 | break; |
633 | 634 | ||
634 | case SPI_FCCMD_SERVOS: |
635 | case SPI_FCCMD_SERVOS: |
635 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
636 | ServoParams.Refresh = FromFlightCtrl.Param.Byte[0]; |
636 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
637 | ServoParams.CompInvert = FromFlightCtrl.Param.Byte[1]; |
637 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
638 | ServoParams.NickControl = FromFlightCtrl.Param.Byte[2]; |
638 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
639 | ServoParams.NickComp = FromFlightCtrl.Param.Byte[3]; |
639 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
640 | ServoParams.NickMin = FromFlightCtrl.Param.Byte[4]; |
640 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
641 | ServoParams.NickMax = FromFlightCtrl.Param.Byte[5]; |
641 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
642 | ServoParams.RollControl = FromFlightCtrl.Param.Byte[6]; |
642 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
643 | ServoParams.RollComp = FromFlightCtrl.Param.Byte[7]; |
643 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
644 | ServoParams.RollMin = FromFlightCtrl.Param.Byte[8]; |
644 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
645 | ServoParams.RollMax = FromFlightCtrl.Param.Byte[9]; |
645 | break; |
646 | break; |
646 | 647 | ||
647 | case SPI_FCCMD_VERSION: |
648 | case SPI_FCCMD_VERSION: |
648 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
649 | FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
649 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
650 | FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
650 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
651 | FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
651 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
652 | FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
652 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
653 | FC_Version.Hardware = FromFlightCtrl.Param.Byte[4]; |
653 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
654 | FC.Error[0] |= FromFlightCtrl.Param.Byte[5]; |
654 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
655 | FC.Error[1] |= FromFlightCtrl.Param.Byte[6]; |
655 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
656 | FC.Error[2] |= FromFlightCtrl.Param.Byte[7]; |
656 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
657 | FC.Error[3] |= FromFlightCtrl.Param.Byte[8]; |
657 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
658 | FC.Error[4] |= FromFlightCtrl.Param.Byte[9]; |
658 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
659 | Parameter.OrientationAngle = FromFlightCtrl.Param.Byte[10]; |
659 | DebugOut.Status[0] |= 0x01; // status of FC Present |
660 | DebugOut.Status[0] |= 0x01; // status of FC Present |
660 | DebugOut.Status[0] |= 0x02; // status of BL Present |
661 | DebugOut.Status[0] |= 0x02; // status of BL Present |
661 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
662 | if(FC.Error[0] || FC.Error[1] || FC.Error[2] || FC.Error[3] || FC.Error[4]) DebugOut.Status[1] |= 0x01; |
662 | else DebugOut.Status[1] &= ~0x01; |
663 | else DebugOut.Status[1] &= ~0x01; |
663 | break; |
664 | break; |
664 | default: |
665 | default: |
665 | break; |
666 | break; |
666 | } |
667 | } |
667 | 668 | ||
668 | // every time we got new data from the FC via SPI call the navigation routine |
669 | // every time we got new data from the FC via SPI call the navigation routine |
669 | // and update GPSStick that are returned to FC |
670 | // and update GPSStick that are returned to FC |
670 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
671 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); |
671 | ClearFCStatusFlags = 1; |
672 | ClearFCStatusFlags = 1; |
672 | 673 | ||
673 | if(counter) |
674 | if(counter) |
674 | { |
675 | { |
675 | counter--; // count down to enable servo |
676 | counter--; // count down to enable servo |
676 | if(!counter) TIMER2_Init(); // enable Servo Output |
677 | if(!counter) TIMER2_Init(); // enable Servo Output |
677 | } |
678 | } |
678 | 679 | ||
679 | SPI_RxBuffer_Request = 0; |
680 | SPI_RxBuffer_Request = 0; |
680 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
681 | timeout = SetDelay(80); // 80 ms, new data are send every 20 ms |
681 | 682 | ||
682 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
683 | DebugOut.Analog[0] = FromFlightCtrl.AngleNick; |
683 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
684 | DebugOut.Analog[1] = FromFlightCtrl.AngleRoll; |
684 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
685 | DebugOut.Analog[2] = FromFlightCtrl.AccNick; |
685 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
686 | DebugOut.Analog[3] = FromFlightCtrl.AccRoll; |
686 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
687 | DebugOut.Analog[11] = FromFlightCtrl.GyroHeading/10;// in deg |
687 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
688 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
688 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
689 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
689 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
690 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
690 | } // EOF if(SPI_RxBuffer_Request) |
691 | } // EOF if(SPI_RxBuffer_Request) |
691 | else // no new SPI data |
692 | else // no new SPI data |
692 | { |
693 | { |
693 | if(CheckDelay(timeout) && (counter == 0)) |
694 | if(CheckDelay(timeout) && (counter == 0)) |
694 | { |
695 | { |
695 | TIMER2_Deinit(); // disable Servo Output |
696 | TIMER2_Deinit(); // disable Servo Output |
696 | counter = 50; // reset counter for enabling Servo Output |
697 | counter = 50; // reset counter for enabling Servo Output |
697 | } |
698 | } |
698 | } |
699 | } |
699 | } |
700 | } |
700 | 701 | ||
701 | //------------------------------------------------------ |
702 | //------------------------------------------------------ |
702 | void SPI0_GetFlightCtrlVersion(void) |
703 | void SPI0_GetFlightCtrlVersion(void) |
703 | { |
704 | { |
704 | u32 timeout; |
705 | u32 timeout; |
705 | u8 repeat; |
706 | u8 repeat; |
706 | u8 msg[64]; |
707 | u8 msg[64]; |
707 | 708 | ||
708 | UART1_PutString("\r\n Looking for FlightControl"); |
709 | UART1_PutString("\r\n Looking for FlightControl"); |
709 | FC_Version.Major = 0xFF; |
710 | FC_Version.Major = 0xFF; |
710 | FC_Version.Minor = 0xFF; |
711 | FC_Version.Minor = 0xFF; |
711 | FC_Version.Patch = 0xFF; |
712 | FC_Version.Patch = 0xFF; |
712 | FC_Version.Compatible = 0xFF; |
713 | FC_Version.Compatible = 0xFF; |
713 | 714 | ||
714 | // polling FC version info |
715 | // polling FC version info |
715 | repeat = 0; |
716 | repeat = 0; |
716 | do |
717 | do |
717 | { |
718 | { |
718 | timeout = SetDelay(250); |
719 | timeout = SetDelay(250); |
719 | do |
720 | do |
720 | { |
721 | { |
721 | SPI0_UpdateBuffer(); |
722 | SPI0_UpdateBuffer(); |
722 | if (FC_Version.Major != 0xFF) break; |
723 | if (FC_Version.Major != 0xFF) break; |
723 | }while (!CheckDelay(timeout)); |
724 | }while (!CheckDelay(timeout)); |
724 | UART1_PutString("."); |
725 | UART1_PutString("."); |
725 | repeat++; |
726 | repeat++; |
726 | FCCalibActive = 1; |
727 | FCCalibActive = 1; |
727 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
728 | }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
728 | // if we got it |
729 | // if we got it |
729 | if (FC_Version.Major != 0xFF) |
730 | if (FC_Version.Major != 0xFF) |
730 | { |
731 | { |
731 | 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); |
732 | 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); |
732 | UART1_PutString(msg); |
733 | UART1_PutString(msg); |
733 | } |
734 | } |
734 | else UART1_PutString("\n\r not found!"); |
735 | else UART1_PutString("\n\r not found!"); |
735 | } |
736 | } |
736 | 737 | ||
737 | 738 | ||
738 | 739 |